Hello all,
I'm trying to control a KUKA KR6 R700 sixx through a PLC setup with the software TwinCAT 3.1 and the library mxAutomation. Below is the following setup (also seen on attached image 'physical_setup.png'):
CX9020 (ebus) --> EK1110 (RJ45) --> EL6695-1001 (ebus) --> EK1100 (RJ45) --> X65 on KRC4 controller
In WorkVisual 5.0 I made the mxAutomation V2.1.6 catalog option map all the 256 bytes of I/O as seen in the attached image 'WV_IO_mapping.png'.
The process data objects configuration is seen in the attached image 'PDO.png'.
The safety bytes are deactivated as the safety in this case runs over X11.
So the project was uploaded to the controller and it could be seen that mxAutomation was installed.
So at this point I believe that the WorkVisual part is done?
So in TwinCAT 3.1 I started out by creating an array of the DWORDS which I then linked to the 256 I/O bytes by using the 'Change Multi Link' option. This can be seen in the attached image 'Before_run.png'.
I also deactivated the 8 safety bytes in the EL6695-1001 'slot' option.
Now at this point I would believe that I could run the mxAutomation function block 'KRC_ReadAxisGroup' without any problems. But when I login and start the program I get the following error (as also seen in image 'After_run.png'):
'Box 5 (KRC4 secondary EL6695-10' (1004): abnormal state change (from 'OP' to 'SAFEOP') with code 0x1b, 'Sync manager watchdog'. Try to go back to 'OP'...
I tried changing several watchdog settings to give it a bit more time before timeout, but it did not help.
Does any of you guys have an idea of what could possible be wrong here?
Thanks in advance.
// Jonas J.