Can you please share some more details and/or pictures of the configuration (PLC and robot side) and of the alarm messages. If you don't want to use PROFIsafe communication you must not use one of the safe process images. Only use the non-safe process images (e.g. 128 bytes In and 128 bytes Out) for the communication between Robot and PLC.
Bypassing Profisafe in the DCS menu requires an "Apply" to the DCS and a power cycle.
After that it shouldn't be an issue.
Maybe you need to remove the safety I/O-modules from your device configuration (both in robot and i PLC).
Bear in mind that the robot will automatically change back to ENABLE in Profisafe menu upon startup, thus giving you an alarm "Need to apply DCS", but just go in the menu and hit UNDO.
In DCS option I can only bypass it for T1/T2 but not in Auto
How is the bypass limited to Teach modes only, exactly? Show your DCS I/O interconnect settings.
I haven't done ProfiSafe on a Fanuc, only EIP/CIPSafe, but assuming Fanuc handled both similarly, just bypassing the remote safety does not automatically close the External E-Stop and Safety Gate inputs.
What I usually do (and most programmers whose work I have dealt with) is to have the Safety Gate input tied to Network Safety Gate Input OR Network Safety Bypassed. This allows the robot to be jogged if the PLC fails or communication is lost, but blocks Auto mode operation. My best guess is that your DCS configuration has something similar.
Set all to 0 to disable the automatic reset of profinet safe.
$PNSF_SET.$BY_PWFAIL
$PNSF_SET.$BY_PLCCON
$PNSF_SET.$BY_PLCRUN
$PNSF_SET.$BY_T1ONLY
This is all correct for bypassing PROFIsafe communication. But wag_FFU has no safety PLC which means he cannot use any of the safe process images at all. Only use non-safe process images for your inputs and outputs on the robot (and PLC) side.
Set all to 0 to disable the automatic reset of profinet safe.
$PNSF_SET.$BY_PWFAIL
$PNSF_SET.$BY_PLCCON
$PNSF_SET.$BY_PLCRUN
$PNSF_SET.$BY_T1ONLY
And as Nation already mentioned, set these system variables to 0.
Bypassing Profisafe in the DCS menu requires an "Apply" to the DCS and a power cycle.
Edit: Found it:
$PNSF_SET.$MODE=2 ;Hi, Is possible to do this by some variables? I need this because I have to jog many robots that are in transport mode but already configured with safety plc, dcs ...I don't want to lose the current configuration, only disable it, jog the robot and enable it back.I have this code so far:1: ! Set Enable UI Signals to False ;2: $OPWORKS.$UOP_DISABLE=1 ;3: ! Set DCS Profinet to Bypass ;4: $DCS_CFG.$SYS_PARAM = 1 ;5: ! Set specified variables to 0 ;6: $PNSF_SET.$BY_PWFAIL=0 ;7: $PNSF_SET.$BY_PLCCON=0 ;8: $PNSF_SET.$BY_PLCRUN=0 ;9: $PNSF_SET.$BY_T1ONLY=0 ;Thank you very much
What I usually do (and most programmers whose work I have dealt with) is to have the Safety Gate input tied to Network Safety Gate Input OR Network Safety Bypassed. This allows the robot to be jogged if the PLC fails or communication is lost, but blocks Auto mode operation. My best guess is that your DCS configuration has something similar.
Hello SkyeFire,
Could you please give more details about this for a newbie in Fanuc.
I need to do this in the robot I am working with to be able to jog it on T1 if PLC is off for any reason.
Thank you very much
I can't do a full rundown right now, but it's all in the Safe I/O Connect menu under System>DCS. The exact "address" for the CIP Bypass status signal is in the DCS manual. That needs to be OR'd with whatever CIP input you have tied to external safety gate signal.
