Using Fanuc UOP through Ethernet I/O with Allen Bradley CompactLogix

so after a lot of requests from some counterparts throughout my state I am finally reporting how I can start and stop a panic robot using an Allen Bradley PLC / HMI a couple of Slammers right off the bat that one this will not work unless you have the cat code from fanuc to enable Ethernet i/o okay this is not a standard add-on I had to buy this separately - so that I could have the ethernet i/o enabled - I am not showing you how to program per se the only goal is to show you how we can get communicating the communication setup between an Allen Bradley PLC and a panic robot I'm not gonna go in-depth Matt I think Pete Detmer from madison college that has a good video on how to do that with with showing the teach pen and other things so I'll probably link to his video in the description because he's who I ripped off to learn from is an academia stealing from one source is called a research so full credit to Pete Technical College in Wisconsin and also the program that I'm going to show and now Bradley is one that probably won't work for mass industry all I'm using it is to show you what you can do so that you can build your program and explain some of the bits okay it took me a little bit of time to set all this up I so don't think that this is gonna be that fast some of the things I have done is I printed the screens into a word document on what things look what should look like on your teach printing I have my teach pendant here but be really small and blurry you probably not gonna see much see if I put up to the camera it's a small little thing so I kind of blew things up so first things first you're gonna need to set up your communication okay before and also the other thing to doing this you'll need to restart and reset restart and cycle power on robot multiple times I'm not going to go all this is already set up okay so first things first you need to set up your robot when the robot are gonna communicate to is the one way over my filler the POC I'm using is embedded in this ammeter all mechatronics trainer there's a network switch on the back back there with all the cables and this is the computer that was closest to it so I'm gonna use it but you should see the robot move eventually so in menu and setup I'll show you the menu menu setup host calm you should get to this window you should get something that looks like this right here this is where you define your robots IP address and the MAC address or that subnet mask okay this needs to be set and of course you need to then make sure that your PLC is a trusted device and your CPU is a trusted device so you can communicate with and go online with the nice thing about panic because if you type in your robots IP address you there's a webpage that you can kind of go to monitor stuff and I can monitor current IO values and as you can see somewhere on right now based from this website I just typing in that IP address directly okay other cool things you can get from that but like the sub vision that's a different amol stuff of that nature okay I'm over refer to this in a second but this is what you need to set up you can ping it this and think of these down here's F 1 F 2 F 3 and F 5 4 or 5 ok so if I go down the next menu thing that I would recommend you do oh you can do this another way but is you need to go into IO which I under menu IO we go back here io and Ethernet IP if that pack code is not enabled this menu will option will not be there and if you hit you will see as you see on screen what it looks like highlight this first one and then hit config when you do that this will show up okay this is my configuration setting I would recommend for words output each remember a word is 16 bits okay if you'll need to know that when you set up the allen bradley okay so this is the description so know that that's how you adapt it when we go into setup everything all your Ethernet is gonna be under rack 89 okay rack 89 and again 16 bits so in theory we should have to set up we have a bunch of different setups that we can utilize yep so this is the after I hit previous this is the main menu of the Ethernet IP setup and now once I set that up I'm able to go into the i/o menu well before I go in the i/o menu let me go to setup menu let me go to you type in menu system and config sorry let's go system and config looks like it looks like this because we have to enable the UOP you can't if you just enable it and setup your digital i/o in digital i/o it won't have anything associated in the controller to say I mean this is stuff I need to use a start okay in system the system config menu you should see this at the first end only took a couple things but you wanted to enable UI signals that's user inputs these are are a treatise are already predefined so user inputs and use your outputs so you have like digital inputs digital outputs give analog inputs analog outputs you have robot inputs robot outputs you also have UOP which is the user output the user I oh and if I and if you hit hit that menu you should it's true scroll down eventually you don't get this right away but eventually you'll need it in that same menu scroll down and change the remote local setup to remote so it can start okay there's an option in there for external i/o which you could do di oh I just use remote because then I can actually use my UOP okay those are the things that must be true this must be remote and UOP must be enabled for the next before you do the next to get things started okay you can wait on the remote setup until you are actually ready to run the production but this needs to be true because what that's gonna do is then enable your UOP which will look something like this okay and for you to actually use these because you could in theory have a io an i/o rack in your controller that you can hardwire all this stuff to but you still have to set up your i/o and so what