Posts by Bender_the_robot
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i think the manual is very clear on it.
what is it that you find confusing?
I don’t know exactly how it works.
From the description given in the Profiner 3.3 Manual, I don’t know if it should be defaulted to 0 or to 1, given that is an acknowledgement signal.
If it’s defaulted to 1, I may have unexpected shutdowns?
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the data is expected to be "1" since it is fail safe. in this state each bit acts as permissive or enable signal.
hey Panic mode, I posted a comment about one specific signal, could you help me with that?? Thanks!!
Hi again, I have a question regarding the set up for the input bytes in the profisafe reserved bytes. Particularly the SPA bit, which is the 7th bit in the input byte 1. From the description given in the Profiner 3.3 Manual, I don’t know if it should be defaulted to 0 or to 1, given that is an acknowledgement signal. I’m thinking of a 0, but I may be missunderstanding something. The manual description is copied bellow:
System Powerdown (controller will be shut down)
One second after the SP signal has been set, the PSA output is reset by the robot controller, without confirmation from the PLC, and the controller is shut down.
0 = controller on safety interface is active.
1 = controller will be shut down
Thanks in advance!!
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Hi again, I have a question regarding the set up for the input bytes in the profisafe reserved bytes. Particularly the SPA bit, which is the 7th bit in the input byte 1. From the description given in the Profiner 3.3 Manual, I don’t know if it should be defaulted to 0 or to 1, given that is an acknowledgement signal. I’m thinking of a 0, but I may be missunderstanding something. The manual description is copied bellow:
System Powerdown (controller will be shut down)
One second after the SP signal has been set, the PSA output is reset by the robot controller, without confirmation from the PLC, and the controller is shut down.
0 = controller on safety interface is active.
1 = controller will be shut down
Thanks in advance!!
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I am assuming you meant that you thought 1 means safety stop?
That is not how industrial automation works. What if PLC suddenly loses power, and since it is a profisafe device it runs all safety. If 1 meant that safety was breached (for example 1 meaning safety stop), then if PLC controller (which runs ALL safety!) lost power……Yes, I understood that, 1 means safety stop, and didn’t give it a second thought. What you explained makes perfect sense, and now, I will remember it and apply it.
Thanks for the explanation!
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Thank you all for the answers, great pieces of information there that I was missing.
for example SHS1 signal needs to be 1 because 0 means safety stop).
I missunderstood the usage of this kind of signals, I'll set all of them to one for the testing purpose and connect them to physical components in next stages.
In case of ProfiSafe, all 8 bytes are exchanged with safety PLC regardless if you have SafeOperation or not. In other words the 6 bytes used for SafeOperation are transmitted even if not used.
This is another great thing for me, I was not setting the reserved bytes from the SafeOperation part, nor the other ones, and I've read that for example you need at least one tool always active in the dedicated bytes, so I was missing that too.
Thank you all for the support, I'll apply the changes and see If I can now configure the AUT EXT correctly
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Hello, this is my first post here, I’ll try to give the information as accurate and complete as possible and try to explain my question the best I can.
I have a KR210 and a KRC4 (8.3.37) that I want to control via PROFINET (also using the PROFIsafe interface) with a S7-1200 1214 FC DC/DC/DC. I use WorkVisual 6.0 and TIA Portal V17 for configuration and programming.
I’ve been able to establish PROFINET communication with the PLC. Meaning: IP’s and Device names have been correctly stablished, mapping has been configured, and I’ve been able to read and write values from the non-safe PROFINET I/Os and see how they were also having an effect on the Teach Pendant I/O Visualization window.
In the KRC4 side, I’ve used PROFINET 3.3 and activated PROFIsafe (2.4). The procedure in WorkVisual was: set the parameters in the PROFINET tab, set the parameters in the Safety Control tab, map the PROFINET I/Os (PROFIsafe I/Os are hard-mapped) and keep in mind the security ID Address for the configuration in TIA Portal.
In the PLC side, I’ve added the GSDML file for the KRC4-PROFINET-3.3, connected it to the PLC in the device and networks tab, and stablished the corresponding names and IP addresses. I’ve also set the F_Dest_Add parameter (inside the properties of the 64 safe digital i/os in the KRC4 controller) to 7 as in the Profinet Safety ID in WorkVisual.
What I’m trying now is to get the robot into the AUT EXT mode and be able to control both the Safe outputs and the mapped (not safe) outputs with the inputs given from the PLC.
For example, from the KUKA System Software 8 Robot Programming 1 Anex 14, there is a collection of signals used for the protocol to link the PLC and the robot in the AUT EXT mode.
In the manual KUKA Profinet 3.3 for KUKA System Software 8.3 and 8.4 section 5.8 Safety Interface via PROFIsafe, the input and output safe bytes description is given.
Some of them, for example, Byte 0 Bit 2: Operator safety, resembles the one $USER_SAF from the document previously mentioned.
Here are some of the questions I have:
Are the AUT EXT predefined signals ($USER_SAF, $STOP_MESS,…) always required for the AUTO EXT communication and operation?
Which is the purpose of the safe signals then? Can I get to the AUT EXT with them?
Can I get the AUTO EXT to work, without physical safety components installed (I know it’s not recommendable and dangerous), but forcing both safe and non-safe outputs from the PLC (inputs in the KRC, like USER_SAF or Byte0_bit2_BS)?
If the SafeOperation package is installed, is it mandatory to set all the reserved bits to 1? Are there any bits that, if not used, should be set to 1?
I have seen different errors in the Teach Pendant, but my main focus now is to understand better these concepts and what more I may be missing in terms of configuration and pre-defined values settings. Once that is addressed, I’ll may post more info related to specific errors.
Please, feel free to ask anything regarding unclear or misleading information, any help is well appreciated. Thanks in advance.