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running a KUKA KR 5 ARC (KR C4 controller) in T1 and auto mode

  • is_razi
  • March 2, 2023 at 8:19 AM
  • Thread is Unresolved
  • is_razi
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    • March 2, 2023 at 8:19 AM
    • #1

    Dear experts,

    I have recently started to learn about robots and got a KUKA KR 5ARC with KR C4 controller to start. After acknowledging some error messages I am able to operate all the axes in start up mode but I couldn't put the robot in T1 and auto modes. It seems the reason is that the robot controller has been configured to work along with a PLC and as there is not any plc available now it is not able to receive the enabling signals and so the aforementioned modes are not selectable . Can somebody please help me about linking a plc like S7 1200 or 1500 to the robot controller and guide me about the signals which are required to be issued from the PLC. And one more question, how can I operate the robot in auto or T1 without connecting a PLC i.e. bypassing the safety signals? To be more clear the messages I get in the robot HMI are as follow (unfortunately I couldn't upload the images):

    KSS02858 Stop due to field bus error

    KSS15009 Profisafe communication error

    KSS11011 Connection between PLC and KMZ11-20R10 could not be established in 2000ms

    KSS01033 error on reading, driver: PNIO-DEV

    KSS01034 error on writing, driver: PNIO-DEV

    Thanks for your help.

  • kwakisaki March 2, 2023 at 9:44 AM

    Approved the thread.
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    panic mode
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    • March 2, 2023 at 2:30 PM
    • #2

    your robot system seem has ProfiSafe as safety interface

    This means there is no way to use the robot without Safety PLC which of course must be a ProfiNet and ProfiSafe master and have matching configuration. I think the lowest cost option is to add small safety PLC like S7-1200F. but things get more expensive when one adds safety IO cards

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • is_razi
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    • March 5, 2023 at 8:43 PM
    • #3
    Quote from panic mode

    your robot system seem has ProfiSafe as safety interface

    This means there is no way to use the robot without Safety PLC which of course must be a ProfiNet and ProfiSafe master and have matching configuration. I think the lowest cost option is to add small safety PLC like S7-1200F. but things get more expensive when one adds safety IO cards

    Thanks for the response , so could you please guide me about the corresponding safety signals or let me know about documents needed for this purpose? And one more question, is it possible to reconfigure the robot using work visual to run the robot without a PLC or using new safety signals.

    Thanks

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    panic mode
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    • March 5, 2023 at 10:14 PM
    • #4

    read manual for Safe Operation. it includes needed signal description. it is possible to change safety interface by reconfiguring KRC. this requires replacing hardware or software or both depending on choice of interface.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • is_razi
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    • March 6, 2023 at 8:52 AM
    • #5

    could you please give me the name of manuals for safety and configuration or the links to download .

    many thanks.

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    • March 6, 2023 at 2:10 PM
    • #6

    read pinned topic READ FIRST... link is at the bottom of each of my posts.

    it mentioned where to find the documentation (at Kuka portal called Xpert)

    as well as list the few of the most important manuals. It is a short list as there are MANY more...

    so i always keep my hands on things like:

    KRC4 manual

    KRC4 optional interfaces manual

    your robot arm manual

    Programming manual for system integrators

    System variable manuals

    Configuration of Kinematic systems

    CWRITE manual

    Safe Operation manual

    UserTech manual

    EthernetKRL manual

    etc.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • is_razi
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    • March 7, 2023 at 1:41 PM
    • #7

    many thanks for your help. But unfortunately I don't have access to kuka portal ,Xpert (cause it requires to use a company email which I don't have) .I found some of the manuals but I couldn't find CWRITE, optional interfaces and Configuration of Kinematic systems manuals. could you please upload or let me know where I can download those?

    Edited 2 times, last by is_razi (May 26, 2024 at 4:44 PM).

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Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
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  • Ethernet
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  • karel
  • kawasaki
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  • Offset
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  • PROFINET
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  • RAPID
  • robodk
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  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
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  • Welding
  • workvisual
  • yaskawa
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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Similar Threads

  • Some PMs

    • panic mode
    • January 28, 2020 at 4:58 PM
    • KUKA Robot Forum

Tags

  • PLC
  • Profisafe
  • KR C4
  • Auto Mode
  • T1 mode
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