did not understand this , What does it mean : "Pick drive that has interface your robot uses"
He wants to use the Profibus. What obstacles must be overcome?
How will the program code: start / stop and speed of rotation?
inverter to krc2
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widelec -
October 9, 2015 at 8:59 PM -
Thread is marked as Resolved.
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your previous post suggested that drive is supposed to have modbus interface (but KRC you have has DeviceNet and Profibu). did i misunderstood?
of course both devices must be on a same network to communicate. if you can choose, select components that have same type of interface. if you are forced to use specific parts that don't have same interface, use gateway that translates one network to another....
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Yes agrees inverter is Modbus and krc2 have DeviceNet, INTERBUS.
You write here the inverter and the kuka must be on the same network.
You can specify the gateway models, which translates into one network to another?
and possible difficulties with the configuration? -
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ok - much better...
so how do you want to control it? just start/stop, direction control, speed...?there is optional Modbus but i don't see DeviceNet options for this VFD so if you want to use DeviceNet, you will need to use Wago modules for example.
Another thing is that VFD inputs are 12VDC instead of usual 24V and on the robot you have no drivers enabled in IOSYS.INI.you can:
1. add DeviceNet I/O to your robot and test it.
2. use the robot outputs to control VFD (inverter), you can monitor status of the VFD directly since relay contact
3. if you like to adjust VFD speed from KCP, your DeviceNet I/O will also need an analog output among your I/Oto create DeviceNet network you can use MFC (which is always DeviceNet master).
you need to wire the bus using devicenet cable (shielded 4-conductor with overall shield) and two 120 Ohm resistors.
bus also need to be powered (i've used power from cabinet for many years even though it is 27.1V instead usual 24V).
make sure to install fuse on bus power (2-4A is common).
For I/O you can use bus coupler such as 750-306 with some digital IO (and analog if you like).
if the robot outputs are not isolated or you just want to play safe, you may use interposing relays (this will fix issue of dissimilar voltages).once the wiring is all done and no smoke is let out, you can do the configuration changes.
setup bus coupler to have unique node and same baud rate as MC. for example set dip switches 1 and 8 ON, everything else is off (this means 500kbps and node address is 1).then edit DEVNET.INI to use macid=1 instead of 5 (of use different dip switch configuration)
finally edit IOSYS.INI:
1. enable devnet driver by removing semicolon
2. map I/O to robot under [DEVNET] sectionfor example if your I/O block is consisting of 2x 750-402 and 2x 750-504 then you will need to do something like:
this is DEVNET.INI
This is IOSYS.INI
Code
Display More;.... ;.... [DRIVERS] ;MFC=0,mfcEntry,mfcdrv.o ;INTERBUS=1,ibusInit,ibusdrv.o DEVNET=2,dnInit,dndrv.o ; this driver is now enabled (semicolon on the left is removed) ;BOSCH=3,boschInit,boschdrv.o ;PERCEPTRON=4,percInit,percdrv.o ;SBIP=5,sbipInit,sbipdrv.o ;... ;... [DEVNET] INB0=1,0,x1 ; to byte0 (robot inputs 1..8) use DeviceNet node 1, no offset, map one byte OUTB0=1,0,x1 ; to byte0 (robot outputs 1..8) use DeviceNet node 1, no offset, map one byte
Hello
I followed towards your earlier advice, I have already wago 750-306 2x753-504 2x 753-504.
I do not understand some issues for example – different voltages, Which relay should be used? Can you give an example or link to a website?
Second issue- how to connect everything together, I have no experience, I did not do this ever. Mainly, I have a problem with the connection of inverter with the module.
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just wondering - is this some government project or similar? i mean this started more than half a year ago and you are starting to gather parts. in my world i would have parts next day and this would be all completed in a week at the latest.
so you have bus coupler 750-306 (good) and 4x output module. btw your output module part number indicates that this is bare module without connector (753-110).
do you have this networked and working? can you control all outputs from robot side?
relays are simple devices (coil that when energized, magnetically activates contacts). one of the bonus features is that they provide isolation so VFD and your control circuit can be galvanically isolated if that is needed.
relays must meet several requirements such as coil and contact ratings:
1. coil must be compatible with outputs that are going to drive it. your outputs are 24VDC so you need relays with 24VDC coils. do not use relays that have coils for 5VDC or 12VDC or 230VAC for example
2. current draw of such coil must not exceed current rating of your outputs. since we are talking signal relays, this is not a problem, but if you were to use some large contactor or so, you would definitely need to take this into consideration. here, almost any small relay will do so you don't need to worry about this.
3. contacts must be rated for voltage/current they are going to handle. in this case you are handling low current and low voltage so any contact will be ok. for small signals like this it would not hurt to get relays with gold plated contacts so that they don't oxidize. without gold plating relay contacts need some minimum "wiping current" to keep contacts clean. too large currect and contacts will burn or weld. in this case current is very small (5mA or so, whatever your VFD manual says).
4. all inductive loads must have suppression. in DC circuits suitable suppression is a diode (polarized device) or MOV (not polarized but must be sized). for small signal relays you should be just fine since stored energy is small and will be handled by built in protection of the output modules.
