Posts by AgainstGravity

    This is the robot output that the robot servos are active/enabled. This, for example, can detect if someone is enabling the servos with the pendant enabler when the robot is in Teach mode.


    Not for most typical PLC outputs. The Test A & B signals carry pulse-coded IDs atop their 24VDC "baseline" values, and are intended to be used with "dry contact" closures, with the Test A signal passed back to the "A" channel safety input, and ditto for the "B" channel signal -- simply sending a 24VDC signal from a PLC will not satisfy that. However, some PLC output cards are designed to act like relay contacts (particularly safety-rated I/O cards), and those should be compatible.

    Hmm, that's interesting. I mean, I knew about the pulsed-coded signals, but I though every device had a different wave/timing to know if the signal is their own one. Do all test signals have the same "coding"?

    Cool, thank you so much!

    Yes, we actually do have the 20EDT1 expansion module, but the safety relay configuration it's a good idea.

    What I don't fully understand is why "Peri enabled" is considered a mandatory signal. I'm not trying to correct the diagram, but to know what information it gives and in which scenarios it takes part.


    I totally missed those were outputs! What a shame....

    That solves the problem and it's what I was looking for.

    Somehow I went through it thinking those were internal reserved channels.



    Thanks for the answer!

    It's a KRC4 Standart EU.

    I already checked the X11 and read the Kuka docs.

    The inputs, how they work and stop type they trigger are not new to me. My issue, it's getting safety outputs from the controller, specially the ones stated in the previous message. I attach the diagrams I usually work with, just in case I misunderstood the X11 call and we are referring to another thing.

    As said, in the "Safety functions via Ethernet safety interface" chapter there are some outputs that actually could work, but not sure about it, neither how to deal with them. Also attached what I refer to.

    I recall to this part without knowing if there's an easier option that already gives me 24-0V safety outputs.

    About the G9SP, I already have work a bit with it, and it works well right now. What I would like it's getting out of the safety "testing" context I have in the workcell, where either the robot or the end effector stops depending which mushroom (or safety device/sensor) is triggered, but not both at the same time.

    Again, thanks for your time and help!

    Hi all!

    This probably is a very basic question, but after reading and navigating I haven't been able to find a clear answer to it, and I'm a bit confused.


    Next to the KRC4 I have an electrical box with many components that control whatever the robot is mounting in the flange, including an Omron G9SP controller.

    Some of the logic that we have written is to stop everything (robot, tools, etc) in case any safety device/sensor is triggered, or knowing if the robot it's moving or not to allow some DO to get through. These devices include external mushroom, safety curtains, pendant mushroom, etc.


    Is there any way to get safety outputs from KRC4 to know some of the following and act as Safety Inputs of the G9SP?

    - Pendant mushroom triggered

    - Laser curtains/Safety gate triggered

    - AUT mode

    - Robot in motion

    I've gone though the safety docs and read about the "Safety functions via Ethernet safety interface", which actually has some outputs of the states described above. But I don't know if it's what I'm looking for (double 0-24V outputs acting as inputs in the Omron), neither how to work with them if they actually can provide me what I need.

    Any help or suggestion will be more than welcomed


    PS: KRC4 // KSS 8.3 // WV 4.0

    Cool, thanks!


    Well, when you grouped the signals in WV, did you set them as I/O, INT, UINT, DINT, etc?

    I totally missed that row in I/O mapping! :icon_eek:
    Changing it to UINT would make it.


    For testing, I usually just make a program that increments the ANOUT by one bit at a time (I usually map my analog devices as digitals, so I can directly control the "raw" binary), and record the output on a multimeter at each step. Then I plot both values against each other in a scatter plot in Excel, or something similar.

    That's interesting! And makes a lot of sense.
    The thing is WV lets me assign WORD, as well as SINT/USINT and INT/USINT, but I don't know against which output should I map it.
    Analog Outputs let me choose only SINT/USINT & INT/UINT.

    Thank you so much!


    The math works the same for any analog module attached to a KRC's ANOUT or ANIN. The encoding differences for the different bit ranges and voltage/current ranges is handled at the bus/module configuration level. When set up properly, the full scale of the analog module (5V, 10V, 20mA, whatever) should map to a simple 0-1.0 or -1.0 to +1.0 ANOUT/ANIN value.


    It depends both on the module, and on exactly how you configure the module's conversion factor in IOSYS.INI or in the I/O mapping of WorkVisual.

    Where could I check /set that? What I've done is get the .xml from Beckhoff -> DTM, add it to the project, map signals from Fielbuses and deploy/activate project.
    I can see the attached image when I open the module settings.


    Sending a negative value to a module that accepts only positive values could have unpredictable results. Not "blow up" unpredictable, just mathematically unpredictable.

    Does it mean I'm safe to try out a negative value and check w/ the multimeter?

    Again, thanks for the help.

    Hi all!

    I just added a Beckhoff EL4024 module for analog outputs (4-20mA) to the EK1100 coupler inside KRC4.
    In that sense, seems that it's working fine: ANOUT= 0.0 gives 4mA; ANOUT = 1.0 gives 20mA.

