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Cobot to ACR7000 Communication

I'm trying to be able to control four motors by triggering outputs from one of our universal robots through an ACR74T. My hypothetic goal would be to trigger output 1 on the cobot, and through that, I would be able to index one of the mother connected to the ACR74T 1080 degrees (3 rotations). I'm trying to create a program on PMM to do something like this, but I'm having a hard time finding how I would get externals outputs to interact with this. Reading through one of the manuals, it didn't detail much on I/O communication. I'm also having a hard time finding much on acrobasic programming language. If anyone has any useful resources, I would very much appreciate it.

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  • Sorry for the delayed response.

    The output from your cobot(assuming that it is a digital output) can be connected to one of the on-board digital outputs.  These digital outputs are referenced in the ACROBasic language as Bit0-Bit19

    So you can evaluate the Bit by something like 

    IF (BIT 1) THEN X/1080 ; If Bit 1 is true then incremental move for axis X 1080 user units.

Reply
  • Sorry for the delayed response.

    The output from your cobot(assuming that it is a digital output) can be connected to one of the on-board digital outputs.  These digital outputs are referenced in the ACROBasic language as Bit0-Bit19

    So you can evaluate the Bit by something like 

    IF (BIT 1) THEN X/1080 ; If Bit 1 is true then incremental move for axis X 1080 user units.

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