5. switching speed is a concern too. relays are not very fast and do not produce clean signal (there is effect called contact bounce). for this application, don't worry about this...
wiring will be based on information you collect from all the data sheets (VFD, Wago modules, Devicenet...).
for example:
- you should have Devicenet powered from circuit protected by fuse, breaker or even supplementary protected circuit (i am not sure about laws in your country... this is why you better get help from somone local)
- devicenet cable must be termineted on far ends by 121 Ohm resistors. there must be two resistors (one on each end of the cable)
- devicenet bus must be powered (it has 4 conductors plus shield)
- your I/Os must be powered too
- outputs of the wago modules are going to drive relay coils
- contacts of those relays will be used to signal to VFD what to do (start, stop, reverse,...), see green highlight on (https://www.robot-forum.com/robotforum/kuk…tach=7635;image)
- you can wire VFD outputs directly to your inputs (see blue highlight on above link)about relays, talk to your suppliers, any electrical supplier will have some in stock. here is a compact version:
http://www.automationdirect.com/adc/Shopping/C…Series)/RS4N-DE -
Hello
I think that I understand (and if I misunderstood, then correct me) This connection method will work only as start, stop, reverse?
I am looking for solutions for start, stop and work with certain speed, eg. 2000 rpm. Inverter has 3 inputs for tasks such speed but it is not enough for me, I want min. 10 entries, Do you know any way to do it? The network has not yet done, I do not have anything connected to the robot, I'm waiting for the cable and 121 ohm resistors and I have to order relays.
About the module, something more I need to have?, I do not understand this my English is a little weak - I quote “btw your output module part number indicates that this is bare module without connector (753-110)” – please explain me this
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The best option was to use vfd with suitable interface (devicenet).
Alternative 1 is to have AnyBus gateway to bridge different fieldbus networks (if VFD has one).
Alternative 2 is to use discrete io to interface with vfd (this option works with any drive)So far it looks like you are looking at alternative 2.....in this case you will need analog output of same type as analog input on your vfd. Analog allows you to change speed smoothly over wide range. Without analog signal you may be able to use 2-4 digital signals to select from set of preset speeds (if your vfd supports this - read the manual )
About modules - contact beckhoff and let them explain difference between 750xxx and 750xxx modules.
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Hello
I connected for test the WAGO, I took power from the outside. Wire I did, at each end I gave the resistor 121r 0,6w 1% 121 Ohm devnet.ini - I have set macid=1 iosys.ini- I unlocked Devnet - I am given below inb0=1,0,x1 outb0=1,0,x1 . wago modules 2x 750-402 and 2x 750-504 and of course the final module 750-600. The time has come for reconfiguration, and I get an error 1025 1034. You can tell what else needs to be done in this case? I never had contact with wago (the project is part science, catching knowledge about robots but it has to be for everyday use, the robot is supposed to work. If I make modules to the wago is a need to program, showing him with a new module? -
what buscoupler you have there?
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and how did you configure it? your INI files say that bus coupler has address 1, are you sure that:
a) same is set on the bus coupler and
b) selected bus speed matches INI files -
What do the Telnet diagnostics report? (forum search will turn up multiple discussions of these).
I don't think you can use MAC ID of 1 on slave devices -- IIRC, it's reserved for the Master.
Please post your IOSYS.INI and your DEVNET.INI
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when using MFC, master is node 0, so 1 is valid slave address (if that is how actual device is configured).
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Monday will try to send
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Quote
Revision 0000 Produce 0000 Consume 0000
SerNum 00000000 ProdNamevalue = 1 = 0x1
-> dnHow
undefined symbol: dnHow
-> dnshow
undefined symbol: dnshow
-> dnShow
Driver Version : 2.27.0.0
Scanner enable : stopped
Scanner State : ERROR
CAN Errors : 24
CAN OverFlow : 0
SystemTime : 3877502
[00] KRC State 00 Master none
[01] Warn 0 State 01:1 offline
Vendor 0000 ProdType 0000 ProdCode 0000
Revision 0000 Produce 0000 Consume 0000
SerNum 00000000 ProdNamevalue = 1 = 0x1
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1. where is the bus power? i see no power wires on either end of devicenet cable and you don't seem to use multitap module
2. your terminating resistor on I/O side is connected ... how? that is not right... those are spring cage terminals and when you force cage open (by resistor), you get poor connection on bus cable wire.
3. what are the physical settings of your bus coupler (mac address and speed) assigned through dipswitches? this must match your software configuration in DEVNET.INI
4. how about some ferrules and heatshrink tube?
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It started work the problem was trivial lack of power DevNet
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congratulation
now, if i only got beer for each thankyou...
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Hello
I have a one more problem , namely I want to protect the inverters, if the drives are not ready, WAGO should not give a signal to the inverter. I know how to do it in the WAGO but do not know where to attach in the robot cabinet. In another robot, I have connected module to the contactor drives in robot, and with no active drives the inverter does not provide power to the spindle. In this cabinet I have no space for the contactor (photo in the enclosure), I have no idea where and how to assemble it.
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did you consider interfacing through X11?
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