Hello Robot Friends,
Here is the situation: We are using a YRC1000 controller, which has a Siemens CP1616 Profinet interface. We use this to communicate with the robot via the PLC (IO-Device). At the same time, the robot has a Festo valve manifold (Profinet interface) on its gripper, which the robot directly controls (IO-Controller). The gripper has a Stäubli quick coupling with which the gripper, including the valve manifold, can be disconnected.
Now we want to deactivate the Profinet participant on the gripper before disconnecting it, and reactivate it after reconnecting. However, we cannot find a command for this in the controller. Does anyone know what the workaround is for the YRC1000?
If the gripper is disconnected without deactivating the participant, its signal information (inputs) “stick” and this is very undesirable, if not dangerous. The YRC1000 also doesn’t care if the participant is suddenly missing; it doesn’t give any error message?! A KUKA controller would even go into emergency stop in such a case…
Has anyone implemented something like this before and can help me?
Thanks
Best regards,
Stephan
