Good morning everyone,
I'm currently working with a KUKA KR 6 R700 robot (controller: KRC4 Compact) and attempting to switch to Auto Ext mode for external automation. However, I'm encountering difficulties when mapping the automatic external variables via PROFINET.
As far as I know, you can't map I/O to variables this way. Instead, you need to map FieldBus I/O to KRC I/O, then map the internal variables to the KRC I/O.
In the WoV I/O Editor, "PLC" doesn't mean an external PLC, it refers to (IIRC) the internal PLC if the KRC has the CodeSys or ProconOS options installed. An external PLC is always interfaced through some sort of FieldBus.
Thank you for your response. Could you please explain in detail how to properly map internal variables to the KRC I/O system?
It's detailed in the manuals under "automatic external". Short version: any internal system signal (like $MOVE_ENABLE) is already declared as a $IN[x] or $OUT[x], one simply needs to change the x to the correct Input or Output, as per your I/O mapping. It should be noted that the byte containing $IN[1025] and $IN[1026] should never be mapped, as those two Inputs are special always-True/always-False inputs.
For non-system variables like PGNO_FBIT, you simply change the value of the Integer variable to that of the relevant $IN or $OUT. In the screenshot below, PGNO_FBIT and PGNO_LENGTH mean that this KRC would use $IN[33] to $IN[48]. PGNO_PARITY being 0 will cause CELL/P00 to not perform any Parity calculations on the PGNO value.
I truly appreciate your previous guidance, which has given me a much clearer understanding of the system. However, I’m still encountering an issue when attempting to send the signal IN[133] from our Siemens PLC to the KUKA KRC controller. Despite the configuration appearing correct, I’m not observing any changes reflected in the KRC display when the signal is triggered.
To troubleshoot, I tried adjusting the mapping parameters, but this resulted in an error
" The option 'KUKA.PROFINET MS' is not installed. Please install the option in version '4.1.0'."
Could you kindly provide further insights into why the signal might not be updating as expected? Any advice on how to diagnose or correct this issue would be greatly appreciated.
Thank you once again for your time and expertise—it’s been incredibly helpful so far!
Good morning,
I’ve resolved the previous issue—thank you for your help! Now, I’m following the full sequence but I’m stuck because the $STOPMESS signal remains high. For the process to proceed, I need it to transition to low.
I’d appreciate any guidance to troubleshoot this efficiently.
So, $CONF_MESS needs a pulse (specifically, the False-True transition edge) to clear any messages. If $STOPMESS remains True after you pulse $CONF_MESS, then you need to look at what messages on the KRC are not being cleared.
You also need to check your timing. Each signal should be a send, wait for response, then execute the next signal. If you fire the various signals too quickly, you can cause a lockup. For instance, pulsing $DRIVES_ON followed to $CONF_MESS too quickly can result in the messages not clearing, since the Drives need some time to engage before their blocking status clears.
I'm encountering an issue when switching
An issue. Define please. Whats expected behavior compared to what you see. As detailed as possible please. We do know nothing about your setup. Just saying it does not work please help is unfortunately useless. See forum Read First about minimal requirements before asking.
Or is an issue that the above problem persists even you stated otherwise.
Sorry, you're right okay, this is a screenshot of my cell program.
Everything works fine, but I don't know how to return to the program when I'm in production mode, or after I press the emergency stop
For exemple after triggering an emergency stop, I need the system to return to the Cell (for re-initialization), but it currently:
I considered calling the cell program directly from the E-stop routine (IR_STOP), but I think this might create safety/compliance issues
&ACCESS R1
&COMMENT HandlerOnRobotFault
DEF IR_STOPM ( )
;-----------------------------------
; Error Handling Robot Controller
; Switch OFF and Switch ON processes
; KRC Version >= V5.5
;-----------------------------------
;FOLD DECLARATIONS
;FOLD USER DECL
; Please insert user defined declarations
;ENDFOLD (USER DECL)
;FOLD BASISTECH DECL
BOOL ApplicationRunFlag
DECL CHAR ID[3]
;ENDFOLD (BASISTECH DECL)
;ENDFOLD (DECLARATIONS)
;FOLD BASISTECH INIT
INTERRUPT OFF 3
STOPM_FLAG=TRUE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
ID[]="CTL"
If ($STOPMESS==TRUE) THEN ;APP// "IF" ~ Notepad++ Formatierung
BRAKE
;ENDFOLD (BASISTECH INIT)
;FOLD USER STOP
;Make your modifications here
;ENDFOLD (USER STOP)
;FOLD COLLISION DETECTION
IF ($IMPROVED_COLLMON == TRUE) AND ($COLL_ALARM == TRUE) THEN
CollDetect_UserAction()
ENDIF
;ENDFOLD COLLISION DETECTION
;FOLD BASISTECH STOP
P00 (#EXT_ERR,#PGNO_GET,ID[],128 )
ApplicationRunFlag=FALSE
IF (Appl_Run>0) THEN
IF $OUT[Appl_Run] THEN
ApplicationRunFlag=TRUE
$OUT[Appl_Run]=FALSE
ENDIF
ENDIF
REPEAT
POWER=SYNC()
HALT
UNTIL (($STOPMESS==FALSE) AND ($POWER_FAIL==FALSE))
;ENDFOLD (BASISTECH STOP)
;FOLD BASISTECH RESTART
P00 (#EXT_ERR,#PGNO_GET,ID[],0 )
IF (ApplicationRunFlag==TRUE) THEN
IF (Appl_Run>0) THEN
$OUT[Appl_Run]=TRUE
ENDIF
ENDIF
;ENDFOLD (BASISTECH RESTART)
;FOLD USER RESTART
;Make your modifications here
;ENDFOLD (USER RESTART)
;FOLD BASISTECH REACTIVATE
Endif ;APP// "ENDIF" ~ Notepad++ Formatierung
INTERRUPT ON 3
STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
;ENDFOLD (BASISTECH REACTIVATE)
ENDThis is my first time facing this and my first complete project
Since you are using EXT mode, all of this is handled in PLC...
Since you are using EXT mode, all of this is handled in PLC...
Don't think so. He asks for aborting actual production and return to beginning of "cell" !?
If this is the case. There isn't anything included in standard "cell" to abort running production and go back/initialise to/from beginning. You must do this by your own.
There are several procedures to achieve this.
You can search for 'resume' here in the forum, that's one possibility, or you can read and use as starting point: RE: Reset Cell KRC4
You also have in mind that standard "cell" only starts when robot is in home, if not it's up to you to bring him to home.
Do not use a inline form in this case. You need plain krl for this. Inside interrupts no inline forms are allowed.
As Herman already said use forum search with keyword resume. You can find many examples and explanations for this. Your question gets asked very regularly.
