VASS standard A/E41-56 robot interlock signals and A/E81-96 are used for robot and PLC confirmation of interlock deactivation signals. Each robot standard has 16 locking commands available, which are permanently assigned to I/O. The corresponding locking input must be queried under online driving conditions. 1. Entering the safety zone: If "Blue" enters the safety zone first, it should first deactivate its own safety signal to "Yellow," and then wait for "Yellow's" safety signal while working in the safety zone. If "Yellow" enters the safety zone later, since "Blue" previously deactivated its own safety signal, "Yellow" can only wait for Blue's safety signal to be issued again.
2. In the safe zone: If "Little Blue" is in the safe zone, it will always wait for "Little Yellow's" safety signal. If "Little Yellow" enters the safe zone later, since "Little Blue" previously turned off its own safety signal, Little Yellow can only wait for Little Blue to send its safety signal again.
3. When leaving the safe zone: If "Little Blue" leaves the safe zone, it should first send a safety signal to "Little Yellow" to release the interlock signal. After "Little Yellow" enters the safe zone, it should close the interlock signal and wait for Little Blue's safety signal.
PLC control of the robot interference zone:
VASS standard uses interlocking standards: interlocking diagram, defining the IO range used for interlocking between robots.
FB207 Robot Interlock Signal Control: The robot can be configured to issue an interlock release signal by default when it is in its original position.
Issue the interlock condition:
Interlock disabling conditions:
This module coordinates lock queries between different robots. To prevent deadlocks, robots issue lock queries before entering the lock zone, or wait for acknowledgment signals via SPS. Each robot has 16 robot-locked connections. Before entering lock zone 1, a robot issues a lock query bit signal "Ver_Afn.X0"; in lock zone 2, it issues "Ver_Anf.X1"; and so on. Parameter settings can be configured for up to 16 robots. If one robot issues a lock query, it will immediately receive the corresponding acknowledgment bit. If two robots issue lock queries simultaneously in the same loop, the robot processed first in SPS will receive the acknowledgment bit. The other robot must then wait until the "first" robot abandons the lock query or receives the acknowledgment bit. The data locked by the robots is stored in a data structure and connected to the module's IN/OUT variable "ST_ROBVER". The parameterization of this structure is accomplished through the module's parameterization. Therefore, values need to be provided to the input parameters "Ver1_Rob"..."Ver16_Rob". Additionally, this module can prepare the robot's trip signals. These trip signals are constructed based on the module's inputs "Stell_Frg", "PF0", "SAK", and "ohne_Rob". "Frg1_an":= "ohne_Rob" Or ("SAK" And ("Stell_Frg.X0" Or "PF0")); ... "Frg16_an":= "ohne_Rob" Or ("SAK" And ("Stell_Frg.X15" Or "PF0")); Release interlock signals 7: A41 = EIN 9: A42 = EIN 11: A43 = EIN 13: A44 = EIN Close some interlock signals and begin operation in the interference zone. 30: A81 = EIN Used to request the interlock signal to be turned off. 31: A83 = EIN 32: SPSMAKRO20 = EIN Turns off the interlock signals of A41 and A43. 35: FB PSPS = E41 & E43 Waits for interlock signals from other robots before entering the interference zone. After leaving the interference zone, the interlock signal is sent again. 4: A41 = EIN 6: A43 = EIN FB PSPS = M1 & M30 The robot no longer needs to wait for interference signals. -------------------- A41 = A41 + A81 Sends A41 again... A56 = A56 + A96 WARTE BIS (E81 + !A81) & (E82 + !A82) & (E83 + !A83) & (E84 + !A84) & (E85 + !A85) -PLC checks if settings are correct-
WARTE BIS (E86 + !A86) & (E87 + !A87) & (E88 + !A88) & (E89 + !A89) & (E90 + !A90) WARTE BIS (E91 + !A91) & (E92 + !A92) & (E93 + !A93) & (E94 + !A94) & (E95 + !A95) WARTE BIS (E96 + !A96) WARTE BIS (E41 + !A81) & (E42 + !A82) & (E43 + !A83) & (E44 + !A84) & (E45 + !A85) -Check if the E41 interlocking robot is allowed to enter-
WARTE BIS (E46 + !A86) & (E47 + !A87) & (E48 + !A88) & (E49 + !A89) & (E50 + !A90) WARTE BIS (E51 + !A91) & (E52 + !A92) & (E53 + !A93) & (E54 + !A94) & (E55 + !A95) WARTE BIS (E56 + !A96) A41 = A41 & !A81 - If A81=1 is given, A41 is turned off - If A81 is not given, A41 is not turned off A42 = A42 & !A82 ......... A56 = A56 & !A96 A81 = AUS Turn off A81 Request to turn off PLC signal........ A87 = AUS