    The thing is, from what I have read, KSS lets you any value from -1.0 to +1.0 to any ANOUT.
    In my mind, that makes sense if you have a 0-10DC module, as it goes from -10 to +10V.
    But do negative values make sense for mA? What could/should happen if I set -1.0?
    It might be a very basic question, but I didn't want to try before asking.


    PS: KRC4 // KSS 8.3 // WV 4.0
    PS2: I haven't been able to find any similar post regarding this question. Apologies if it's repeated.


    what is the history of the controller? any tech packages installed lately or just assigned RSI address? when installing new software, usually new entries are added to some of XML files (menues etc.) and plugins are loaded on startup. if installation failed, this can prevent HMI from loading.

    Just setup of a new IP for RSI.

    KRCDiag was generated via KPC (KRC Icon in the taskbar-> right click -> KRCDiag).


    [...] But I actually have an archive done a while ago (the .zip done via pendant)[...]

    I have an archive, and already did a diff between files, and this was the result:

    - Well, I already made yesterday a image of the entire disk with CloneZilla, and then C+D with the KukaStick. What I wanted to mean, is nothing previous to the issue.
    And as soon as the problem arised I copied all the content of C+D manually via KPC Windows.

    The issue itself:…fter-rsi-ip-setup-(krc4)/

    (I didn't want to dup everything in this post, but I considered the questions above were specific enough to open a new thread)

    By WoV, do you mean VisualWorks?

    Thanks for replying!

    Hi all,

    *** Not sure If I should open a new topic, but I find it different enough from my previous topic (although they are related). If I shouldn't, let me know, and I will close it and post it as a msg in the last one) ***

    So unfortunately I haven't any image to restore (lesson learnt :icon_frown:) , excepting the original ones in the hidden part. Due to the fact that my efforts to solve the issue haven't been successful, I'm really thinking about restoring from them, but some questions arise:

    - I have been told that I might loose the license when doing that. Is that true?
    - Are the modules (as RSI) included in that image?
    - Will I need to master the axis again? (Even If I have the values of the last mastery.log?)
    - Will a potentially restore from that original images + copying the files from an get the setup to a "considerable" updated state?



    Unfortunately I don't have any images except the original ones in the hidden part. ( Lesson learnt! :frowning_face: ) But I actually have an archive done a while ago (the .zip done via pendant). I know there's an option to restore them via smartHMI. Mine is not launching so I was hoping to find an option somewhere in the controller to do so, starting from the KRCConfigurator, but I haven't :thinking_face:

    Because of that, and also trying to find the root of the issue, I have run a diff between the actual files in the KPC and the archive, being the result the following (important) files:
    (BTW, which data in the controller is related to the Rdc folder in the

    - VisualWorkProject.wvs (As I understand the datetime of it is updated everytime smartHMI launchs)
    - KrlModSize.bin (Same regarding the datetime)
    - config.dat (New tools)

    - KLIConfig.xml (being the difference the IP from blank to; Was a step in the previous topic opened) *
    - RSI.xml (the indentation of the new file was different from the old. Weird!) *

    These last two are the ones I have replaced, and no luck!

    Something else that I have noticed is that when the controller is rebooted and KRC tries to launch for the first time, all the leds in the drive controllers are green, but If I "Stop KRC" and launch it again, the one in the right module under X33 becomes red (in my case G1-x33).

    The booting process shows the following, although I haven't seen anything strange (from my inexpert PoV)

    Any ideas?


    Hi all,

    Yesterday I tried to set up a new IP for RSI via Pendant. IP =
    [HMI-> Home-Start up-MinimizeHMI; /// Windows-> Start-RSI Network-New (under RSI)- Edit- /// HMI-> Shutdown-> Reboot with cold-start].

    At first it seemed fine, but the menus in the pendant weren't showing up, so after around 15 min I rebooted it again. After the reboot, SmartHMI wasn't showing up at all. The pendant was going straight into Windows and showing KukaCross3. [The KRC icon on the taskbar was yellow/orange this time]
    Guessing than the conflict could come from the new IP assigned, I deleted the entry in RSI Network, and reboot, but no changes. SmartHMI was hidding from me.

    At that point, I connected a monitor to the controller, and look at the booting and everything seemed fine during the process, but again, the fact was that SmartHMI wasn't showing up. Stopping and launching again KRC wasn't making a difference.
    I was suggested then to pack the KRCDiag .zip and look at the logs, but it wasn't working. KRCDiag wasn't finalizing the .zip because of :

    System.OutOfMemoryException: Exception of the type 'system.OutOfMemoryException' was thrown. at ICSharpCode.SharpZipLib.Zip.ZipDirectory.Zip(String inputBasePath, String zipFilePath) 
    at KUKA.KRCDiag.KRCDiag.Run()

    The next step then was looking into the KLIConfig.xml, and after changing the StandartGatewayIp from blank to, and rebooting, KRCDIag was able to pack the zip. But still SmartHMI not lauching :frowning_face:

    Looking at the .evt logs for SmartHMI I could find the following errors:

    Error loading PlugIn "VERSION"!



    Any suggestions other than reinstalling??

    Sorry for such a long post,



    KSS: 8.2.2

    PD: Now I'm guessing that I shouldn't use IP's that are in the same subnet than KLI ( I was aware of the other one though [192.168.X.X, 172.16.X.X and 172.17.X.X]

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