Hi folks.
Working with a FANUC M800; R-30iB Plus controller; software V9.30
Basically, we had this cell installed by a contractor. The safety is done through DCS and over Ethernet/IP, handled via an ASi Safety Monitor; i.e. E-Stop and Fence signals are sent to the robot over E/IP from a Bihl and Wiedemann ASi Safety Monitor. An ex colleague has messed around with something and the safety is not functioning as it should be anymore; I don't know exactly what he has changed. I am trying to fix this myself and made decent headway in my understanding of what's going on, but in honesty I'm a little unfamiliar with ASi and DCS.
I think the root of my issue is that my CSI signals are not triggering - and I believe these are the signals supplied by the ASi Safety Monitor. In Safe I/O Connect, the SSO[3] = CSI[1] OR SSI[11]. Obviously when I set up CIP Safety on "BYPASS" the SSO[3] is happy because SSI[11] is HIGH, and all is well. When I've not set it up as such, the CSI[1] value (my External E-stop line) is not triggering - regardless of whether I toggle the E-stops ON/OFF. The same is true of my CSI[2], which is monitoring the fence. Basically, the safety signals are unrecognised at the robot end; I'm not getting the "@" symbol to denote change in status of CSI signals on my Safe I/O Connect menu.
I can ping the ASi Gateway from the pendant, so I know there's a connection. Safety Network Number is set at "FFFF-FFFF-FFFF" on robot, which I reckon might be part of the (or the entire) problem? The ASi device has a specific SNN.
Really just looking to get some advice as to whether I may have missed anything obvious, or as to whether I might be looking in the wrong place here. I've read the manuals (admittedly not cover to cover - yet), but may have missed something.
If anyone has suggestions as to a likely culprit that would also be really helpful.
Thanks in advance.