Standard IO for robot

[RobotTore]

Make a standard list of IO in the robot, this could make it easyer to colaborate with external PLC programmers.

example: in
Motor On
Cycle start
program number
depletion
etc

Out Motor On Cycle stoping
Robot in Home
Program number running
etc

[TheHarvard]

I can think of the following things:

• PCL communication

  • PLC will exist as an object in RAPID
  • PLC com will happen through events, preferred protocol is RMQ
  • PLC events will be standardized (This will make it easier for PLC programmers that collaborate with us, as @RobotTore say)
  • If PLC communication will happen over ( if the events should be sent over)the robot IO interface, then the IO should be standardized, but not unconfigurable (if you want to run multible PLCs)
  • PLC should not communicate with Robot through single IOs

• HMI Communication

  • PLC communication will happen through events, preferred protocol is RMQ
  • HMI will exist as an object in RAPID
  • HMI events will be standardized
  • HMI IO signals should have a naming convention/be standardised, but be configurable

• Robot control (start/stop)

  • Rob control will exist as an object in rapid
  • IOs necessary to control the robot will be standardized (sdi start, sdi stop, sdo running...), but just for internal use in the robot
  • Robot control has standardized events
  • Not sure if the robot should be able to be controlled directly by external IO? should rather be callable from RAPID?

[TheHarvard]

When an object is created, it is created with a set of named signals, and the names of these signals should be harmonized across the system.

The signal names should consist of:

di[nameOfObject]_[NameOfSignal]

example: diGriper1_Open doGriper1_Open