KUKA KRC4 with Ethercat Bridge EL6695 not recognized into ethercat network

please make sure to post robot question in the discussions forum, not in the manuals download section.

also read pinned topic READ FIRST. among other things this means state versions of your software and hardware.

your attempt to network PLC and KRC is of course a complete mess. you need to follow manufacturer's guidelines, state exact version of software, hardware, connections, type of interface etc.

for example you did not state if you only need to share standard signals or also safety signals. you also did not state which version if EL6695 you have. one from Beckhoff or one from Kuka and if your ESI is correct one for unit you are trying to use.

EL6695 module from Beckhoff will need ESI from Bechhoff.

EL6695-1001 is from KUKA and needs ESI from KUKA.

also if you plan to safety signals, you must use EL6695-1001 from KUKA. in that case also primary side (EK1100) must be connected to KRC, not to PLC. PLC must be connected to secondary side of EL6695 (ports on EL6695).

if you do not need safety signals (your robot has X11 for safety), then you can swap the primary and secondary side but the other modules connected to EK1100 will be controlled by PLC, not KRC.

each master (PLC and KRC) will need to integrate correct ESI depending on connection:

when KRC connects to primary side, use ESI for primary side, otherwise use ESI for secondary side.

when PLC connects to primary side, use ESI for primary side, otherwise use ESI for secondary side.

Btw, X67.1 and X67.2 are not KEB, they are KLI ports. this means your EK1100 need to connect to X65 (if IO are external) or directly to X44 (if IO are internal).

PLC cannot recognize KRC. KRC is not part of ECAT network that PLC can scan. PLC may be able to detect secondary

well, if you want to integrate something with the robot, you may need to shine some light into that black box... without knowing what you are doing, it is unlikely you can make it work. you need to check details before you can make things work. that includes reading supplied documentation, reading marking on the devices etc. most of this is explained in pinned topic READ FIRST.

you still did not read previous response or answer all questions.

if you are asking for help, please try to answer all questions.

1. What is the current safety interface of your KRC4?

2. is your PLC safety PLC or not? and if it is safety PLC are you trying to use FSoE or not?

3. what are all of the product versions that you are working with? hardware and software.... there are bunch of KRC4 editions, WorkVisual versions, KSS versions, etc. read pinned topic READ FIRST before posting and make sure your question is clearly defined. "some KRC4", "some KSS", "some WorkVisual" is not nearly specific enough. make your posts and questions count... or the thread will go nowhere as more people get frustrated with lack of info (i tend to get tired of it as well - usually after already posting three or so responses).

btw. if you need a lot of handholding, consider hiring someone. robots are capable of doing significant harm and damage, that is why operation (and specially commissioning) requires specialized training.

4. if the I/O was purchased from KUKA as part of the robot system (I/O not added in after robot system is received from KUKA, for example by previous user) then the "EL6695" that you see is the Kuka version and full name is supposed to be something like EL6695-1001(note suffix "-1001" or whatever). This is a special variant of the product made specifically for KUKA and has different functionality from original variant from Beckhoff ("plain" EL6695). This unit is meant to be used as FSoE safety interface of KRC4 when interfaced with Beckhoff safety PLC. Note that KRC4 will force operation with FSoE if primary side of the bridge is connected to KRC4. (this is when EK1100 connected to KRC4 like in your case).

But so far FSoE only works with the Beckhoff safety PLC - which you do not have. So if the bridge is indeed the KUKA version, you will not be able to use it as currently wired. To make it work with your PLC, you will have to rearrange internal connections so that secondary is connected to KRC4. Or you will need to replace that bridge with a plain one (either EL6692 or generic EL6695 from Beckhoff).

Btw. i always find it rather amusing when people ask silly thing like "i have product from XYZ, where do i find files for it?". i would really like to know where those types think where exactly one would find the files... immediately my fingers itch to type something sarcastic like... "try Dell, Starbucks, local post office, butcher shop or talk to your car mechanic..."

Device description files, documentation etc are all obtained from actual device vendor. You need to know who makes and distributes device and check resources that they offer (website downloads/ client support line).

if you are trying to get Device Description Files for something made by Omron, go to Omron.

if you are trying to get Device Description Files for something made by Beckhoff, go to Beckhoff.

if you are trying to get Device Description Files for something made by KUKA, go to KUKA.

if this is not obvious enough, please consider doing something else, should stay away from robots.

KRC4 configuration is done with WorkVisual which is tool made by KUKA. It can be downloaded from KUKA website. Once it is installed, it will also include catalogs of all KUKA devices. Also there will be a folder with Device Description Files so KUKA devices can be integrated into other systems - including EL6695-1001. This too has been mentioned numerous times on the forum.

Try to identify component. in some cases you may have to remove it to see details, specially on components that are small. in those cases front is usually populated with connections or display so marking may be printed on the side. this is not different for Beckhoff modules. special variants exist for many things, including DeviceNet slave, ProfiBus slave, etc. ... or products made specifically for other companies like KUKA, such as EL6695-1001.

Products with different revisions can be seen in WoV catalog. Normally this is not critical. I usually just pick the most recent one (highest number). If you want to be pedantic, select revision that matches what is printed on the module. Some revisions are not ok. For example there was DeviceNet slave that would not work. Problem was in the module itself (i think Rev18 or so), not the ESI. Therefore solution was to replace module with different revision. Only handful of such products made it to clients though, but it shows how important details can be when identifying product. Such things are not limited to I/O, there are details and problems with many products (software or hardware) so listing full version may be important.

