6.10.5      Example of External Expansion I/O Control

External I/O control means that external equipment controls robot arm by external expansion I/O. In this topic, we take PLC as the external equipment to describe how to use PLC to control robot arm by external expansion I/O. Besides robot arm and PLC, we need to prepare DB62 expansion suite (include DB62 cables and expansion board, and purchase separately). Figure 6.56 shows the DB62 expansion suite.

Figure 6.56  DB62 expansion board

 

For details about external expansion I/O interface description, please see 4.3.3 External Expansion Interface.

Prerequisites

Ÿ   You have launched M1Studio.

Ÿ   You have connected Dobot M1 to a PC over network cable or router, and the IP address of Dobot M1 and the PC must be in the same network segment. For details, please see 5.2.4Connecting Network Cable.

In this topic, we use a router to connect Dobot M1 and PC.

Ÿ   You have powered on Dobot M1.

Ÿ   You have obtained the scripts, the blockly programs, or the saved points lists which are run normally. In this topic, we take script as an example.

Ÿ   Dobot M1 has been connected to an emergency stop switch.

Ÿ   You have installed the PLC programming software.

In this topic, we use the FX5U PLC and GX Works3 programming software. For details on how to use are not descripted in this topic.

Figure 6.57 shows the connections demo.

Figure 6.57  Connection Demo

 

Procedure

Step 1         Connect one end of the DB62 cable to the external expansion I/O interface on the base of Dobot M1 and the other end to the expansion board, as shown in Figure 6.58.

Figure 6.58  Connect to external expansion I/O interface

 

Step 2         Connect PLC and PC. In this demo, we use a router to connect PLC and PC, please replace it based on site requirements.

Step 3         Connect the expansion board to the PLC. Supposing that we use PLC interfaces from Y0 to Y5, as shown in Figure 6.59.

Please use the wires of which the size is from 20 AWG to 24 AWG for connections.

 

Figure 6.59  Connection between PLC and expansion board

 

Table 6.13 lists the definitions of external expansion I/O interfaces from DIN10 to DIN15.

Table 6.13  DIN10 - DIN 15 interfaces definition

Interface

Description

DIN10

Reset signal

DIN11

External I/O control signal. Namely, Dobot M1 activates external I/O control function

DIN12

Continue signal

DIN13

Pause signal

DIN14

Stop signal

After this signal is triggered, Dobot M1 will stop offline running while the external I/O control will remain in force. At this point, you can use M1Studio to control Dobot M1 in Dobot mode or trigger DIN 15 to make Dobot M1 run in offline mode again

DIN15

Start signal, for running in offline mode

Before triggering this signal, please trigger DIN 11 first

 

 

&NOTE

All signals Table 6.13 are falling edge triggered.

 

Step 4         Upload the obtained scripts to the main controller.

1.         Select the corresponding IP address from the serial drop-down list on the upper left pane of the M1Studio page and click Connect.

2.         Click Tools > Web Management > Upload Offline Script to upload the script to the main controller, as shown in Figure 6.60.

Figure 6.60  Upload script

 

3.         Select the uploaded script on the Offline Script Management page and click Offline to make the script in the offline status, as shown in Figure 6.61.

 

Figure 6.61  Script status

 

Step 5         Create a new PLC project and build it on the GX Works3 programming software, as shown in Figure 6.62.

How to build PLC project is not descripted in this topic.

Figure 6.62  PLC program

Step 6         Check the connections between PLC and expansion board.

1.         Select the corresponding IP address from the serial drop-down list on the upper left pane of the M1Studio page and click Connect.

2.         Select Tools > I/O Assistant.

The I/O Assistant page is displayed.

3.         Trigger Y0 on the GX Works3 page, and observe the changes of DIN 10 on the I/O Assistant page.

If the voltage of DIN 10 shown on the I/O Assistant page is changed, it indicates that the connection is correct. Otherwise, please reconnect it.

4.         Check DIN 11 - DIN 15 according to 3and Figure 6.59.

It is recommended that DIN 11 is checked at last, since DIN 11 is triggered, Dobot M1 activates the external I/O control function, and then when DIN 15 is triggered, Dobot M1 will run in offline mode.

Step 7         Control Dobot M1 in offline mode by external I/O.

1.         Trigger Y1 on the GX Works3 page, Dobot M1 will activate the external I/O control function.

2.         Trigger Y5 and Dobot M1 will run in offline mode.

If stopping Dobot M1 running in offline mode is required, please trigger Y4. At this point, Dobot M1 stops offline running, while the external I/O control remains in force. If continuing Dobot M1 running in offline mode is required, please trigger Y5 directly.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd