Disable J931 Profinet Safety option

    Good Mornign, I ´m working with a robot r30ib Sw 9.10 , the customer has bought the profinet option and auch the J931 Profinet Safety option. Now the robot pretend a safety profinet connection but the PLC is not safety.

    In DCS option I can only bypass it for T1/T2 but not in Auto, is there a way to disable it? Thanks

    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.

    Quote from wag_FFU

    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.

    • New
    Quote from gpunkt

    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

    Edited once, last by MoEL (April 21, 2025 at 6:08 PM).

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