you would do is just it config which is down here and it should bring up something that looks like this here you can customize the ranges you want things to set up for so if I config you can see I already set up rack 89 which my Ethernet IP slot 1 start on the first bit I recommend doing this first before you set up your digital i/o because of automatically map for you if need be 48 is is when the circuit board technically 8 CR and this 1crm a 15 16 these are already predetermined but you there you can set all this up to be output on the input side you do the same thing rack 89 slot 1 start low it will say over here once you do that it will say pending until you cycle power or things that go into place anytime you make a hardware change you need a cycle power okay but these are my settings on my robot on how I can think how its configured okay once I cycle power once I cycle power come on previously yeah let me out it should give me something that looks like this is if you have the eyes in the oh you'll see but then the important thing is a lot of side here is the names of the different bits let me highlight this a little bit more by looking at your bio values when I go down to U of U IO you'll see my user inputs or I'll now established and you can see the names of all these associated bits same with my user outlets and just to show you that it's working you can see the teach pendant is enable here by turn it on and hit refresh you can see that the now this is shown on real time okay so now this is communicating we have a map to our Ethernet i/o and if I did this right you should be able to look at your digital outputs and inputs and it will automatically match so looking at your digital outputs notice notice I have my oh my you outputs this is going from the robot to the PLC so on the PLC this will be considered inputs and then the you'll make sense in a second you see them it'll start a bit eight start a bit one so eight more that be around nine if I go to my digital outputs you'll see that some of them will start at nine and some of them start at sixteen so automatically Orient's this a color so we're at space and you got something start here and other things of the nature just go with it you can read set this up later but this automatically set up for me once I set up my UOP at slot 89 1 1 I didn't have to go in here to remap this out same with my input you can see how my input sets up and notice my first bit was and this is my first bit was 6 my last bit was 16 well i'ma start it sorry Matthew generating started on 17 so so now in theory I have four words like 16 32 48 what 64 bits my math is correct a bit with the first layer of that be my UOP and the rest of it being the digital i/o so if I have other signals I want on both the input side in the output side so now we go to allen-bradley since now we have this set up on the robot side on Ella Bradley what I would recommend is not using the in the add-on instruction that's already there I would recommend the generic Ethernet module so new module and I'll walk it through but to give it a different IP address just to show you the setup because I already have it set up and I would just do Ethernet module generic Ethernet module it created and now you will want to set this up as an integer set up your IP address and there's a certain set up configuration which I'll pull up so let me go to properties because I've already have this set up but this is a set up that I would have my input starting on 100 101 size of core size of 4 and so if I in an output size of 101 with the size of 4 and then there's my configuration notice this integer I name it panic and that is what I would do recommend to set everything up on this end okay so write this down screenshot up again thanks to feedback that Murr for showing me this so now that this is set up in your controller tags you should see whatever you call that I call it fanuc input and output and could fail and if I open up my input those are outputs from the robot you'll see basically an array of four forward 16 bits I open them up 16 bits now you'll notice that our I gave each of these bits of description because these are the names of the bits on the UOP you the UO right here use and you can let me do the side-by-side so you can see oh really that short can open a new tab and as you can see side by side panic I'd add a zero dot panic 0.0 is the command enable which is equal to uoy annual 1 and so on and so forth how I figure this out is literally just download at all C which is one of C which is 1 + 1 + 1 + C which equals over here so if I if I go online and let me just go to download so let me go download or go online we just go online because I ever change anything so I'm just gonna get the program in my controller because I did this yesterday so it worked I'm testing it today so it works yesterday okay so now if I go into my controller tags you should see that whatever matches over here should be over here so let's take a look at this TP enabled so bits would be seven here but it's over here if I enable my teach pendant you should see that that if I'm monitored on my bits that's now on teach men an odd teach pendant off just to show you not doing a funny business there you go and so when I mapped it I'm literally online without any of the descriptions and I'm not seeing it seeing what matches okay same way with my digital my digital outputs and inputs okay we're doc no need you anymore go away so for instance and then do all of them but here's a list of di oggi or so if I go on my inputs I go my i/o and go into digital you should see starting at 121 a bunch of bits on and if I turn off the first one you can see in real time it's off and as I keep turning off the bits you turn them off now what I did to make this easier is I went to to I went to tools and exported my tag and my tag and logic comments which created a CCS file then I then re-upload 'add because that