Hi, trying to connect my first robot Kuka !
Here are the hardwares/software for the robot :
- KRC4 with KSS 8.6.5
- KUKA.Ethernet/IP 4.1.3.1
- SafeOperation 3.5.2.25
- WorkVisual 6.0.22
And for the PLC :
- Schneider TM241CE40T/U (The PLC)
- Schneider TM4ES4 ( Just a Switch)
- Using Machine Expert 2.0.2 Software
My goal is to have CIP Safety and non safety communication with my PLC Master.
I have seen a lot of post speaking of a specific AOP but only for RS logix...
I am using a switch ethernet extension on my PLC and, my laptop, my robot (on X66) and my PLC are connected to it.
I am able to connect to both the robot and the PLC with my laptop.
So i tried first to make only the safety side :
I followed the Kuka.Ethernetip procedure, in Workvisual I added the Ethernet/Ip Scanner in the Bus Structure and configure the Different adresses to match every device.
Robot : 172.31.1.147
PLC : 172.31.1.151
Laptop : 172.31.1.149
On the PLC side : I add the Ethernet Network -> I add an Industrial Ethernet Manager and use the EDS file for adding the KRC4 Safety connection module.
With the EDS file, the connection was preconfigured I just had to decide between the 2 bytes and the 8 bytes size. Fortunately PanicMode state in different posts that with SafeOperation the connection need to be 8 Bytes.
And that's about it, I Deployed the Wov project, Start the PLC, and nothing. On startup of the robot I have some errors message on the smartpad :
- Safe Device Communication error PLC_SAFETY (the name of my local safety slave)
- Connection Between PLC and PLC_SAFETY terminated
- And a big red Ribbon "Emergency Stop Only Local"
Errors that indicates that my connection isn't working.
I tried same method but replace safety with non safety, so configured slave 1 instead, mapping some IO, change the EDS inside the PLC but same result.
I attached a pdf with all the Screenshots of the configurations.
Hase someone some ideas or indications ?