| Table of Contents |
|---|
Hardware Requirement
RTR controller V1: Intel I210 NIC or similar PCI-e add-on card is required.
RTR Runtime Controller: a built-in port that’s dedicated to Fieldbus. The controller data sheet can be found at: https://www.axiomtek.com/Default.aspx?MenuId=Products&FunctionId=ProductView&ItemId=26650&C=eBOX671A&upcat=144
Compatible with MELSEC IQ-R, IQ-L, IQ-F PLC series.
...
Configuration of CC-Link IEF Basic communication with a RapidPlan controller
CSPP profile
| View file | ||
|---|---|---|
|
Installation steps
install RapidPlan and RTR-Webapps megadebs and licenses.
Go to network settings of Ubuntu.
Assign a hard-coded IP address with network mask to a network interface. The IP address should be in the same subnet as the PLC(Figure. 1).
The network interface should be enabled(Figure. 2).
Reboot
...
Download configuration to PLC. CC-Link IEF Basic communication starts
...
Startup behaviors
RapidPlan appliance will enter fault mode if the requested interface isn't working when appliance starts and times out in 10S.
As a result, if CC-Link IEF Basic is not working during the initial startup, appliance must be manually restarted to re-enable the interface.
PLC I/O Data Mapping - 2.10.
...
1
| View file | ||
|---|---|---|
|
General rules of I/O mapping
Input: from RTR controller to PLC.
Output: from PLC to RTR controller.
Integers and DINT's are signed and cyclic values unless specified otherwise.
All bit level requests are edge triggered unless specified as cyclic.
Default values should always be 0 unless specified otherwise.
If there's a command conflict due to shared data fields between 2 commands, e.g., SetAlternateLocation with specified config, and a move to pose/config, both commands will be rejected and a command error code will be given.
Max. # of presets per robot: 255;
Max. # of object states: 255;
Max. # of stateful objects: 32
Max. # of targets per project: 16777215 (0xFFFFFF);Max # of move segments per Combined Move: 10
RTR controller I/O module assignment
Input: from RTR controller to PLC.
Output: from PLC to RTR controller.
8-word RTR controller I/O
16-word object states I/O
24-word Command Module I/O
32-word I/O for each robot
With 4 stations, ie., 144-word I/O space, up to 3 robots can be supported via CC-Link IEF Basic interface.
Export ID’s
In order to address RapidPlan objects efficiently in a CC-Link IEF Basic interface, symbolic names must be replaced by numerical values. Therefore, a lookup table is generated during RP Create validation, and can be downloaded from the Control Panel after a project is installed.
...
| Code Block |
|---|
project: 3
robots:
Robot1: 0
Robot2: 1
Robot3: 2
Robot4: 3
Robot5: 4
presets:
Robot1:
default: 0
Robot2:
Preset1_no_eoat: 0
Preset2_torch: 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:
Robot1:
default:
r1a1: 0
r1a2: 1
r1a3: 2
r1a45: 3
r1alt: 4
r1home: 5
r1t1: 6
r1t2: 7
r1t3: 8
r1t4: 9
r1t5: 10
r1t6: 11
r1up: 12
Robot2:
Preset3_weld:
r2a1: 13
r2a2: 14
r2a3: 15
r2a4: 16
r2alt: 17
r2home: 18
r2t1: 19
r2t2: 20
r2t3: 21
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: 3
r1_tcp: 4
Robot2:
r2_default_tcp: 5
r2_no_eoat_tcp: 6
r2_torch_tcp: 7
r2_weld_tcp: 8
World:
Origin: 0
Robot3TCP: 1
origin_frame: 2
r4tcp: 9
objects:
torch_latch: 0
vertical_beam: 1
weld_gun_latch: 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
present: 1
weld_gun_latch:
Suppressed: 0
present: 1
dsm:
static_frames:
Origin: 0
Robot3TCP: 1
origin_frame: 2
r4tcp: 9 |
Known limitations
Trigger functionality from the Move command is excluded from the PLC I/O map
...