I use my UR10e robot for machine tending. Communication with the machine is handled via a few cables, while the robot manages all other tasks, such as pressing buttons, opening doors, etc. I’m looking to optimize my process and achieve a more seamless integration between the machine and the robot.
I am considering implementing an I/O module with Modbus compatibility, featuring, for example, 16 inputs and 16 outputs, to be installed on the machine.
I’m interested in exploring this approach but need clarification on the necessary components. If the robot is set as the master, would an I/O module and a power supply suffice, or is a PLC required to control such a process?
I would also appreciate recommendations for suitable I/O devices that could fulfill these requirements.
With the robot as the Modbus Client (master) direct communication with a slave device is possible. This article details how to connect directly to a remote I/O block. I believe the specific device mentioned in the article is discontinued (pn:2832962), but it looks like this is the new version (Bus coupler pn:2688459 and I/O module pn:2702106). The manufacturer is Phoenix contact. Additional I/O cards can be added on if you need more I/O.
Additional optimizations including not having the robot to handle the physical tasks when interacting with the machine. (Opening the door, pushing start, etc.) Not only do these actions use valuable cycle time, but it is also really unnecessary for the robot to do. For example, wiring in a relay to bypass the physical cycle start button can usually be relatively easy to do and still allow for manual operation of the machine. There are also a couple of bolt-on style door openers on from UR+ partners.
Another thing to consider is to use 2 grippers on the robot. Essentially 1 for loading and 1 for unloading. This minimizes the number of times the robot is inside the machine by performing the unload/load without having to exit the machine.
I have used both versions and they work great with the robot as the master controller. The IFM variant enables you to do a lot more via IO link for example, which is a great protocol to have availible.
I just ordered a Moxa IoLogik E1212 8-Port I/O module. I think this is exactly what I’m looking for. Very excited to play with it. Thanks for the help.