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9.
Interfaces
9.1
Digital inputs and outputs
The simplest connection, for example to a PLC, is possible via digital inputs and outputs. Each
robolink control system comes with a DIO module. See section 4.2
If additional inputs and outputs are required, up to two additional DIO modules can be
integrated.
9.2
PLC interface
The PLC interface enables the integration of the robolink arm into a production system
controlled by a PLC. By means of digital inputs, the PLC can switch the robot ready for
operation and start a programme. It can monitor the status of the robot via digital outputs. In
this way, the robot can work without manual interaction. Further details are available on the
Wiki wiki.cpr-roboter.de, section PLC interface.
9.3
Plug-in interface
CPRog provides a plug-in interface. It makes it possible to connect, for example, image
processing systems or PLC components. With various defined functions, the plug-ins
represent a bridge between programme execution in CPRog and external systems.
Example: The IFM O2D SmartCamera can detect taught-in outlines and transfer the target
position via Ethernet. The corresponding plug-in reads this position and transfers it to the
CPRog programme sequence. The robot can then move to the appropriate position and grip
the part.
The plug-ins can be provided by CPR, or they can be created on a project-specific basis.
Further information and C# example code for a plug-in can be found on wiki.cpr-roboter.de.
