If I have two KRC2 robots, both with CP1616 profinet card, will it be possible to have direct communication between the two robots (while each robot has its own IO)?
Kuka KRC 2 , CP1616
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Plc_User -
February 8, 2016 at 9:37 PM -
Thread is marked as Resolved.
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It should be possible. One robot would have to be the bus master, and the other the bus slave.
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Yes it's possible. In the simatic side configure to one robot Profinet Controller, one robot profinet IO device.
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The problem is, that both robots need their own IO on profinet (digital IO) next to the communication between the controllers.
Can the CP1616 be controller and device? -
Yes CP1616 supported Profinet IO controller or Profinet IO device. Modes selected from software (KSS or Simatic Manager)
Details:
https://cache.industry.siemens.com/dl/files/620/6…4-CP1616_76.pdf
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One robot could be a Master to the other robot, and to its own slave devices (grippers, weld guns, etc).
The other robot would be a Slave to the Master robot, but still be a Master to its own local slave devices.
However, for the KRC4 implementation of ProfiNet, multi-master is NOT allowed. That is, a Slave can only be slave to one Master -- no sharing. So if you have a Cell PLC that needs to be a Master to both robots, then direct robot-to-robot ProfiNet is not an option. You would have to set up pass-through for that I/O on the PLC.