I have a Agilus R1100 sixx and a KRC4 Smallsize with CIP Safety communicating with an AB Compact Guardlogix PLC. I have the comms up and running and all my data is in the right place, both safe and standard. I have all of the safety stop signals set correctly and I can run the robot in EXT mode, but when I switch to T1 I get a KSS00404 Safety Stop on the controller and I can't get the drives on. I've seen other threads with this same problem on ProfiSafe, but none of them have mentioned details about resolving the problem. I've been unplugging the comm line and going into Start Up Mode to teach my points, but at some point I need to hand this over to a customer and "just unplug the comm line" is not an acceptable maintenance methodology. Any ideas?
KRC4 Smallsize CIP Safety T1 Safety Stop
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atlandroid -
July 21, 2016 at 1:22 AM -
Thread is marked as Resolved.
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Some more points of info:
Robot has SafeOperation option, but it is not currently enabled.
Safety interface is set up for 8 bytes. I've tried it with both 2 and 8 bytes and the result is the same. -
It sounds like your CIP master is not sending the safety signals when you switch to T1. Who's programming that PLC?
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I am programming the PLC. I have all the safety stop/e-stop signals forced high right now for debug purposes. And if I drop another stop signal, i.e. the external e-stop signal, then that will show up on the robot as well. Otherwise I've copied the safety interface from a program I wrote last year for a KR1000 with a KRC4 Extended controller also over CIP safety, and that worked just fine, so I'm curious what is different here since in theory the interface bits should be the same.
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Is the robot configured to require a separate safety-reset button, or to auto-recover from a safety fault when the PLC asserts the signals?
Is this robot using SafeOp?
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when SafeOp is not enabled, it does not matter if you have 2 or 8 bytes selected for CIP safety because Basic Safety is contained in the first two bytes. remaining bytes are for needed only for SafeOp.
what are the states of all Basic Safety signals when you change mode to T1? are you sure your PLC side logic is ok? Can you post it?
Even if robot is T1 mode, you must still get TRUE value for:
- External EStop
- Drives Off
- External Enabling Switch
- Move enablereset button (Ack. Operator Safety) does not apply in T1/T2 mode since operator safety input is ignored in those modes.