DCS CIP Safety Question

    Hi Everyone,

    I am new to Fanuc robot, I have a question about the CIP Safety singal setup, please hlep!

    The plc is ab l36erms, robot controller is r30ib plus. I already have it configured in the plc program, the connmunication is good.

    In the comunication setup, there are two bytes for safety input and output. My question is how can I link these input/output to phyical ESPB, EES, and EAS?

    The other job I did use hardwired to ESPB, EES and EAS, so that is the reason I am wondering.

    Thank you!

    You don't. Leave the jumpers in and use the Safe I/O area under the DCS menu to connect the safety level input/outputs appropriately. The DCS manual goes over what the bits do.

    Here is an example I've used on a past job:

    Code
    C_SVOFF   Servo off command                          SSO[1]=CSI[1]
C_FENCE   Fence chain ok                             SSO[2]=CSI[2]
C_EXEMG   External Emergency chain ok.               SSO[3]=CSI[3]
C_SVDISC  Servo disconnect                           SSO[4]=CSI[4]
C_NTED    External enabling device.                  SSO[5]=CSI[5]
OPEMG  Either of the robot's e-stops are depressed.  CSO[1]=SSI[6]
AUTO   Robot in auto.                                CSO[2]=SSI[7]
T1     Robot in T1 mode.                             CSO[3]=SSI[8]
T2     Robot in T2 mode.                             CSO[4]=SSI[9]
NTED   Deadman is being held in center position.     CSO[5]=SSI[5]

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

    For SEO/help for people in the future: This is how you would set up an external E-Stop or ESTOP or estop using Safety Over Ethernet or CIP safety for Fanuc robots. Spent a day trying to figure this out, so appreciate the struggles of people in the past. Thanks!

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