[cncboy1]

LB15 OSP5000L with OR-10, how can i read in my NC-pgm with VDIN[......] the status of the OR-10 (Auto/Manual, Grip-A Open/Close, Grip-B Open/close........)

I have make a scan/read pgm VDIN[1100.....1253] and send the data to RS232(CN0) ==>>PC.
I have send the data twice , frist OR-10 in Auto, second OR-10 in Maunual no diff. in the files!!!

Also on the Adr. 0000... to ....0020 : the files are the same.
In the manual i have found 4 Adr. groups:
20...23 Allocation of input Bit from Robot unit (it's a Byte)
40...43 " " " " to robot unit
60...63 " " " " from NC
70...73 " " " " to NC

Also is it not possible in the Robot (robot.rbt), use VDIN[??] like R1=VDIN[70].
We get a ERROR.



regards

CNCBOY1

[OkumaWiz]

Here is some sample code for an LR-15 with OR20 robot...this will help give you some food for thought.

Good luck!


Main program looks like this:

G13
M109
M91M209 (DOOR INTERLOCK OFF)
ROBOT O2008
M02


Robot programs and subs look like this:

O1008
(IF 1ST OFF -LOAD MAT'L 1,& GET MAT'L 2 READY
IF NOT 1ST OFF -UNLOAD & STOCK PRODUCT 2 & LOAD MAT'L 1)
N4 IF[R1 EQ 1]N19(JUDGE IF 1ST W'KPIECE<'0'=1ST,1=NOT>)
N5 R1=1(SETS TO 'NOT 1ST')
N6 R10=R20(SET COUNTER TO LOT SIZE)
N7 R10=R10-1 (COUNTDOWN -IN PAIRS)
N8 ZV0F300E90M84(ZMAX)
N9 CV0(ARMUP)
N10 M308M301(HANDA OPEN)
N11 M307(BPOS)
N12 CALL O108(MAT'L READY)
N13 CALL O208(MAT'L LOAD)
N14 M330(START NC)
N15 M320(TABLE FORWARD)
N16 CALL O108(MAT'L READY)
N17 M321(TABLE REVERSE)
N18 GOTO N28
N19 R10=R10-1(COUNTDOWN)
N20 CALL O308(PRODUCT UNLOAD)
N21 CALL O208(MAT'L LOAD)
N22 M330(START NC)
N23 CALL O408(PRODUCT STOCK)
N24 M320(TABLE FORWARD)
IF[R10 EQ 0]N28 (LAST OFF NO PICK UP REQD)
N24 G4F1 (SEPARATE M320'S)
N24 G4F.1
N24 G4F.1
N25 M320(TABLE FORWARD)
N26 CALL O108(MAT'L READY)
N26 G4F.1
N26 G4F.1
N26 G4F.1
N27 M321(TABLE REVERSE)
N28 CV0(ARMUP)
N29 M306(APOS)
N30 ZV4M309(HAND B)
M02
()
O2008(LAST-OFF PRODUCT 2 UNLOAD,REGRIP,& STOCK)
N0 IF[R10 NE 0]N8(JUDGE IF LAST WORKPIECE IE R10=0=LAST)
N1 (JOG)
N2 CALL O308(PRODUCT UNLOAD)
N3 CV0 (ARMUP,JOG)
N4 CALL O408(PRODUCT STOCK)
N5 CV0M88(ARM UP,JOG OFF)
N6 M349(LOT END,STOP REPEAT OF SCHEDULE PROGRAM)
N7 R1=0
N8 M330(START NC)
M02
()
O3008(INITIALISING PROGRAM)
R1=0
M330
M02
()
O108(MAT'L READY)
N1 ZV0F300M301M308(ZMAX,MAX FEED,HANDA OPEN,HANDA)
N2 M307(BPOS)
N3 CV1(MR)
N4 ZV1(Z GRIP POS'N)
N5 G4F2(SETTLE)
N6 M300(HANDA CLOSE)
N7 G4F2 (ENSURE GRIP)
N8 Z=ZV1+5 F50
N9 ZV0(Z MAX) F300
N10 CV0(ARMUP)
N11 M306(APOS)
RTS
()
O208(MAT'L LOAD)
N1 M308 M91(HAND A,JOG,DOOR OPEN)
N2 G4F1(DWELL)
N3 ZV2(CLEAR JAW FACE POS'N)
N4 CV2(X0)
N5 ZV3 F50(FEED TO DEPTH)
N6 M88(JOG STOP)
N7 G4F.5(DWELL)
N8 M83(CHUCK CLOSE)
N9 G4F1(DWELL)
N10 M301(HANDA OPEN)
N11 Z=ZV3+20
N12 CV0F300(ARM UP,MAX Z FEED)
N13 M90 (DOOR SHUT)
RTS
()
O308(PRODUCT UNLOAD)
N1 Z=ZV9+10 CV0M306M309(Z GRIP POS'N,ARM UP,APOS,HANDB)
N2 CV7M88(X0,JOG STOP)
N3 ZV9
N4 M310(HAND B CLOSE)
N5 G4F1
N6 M84(CHUCK OPEN)
N7 G4F1(DWELL)
N8 Z=ZV9+80(CLEAR JAWS) F100
N9 F300
RTS
()
O408(PRODUCT STOCK)
N1 ZV0CV0M309(Z MAX,ARM UP,HANDB)
M307 (B POS)
N2 CV8(STOCK POS'N)
N3 Z=ZV10+3(RAPID TO PALLET)
N4 ZV10F25(FEED TO PALLET)
N5 M311(HANDB OPEN)
N6 ZV0F300(Z MAX)
RTS

[cncboy1]

Hallo Word

What we want to do:

A.SDF
NFSRT IF [QWERTY EQ 0] N100
N000 PSELECT A1.min ,,,Q2
N010 PSELECT A2.min ,,,Q2
N020 GOTO NFRST
N100 PSELECT B1.min ,,,Q2
N110 PSELECT B2.min ,,,Q2
N120 GOTO NFRST
M02




A1.MIN
$GM-MOTOR-PART-Q1122334455.MIN%
(PRODUCTNAME: GEAR-1122334455REV.B
RELEASE DD 20080731)

V901 = 0 (REWINDER 0=NO 1=YES)
V902 = 1 (QUANTITY 1---to ---4)
….
….
V910 = 1 (AIR- BLOW 0=NO 1=YES)
V911 = 0 (M19 )
…
V920 = Length of Product
etc

CALL ROBST
…..
NC-LATCH pgm
…
M02

FACTORY1.SSB

ROBST
VRRRG[1] = V901 (VAR-1 TO ROBBY OR-10)
VRRRG[2] = V902
….
VRRGR[11] = V911 (M19)
etc
RTS





ROBOT.RBT

(ROBOT PROGRAM………………bla bla..
………………….)
….
….
IF [R11 EQ 0] NNM 19
M19
NNM19 ZV10
N… (GRIP A UNCLAMP)
…
..
M02


So what we want to make is a HEAD-PGM for each diff. products (to switch quickly) and there is in written all thinks.

Airblow NO/YES; M19 NO/YES; Length of Product for take en place robby, set security-place …etc, Work with rewinder. Etc……
Then the Head-pgm put it into the OR-10.

But for a good sequence start at the morning we (robby) must know is there a product in grip A and / of B?. Is there a product in the LB15?

So that way I want to know , how to read switch Open/Close Grip-A , Grip-B, Chuck Open/Close……….

In a other thread I have put the question about all VDIN and VDOUT’s please read it.

Is there somebody to tell me about the parm In the OR-10 manual i have found 4 Adr. groups:
20...23 Allocation of input Bit from Robot unit (it's a Byte)
40...43 " " " " to robot unit
60...63 " " " " from NC
70...73 " " " " to NC
Have someone this information????????????
=============
Our PGM is ready, it works without the care what we want to have from the inputs!!!!

Rg
CNCBOY1

[cncboy1]

Here is some sample code for an LR-15 with OR20 robot...this will help give you some food for thought.

Good luck!


Main program looks like this:

G13
M109
M91M209 (DOOR INTERLOCK OFF)
ROBOT O2008
M02


Robot programs and subs look like this:

O1008
(IF 1ST OFF -LOAD MAT'L 1,& GET MAT'L 2 READY
IF NOT 1ST OFF -UNLOAD & STOCK PRODUCT 2 & LOAD MAT'L 1)
N4 IF[R1 EQ 1]N19(JUDGE IF 1ST W'KPIECE<'0'=1ST,1=NOT>)
N5 R1=1(SETS TO 'NOT 1ST')
N6 R10=R20(SET COUNTER TO LOT SIZE)
N7 R10=R10-1 (COUNTDOWN -IN PAIRS)
N8 ZV0F300E90M84(ZMAX) <<<<<<<<<==============
N9 CV0(ARMUP)
N10 M308M301(HANDA OPEN)
...........
............
.............
N5 M311(HANDB OPEN)
N6 ZV0F300(Z MAX)
RTS

Hallo

What means:
N8 ZV0F300E90M84(ZMAX)

[OkumaWiz]

VDIN's can not be read from the robot. I think you need to look in a different section of your manual about the I/O for the robot for if I remember correctly, they start with R801, etc.

You can check the chuck switches and the gripper conditions using these registers and make your program "smart" by using them.

I'm going from memory without the manuals , and it's been 5+ years since I've done this, so forgive me if I can't give you exact registers to look at - they are in the back of your robot book.

I think the e90 caps off the rapid rate of the robot to 90&#37; of full speed.

[cncboy1]

Hallo OkumaWiz

"""" I think you need to look in a different section of your manual about the I/O for the robot for if I remember correctly, they start with R801, etc."""""

About the R801 etc. is nothing written in all off my manuals.

We have R1...R47 for write/read and R48 , R49 only read.

rg
CNCBOY1