Mapping I/O between : KRC - Ethercat Bridge EL6695-1001 - PLC (codesys)

Good day everyone,

Current Situation:

- PLC: Lenze (codesys) which is not safe

- KRC V8.3.42, ROBOT : #KR360R2830 C4 FLR, R1MADA: V8.3.511/KUKA8.3, SYSTEM BASE VERSION: KS V8.3.528

- The currenty safety interface is: X11 and X13, simple contact coming from SICK safety module,

- Ethercat Interface: X67.1 AND X67.2 inside the controller I have in sequence : EK1100, EL6695-1001,EL1809,EL2809

I have a the following problem:

I have a standard PLC with an Ethercat network. In the middle of this network there is the robot as described in the following picture

robot-forum.com/attachment/29381/

Given that the safety is managed by X11, I attach X44 to the X1 of the bridge (EL6695-1001).

Now, on PLC side, I upload ESI file of EK1100, EL6695-1001 primary, EL1809, EL2809. Then, I make a scan and I found the following picture:

All the network run perfectly

Now, I open WoV and :

1. integrate Beckhoff ESI files into WoV DTM catalog. (EK1100, KRC4 secodary EL6695-1001, EL1xxx, EL2xxx).
2. Upload into VoW the working project from KRC
3. Save this as new filename
4. in WoV activate project, I expand Bus structures and check if KEB is already there,
5. click on KEB and add EL6695-1001 secondary. then map all signals to KRC I/O.
6. then from WoV I deploy new project. all is fine, I activate it.
7. I verify that robot can move using X11 safety interface.

Now, as you can see from the attachement the list of I/O of EL6695 primary is different from EL6695 secondary. so the first question is:

What are the common bits/word/dword that the both share?

I tryed to rise to TRUE the first 2 mapped bit $OUT[1] $OUT[2] , but on PLC side there is not the same list.

So the big question is: How to integrate EL6695 on PLC and how to map?

Thanks in advance

Hi Panic,

Thanks for reply.

About EL1809 and EL2809: I don't really need of them, also because this I/O modules are not wired to any sensors or actuators.

When you say : "create sufficiently large data blocks to exchange data using EL6695" . You mean on PLC side ? I can create but, how to use it in robot side? There is no common item to be exchange.

What I need is to share bool/INT/DINT in order to allow the communication between PLC and KRC.

For instance the "START" and/or the "END".

For Example: when the robot finish a cycle, rise to True $OUT[1], so that the PLC can understand that it is arrived to the "END".

In addition to this simple Bool exchange, I want to be able to exchange INT or DINT.

The bridge should provide a common list otherwise how I can map the I/O

I suppose a something like that:

$OUT[1] mapped to -> BOOL1 in EL6695 secondary ----------- BOOL1 in EL6695 primary mapped to -> "VariableTest" on PLC

Actually this cannot be done.

The list of I/O that I can read on PLC side and on KRC side come from the ESI Files. So, I cannot modify it. There should be a common area to be exchanged.

I was thinking to modify the ESi file, but it is not correct.

I don't understand why things so simple become impossible. I really don't understand.

Thanks in advance

Hi panic,

Solved!

yes it is intuitive, infact I soon thought that default I/O was the Module 3.

But if you call "John" in primary, I expect "john" in the secondary.

However, I solved. The problem was on PLC. This type of PLC codesys-based require a certain configuration and declaration of the mapped variable otherwise The communication Not working.

Here the picture of the exchanged variable.

MAny Thanks for your support and for your time.