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AutoExternal - PLC Logic Idea

This 3 sentence summary provides the key details from the document: The document shows an 8 rung ladder logic diagram that controls the handshake between a PLC and robot controller, with rungs that check for faults, set the robot mode, acknowledge messages, check the robot is in a safe position, start the main robot program, and generate a pulse train signal to indicate the robot is home. It provides the logic flow for initializing the robot and preparing it to run programmed motions in a safe manner under external control from the PLC.

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Dave Fansolato
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104 views2 pages

AutoExternal - PLC Logic Idea

This 3 sentence summary provides the key details from the document: The document shows an 8 rung ladder logic diagram that controls the handshake between a PLC and robot controller, with rungs that check for faults, set the robot mode, acknowledge messages, check the robot is in a safe position, start the main robot program, and generate a pulse train signal to indicate the robot is home. It provides the logic flow for initializing the robot and preparing it to run programmed motions in a safe manner under external control from the PLC.

Uploaded by

Dave Fansolato
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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KRC_Handshake - Ladder Diagram Page 1

test_ext:MainTask:MainProgram 6/21/2016 11:24:43 AM


Total number of rungs in routine: 8 C:\Program Files\Rockwell Software\RSLogix 5000\ENU\v20\Bin\test_ext.ACD

PLC has detected


issue that requires
robot to stop
FAULT_1 Stop_KRC
0

FAULT_2

FAULT_3

FAULT_4

PLC has detected


issue that requires robot mode is
robot to stop AUTO EXTERNAL
Stop_KRC EXT Move_Enable
1 /
robot mode is T1
T1

(Note, this signal


is inverted)
Drives_ON
2

robot mode is
AUTO EXTERNAL
EXT Peri_Rdy Clock_100msec External_Start
3 /
Robot has messages
that need ack. Ack. Robot Faults
Peri_Rdy StopMess Conf_Mess

Robot drives are on,


no messages are
Robot has messages present, ready to
that need ack. run....
StopMess Move_Enable Ok_To_Run
/

RSLogix 5000
KRC_Handshake - Ladder Diagram Page 2
test_ext:MainTask:MainProgram 6/21/2016 11:24:44 AM
Total number of rungs in routine: 8 C:\Program Files\Rockwell Software\RSLogix 5000\ENU\v20\Bin\test_ext.ACD

Robot drives are on,


no messages are Start main Robot
present, ready to Main program active program
run.... (usually CELL.SRC) (usually CELL.SRC)
Ok_To_Run Pro_Act Clock_100msec Ext_Start
4 /
Main program active Robot needs new Robot is in safe
(usually CELL.SRC) program number position
Pro_Act PGNO_Req Rbt_in_Safe_Pos MOV
Move
Source CMD_PGNO
0
Dest PGNO
0

EQU PGNO_Valid
Equal
Source A CMD_PGNO
0
Source B REFLECTED_PGNO
0

Robot is in safe
position
RBT_AT_HOME Rbt_in_Safe_Pos
5

Most PLC will have fre running clocks. If not, use whatever method to create 50% duty cycle pulse train, period must be 40ms or longer.
PulseTrain.DN TON
6 / Timer On Delay EN
Timer PulseTrain
Preset 200 DN
Accum 0

GRT Clock_100msec
7 Greater Than (A>B)
Source A PulseTrain.ACC
0
Source B 100

(End)

RSLogix 5000

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