Hi all,
I am a total newbie to Robot Forum and also new to Kuka Robot programming.
We have a Kuka KR6R1820 with KR C4 Compact Controller (Welding application with Kemppi A7 (MIG)).
WorkVisual version V4.0.19_Build0098.
We have the robot working well with the Teach Pendant. Now we are looking at using an external HMI touch panel (Renu Electronics FP5070TN) with external IO modules for running the Robot program without the Teach Pendant.
The problem is the external HMI touch panel does not have a GSDML file as such but has 2 COMs for MODBUS & 1 Ethernet IO port.
We are left with limited information on how to integrate the IO from the controller to the external IO blocks. We can program the HMI to integrate to the external IO blocks. But we need some info/help/advice on Robot Controller IO to External IO block integration (pins,IO nos,commands).
Hope if someone could shed some light over our query.
We are just looking at running the robot to start/stop the weld cycle program at least for a basic heads up. So little help appreciated.
Warm Regards
N P
Please find the enclosed attachments for the current Digital IO mapping from wvs and our external HMI panel spec.
Kuka Robot IO Help?
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n0909 -
November 27, 2017 at 11:54 PM -
Thread is marked as Resolved.
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Well I guess,
On the right side of the IO mapping screen, You must select the fieldbuses and select the already assigned field device from which the communication is gonna happen.
Set the field bus to the HMI from which you gonna send and receive inputs and outputs. IO map with respective robot IO's and download.
You must be able to control from your HMI then.
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Hi nikhilpotdar15 ,
Thanks for your reply. The fields has the following
1. KUKA Controller BUS (KCB)
- cabinet interface board small robot (CIB-SR)
- kuka servo pack sr (KSP061 sr)
- kuka power pack sr (KPP011 sr)
- resolver digital converter (RDC)
- electronic mastering device (EMD)
2. KUKA System BUS(SYS-X48)
- CIB SR Safety Module (SION-CIB-SR)
3. PROFINET
- A7 MIG Welder RT Standard.How can I add my HMI without its GSDML file? Pls help/advice/suggest.
Thanks
NP -
i don't see how you could...
HMIs like this are meant to operate with PLCs and use so called transparent mode.
this means that HMI has functions to read/write controller memory directly.here is list of controllers your HMI can talk to:
http://www.renuelectronics.com/FP-NEW-MODELS-PLCs.htmi do not see KRC in there
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Hi panic mode,
Thanks for your reply.But we are hoping if we could run the robot using this external HMI using external IOs as the intermediates between them.
Like this... HMI --- Ext IO Modules --- KUKA Controller. ?Please suggest.
Thanks
NP -
you can definitely integrate some IO into your KRC.
Not sure how HMI would access them, HMI seem to only communicate with controllers.
instead of IO you can add small PLC, have HMI communicate with PLC and have PLC communicate to KRC. -
Hi panic mode,
Appreciate your suggestion.
But can the robot controller act as a PLC itself? (If yes, Whats the closest PLC it represents?)
And could you please give your possible solution to our problem with minimal effort?1.What's the ideal HMI to be used with a Kuka KRC?
2.Can I use a PLC from Renu Electronics? or Is there a limitation?
http://www.renuelectronics.com/FL005-Expandable-Plcs.htm3.In regards to PLC --- KRC communication. Could you please guide me through any reference guide I could follow?
Thanks
NP -
what fieldbus options you have on your KRC? does any of your PLC candidates have compatible interface?
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I think by memory the KRC has ProfiNET and EtherCAT. But the DTM catalog has a ProfibusDpV1CP5614. In that case we have the PLC gear for a ProfiBUS connection.
And the Kemppi A7 MIG welding unit has been interfaced under ProfiNET.
Thanks
NP -
Hi all,
Can someone please specify what IOs are required to the query I posted?
Thanks
NP -
All KRC4s have EtherCat, but can only support a limited list of approved (usually Beckhoff) devices added to that bus. You've stated that your robot has ProfiNet, but also that your DTM catalog has a ProfiBus device -- these two pieces of information do not add up, unless someone added a ProfiBus adapter to the EtherCat network, in which case you have three FieldBusses, not two.
Either way, unless your HMI can accept a ProfiNet connection (or ProfiBus if you have it), you probably cannot connect this HMI to the robot directly. If the HMI can accept EtherCat, it might work, but I would rate that as unlikely.
Probably the only way to make this work would be to add a PLC between the KRC4 and the HMI, one that would accept ProfiNet from the robot and "direct memory access" from the HMI.
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Hi SkyeFire,
Thanks for your response.
Your answer makes more sense and we have to re-think our HMI capabilities and other options (Like Beckhoff)
I will update again if we make any update/progress.
Regards
NP