ABB ROBOT Service/Task request handshaking and instruction execution between a PLC and a Robot

This is a presentation on a deburring ABB robot; the Robot utilises circular motion with linear and joint offsets for its deburring operation. The Robot receives service requests from a PLC on its ethernet network, acknowledges the request and notifies the PLC when the service request has been received and when its execution has been completed. Similarly, to optimise cycle time, the robot receives task requests from the PLC for specific tasks. The robot acknowledges these tasks and notifies the PLC when they have been acknowledged and when the tasks have been completed.