...
robots: 0-15
stateful object ID: 0-31
robot preset ID: 0-255(0xFF) - may be the same under different robots
frame ID and target ID: 0-16777215(0xFFFFFF) - globally unique
object states ID: 0-255 - may be the same under different object ID
Any time a project is loaded in Control Panel, or targets are added or deleted or renamed, the user is responsible to re-download the updated ID file from CP.
Up to 2 external axes are supported by the PNIO data map. There’s no specific look up value for each external axis. External axis#1 is always the axis with lower actuator index number.
An example:
| Code Block |
|---|
project: 1 robots: Robot1: 0 Robot2: 1 Robot3: 2 Robot4: 3 Robot5: 4 presets: Robot1: default: 0 Robot2: Preset2Preset1_no_torcheoat: 0 Preset1Preset2_no_eoattorch: 1 Preset3_weld: 2 Robot3: Preset1: 0 Robot4: Preset1: 0 Robot5: Preset1: 0 Preset10: 1 Preset11: 2 Preset12: 3 Preset13: 4 Preset14: 5 Preset15: 6 Preset16: 7 Preset17: 8 Preset2: 9 Preset3: 10 Preset4: 11 Preset5: 12 Preset6: 13 Preset7: 14 Preset8: 15 Preset9: 16 targets: r1homeRobot1: default: r1a1: 0 r1t1 r1a2: 1 r1t2r1a3: 2 r1a1 r1a45: 3 r1a2 r1alt: 4 r1up r1home: 5 r1t3 r1t1: 6 r1t4 r1t2: 7 r1t5 r1t3: 8 r1a3 r1t4: 9 r1a45 r1t5: 10 r1alt r1t6: 11 r2home r1up: 12 Robot2: r2t1Preset3_weld: r2a1: 13 r2up r2a2: 14 r2a1 r2a3: 15 r2t2 r2a4: 16 r2t3 r2alt: 17 r2a2 r2home: 18 r2a3 r2t1: 19 r2t4 r2t2: 20 r2a4 r2t3: 21 r2alt: 22 frames: r2t4: 22 r2up: 23 Robot3: Preset1: r3t1: 24 r3t10: 25 r3t100: 26 r3t11: 27 r3t12: 28 r3t13: 29 r3t14: 30 r3t15: 31 r3t16: 32 r3t17: 33 r3t18: 34 r3t19: 35 r3t2: 36 r3t20: 37 r3t21: 38 r3t22: 39 r3t23: 40 r3t24: 41 r3t25: 42 r3t26: 43 r3t27: 44 r3t28: 45 r3t29: 46 r3t3: 47 r3t30: 48 r3t31: 49 r3t32: 50 r3t33: 51 r3t34: 52 r3t35: 53 r3t36: 54 r3t37: 55 r3t38: 56 r3t39: 57 r3t4: 58 r3t40: 59 r3t41: 60 r3t42: 61 r3t43: 62 r3t44: 63 r3t45: 64 r3t46: 65 r3t47: 66 r3t48: 67 r3t49: 68 r3t5: 69 r3t50: 70 r3t51: 71 r3t52: 72 r3t53: 73 r3t54: 74 r3t55: 75 r3t56: 76 r3t57: 77 r3t58: 78 r3t59: 79 r3t6: 80 r3t60: 81 r3t61: 82 r3t62: 83 r3t63: 84 r3t64: 85 r3t65: 86 r3t66: 87 r3t67: 88 r3t68: 89 r3t69: 90 r3t7: 91 r3t70: 92 r3t71: 93 r3t72: 94 r3t73: 95 r3t74: 96 r3t75: 97 r3t76: 98 r3t77: 99 r3t78: 100 r3t79: 101 r3t8: 102 r3t80: 103 r3t81: 104 r3t82: 105 r3t83: 106 r3t84: 107 r3t85: 108 r3t86: 109 r3t87: 110 r3t88: 111 r3t89: 112 r3t9: 113 r3t90: 114 r3t91: 115 r3t92: 116 r3t93: 117 r3t94: 118 r3t95: 119 r3t96: 120 r3t97: 121 r3t98: 122 r3t99: 123 r3up: 124 Robot4: Preset1: r4home: 125 r4t1: 126 r4t10: 127 r4t11: 128 r4t12: 129 r4t13: 130 r4t14: 131 r4t15: 132 r4t16: 133 r4t17: 134 r4t18: 135 r4t19: 136 r4t2: 137 r4t20: 138 r4t21: 139 r4t22: 140 r4t23: 141 r4t24: 142 r4t25: 143 r4t26: 144 r4t27: 145 r4t28: 146 r4t29: 147 r4t3: 148 r4t30: 149 r4t31: 150 r4t32: 151 r4t33: 152 r4t34: 153 r4t35: 154 r4t36: 155 r4t37: 156 r4t38: 157 r4t39: 158 r4t4: 159 r4t40: 160 r4t41: 161 r4t42: 162 r4t43: 163 r4t44: 164 r4t45: 165 r4t46: 166 r4t47: 167 r4t48: 168 r4t49: 169 r4t5: 170 r4t50: 171 r4t6: 172 r4t7: 173 r4t8: 174 r4t9: 175 r4up: 176 frames: Robot1: r1_default_tcp: 03 r2_defaultr1_tcp: 14 origin_frameRobot2: 2 r1r2_default_tcp: 35 r2_no_eoat_tcp: 6 4 r2_torch_tcp: 57 r2_weld_tcp: 6: 8 World: Origin: 0 Robot3TCP: 1 origin_frame: 2 r4tcp: 9 objects: torch_latch: 0 vertical_beam: 1 weld_gun_latch: 1 vertical_beam: 2 2 Box1: 3 Box2: 4 Box3: 5 Box4: 6 Cylinder1: 7 gun_moving: 8 gun_static: 9 jig: 10 rail_with_shims: 11 sliding_platform: 12 tool_changer_base: 13 torch_robot: 14 weld_gun_robot: 15 workcell_empty: 16 states: torch_latch: Suppressed: 0 present: 1 vertical_beam: Suppressed: 0 Suppressedpresent: 1 weld_gun_latch: presentSuppressed: 0 Suppressedpresent: 1 dsm: vertical static_beamframes: presentOrigin: 0 SuppressedRobot3TCP: 1 origin_frame: 2 r4tcp: 9 |
Getting started with Profinet communication on RapidPlan
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