Dear Reader,
First of all the specs of the components I'm using:
KUKA:
Robot: KUKA Quantec KR90 R3100 extra HA
Lineair track: KL2000
Controller: KRC4
Firmware version: v.8.3.30
Workvisual version: 5.0
Profinet: KRC Nexxt 3.2.4
Siemens:
TIA Portal: V14 SP1
CPU: ET200SP (6ES7 510-1SJ01-0AB0)
Fail-Safe DI-modules: F-DI 6x24 VDC HF (6ES7 136-6BA00-0CA0)*
F-DI 6x24 VDC HF (6ES7 136-6BA00-0CA0)*
DI-modules: DI 8x24 VDC ST (6ES7 131-6BF01-0BA0)
DI 16x24 VDC ST (6ES7 131-6BH01-0BA0)
DI 16x24 VDC ST (6ES7 131-6BH01-0BA0)
DQ-modules: DQ 8x24 VDC/0.5A ST (6ES7 132-6BF01-0BA0)
DQ 8x24 VDC/0.5A ST (6ES7 132-6BF01-0BA0)
*In first case: not connected
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Question:
I'm struggling with setting up profinet. First of all, I only want to send normal ID using profinet. For example, a button to start a robot program.
In the first instance, I still want to have safety run via the KRC (X11). If the communication between the Siemens PLC and the KRC has been successful, I also want to control the safety by the PLC (ProfiSafe).
The steps I have followed so far:
Workvisual:
1. Workvisual: import device configuration from KRC4 by using ethernet cable (laptop -> KRC)
2. Added bus structure "Profinet" from DTM catalog.
3. Profinet configuration:
Device name: krc4
Activate device stack: Yes
number Safe IO: 0
number IO: 256
compatibility mode: KRC-Profinet 3.2
Display alarm: Yes
Transmit alarm: Yes
4. KUKA K.O.P. KRC nexxt (v.3.2.0) imported into Workvisual
TIA Portal:
1. Import GSDML file from workvisual library into 'Network and devices'
2. Setup the F-CPU with the normal IO-cards. (I haven't added the safety cards yet)
3.(*not done yet) I think there should be program blocks in TIA portal when the KRC send Digital Output by profinet, the PLC get these Output and make the act as programmed (for example: blink a LED)
Now i'm wondering how I do the IO mapping.
Do I have to do the IO mapping in only TIA portal, or only in Workvisual, or both in TIA portal and Workvisual?
Furthermore, I am curious if only importing Profinet from the DTM catalog is sufficient, or should I also import the I / O cards that I used in the TIA portal (no idea if this is available / possible)
Do I also have to import a GSD file from the PLC with corresponding configuration into Workvisual?
I hope that the story is clear and that someone can help me further, so that I can let the robot communicate with the PLC to control IO.
I hope that I have met all the conditions for this forum. I have read the 'Read first'-file. I hope this topic is in the right place in this forum.
Thanks in advance and I hope someone can help me further.