Anybus X-Gateway Ethercat Slave Cannot be started.

    Hello,

    Controller: KRC 4 Compact
    Robot: KR6 R900 Sixx (C4SR FLR)
    KSS version: 8.3.28

    I want to set upp the communication between the Gateway and the robot. I got ESi file (device description file) for ethercat from Anybus with PDO's included. Installed it to the WoV and Added the Anybus Gateway Slave under the Extension bus (SYS-X44) in the WoV project tree. Network cable from Gateway is connected to X65 on the controller.

    In the Config>Inputs/Outputs>I/O Drivers the Ethercar I/O SYS-X44's state is grey...

    Mapped some I/Os and deployed and restarted it with reloading files, before after the restart got two Error messages poping up.


    KSS13080: SYS-X44 Ethercat Device - Anybus X-gateway - Slave cannot be started.
    KSS00099: Error on reading/writing: SYS-X44


    I know there is a comunication error between robot and the gateway but i have no other ideas on what the cause could be.

    Any help or advise on how I could fix this problem?


    Kind regards
    Apachekaplan

    Kind Regards<br /><br />ApacheKaplan21

    Edited once, last by ApacheKaplan21 (May 29, 2019 at 10:52 AM).

  • Go to Best Answer

    Is the Anybus Gateway a whitelisted device in KUKA's ECat devices list?

    The last time I used an Anybus product, it turned out I also had to buy AnyBus's software to configure the Gateway before it would communicate. That was for a DeviceNet/Profinet bridge, but I suspect Anybus uses the same basic model across their product line.

    Hello,

    Skyfire: Yes I have already done that, waiting for a reply from KUKA Support.

    Panic mode: I want to exchange data to a PC Master in our project, where the PC is sending out different tasks to the robot. But in this case the robot itself is a master. And we need realtime communication between PC and Robot to secure that the information that is sent between these two are sent and recieved at a specific time.. and because pc is using modbus tcp as protocol and robot ethercat.

    Kind Regards<br /><br />ApacheKaplan21

    Hello ApacheKaplan21,

    Have you solved the problem?

    We have a similar problem.

    using KRC4 controller with Iontech robot, KSS8.6

    trying to connect laserhead controller with ANYbus ( AB7311 Can-Ethercat communicator)

    the equipment supplier sent the attached xml file ( is not including PDO's) and we can not connect.

    Does Kuka require PDO definition in the xml files?

    ( ın the same robot we can connect to other ethercat devices without problem)

    Good morning,

    Has anyone ever tried the Anybus ABC4016 or old AB7901 card for an exchange protocol between a KUKA KRC4 and a MODBUS TCP API with ETHERCAT/MODBUS gateway. If I read ApacheKaplan21 and Asan Hekim's post, they seem to have had some difficulty. Did you solve your problem.

    thank you to all of you

    I've not used AnyBus gateways for that particular situation, but from other experience I know that the AnyBus devices have to be configured (using AnyBus's software, which is an additional expense) before they will communicate with anything. The AnyBus documentation is not terribly clear on this point (or wasn't, a few years ago), and I fought with it for days in the belief that I only needed the Rockwell RS-Lynx software to perform the Ethernet/IP configuration.

    KRC4s have had a history of being very picky about what EtherCat devices they will connect to. Early on, they would only work with a short list of Beckhoff devices. That list has expanded over the years, but I don't know if the AnyBus gateways are on that list.

    Well, with the KRC acting as an EtherCat Master, you'll need a valid .ESI file to import into the WorkVisual Project. That'll be the first and most critical step. If the ECat side of the Bridge is configurable, you'll have to generate the ESI file using the web page or the AnyByus software.

    Then there's the question of whether the KRC4 will accept that file, which is a KUKA Support question, unless someone who's already done it chimes in.

    The ModBus side of the Gateway will need to act as a Master or Slave, and your ModBus device will need to be set opposite (M/S or S/M). That will entail a separate configuration on the Gateway and the ModBus device.

    Quote from KIDY

    Yes that's what I'm waiting to know from Kuka, if the ESI file will be supported on the workvisual side.

    I also started HMS through this thread:


    https://forum.hms-networks.com/t/x-gateway-et…ff-ek1100/21645

    Hello KIDY, ApacheKaplan21

    I'm also wondering whether to use EtherCAT Slave - Modbus TCP GATEWAY.

    Have you resolved this issue?

    I've read HMS topic, where support team has provided .xml description file, but there is no information about if this had resolved an issue or not.

    What is your situation? Write me back, please.

    Regards

    • Best Answer

    Good morning,

    I used a HMSABC4016 - HMS

    I had no problem with the xml file provided by hms. It is well supported by KRC4.

    On the other hand, the problem that I encounter and that I have not solved (I did not try very hard to solve it), is that if I turn off the cabinet, I have to unplug and reconnect the ethercat to recreate communication. If you find the solution, you will tell me.

    Benoit

    i think but this is purely speculation that you could try to decouple & couple the ethercat device to get it alive on the bus again. Or decouple it before shutting down the controller. I think the device would have to be configured as couplable in workvisual.

    Something along the lines:

    IOCTL("SYS-X44", ..., ...)

    Or if you just want to avoid restarting the controller, try resetting the ethercat driver from the hmi.

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