1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. Fanuc Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

SAFE I/O Connect

  • AK95
  • August 21, 2024 at 9:18 AM
  • Thread is Unresolved
  • AK95
    Trophies
    1
    Posts
    16
    • August 21, 2024 at 9:18 AM
    • #1

    Hello everyone,

    Thank you all for the previous support I couldn't have got this far without it!

    My next subject is about the Safe I/O connect.
    The cell I am working on is still being commissioned, we are using a laser cutter as our tooling we've realised that when DCS is triggered it also puts the laser head into E-Stop which is not going to work for us as it's a process to get it started again.
    What we want to do is when DCS is triggered it ONLY switches the laser off so for example cut the supply to the laser rather than E-stopping it. Luckily enough the Robot was specced with the Safe I/O board so now we just need to figure out how it works.

    I think i have the basic idea but i think i need some clarification!
    So as far as I'm aware i need to basically set a fresh DO which will be the trigger to the PLC to turn the laser off.


    So for example above I set my safe output to 1 (SPO) (ignore the 17) which means when that is triggered by my CPC 8 (DCS Zone) it will then send the signal to the PLC to switch off a DO that's connected to the laser.
    Thank you in advance for any help, I hope I explained this well enough!

    Images

    • image.png
      • 12.24 kB
      • 356 × 397
      • 2
  • gpunkt
    Reactions Received
    119
    Trophies
    6
    Posts
    456
    • August 21, 2024 at 12:05 PM
    • #2

    I think you need to clarify a few things:

    What is E-stopping the laser, an external controller (PLC)?
    Why is an E-stop being sent to the laser?
    Should the robot be able to issue a request to E-stop the laser, and if so: under which circumstances?

    You might have to invert the logic (always get this mixed up) so that the SPO is 1 as long as the laser should be energized. I think that the CPC-status signal is 1 as long as it's considered "SAFE", which differ depending on how you set the CPC up (Inside or Outside).

  • AK95
    Trophies
    1
    Posts
    16
    • August 21, 2024 at 3:03 PM
    • #3

    Thanks for the response!

    Sorry - I got it completely wrong, it doesn't E-stop the laser continues to fire regardless if the robot is in DCS or not which is why it's quite a dangerous situation.
    I'm getting 2 systems I work on muddled up!

    So what we need to happen is that the safe I/O would send an output (SPO1) to a safety PLC when a DCS zone is triggered when this happens the Safety PLC will then cut the supply to the external laser source (not controlled by the robot). So from my understanding on that image I posted on here it would be something like this as an example:

    OUTPUT INPUT 1 INPUT 2
    SPO [1] = CPC [1] OR CPC [2]

    So when CPC 1 or CPC 2 is triggered it sends a safety output (SPO1) to the safety PLC have I got this correct?

    The PLC is being programmed by someone else and will just go with whatever we set it at. I beleive SPO1 is pins 11 and 21 (I think)

    Thanks again!

  • gpunkt
    Reactions Received
    119
    Trophies
    6
    Posts
    456
    • August 22, 2024 at 10:16 AM
    • #4

    Hi,

    You are correct in your understanding of how it works. However, the criteria for setting CPC 1 or CPC 2 to TRUE will vary depending on how you set those CPCs up (whether or not it's defined as "Inside" or "Outside").
    Normally, when dealing with safety-related functions, TRUE, 1 or ON means that something is considered "safe".
    In your case, with your CPCs, one of them may be set up so that the robot (or rather the laser) should keep out of a certain area. As long as this is fulfilled, the status output should be TRUE.
    Or, you might have it so that the laser must not exit a certain area, and as long as it is inside that area, the CPC status output will be TRUE.

    You might also want to look into the orientation check function of DCS, seeing as you are working with a laser... What if the laser is at an approved position, but it is pointing in a dangerous direction?

  • Shellmer
    Reactions Received
    52
    Trophies
    5
    Posts
    161
    • August 22, 2024 at 2:33 PM
    • #5
    Quote from gpunkt

    Hi,

    You are correct in your understanding of how it works. However, the criteria for setting CPC 1 or CPC 2 to TRUE will vary depending on how you set those CPCs up (whether or not it's defined as "Inside" or "Outside").
    Normally, when dealing with safety-related functions, TRUE, 1 or ON means that something is considered "safe".
    In your case, with your CPCs, one of them may be set up so that the robot (or rather the laser) should keep out of a certain area. As long as this is fulfilled, the status output should be TRUE.
    Or, you might have it so that the laser must not exit a certain area, and as long as it is inside that area, the CPC status output will be TRUE.

    You might also want to look into the orientation check function of DCS, seeing as you are working with a laser... What if the laser is at an approved position, but it is pointing in a dangerous direction?

    Display More

    The orienration check on robots that handle laser guns is a must, no one wants to get blind because someone made an error and the robot reoriented while active.


    Also, in order for the laser desactivation to be effective, being using an e-stop signal or a shutter closing signal, all signals used must be safe, so if the signal that triggers the laser output is a normal DO, it's not safe. If it is triggered from the plc and it's done in the normal program it's not safe, if it's handled on the safety program and it triggers a normal do instead of a safe output, it's also not safe.

    For this to be safe it should be wired to the shutter interlock, the robot can send the laser output using a normal do, but some safe signal should be wired using the dcs and orientation check so the shutter or the power supply is powered off if robot leaves the area or reorients out of the welding/cutting orientation or area.

    At least this is how things were done when I worked with laser welding or cutting guns on every installation I worked.

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Similar Threads

  • Autoext kvp+eth only

    • WdeOliveira
    • August 12, 2024 at 12:40 PM
    • KUKA LBR IIWA
  • SafeMove Tool Change

    • ColoradoTaco
    • July 30, 2024 at 9:48 PM
    • ABB Robot Forum
  • Profinet and Profisafe communication between KRC4 and S7-1200 1214FC

    • Bender_the_robot
    • January 24, 2024 at 2:41 PM
    • KUKA Robot Forum
  • DCS Safe I/O Alert Triggering When Safe "@SSO[3]=@SPI[9]"

    • CheckMiniMap
    • July 19, 2023 at 10:13 PM
    • Fanuc Robot Forum
  • Safe Position after stoppage

    • ceilingwalker
    • June 24, 2023 at 4:18 AM
    • Fanuc Robot Forum
  • KRC4 Safe Operation Reference Switch and Proximity Sensor

    • RustyRSA
    • December 1, 2022 at 1:19 PM
    • KUKA Robot Forum
  • Problem with tool change in safemove??

    • KK_Robotics
    • November 9, 2022 at 9:23 AM
    • ABB Robot Forum
  • Profi safe configuration

    • masterrobot
    • December 6, 2021 at 6:31 PM
    • KUKA Robot Forum
  • How to turn off safety output KUKA

    • Alex_Moser564
    • January 31, 2018 at 4:43 PM
    • KUKA Robot Forum

Tags

  • Fanuc
  • DCS
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download