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atomik · Member junior Joined: 07 Jun 2017 Posts: 79

SIMATIC Robot Integrator for DENSO - Getting Started
https://support.industry.siemens.com/cs/document/109761432/
This application example contains the programming of a DENSO robot with a SIMATIC S7-1500 using the function block library "DENSO Command Slave". The corresponding documentation explains stepwise how to set up the DENSO robot with TIA Portal using said function block library.
Industrial robots are becoming more and more popular. Nowadays, they are increasingly used in machines and plants. Their standardized mechanical system is fully developed and highly flexible in terms of the possible motions so that a robot has become the preferred choice over expensive special mechanical equipment. This allows production from lot size one upward even without expensive modifications to machines and plants.
Unfortunately, however, the plant control system and the robot controller are typically two different systems. Communication between the two controllers takes place mostly only at the bit level and the robot’s motion programs are permanently stored on the robot controller and can only be called by the plant control system. Therefore, it is relatively difficult to implement a flexible response of the robot to special plant events. Furthermore, the programming of the plant control system and the one of the robot mostly differ to a great extent so that both systems can generally not be supported by one person. Interface and coordination problems are therefore inevitable.

This application example shows how to use a SIMATIC S7-1500 controller to fully control and operate a DENSO industrial robot. To do this, the function block library "DENSO Command Slave" is used in TIA Portal, which provides all the necessary function blocks.
Communication between the SIMATIC S7-1500 controller and the DENSO industrial robot takes place via a PROFINET connection. All commands and status information between the SIMATIC controller and the robot are exchanged via this connection.

DENSO Robot Integrator in SIMATIC DENSO Robot Integrator in SIMATIC

DENSO Robot Integrator in SIMATIC DENSO Robot Integrator in SIMATIC

Fig. 1

Using the function block library "DENSO Command Slave", the SIMATIC controller takes full control of the DENSO industrial robot. The DENSO industrial robot consists of the DENSO robot controller RC8 or RC8A and the robot’s mechanical system, the actual robot. The interpreter for the commands of the function block library "DENSO Command Slave" is installed on the robot controller. The interpreter receives the commands from the SIMATIC controller and executes them on the robot’s mechanical system, including kinematic transformation.

Downloads
https://support.industry.siemens.com/cs/attachments/109761432/109761432_GettingStartedSRIDenso_DOC_V13_en.pdf
https://support.industry.siemens.com/cs/attachments/109761432/109761432_GettingStartedSRIDenso_PROJ_CSV204_TIAV15.1.zip

https://anonfiles.com/7674C6S6ob/109761432_GettingStartedSRIDenso_DOC_V13_en_pdf
https://anonfiles.com/B972CfS4oc/109761432_GettingStartedSRIDenso_PROJ_CSV204_TIAV15.1_zip

atomik · Member junior Joined: 07 Jun 2017 Posts: 79

How do you control a DENSO robot with a SIMATIC controller?
https://support.industry.siemens.com/cs/document/109749978/
The "Command Slave" function package provided by DENSO Robotics Europe enables users to use a SIMATIC controller to control a DENSO robot with RC8-A control at an elementary basic and movement command level.
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.
DENSO Robot Integrator in SIMATIC DENSO Robot Integrator in SIMATIC

Fig. 01
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.
DENSO Robot Integrator in SIMATIC DENSO Robot Integrator in SIMATIC

Fig. 02

The function package is particularly suitable for all kinds of handling applications and simple contouring when the robot movements are to be event-oriented and flexibly adapted to the task to be executed.
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.