Hello everyone,
For the past few days I have been trying to set up Profinet communication between my KUKA KR4 Agilus KRC5 Controller and Siemens PLC, but ran into some problems.
These are my robot specifications:
-Kuka KR4 Agilus
-KRC5 Controller KSS 8.7.1
-Base system version KS V8.7.338
-WorkVisual 6.0.17
-Profinet version: KUKA.PROFINET S V6.0.2
My PLC is Siemens S7-1200, CPU 1214C. It's IP address is 172.31.1.222 and the robot PROFINET (virtual5) is 172.31.1.147. The KRC5 is connected to a switch through the KLI 6 port and the PLC is also connected to the switch. I can ping both IPs from my machine
These are the steps I have followed so far on robot side:
1. Downloaded the project in Workvisual, added a PROFINET module.
2. Set the device name to krc5, activated device stack (since I want it to be a slave device) with 0 safe IOs, and 256 standard IOs.
3. Mapped the PROFINET IOs to KRC IOs -> addresses 20.0 .... 51.7 to $OUT[1] .... $OUT[256] and addresses 21.0 .... 52.7 to $IN[1] .... $IN[256]. See 2nd attached pic.
4. Compiled and transferred to controller.
Then I took these steps in TIA Portal V15.1:
1. Added GSDML File to my catalog GSDML-V2.4-KUKA-KR C5-20201026.xml
2. Added the KRC5 device and connected it to my PLC through PN/IE_1.
3. Set the IP address of the robot Profinet interface (172.31.1.147) and device name krc5. Same as in the WorkVisual configuration.
4. Removed the 64 safe IOs from the krc5 device.
5. Changed the I address range from 16...47 to 21...52 and the Q address from 16...47 to 20...51 to match the address ranges in WorkVisual project.
6. Compiled and downloaded to PLC -> Go Online.
Following these steps I am receiving the following errors on HMI:
KSS00099: PNIO-DEV Read/write error.
KSS11011: Impossible to establish a connection between PLC and krc5 Slot 1 in 20000ms
KSS11011: Impossible to establish a connection between PLC and krc5 Slot 0 in 20000ms
On TIA Portal I can see both PLC and krc5 as accessible devices. But when I go Online there is a red warning next to krc5 that reads "not reachable".
One other thing I tried was use the default addresses of the device on tia portal (16...47), but that did not work either.
Any help is greatly appreciated.