Sorry, but I don´t understand you.
how do I can give an address to the variables inside a DB?
Sorry, but I don´t understand you.
how do I can give an address to the variables inside a DB?
first of all this is robot forum. questions about PLCs would be better answered in a PLC forum.
but the principles are the same, one should take training and read the manual.
all variables have names and - that is how they are accessed. Some of them may be part of DB but that changes nothing. for example:
I think what "bersihe" is wondering about is "optimized access DB-s" that no longer have a defined location in memory... therefor no specific "address"
They are called out by variable name.
But you cannot link a DB value in Siemens to a Kuka robot directly.
You may have a DB entry "MyValue" that is equal to "123" of the type "integer" that is 16 bits long.
Then you have an OUTPUT to the KUKA robot... a Tag in the Tag table, named "MyOutputToKuka" with an address like "%QW12"
That is essentially 16 bits starting from byte nr 12. So 12.0 ... 12.1 ... to 13.7
Then you use a MOVE block where:
INPUT is the "MyValue"
and OUTPUT is "MyOutputToKuka"
And you have to have your mapping done with WorkVisual so that the signals from Siemens PLC output will end up in the correct place for KUKA inputs.
NB! ... 32 bit Integers are better. By default Kuka then handles negative numbers correctly.
NB! ... You still have to worry about Big/Little endian.
My adventures in sending a signal to KUKA: How to access/use the Signal editor in WV
Display More1. Guys, there is absolutely no difference between mapping PLC's input to kuka's input either PLC's output to kuka's input. If configuration is set correctly and right, both cases have to show the same result.
2. Unfortunately, no one has explained, what "are you familiar with big/small endian?" is. No problem, I will google it after this post
3. As I have already mentioned, block of DATA (i/o) exchange have to be added and used in tia portal configuration. I didn't find any clear solution of my problem in the net,but fortunately I've decided to test it and it's finally given a result!!!
4. So, I guess that it would be respectful to all robo-programmers comrades to make a little resume of how it really configures.
Resume:
1. Load GSDML file of kuka, corresponding to your profinet version, into Tia Portal.
2. Make a configuration in the hardware, where siemens plc - master, kuka plc - slave.
3. Set start addresses of i/o in kuka's properties.
4. Create FC block. Add 2 networks withe following blocks- 1st - DPWR_dat, 2nd - DPRD_dat. Fill the inputs and outputs of these blocks. LADDER - kuka's module of inputs/outputs, which you've added inside you gsdml kuka device (device & network). RECORD - your DB for write data and DB for read data. RET_VAL - any variable of integer (#retval - example).
5.Call FC in the OB1.
6. Don't forget to set right IP addresses.
7. Might I've missed something obvious, but the most important steps inside Tia portal - are mentioned.
8. In Work Visual add PROFINET, make necessary setting (corresponding to previously set parameters in Tia Portal)
9. Mapping of outputs and inputs.You are able to map as master's inputs to slave's outputs as master's inputs to slave's outputs respectively.
Example:
- $IN[1] to ProfiNet input [10.0]
- $IN[2] to ProfiNet input 10.1]
- $OUT[1] to Profinet output [8.0]
- $OUT[2] to Profinet output [8.1]
10. Test dependence of kuka's I/O on master's I/O. If mapping has shown you what you've expected, everything is done!
Don't forget to deploy your projects
Good morning everyone,
This thread is old, but I'll give it a try with my first message.
It's the first time I'm working with KUKA (KR C5) and Tia Portal (S7 1200).
I've managed to establish communication. However, there are many signals that I don't know how to manage in the TIA Portal project. (attached a photo of signals....
In point 4, you mention that you have to create an FC with 2 blocks.... but it may be necessary to add some more... Can someone send me a template for TIA Portal V16-18?
Thank you very much for everything!
Depends on what you want to do, but just putting a GSDML in TIA portal and configuring relevant inputs in KRC should be enough for PROFINET. (PROFINET is what is being talked about here)
I have not worked with KRC5, but KRC4 is straightforward. If your S7-1200 is ProfiSafe you will also get the benefit of ProfiSafe. The GSDML comes with the ProfiSafe already configured.
Then, in WorkVisual you map ProfiNet inputs and outputs to the KSS $IN and $OUT and in the $config.dat (and elsewhere, $machine.dat and $custom.dat) you configure relevant signals that you want to $IN[...] and $OUT[...]
Then you can use these signals in TIA portal as if they were PLC's own signals. In tag library define relevant I/O tags.
For example, you want to use $T1 signal to let your S7-1200 know that the controller is in T1 mode, for whatever reasons you might have, disabling safety or whatever.
Then you need to configure, in $machine.dat, SIGNAL $T1 $OUT[xyzt], where xyzt is some number between 1 and 4069.
Then you need to map that signal in WorkVisual to a ProfiNet output. For example map $OUT[xyzt] to abc.d where abc is a number between 16 and 269 and d is a number between 0 and 7.
Then you see which %Iefg.h that particular input is in your Hardware Configuration in TIA portal and boom, you got yourself a tag $T1 %Iefg.h. (efg and h are numbers)
A more detailed explanation would require you already have a knowledge of TIA portal and so on, but I hope this sets you on a way, maybe not the best and simplest, but a way.
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