1. Connection Method
The detailed connection diagram of PLC and the IO module of the control box is as follows:
1) The brand of PLC used in this article is Mitsubishi, and the model is Fx3u-16M.
2) Since our digital output is an open collector, if the digital input of the PLC you use does not have a built-in pull-up resistor, you need to connect a pull-up resistor to each digital input of the PLC.
Register two events:
When CI0 is triggered, execute program A;
When CI2 is triggered, execute program B;
Conditions for PLC to trigger CI0 and CI2:
When the signal of CO0 changes, trigger CI0;
When the signal of CO2 changes, trigger CI2;
Use PLC to control the motion of the xArm:
When the PLC triggers CI0, execute program A;
When the PLC triggers CI2, execute program B;