2.1. Embedded PLC mode Set-up

2.1. Embedded PLC mode Set-up

 

Embedded PLC’s operating mode can be selected as one of <Off, Stop, R-Stop, R-Run, Run> from 『[F7]: Condition setting』 → 『[F1]: Apply condition』 → 『5: Embedded PLC mode』.

 

 

Figure 2.1 Embedded PLC Mode Set-up

 

Icon on the top right side of TP screen will indicates the selected mode. For example, if it is on [PLC=<R-Run>] or [PLC=<Run>] status, PLC icon as above will be displayed. If it is on [PLC=<Off>], the icon will be disappeared as below the figure. Also, if it is on [PLC=<STOP>] status, red color stop mark will be shown on the window.

 

 

 

Figure 2.2 Embedded PLC Off Status   Figure 2.3 Embedded PLC Stop Status

 

 

l Off

Function of embedded PLC will be disabled. In this case, DO1~DO4096 that is Digital Output of Robot’s Controller will be automatically outputted as Physical Output Y1~Y4096, and the Physical Output X1~X4096 will be automatically inputted as DI1~DI4096. Yet still the properties for each D1, d0, X and Y will be applied.

For example, if both of DO1 and Y1 is negative logic, when DO1=1 output is attempted the actual output value will be Y1=1, because 0 will be inputted as Y1 as DO1 is negative logic as well as the property of Y1.

 

l R-Stop / Stop

This function stops the operation of embedded PLC. R-Stop shows the Remote status that can be changed on HRLadder but the operation mode cannot be changed on HRLadder while in STOP setting. When embedded PLC is Stopped, DI, Y, R relay that are PLC’s output signal will automatically set to 0. However if a condition that can output the value to Y output in HRBasic or other assigned (Expect PLC) is met, such as “SP11=On”, Y output will retain the previous value.

 

l R-Run / Run

This function executes embedded PLC. R-Run indicates the Remote status that can be changed on HRLadder. Operating mode cannot be changed on HRLadder while it is on Run setting