please consider doing this in stages. any engineering task requires focus and problem solving in steps. reading manual is one of the first things to do (commissioning stages are well documented). For example you can:
1[size=2]. commission robot (check mastering, teach tools and bases, enter loads, configure external axes etc.) and make sure everything works[/size]
[size=2]2. [/size][size=small]configure fieldbus hardware so that signals are mapped through (both ways). this means when you turn on output on the robot, you can see signals change in GW and in the PLC. also when you turn on output in PLC, you see the signal change in GW and KRC. Make sure all I/O are commented (plan for AutoExternal signals and reserve some spares, specially if you are not sure what you need).[/size]
[size=2]3. write and test robot programs (first at slow speed then at AUT).[/size]
[size=2]4. configure CELL and configure AutoExternal interface.[/size]
[size=2]in your case you are still trying to get fieldbus working. i don't recall when was the last time i used AnyBus gateway but it has manuals, configuration interface and diagnostic interface so you should see communication from GW to each side (PLC and KRC). [/size]
[size=2]1. Can your GW talk to PLC? Is this side ok? If not what settings are used at each node?[/size]
[size=2]2. same is for communication KRC4 to GW....[/size]
[size=2]so network from KRC4 to GW is ProfiNet.[/size]
[size=2]what is network from GW to PLC?[/size]
[size=2]why do you need GW? Please read READ FIRST. YOU need to do some homework, ask the right question and ... provide DETAILS. [/size]
[size=2]"plc" is a very generic term, there are hundreds of PLC types out there[/size]
[size=2]"anybus gw" is also a very generic term, there are many many gateways.[/size]
[size=2]"welder" .... same story... we cannot read minds.[/size]
[size=2]if you don't provide DETAILS, we cannot give you specific answers (lookup "GIGO").[/size]