DCS - CSI not triggering as would hope/expect

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.

Thanks for the response.

That's helpful, corroborates to an extent where I think the issue is. There is a Comms error - SRVO-401 Safety Comms, which obviously indicates that there's lost Comms between the ASi and the robot. I had thought this might be something to do with the SSN as I mentioned in last post, but with your input and having had a look at an old image in Roboguide I think not; the old image is set to "FFFF-..." as well.

As you've said, seems like there is lost Comms between the two. As I didn't configure the ASi unit it makes things a little harder. The configuration on the ASi hasn't been changed, so I think it's less likely that transfer of bits is issue.

Everything looks mostly okay relative to the old image in terms of config, E/IP set up, rest of the DCS params. Anything you could suggest to try to re-establish the connection that I could try at the robot end? Suspect it will be something to fix as the ASi end.

Thanks again.

# Resolved #

The issue I had was the absence of the SNN. If you are using an ASi monitor or safety PLC with DCS the robot needs to be configured with the SNN, which is written from ASiMON (or an equivalent safety monitor's) software.

In my case, I think the issue was that the robot was imaged with optional software and the DCS settings have not been maintained properly, which is why the SNN was wiped and the controller has reverted back to "FFFF-FFFF-FFFF". There is no permanent, safe resolution possible at the robot end in this situation - the SNN needs to be applied to the robot by the external software used to configure a safety monitor or PLC.