Posts by edda


    I want to create my own custom inline form to bind functions to the user interface (to ease user input to our software).

    Is this possible without User Tech option?

    Thanks in advance!

    The problem is NOT the standard 64 safe inputs/outputs, Everything in the safety work exactly as it should so don´t mind them,

    According to them manual there is 8 other bytes with even more data (that concerns safety and safe operation).

    But I don´t know how to access them (Get them out to the fieldbus since I can't see them in the IO-mapping in WoV).

    Chapter 8.5 in the Profinet Manual.

    Hi massula,

    No thats the ordinary saftey exchange described in chapter 5.8 "Safety functions via PROFIsafe".

    We are using Safe Operations so we got 8 bytes of outputs there but not all the signal described in 8.5 "Diagnostic signals via PROFINET".

    01:01:0001 Output BOOL NHL - Local E-STOP 3.0

    01:01:0002 Output BOOL AF - Drives enable 3.1

    01:01:0003 Output BOOL FF - Motion enable 3.2

    01:01:0004 Output BOOL ZS - One of the enabling switches is in the center position 3.3

    01:01:0005 Output BOOL PE - The signal “Peri enabled” is set to 1 3.4

    01:01:0006 Output BOOL AUT - The manipulator is in AUT or AUT EXT mode 3.5

    01:01:0007 Output BOOL T1 - The manipulator is in Manual Reduced Velocity mode 3.6

    01:01:0008 Output BOOL T2 - The manipulator is in Manual High Velocity mode 3.7

    01:01:0009 Output BOOL NHE - Emergency stop external 4.0

    01:01:0010 Output BOOL BSQ - Acknowledgement of operator safety 4.1

    01:01:0011 Output BOOL SHS1 - Safety stop 1 4.2

    01:01:0012 Output BOOL SHS2 - Safety stop 2 4.3

    01:01:0013 Output BOOL Reserved 4.4

    01:01:0014 Output BOOL Reserved 4.5

    01:01:0015 Output BOOL PSA - Safety interface active 4.6

    01:01:0016 Output BOOL SP - System Powerdown (controller will be shut down) 4.7

    01:01:0017 Output BOOL SO - Safety option active 5.0

    01:01:0018 Output BOOL RR - Manipulator referenced 5.1

    01:01:0019 Output BOOL JF - Mastering error 5.2

    01:01:0020 Output BOOL VRED - Reduced axis-specific and Cartesian velocity 5.3

    01:01:0021 Output BOOL SBH1 - Safe operational stop for axis group 1 5.4

    01:01:0022 Output BOOL SBH2 - Safe operational stop for axis group 2 5.5

    01:01:0023 Output BOOL SBH3 - Safe operational stop for axis group 3 5.6

    01:01:0024 Output BOOL SBH4 - Safe operational stop for axis group 4 5.7

    01:01:0025 Output BOOL SBH5 - Safe operational stop for axis group 5 6.0

    01:01:0026 Output BOOL SBH6 - Safe operational stop for axis group 6 6.1

    01:01:0027 Output BOOL SOS - Safe operation stop 6.2

    01:01:0028 Output BOOL Reserved 6.3

    01:01:0029 Output BOOL Reserved 6.4

    01:01:0030 Output BOOL Reserved 6.5

    01:01:0031 Output BOOL Reserved 6.6

    01:01:0032 Output BOOL Reserved 6.7

    01:01:0033 Output BOOL MR1 - Alarm space 1 7.0

    01:01:0034 Output BOOL MR2 - Alarm space 2 7.1

    01:01:0035 Output BOOL MR3 - Alarm space 3 7.2

    01:01:0036 Output BOOL MR4 - Alarm space 4 7.3

    01:01:0037 Output BOOL MR5 - Alarm space 5 7.4

    01:01:0038 Output BOOL MR6 - Alarm space 6 7.5

    01:01:0039 Output BOOL MR7 - Alarm space 7 7.6

    01:01:0040 Output BOOL MR8 - Alarm space 8 7.7

    01:01:0041 Output BOOL MR9 - Alarm space 9 8.0

    01:01:0042 Output BOOL MR10 - Alarm space 10 8.1

    01:01:0043 Output BOOL MR11 - Alarm space 11 8.2

    01:01:0044 Output BOOL MR12 - Alarm space 12 8.3

    01:01:0045 Output BOOL MR13 - Alarm space 13 8.4

    01:01:0046 Output BOOL MR14 - Alarm space 14 8.5

    01:01:0047 Output BOOL MR15 - Alarm space 15 8.6

    01:01:0048 Output BOOL MR16 - Alarm space 16 8.7

    01:01:0049 Output BOOL Reserved 9.0

    01:01:0050 Output BOOL Reserved 9.1

    01:01:0051 Output BOOL Reserved 9.2

    01:01:0052 Output BOOL Reserved 9.3

    01:01:0053 Output BOOL Reserved 9.4

    01:01:0054 Output BOOL Reserved 9.5

    01:01:0055 Output BOOL Reserved 9.6

    01:01:0056 Output BOOL Reserved 9.7

    01:01:0057 Output BOOL Reserved 10.0

    01:01:0058 Output BOOL Reserved 10.1

    01:01:0059 Output BOOL Reserved 10.2

    01:01:0060 Output BOOL Reserved 10.3

    01:01:0061 Output BOOL Reserved 10.4

    01:01:0062 Output BOOL Reserved 10.5

    01:01:0063 Output BOOL Reserved 10.6

    01:01:0064 Output BOOL Reserved 10.7

    Hi there!

