YRC1000 ArcWorld Operator Stations with Thumbwheel Switches (TWS)

In YRC1000 we have some Operator Stations (Op Stations) with dual Thumbwheel Switches (TWS).  In this implementation our software and logic only allows data from one set of TWS to be monitored or read at a time.  This is an I/O limitation that we have worked around by using a relay for multiplexing.

The AW6000 manual (191548-1CD) explains the general implementation and usage in section 2.3.10:

Several operator stations are offered for use with this robotic system. Some of the operator stations include thumbwheel switches. When included the thumbwheel switch can be used to select a specific robot job to run, often this is correlated to a particular series of parts or fixtures at the customer's installation to allow quick selection and change over parts without use of the Programming Pendant. The value from the thumbwheel switch is stored into an integer variable so it can be referenced by a supplied job logic. This could also be echoed to a PLC or HMI for other purposes.

•  When using a one switch thumbwheel the value is stored in integer variable I091 and controls the job on both side A and B.
• When using a two switch thumbwheel, each thumbwheel controls either side A or side B. Only one thumbwheel can read and update an integer variable at a time, both do not occur simultaneously. The robot software reads each value in the following ways:
  • If side A of the Positioner is at the robot, then thumbwheel A reads and updates integer variable I091.
  • If side B of the Positioner is at the robot, then thumbwheel B reads and updates integer variable I092.
  • If the Positioner is sweeping side A to the robot, then thumbwheel A reads and updates integer variable I091 as the Positioner starts to sweep.
  • If the Positioner is sweeping side B to the robot, then thumbwheel B reads and updates integer variable I092 as the Positioner starts to sweep.

However, there may be other cases were a customized cell could use this operator stations.  In that case additional concurrent I/O changes are required.  Specifically these rungs of ladder changes should be added to the change file:

STR #81322          //MS-OUT03 - S1 (Trunnion) B-Side at Robot(s)

PLF #78056          //S1 Leaving B-Side PLS

//

STR #78055          //S1 Leaving A-Side PLS

OR #81322           //MS-OUT03 - S1 (Trunnion) B-Side at Robot(s)

STR #32707          //UNIVERSAL OUTPUT #2144 -"OP1-SIDE-B-TWS"

AND-NOT #78056      //S1 Leaving B-Side PLS

OR-STR

OUT #32707          //UNIVERSAL OUTPUT #2144 -"OP1-SIDE-B-TWS"

This ladder logic is needed to manage the relay inside the operator station enclosure.  The logic is included as a standard in AW2000 and AW6000 type systems.