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I need to send a signal (DO) from the robot if it not running it's program. How do I do this? I am only using discrete IO so I can't map the UOP to the PLC. I have an RJ3iB controller with 6.4 firmware. I have a couple spare outputs on an output card in the controller. |
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I have done this before, but it was a long time ago - I was able to map specific bits from the UOP interface to the same rack/slot/bit as the DO card bits. In my specific application I only had 8 discrete bits back to the PLC so I did not map the entire UOP interface back (there is close to 20 bits), I only mapped back 3 or 4 signals like 'running'/'teach'/etc. that were critical to the interface and left the other UOP signals unmapped. For example if your DO card is in slot 3, and you want to map UO[5] (just one bit) to DO[2] you would map UO[5] to rack 1, slot 3, start 2, length 1. Of course! You can map any robot bit to rack IO.
(Dec 01 '09 at 16:59)
Jeremy Sluyters ♦♦
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If it is an RJ3iB or newer, you can also assign an output as a "Motion DO" output if it is a multiple group configuration. This assigned output will be turned on even if you manually jog an axis. You may also try double mapping your I/O so that your "Program Running" bit is assigned to rack 0; slot 1 and rack 1 slot 2 (if slot 2 is Model A output card for example) If it is an older controller (RJ2), you typically need to configure in groupings of 8 which can eat up I/O fairly quick. If you do opt to "Double Map" your I/O, please be sure to document this scenario well. You may want to label the "Double Mapped I/O point" as "Refer to UOP IN/OUT # ???" |