    KRC 8.6.5.

    KR 360 R2830.

    In our projects we are communicating with the PLC (S7-1500 F) with Profinet/Profisafe and that works great for us (.

    But in the Profinet manual chapter 8.5 "Diagnostic signals via PROFINET", there seems to be and extended signal exchange to the controller (Output Byte 0 - 8).

    Do I need to activate it some how (both in WoV and TIA)? I can´t see it in the ordinary signal exchange and can´t get my head around it how it works really.

    For a project we are doing at the moment there is a coupe of signal that I want, and if we could get this working there is no need for me to handle them in the KRL code.

    Thanks in advance

    Haha Yes Panic Mode you are right, that´s one big KR6 😊

    I will be using a K360 R2800 in the project, but the KR6 is in my office for purposes.

    I tried using the Trace function but I couldn't find and signal saying that the safe stop i active to get into the trace.

    I selected the Tracedef_AT_BrakeTest_KSS configuration as a base.

    And in the Advance Configuration Tab I added the Module CabCtrlSafetyDiag -> Safety Diagnosis Signals, but nothing from there shows up in the Scope after I recorded a Trace (Only the Standard Configuration gets recorded).

    Well I'm not quit sure that you follow me here.

    I need to determent the stop time it takes for the robot to stop moving at a certain speed (reduced velocity, not full) when the safe stop occurs.

    When a person enters the yellow zone the robot slows down to reduced velocity.

    Based on that I should be able to calculate how big the red area should be in the picture.

    And also measure how fast it reaches the reduced velocity to know how big the yellow zone needs to be.

    Hi Herman,

    Thank you for your response.

    Won't that only give me the difference in stop distance based on the speed, not the actual time needed to stop?

    Please correct me if I´m wrong.

    I'm thinking based on EN ISO 13855, if I know the stop time (including the response time on the logic, e.g. scanner and code) I can calculate the needed distance to the robot.

    Best Regards


    KRC4 Compact 8.3.22

    KR6 R900 sixx

    I'm looking for a way to determent stop time for axis 1-3 to get the right safety distance for a laser scanner when we run at a safe speed.

    The robot mentioned above is only my test robot at the office, not the one to be used in production (it will have safe operation).

    Is there some good way of doing this with the built in oscilloscope?

    Getting the signal when the safe stop is triggered and when the axis is stand still?

    Or how do you do it?

    Thanks in advance!

    Hi SkyeFire,

    Thanks for your reply.

    Unfortunately I left for the evening and don’t have my computer with me.. I will post it first thing in the morning.

    But no there is no I/O handling between my points in the test program. Only init and then a loop with four points inside. They are all marked as CONT so C_DIS should be inside of the fold on the PTP command.

    KRC 8.2.16

    KR90R3100 EXTRA C4 FLR with a KL 1500-3 External axis.


    So, another approximation error thread (sorry for this but cant get my head around this).

    We have been asked to reprogram a robot and now when we are starting to test our program we get alot of Approximation error.

    "Approximate Position not possible".

    I´ve checked everything that I can come up with ($APO, $Advance, STOPNOAPROX and step but cant see it).

    We thought it must be our code so we have been checking it for hours.

    Then I just made a small test program.

    Four points made with inline forms with good distance between the points including movement with the external axis.

    And with the same result...

    $APO.CDIS = 100

    $Advance = 3








    I've seen this robot in operation before and the movements was terrible before as well.

    We have been running it in T1/T2, In Auto the alarms goes away but there is no approximation.

    Please help =O

    So I got my hands on WoV 2.4.6 and it seems to be the right one :)

    But now to a new problem..

    I'm only use to WoV 5 (and some 4) and to work with the repository under "Programming and diagnosis" section.

    But I can´t fint it in WoV 2.4.6...

    What is the workflow when dealing whit this old version? And don´t want to download the complete project for each program change?

    Thank you in advance

    Hi Panic Mode,

    Thank you for your response but that was a dead end as well :(


    Thanks for your response Crystal Dragon but after support from KUKA it turns out that KRL in KUKA.Sim is only available in PRO (not Layout) even if the choice exist.


    KRC V8.2.16.

    I´ve got a backup sent to me that includes a couple of WoV project files (full backup including log files).

    When I try to open them in WorkVisual 5.0.9 I get a upgrade message stating that it´s created in a older version.

    In the project browser on the pendant it don´t say what version of WoV that has been used (only says "No description Exist", sorry free hand translation from Swedish from pictures).

    Is there any way to see it in the backup?

    Best Regards