WoV manual and help offer details on integrating IO. This was also discussed many times already so do your research.

Bridge is configurable device - you can configure different I/O size. maybe scan does not work until this is set so if you do want to scan, maybe configure the primary side first. i don't really care for scan and always configure things manually.

Here is an example of configuration with FSoE interface - because primary is connected to KRC4 and it is a KUKA bridge (note the icon is different).

but as mentioned, you would need some changes to make this work.

i hope this image illustrates it:

but... KRC must have a safety interface. so if you make changes like in alternate configuration, FSoE is no longer available and your controller no longer has safety interface (and robot cannot move any more - even in StartUp mode). Solution is to add another safety interface such as CIP safety, ProfiSafe or X11.

Hi,

We run all our robots via this topology. FSOE is also configured via a 6910 Safety CPU.

The El6695 must be a revision number:

0003

Mike

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For me the things are simple. You sell me a product, so you give me all the tools to work it. I cannot googling everything.

you don't have to. take KUKA training or hire someone that already took the training.

robot system is just a component. it still need to be integrated with other things to make a cell.

compared with cars, you did not buy complete car, you got the engine only. to turn that engine into a car you need some other parts, tools, skill and time to complete the project.

if you want turn-key solution, don't buy components, buy complete and ready to use cell.

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Referring to your last picture. The network is like the one on the left side, but the PLC is not safety.

i know but that will not work for your PLC. also if you change PLC, you will need to rewire all safety signals from KRC4 X11/X13 to your PLC I/O. there must be one (and only one) safety interface. in your case that means using either FSoE or X11/X13.

or...

replace EL6695-1001 with EL6695

or...

rearrange EtherCat connections like shown on the right side since your PLC is not a Beckhoff Safety PLC.

this is a free forum where people donate their time to answer simple questions and point people in the right direction. this is not a substitute for formal training. it is meant for self sufficient types that can do things on their own and don't mind investing own time to learn something new.

to get formal training, take some KUKA courses. each of them is about a week long and some $2500. after few of those you will know exactly how to map IO, program robot etc.

if you don't want to invest in that, and don't want to research on your own, just hire someone else to do it. this is done all the time. then you can ask questions and see how things are done so maybe you can do this on next installation.

you can of course contact KUKA and same guy that sold you a robot will be able to explain how come your controller has both FSoE and X11/X13 since only one of the two can be used. he can also offer quote for local KUKA tech to swing by and resolve the issue. normally any service charge is min. 4h plus travel etc. but rate varies by country etc.

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I need , possibly, without making nervous none the step of action, for example:

step 1 : connect PC to X?? port of kuka

step2: open yyy software,

step3: etc...

such detailed instruction would requires someone to sit down and write all this for you, every click, etc. or make a video tutorial. this takes time and costs money. i am on holidays but perhaps i could do that for appropriate compensation. say 4h with friendly holidays rate of $250/h is a nice round sum of $1000USD to start.

this is what i would do:

1. create full backup of the controller as is (archive, krcdiag and hdd image). to create image you need Kuka USB Recovery stick

2. on KRC4 side determine what safety interface is actually used. (Configuration>Safety Configuration>...). it should be X11 (parallel safety interface). if it is not, you need to complete conversion to make it X11.

3. swap EtherCat cables EK1100/EL6696. all of them are using RJ45 connectors and will easily reach the other module which is only few cm away. this allows to use existing hardware without any additional purchase

4. share D:\ of the KRC

5. connect your laptop to KLI port. make sure your laptop uses compatible network settings.

6. map that shared drive as a new drive on your laptop

7. install WoV on your laptop (copy should be on D:\ or download it from KUKA.COM)

8. integrate into WoV all KOPs from your KRC4 (also found on D:\)

9. integrate Beckhoff ESI files into WoV DTM catalog. you can get them all but this will just create clutter and slow your WoV. better, integrate only parts you will e actually sing (EK1100, EL1xxx, EL2xxx). This is done from menu File>Import>DeviceDescriptionFiles.

10. use WoV to get working project from KRC

11. save that as new file name

12. in WoV activate project, expand Bus structures and check if KEB is already there, if not add it (SYS-X44)

13. click on KEB and add EL6695-1001 secondary. parametrize it as needed, then map all signals to KRC I/O.

14. on KRC4 you need to login, make sure no program or menu is open, then from WoV deploy new project. if all is fine, activate it. if needed activate safety configuration too

15. confirm that robot can move using X11 safety interface. if so robot side is done.

16. on PLC side import KUKA ESI

17. on PLC side configure new node consisting of EK1100, EL6695-1001 (primary), EL1809, EL2809

18. parametrize EL6695.1001 and map all signals to PLC I/Os

19. deploy and activate PLC project.

20. if ok PLC side is done

21. test I/Os. toggle PLC outputs and confirm robot inputs are showing the same states. then do the same in other direction.

Quote from zintonio

.. The right click of the mouse inside smartpad , How to do it?..

No right click, but minimize the HMI in the setup menu after changing user level to at least safety admin (or whatever the english name for the higher user level is).

Smartpad is a own simple device that connects by remote desktop to the KRC.

El6695-1001 is a different hardware than EL6695 from Beckhoff?

it is a different product. hardware could be the same but firmware and device description file are definitely different

What i dont understand is this

WOV tree :

And this is the wov tree...

What firmware is your EL6695????????

Only firmware I have seen from KUKA is:

0003

And we use this revision is 5 cells we have done to date.

is this really correct module? show picture of the label on the module side. show picture of IO block as mounted (EK1100 and EL6695). also is bus physically connected as setup in WoV project?