I have some problems in configuring EXT mode. kr10r900sixx / krc4 compact / kss 8.3.33 / PLC S7-1500.
1. KSS00249 $MOVE_ENABLE configuration not allowed ( screen 1 ) appears after reaching BCO and switch EXT mode. should I change $CHCK_MOVENA=FALSE ?
2. $CONF_MESS and $EXT_START are configured with the value $IN. This input is predefined always in Low state. When I connect it to a profinet input with WOV this error appears : "I/O driver PINO-DEV -> $IN  IOSYS_IN_TRUE/-FALSE configuration error" ( screen 2 ), So How could I set those inputs to 1 by the PLC program without mapping $IN? ( screen 3 )
yes to the first 1 or change move_enable to a signal you are using
the second looks like you have mapped over 1025 and this signal is default always high and 1026 is always low so DO NOT map your i/o over these you cannot write to them
Sorry to point out but, did you actually go through all the posts regarding the $EXT/automatic external configuration steps?
panic mode has taken atleast an hour to explain and present a very brief and crisp presentation of the steps required as below.
manual for system integrators shows what the signals are and handshaking sequence.
basically you need to configure CELL.SRC so each program that is to be called by PLC, has own number. CELL.SRC is already created for you, you just need to adapt it.
next thing is configuring I/O for autoexternal... there are quite few signals but only handful are essential.
robot inputs are:
PGNO_TYPE - format used to interpret program number (1=binary, 2=BCD, 3="1 of N")
PGNO_LENGTH - number of bits used to represent program number (1-16, if using BCD it must be multiple of 4)
PGNO_FBIT - first bit (LSB) in group of inputs that receive program number
PGNO_PARITY - specifies input number used for program number parity check (0= no check, positive number= even parity, odd number = odd parity)
PGNO_VALID - robot input telling when program number should be read
$EXT_START - input controlled by PLC to start robot program, if EXT mode is not used, map it to input 1026 (always false)
$MOVE_ENABLE - robot input allowing robot to perform motions. PLC can use it to stop robot when needed.
$CONF_MESS - input controlled by PLC to acknowledge messages
$DRIVES_OFF - inverted signal used to turn off drives (normally held true, drives go off when this is low). this signal may remain permanently mapped to input 1025 (always true)
$DRIVES_ON - pulse on this input powers up robot drives (if $DRIVES_OFF is true)
outputs from robot (inputs to PLC) are:
$RCY_RDY1 - controller ready (compound signal)
$ALARM_STOP - if true tells that all estops wired to robot are ok (circuit closed)
$ALARM_STOP_INTERN - same as previous but only reports internal E-STOP (pendant), does not includes circuits at X11
$USER_SAF - if true tells that gates are closed (operator safety)
$PERY_RDY - tells when robot drives are on (green "I" in "SIR")
$ROB_CAL - tells to PLC if robot is mastered
$STOPMESS - tells to PLC that robot has message that needs acknowledgement
$PRO_ACT - main program active (CELL.SRC)
APPL_RUN - user application running (program selected by PLC, subprogram to CELL.SRC)
PGNO_REQ - robot is ready to run application (just waiting for program number)
handshaking sequence is (PLC end):
set move enable
power up drives
present program number (and compute correct parity if it is used)
when robot requests program number, hand it over (by turning on PGNO_VALID)
start of operation on robot end is:
switch to T1
switch mode to EXT
And the signal diagram you have should help you what signals to pass and their state, while S7-1500 PLC should be already having a block to run this setup.
$CHCK_MOVENA if set to FALSE, MOVE_ENABLE signal can be bypassed.
$CONF_MESS and $EXT_START should be pulsed signals (Only Rising edge is evaluated for both) so the controller seems to do its job!
You are setting both of them to $IN --> Always LOW so the signals are never evaluated.
And just as the leg explained,
Follow the steps in the manual where you found the signal diagram in your post and it will tell you what you can and can't write.
PLC --> KRC can be written
KRC --> PLC are read only
Thank you for your reply.
I didn't Know that I can change $CONF_MESS and $EXT_START values from the KCP. [PROBLEM SOLVED]
Please check panic mode's reply in post below about changing the value of $CHCK_MOVENA.