Posts by macraesk

Quote from SkyeFire

"Restarts the call"? What does this mean?

Normal KUKA behavior is to resume from where it was stopped by any event, barring "fatal" errors like encoder loss, safety zone violation, etc.

This code in the SPS is bad:

IF($IN[63] == TRUE) THEN

CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")

ENDIF

A $CMD RUN command should never be triggered without checking that $PRO_STATE1==#P_FREE. And if $IN[63] is supposed to "reset" the program pointer back to CELL, it needs to properly trigger a $CMD STOP first, followed by a $CMD CANCEL, using $PRO_STATE1 to prevent "hammering" those commands.

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Thanks for the reply

To clarify further that $in[63] Is mapped from my $EXT_Start bit. Should i use the same bit to launch the command $CMD STOP Followed by a $CMD Cancel. Or should those be separate bits

Also can you clarify what a $Pro_State1 means?

KRC4

KSS 8.5.8

So IM curious to see if there is a way to have the robot just continue its program after an estop was hit. As of now it always restarts the call. I attached the SPS and the Cell Program.

If you have any ideas let me know

thanks

Sps

Quote

&ACCESS RVO

&COMMENT PLC on control

DEF SPS ( )

;FOLD DECLARATIONS

;FOLD BASISTECH DECL

;Automatik extern

DECL STATE_T STAT

DECL MODUS_T MODE

;ENDFOLD (BASISTECH DECL)

;FOLD USER DECL

; Please insert user defined declarations

;ENDFOLD (USER DECL)

;ENDFOLD (DECLARATIONS)

;FOLD INI

;FOLD AUTOEXT INIT

INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()

INTERRUPT ON 91

INTERRUPT DECL 92 WHEN $PRO_MOVE==TRUE DO RESET_LINESEL()

INTERRUPT ON 92

$LOOP_MSG[]=" "

MODE=#SYNC

$H_POS=$H_POS

;Automatik extern

;IF $MODE_OP==#EX THEN

;CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")

;ENDIF

;ENDFOLD (AUTOEXT INIT)

;FOLD BACKUPMANAGER PLC INIT

BM_ENABLED = FALSE

BM_OUTPUTVALUE = 0

;ENDFOLD (BACKUPMANAGER PLC INIT)

;FOLD USER INIT

; Please insert user defined initialization commands

;ENDFOLD (USER INIT)

;ENDFOLD (INI)

LOOP

WAIT FOR NOT($POWER_FAIL)

;FOLD BACKUPMANAGER PLC

IF BM_ENABLED THEN

BM_OUTPUTSIGNAL = BM_OUTPUTVALUE

ENDIF

;ENDFOLD (BACKUPMANAGER PLC)

;START AUTOGENERATED -- DO NOT CHANGE -- GripperSpotTech sps SpsSub.add InsertGripperTechGlobals

;FOLD GRIPPERTECH LOOP

GRPg_ChkSetStatePLC()

;ENDFOLD (GRIPPERTECH LOOP)

;END AUTOGENERATED -- DO NOT CHANGE -- (GripperSpotTech sps SpsSub.add InsertGripperTechGlobals)

;FOLD USER PLC

;Make your modifications here

IF($IN[63] == TRUE) THEN

CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")

ENDIF

;ENDFOLD (USER PLC)

ENDLOOP

;FOLD ;%{H}

;FOLD

END

;ENDFOLD

DEF RESET_OUT ( )

INT N

MsgLoop(" ")

IF REFLECT_PROG_NR == 1 THEN

FOR N = 0 TO PGNO_LENGTH - 1

$OUT[PGNO_FBIT_REFL + N] = FALSE

ENDFOR

ENDIF

IF (PGNO_REQ>0) THEN

$OUT[PGNO_REQ]=FALSE

ELSE

IF (PGNO_REQ<0) THEN

$OUT[-PGNO_REQ]=TRUE

ENDIF

ENDIF

END

DEF RESET_LINESEL()

$LINE_SEL_OK=FALSE

END

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Cell.src

Quote

;FOLD INIT

DECL CHAR DMY[3]

DMY[]="---"

;ENDFOLD (INIT)

;FOLD BASISTECH INI

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

BAS (#INITMOV,0 )

;ENDFOLD (BASISTECH INI)

;FOLD CHECK HOME

$H_POS=XHOME

IF CHECK_HOME==TRUE THEN

P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position

ENDIF

;ENDFOLD (CHECK HOME)

;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

$H_POS=XHOME

PDAT_ACT=PDEFAULT

BAS (#PTP_DAT )

FDAT_ACT=FHOME

BAS (#FRAMES )

BAS (#VEL_PTP,100 )

PTP XHOME

;ENDFOLD

;FOLD AUTOEXT INI

P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode

;ENDFOLD (AUTOEXT INI)

main()

END

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Quote from hermann

After reading Your first post more than tree times think I catched your intention.

- the connection from PLC to robot should only use the safe I/O

- the robots device part should be connected to his own controller (what the heck is this for?)

