DCS status when PaylaodConfirm is needed - CRX-25

    I am currently commissioning a CRX-25 cobot.

    The cobot is functional and is connect via Ethernet IP to a PLC for the program commands.


    If the cobot comes to a standstill (for example due to loss of product or collision), I would also like to know this. After this, the 'PaylaodConfirm' must be done by a person

    (via the PLC).The Cobot must then receive its 'PaylaodConfirm' again to determine its 'net' empty weight. Naturally, this must be done safely by a person who confirms that no one is hanging on the cobot.

    This cannot be seen via the standard UOP signals…

    Now I would like to extract the DCS signals from the cobot to know the safety status in the PLC. Is it possible to link these Safety output settings (SPO, SSo, SIR, CCR, RPO, FSO) to a Digital Output? So that I can read this in the PLC??

  • Lemster68 November 3, 2023 at 5:22 PM

    Approved the thread.

    They can be assigned locally on the robot as digital signals, there in rack 36.

    Sp1- slot1, spo-2, ssi-3, sso-4, sir-5, cpc-6, csc-7, jpc-8, jsc-9, csi-10, cso-11, ccl-12, ccr-13, rpi-14, rpo-15, fsi-16, fso-17, sli-18, slo-19.

    We typically use safe io connect to make them csi or cso signals to pass them over CIP, to the PLC

    Quote from C_hiney

    They can be assigned locally on the robot as digital signals, there in rack 36.

    Sp1- slot1, spo-2, ssi-3, sso-4, sir-5, cpc-6, csc-7, jpc-8, jsc-9, csi-10, cso-11, ccl-12, ccr-13, rpi-14, rpo-15, fsi-16, fso-17, sli-18, slo-19.

    We typically use safe io connect to make them csi or cso signals to pass them over CIP, to the PLC

    Thanks for your reaction, so only to interconnect them as hardwire is possible? Not possible to arrange it to Rack86 for the ethernetIP signals?

    Quote from Lpoels

    Now I would like to extract the DCS signals from the cobot to know the safety status in the PLC. Is it possible to link these Safety output settings (SPO, SSo, SIR, CCR, RPO, FSO) to a Digital Output? So that I can read this in the PLC??

    You can assign the different safe IO types to DIs by using rack 36. See chapter 9 of the DCS manual for detailed information about the different slot numbers. You could then either interconnect these DIs to DOs or use a BG Logic task to monitor the status and send it to your PLC via DOs.

    Quote from Lpoels

    Thanks for your reaction, so only to interconnect them as hardwire is possible? Not possible to arrange it to Rack86 for the ethernetIP signals?

    It is also possible via network protocol. You can assign rack 36 to DIs (see my first post) and connect these DIs to DOs which are assigned to rack 89 (or whatever rack). For this, you can e.g. use a BG Logic task or the IO Interconnect function.

    Got it working,

    But in a other way, only have to connect the outputs on one place:

    PDF: OPERATOR'S MANUAL(Collaborative Robot Function)
    2.3 OUTPUT SIGNAL OF COLLABORATIVE ROBOT STATUS

    by set the system variables.

    $DCSS_CLLB[1]. $DOTYP_SAFE: 2 (DO)

    $DCSS_CLLB[1 ]$DOIDX_SAFE: (number of the used Output)

    Output directly connect to the status of the cobot.

    Works perfect.

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