HORST has a Profinet communication interface, which can be used to exchange data between a PLC and the robot. Profinet (Process Field Network) is a real-time industrial Ethernet protocol.
Through Profinet communication, the robot can be controlled and monitored by the PLC. HORST acts as the Client (Slave) and is controlled by the PLC (Server or Master). This allows for easy integration of HORST into an existing production line and enables communication with various peripheral devices. In addition to executing specific commands, there are customizable memory areas available for exchanging Int, Float, and Bool data types.
1. Data Types
16-Bit Integer
Storage requirement: 16 bits
Value range: -32768 to 32767
32-Bit, Integer
Storage Requirement: 32 bits
Value Range: -2147483648 to 2147483647
32-Bit, Floating point number
Storage requirement: 32 bits
Value range: 3.402823e+38 to -1.175495e-38
Boolean (Bool)
Storage Requirement: 1 Bit
Value 0: False
Value 1: True
Char
2. Profinet Output Data
The following chapters will explain the organization of output data. Output data consists of information transmitted from the robot to the PLC via PROFINET. Input and output data are transferred within modules, which need to be created during device configuration in the TIA Portal, as detailed in the creation of PROFINET modules.
2.1 Memory Allocation
Memory allocation describes how the data to be transferred is stored internally in the robot. The memory space is divided into 11 modules, each consisting of 64 bytes.
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Module : Time, version, initialization status, program status, robot status, popups.
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Module : Inputs, Tool-Inputs, Outputs, Tool-Outputs
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Module : joint angle position(Joints), TCP position(Pose)
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Module : TCP position
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Module : Float registers
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Module : Float register
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Module : Int register
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Module : Int register
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Module : Boolean registers, Tool
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Module : Current activity, error while changing activity
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Module : nextJoints, nextPose
Memory Allocation Overview: