$move_enable configuration not allowed

    Hi, im relatively new.

    I have done my program and want to test it in EXT. I flip the switch on the controller and select "EXT", it says: $move_enable configuration not allowed.

    So im not getting my $move_enable input from the PLC. The PLC guy is telling me he needs an output from me: doExt (Betribsart extern), which i think is an internal output the robot should give when i flip the switch to "EXT" or am i wrong?

    We have "Copied" the setup from an earlier project with the same PLC and Robot. Can anyone please help us on what we are doing wrong.


    Thank you :smiling_face:

  • kwakisaki May 10, 2024 at 1:30 PM

    Approved the thread.

    in EXT mode robot is controlled by something external (a PLC). that something should have a way to stop robot instantly when something is not right. to do that PLC need to have an output that controls the $MOVE_ENABLE input of the KRC. optionally one can disable move enable check but this is not safe so you get the message.

    to configure robot side check manuals listed in READ FIRST topic and teach pendant AutoExternal configuration menu. there you can assign which outputs is to signal to PLC that robot is in certain operating mode 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

    Quote from Simple

    $move_enable configuration not allowed.

    This means that $MOVE_ENABLE is set to $IN[1025], which is a "fake" input in KRCs that is always True. "Cheating" $MOVE_ENABLE this way is only allowed in T1, T2, and AUT modes.

    Quote from Simple

    The PLC guy is telling me he needs an output from me: doExt (Betribsart extern)

    There's no signal with that name in the KRC, but I'm guessing that he is referring to the KRC system output $EXT. This is a signal that indicates to an external device that the robot is in EXT mode.

    This suggests to me that you did not copy the Auto-External I/O settings from your previous robot. There are several more signals you need to configure in the KRC -- $DRIVES_ON, $DRIVES_OFF, $IN_HOME, $T1, $T2, $AUT, $PRO_START, $PERI_RDy, and more. Each of these system signals needs to be connected to the correct $IN or $OUT to make a connection to the PLC.

    There are also the PGNO signals, which are not system signals, but will need to be set up if you intend to use the CELL.SRC top-level program that comes with every KRC.

    Hi,

    Thank you for your help you two. I dont know how i missed it, but $MOVE_ENABLE was set to $IN[1025] and $IN[135] in my work visual project.

    I changed it to $IN[135] in Auto-External I/O and it works.

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