was a little annoying to type and here it is and I just added so if I wanted to add the next one insert I just copied this whole thing down and then just change that one bit again and then I just then I went into tools import but I can't for cuz I'm offline but I'll show you so save that and then tools import tags and logic comments and that and now you can see that description is there so when I did this the first time I execute and I just added all this basically as a copy and paste but much easier to do it in here especially with this stuff you just have to make sure that you're you're you start over at the team okay so a little bit of a little bit of housekeeping stuff but then on my output side same thing I can you know go on like you know downloads updated this it's just going back and matching and again on the output side I am sending data from the PLC to the robot over there's called an employee over here it's called an outcome this is confusing for new students I know but it's always a relation to whatever computer you talking about that's why here you'll see the ISMP which we'll talk about in the second and all these fun things these are all I have a program set up with these so you'll see that but you'll see my inputs here the din which 1 2 3 4 if I go here to my digital inputs over here and then start just start clicking these a zero you'll see the the bits are turning off alright that's how I that's how I would test the communication before I start programming just to make sure you have the communication and the write descriptions ok since these aren't tags and won't come up we'd be type them in but at least the descriptions are there so help you understand what you're doing so I have a simple program you know make this bigger first things first and I'm going to do a quick online at it let me just call this safe for now just go with it just because that way you can toggle the bit easier so I can demonstrate so now since this is off I want you to notice what's going on right here it's giving me an error and you should see red on the teach pendant because these these bits here that I M STP and the SF SPD need to be on before you do anything leave the toggle the bits and now you'll see you should see the you'll see that the iesson that will go away once I go here to reset sorry so this is my fault reset let me toggle my bit here and I cleared the fault so now everything's green again okay but if I just go to start it's not gonna let me and you shouldn't see a robot moving back there the reason why is the enable is not it says failed to run tasks enable isn't on okay because basically all of these all of these bits need to be high in order for the robots run so you can program in different ways this hole is basically the stop stop and where you're at so this needs to be all because it's acting like an e-stop so if it drops a signal it stops where it is this is a cycle stop so it's going to stop when it gets through the whole cycle so at the end so be running production you want to get done first use a cycle stop and not the hold stop hold stop is like Oh emergency blow routes and I guess in theory do all any either of these but then it's an extra step so now I toggle be enabled and you should notice up in the upper right hand corner everything is clear and go and I'm gonna reset a fault by toggling the bit okay and now I'm gonna hit start if you keep this high nothing's gonna happen because it's almost acting like a acts like it acts on the falling edge and so now if I hit toggle bit it's giving me that the cursor is in the wrong space thing which is a good sign so let me hit enter I'm gonna just pull up my job and now let me try this again and look behind me the robot is moving and you can see the job is running but notice I have a jump way more I have a jump label in there so we'll the cycle over stop no so if I toggle to stop it it's gonna keep going well I'm kind of cheated because right here I use the stop it to stop the hold so that's what's happened let me demonstrate that a little bit better let's delete that yes and now the hold back in back in session but let me hit start again toggle and now it's back on back and running so you take a look you kind of see there's at each budget and if I hit this stop here just as a cycle stop it's still going because it's not gonna end it cycle because I have a jump logo in there so just be wary on that because if you're in this position you're probably an experienced PLC grammar an experienced PLC pro I don't need to show you that you can use these other bits to monitor stuff right is used you can use these bits monitor but this is how you do a remote start in theory then can attach this to nature mike is now in a PLC program but these are the bits you need to watch out for this needs to be high this need the ISI IMS gpb's to be high SFSP needs to be high hold needs to be high and the Nabal needs to be high in order for this thing to run start needs to go from high to low so it's on the falling edge for it to start so if you have a maintain push button and you're holding it you got to make sure I would recommend momentary and then cycle stop that's just on a cycle there's other bits involved too but I'll let you you can figure out some of this stuff but the big thing is the signals from the PLC to the robot to get to go some of these are jobs that you can run or send it to home but the other ones are inputs that you can set up on the Fanuc side to say is it at home is it not those are all things that you can set up ok so that's how you use you appease ethernet/ip and allen-bradley to work together to make a robot go alright feel free have fun and again this is not an exhaustive list so thanks for your time

Channel: Dan Staifer

Views: 10,158

Keywords: fanuc, allen bradley, ivy tech, compactlogix, PLC, Robot, Ethernet I/O

Id: p68v7eX-gTM

Length: 26min 32sec (1592 seconds)

Published: Thu Feb 06 2020