Instruction Set Overview

Instruction Set Overview - MFET248 AutomatedMfgIII...

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MFET 248 Automated Mfg III 4/15/2010 Fanuc Robot Instruction Set Overview 1 Instruction Set Overview (4/13/10) Types of I/O Digital Input and Output Instructions Robot Digital Input and Output Instructions Group Input and Output Instructions Unconditional Branch Instructions Conditional Branch Instructions Wait Instructions Timer Instruction Remark Instruction Message Instruction Program Control Instructions Registers 2
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MFET 248 Automated Mfg III 4/15/2010 Fanuc Robot Instruction Set Overview 2 Types of I/O: Analog Digital Group User Operator Panel (UOP) PLC Standard Operator Panel (SOP) Robot 3 Analog I/O - AI[x], AO[x] Can optionally install Fanuc analog I/O modules. Transducers (sensors) that generate an analog output can be wired directly to the robot controller. Examples – Pressure, flow, level, temperature, position, etc. Analog signals are either a voltage (0 to 10 v, ±10 v) or a current (4 to 20 ma or a current (4 to 20 ma) Analog outputs can be wired to variable speed drives, proportional control valves (in order to control the position of a hydraulics cylinder), etc. 4
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MFET 248 Automated Mfg III 4/15/2010 Fanuc Robot Instruction Set Overview 3 Digital I/O - DI[x], DO[x] Can install Fanuc discrete I/O modules, or Work with digital I/O using DeviceNet Examples : 4: DO[33] = ON 5: DO[34] = OFF 6: WAIT DI[35] = ON 6: WAIT DI[35] ON 5 Mapping DeviceNet I/O: Must follow the MFET DeviceNet standards (see separate handout) 6
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MFET 248 Automated Mfg III 4/15/2010 Fanuc Robot Instruction Set Overview 4 Group I/O – GI[x], GO[x] You can group consecutive digital inputs (GI) or consecutive digital outputs (GO consecutive digital outputs (GO) A group is a sequence of digital I/O signals The group is interpreted as a binary number A group can consist of up to 16 digital points Unused points default to 0 There are dedicated group I/O instructions 7 User Operator Panel (UOP) I/O – UI[x], UO[x] The UOP provides 18 inputs and 20 outputs. We do not have a user operator panel in the MFET We do not have a user operator panel in the MFET laboratory. 8
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MFET 248 Automated Mfg III 4/15/2010 Fanuc Robot Instruction Set Overview 5 PLC I/O – PI[x], PO[x] This I/O is specifically used with Allen-Bradley (A-B) universal remote I/O networks. In this case, the robot controller becomes a remote rack on an A-B remote I/O network. A special adaptor card must be inserted into the robot controller. We are not using remote I/O in the MFET laboratory. 9
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Instruction Set Overview - MFET248 AutomatedMfgIII...

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