My question is if I can use Ethercat EK1100 bus coupler with its terminals for I/O instead of Profinet ?
not a problem... you can use one or another or both...
Controller has also MCon 3080-AK Ethernet Switch where I see there is option to disable Profinet, but that will not disable Profisafe too?
that is a managed switch from Harting. so if the switch is without power or configured in certain way you can lose connectivity. if i recall this product has support for redundant power if needed. if you do not configure it, it should be using defaults and work like a normal non-managed ethernet switch.
not a problem... you can use one or another or both...
you mean I can add Kuka Extension bus SYS 44 with EK1100 and its E-bus....and Profinet can be deactivated , if I only want using Ethercat I/O?
What about Safety Interface, cause this KRC4 has no X11 and SIB?
It has though A1-X311 jumpers on CCU.
The others had SIB and X11 where I was using external emergency stop only.
Deactivation of Profinet do not inactivated also Profisafe safety?
On the other hand, I think I did a wrong movement in Workvisual when I loaded the controller project, there was in Option many folders with Ethernet KRL2.2, Profinet 3.2, Safe Operation 3.22,....and few others, and I removed them . They flew out from D too. All from from cabinet attached labels photo.
There is any chance to work without them?
Being a new controller I think they were in Options but not installed.
What is mandatory to have ?
KRC4 is KSS 8.3.38
must have safety interface. This (among other things) is required to enable drives.
Since your safety i terface is ProfiSafe, you must have ProfiNet installed and configured. You do not need to use the ProfiNet for IO if you prefer to have the IO on some other bus like ECAT
The first thing when working with a robot is to make a complete backup, preferably different types of backup (wim, archive,krcdiag). Anything less is - embarrassing.
You could try to get them from hidden partition or simply contact KUKA.
some safety features are always present. that includes:
RDC
KPP
KSP
CCU (SIN-CIB is a part of CCU, it includes X311 for example).
Those things are NOT optional, they are key parts of the robot system and are always needed - regardless which safety interface is present). They ALL have safety features (and smartPad too) but those features are INTERNAL to the robot system.
when one talks about "robot Safety interface", it is referring to a dedicated safety interface that can be added or removed (hence optional) and serve the purpose of interfacing robot safety signals to some EXTERNAL safety master.
KUKA has made 4 options available:
1. parallel safety (requires SION-SIB-STD ....or.... SION-SIB-STD plus SION-SIB-EXT)
2. CipSafety (requires EthernetIP)
3. ProfiSafe( requires ProfiNet)
4. FSoE (requires EL6695-1001)
The X311 is used to handle/route some of the safety signals.
when using parallel safety interface. signals from X311 are connected to X11. (X11 has signals both from X311 and from SION-SIB-STD).
when using fieldbus based safety interface (CipSafety,PRofiSafe,FSoE), X311 signals are still evaluated (because they are always evaluated). And since they are present in the message from PLC, the X311 needs those inputs jumpered.
once you use fieldbus safety, all of the signals are available in the safetyPLC and you can do with them as you please. any safety inputs/outputs that you may need, now need to be part of safety IO of that safety PLC.
if you don't need external enabling switch, you force the relevant bit to true. if you do need external enabling switch (or 2 or 3 or 4...) you need safety inputs so you can wire them. then you would write safety program for your safetyPLC that suits your needs.
the fieldbus safety interface has more signals than parallel safety interface. this allows you to evaluate operating mode in a safety logic and enable robot(s) as needed. also you can select different safety tools etc.
as far as i know EL6910 is a safety controller ... and only a safety controller... meaning that while it can process safety logic... that is pretty much all it can do...
in other words it cannot communicate. It supports TwinSafe but knows nothing of fieldbusses (Profinet or EtherCat)... so it needs a PLC CPU to be the bus master. i doubt that it can do anything even with the local safety IOs without actual PLC CPU.
btw EL1918 is an IO block with safety inputs.it also can process safety logic just like EL6910. it too is just a terminal block that on its own is useless - it NEEDs some PLC CPU that will talk to it and to outside world.
btw EL1918 is an IO block with safety inputs.it also can process safety logic just like EL6910. it too is just a terminal block that on its own is useless - it NEEDs some PLC CPU that will talk to it and to outside world.
both EL6910 and EL1918 are Ethercat terminals, and they are inserted in a block with EK1100 coupler that allow comunication between KRC and terminals in both directions.
EL6910 accept analog input, which could serve for an E-stop.
They are not independent modules.
Am I wrong?
both EL6910 and EL1918 are Ethercat terminals
...
They are not independent modules.
Am I wrong?
pretty sure that part is correct.
they (EL6910 and EL1918) are inserted in a block with EK1100 coupler that allow communication between KRC and terminals in both directions.
pretty sure that part is not correct if you are thinking of Ek1100 with EtherCat bridge because that unit is normally slave to the KRC.
so EL6910 and EL1918 need to be placed next to PLC CPU (such as CX8090) ...or.... next to the EK1100 that is slave to the mentioned PLC CPU.
EL6910 accept analog input, which could serve for an E-stop.
i am not sure where that comes from. what do you mean by analog EStop? also, if i recall EL6910 has no terminals.
Attached three slides illustrate what i understand of using Beckhoff safety IO with KRC. I hope it is simple enough. The important part is to identify:
a) each network
b) master of each network
c) type of bridge
d) correct connection of the bridge.
Notes:
bridge connections can be swapped out if KRC already has safety interface (not using FSoE).
network topology as shown is simple bus (nodes just daisy chained). it is possible to make different arrangement using other or additional hardware.
some of the TwinSafe IO modules have built in logic. This may replace EL6910 (Depends on program size).
It looks to be complicated this Profisafe.
this is not ProfiSafe. ProfiSafe is done over ProfiNet. all of this is EtherCat.
It looks to be complicated this Profisafe. And not cheap if is needed CX 8090, EL1918, EL6910.
Versus X11.
Should I consider better conversion to X11 with standard SIB?
If you are comfortable with X11, stick with it. Using fieldbus requires different skill level. For simple cells that only have one robot for example, it makes sense to use parallel safety interface. For large system that would be not very practical. Using fieldbus is a better option. Choice of fieldbus and PLC type depends on selected safety interface.
There is any simple way for Profisafe E-stop?
If you want to use ProfiSafe, you need Siemens safety PLC, and related programming software. also your robot controller will need ProfiNet option. and PLC will need to have suitable safety rated inputs.
If you want to use CipSafety, you need AllenBradley safety PLC, and related programming software. also your robot controller will need EtherentIP option. and PLC will need to have suitable safety rated inputs.
If you want to use FSoE, you need Beckhoff safety PLC, and related programming software. also your robot controller with EK1100 and EL6695-1001. and PLC will need to have safety suitable rated inputs.
