How do you control a DENSO robot with a SIMATIC controller?
The robot or robot controller is incorporated as remote IO in the hardware configuration of the SIMATIC controller via PROFINET by means of a GSDML file. This permits you to use all the advantages of the PROFINET standard for data exchange between robot and SIMATIC controller.
The robot is controlled in the PLC program through function blocks which are provided as a block library along with the "Command Slave" function package. The function blocks are similar in behavior to the generally applied PLCopen standard, which is also found in the motion functions integrated in the SIMATIC CPU. The robot can be switched on and monitored via the function blocks of the block library and elementary motion commands, like point-to-point movements and linear or circular movements, can be transmitted to the robot.
For the robot controller which handles the control of the robot kinematics, the "Command Slave" function package includes a command interpreter which is installed on the robot controller and forwards the robot commands from the PLC program to the path planning of the robot. This therefore makes all the kinematic and safety-related functions of the RC8-A robot controllers available and the robot executes its movements with the usual precision and independent of the load of the SIMATIC CPU.
The "Command Slave" function package can be used on all DENSO robots with an RC8-A controller.
The user has the following advantages when using the function package:
- Connection of all function components, like SIMATIC controllers and robot controllers, via PROFINET.
- Integration of the robots in the TIA Portal environment.
- Easy integration of the robots in plant standards including safety functions.
- Flexible and fail-safe operation via just one HMI for all robots and the complete plant.
The function package is available with controller-specific block libraries for all SIMATIC S7-1500 controllers with STEP 7 (TIA Portal) from DENSO Robotics Europe . Here all the controllers of the different families can be used with one IO address area of at least 256 bytes per robot.
GSD file, Kinematics, Teach In