If I am right and both robots are configured the same way, the problem must be the PLC. Think in the configuration of the kuka profinet on PLC you must delete the 'normal' I/O section in configuration. Think the robot profinet device is not multimaster capable.

So i did figure it out it was a little of both. Some stuff in the Robots needed to be reset to factory setting and same with the PLC. I changed IP address half way through configuring the system and it messed up the whole communication. This is a pretty large system and I think there were few devices that were causing the problem. But it works now and that's all that matters.

So to get rid of the confusion i attached photo showing all of the individual settings

Quote from panic mode

this should not be the only message, show all messages screenshot

KSS00099 “Error on reading /writing PNIO-CTRL” and a KSS11000 “Device ac3 could not be started within 20000ms are the only two errors on the machine.

Quote from spiral

Did you assign the ip address to the module also? in the profinet names menu?

Yes i did i assume it's the same IP as the device is the correct way to set it.

also i changed the subnet to 255.255.255.0

Quote from panic mode

does not matter - you shall not use reserved IP address range.

if you have connection problem, and you should post details (your post is also extremely vague )

KRC4 controller 8.5.8

Robot 1 KR 10 R1100-2

Robot 2 KR 16R1610-2

Siemens PLC V15.1

Robot 1 communication is set up and working both on Profisafe and Profinet IO passthrough

Robot 2 communication is set up only Profisafe is working. Profinet is not working.

The modules on the Profinet are setup the same.

Robot 2 has a KSS00099 “Error on reading /writing PNIO-CTRL” and a KSS11000 “Device ac3 could not be started within 20000ms, Solution for these errors is to establish working connection which is extremely vague.

Questions:

1. When establishing Profinet connection other than reading what the manual says is there something the manual misses for establishing a connection?

2. On the Profinet setting i know the name is important so the PLC recognises the device but is the KRC4-Profinet name important too, How about the user ID?

3. I am getting an error that states the DTM-Proinet the profinet device could not be found in the active network. How do i make it be found?

This seems like there is just a small thing i'm missing from one robot to the next. Especially when i followed the manual and startup guide for both and one just works and the other doesn't. I would appreciate any insight if there is a way you or anyone else sets up Profinet connections

Quote from panic mode

you better not try to use that address range, read manual and pinned topic READ FIRST

I am not using that address its set to 192.168.20.147 now. I've read the manuals and the read first before I posted.

The reason i posted is I'm confused why two robots who are set up the same besides IP addresses are not working similarly. The one that is working has full IO pass through and while the other one has issues with IO. I confirmed the GSDML file is set up the same for both and that its correct. The first robot worked with the old IP address and when we changed it to the new IP address.

To clarify even further the Profisafe communication works on both. The Siemens PLC identifies and recognizes both Robots on it side. When the IO is mapped in workvisual it doesn't recognize the Profinet device and I get time out errors. When digging into the manual the only troubleshooting I get is to establish connection which sound easy but is extremely vague.

Quote from spiral

Change the IP address.192.168.0.x range is reserved for other tasks.

The following address ranges are used by default by the
robot controller for internal purposes. IP addresses from
this range must not therefore by assigned when naming the device.
This applies to naming of the device with WorkVisual or any other software.
 192.168.0.0 … 192.168.0.255
 172.16.0.0 … 172.16.255.255
 172.17.0.0 … 172.17.255.255

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after this i reconfigured the IP address back to it normal range so the internal is set to 192.162.0.X.

I'm a little confused on the other IP address are these the range im suppose to use or not use?

second attachment

Kuka Robot Software 8.5.8

Kuka Controller KRC4

PLC Siemens

Profinet Version KRC4-Profinet_5.0

The issue I am having is I have a Kuka robot that is using Profinet communication to send IO back and forth between itself in and the PLC. The PLC recognizes the device and communicates over safety this verifies that both he PLC can see the Robot and the Robot can see the PLC. When I start to map the IO in Work-Visual 6.0 it starts to have troubles. Once the IO is mapped to its corresponding output I have a KSS00099 “Error on reading /writing PNIO-CTRL” and a KSS11000 “Device ac3 could not be started within 20000ms”. These errors pretty much mean that it does not recognize the Profinet device and there is an error transmitting the IO back and forth to between the two devices. This would be caused by a configuration error on the Profinet setup. Well here is where is gets weird I have multiple Kuka robots one of them is communicating fine with the device and one is not. Both are set up the same minus address and naming convention.

If you have any idea to why this would be the case let me know what you think. I attached a screenshot of the Profinet Setup

KUKA KRC 4 8.5.8

Robot: KR10R1100-2

Options installed: Profisafe ProfiNet

I’m having an issue getting a few Robots in Auto mode. The only thing that is preventing them from is an KSS13040 Error Reading {configuration file}. I looked through the manual on this and it states Cause: A configuration file is faulty. (IPPNIO.xml, PNIODriver.xml or bas_cm_api.xml). I can locate those files but it doesn’t give me a definitive answer to why it can't read them.

If you have any insight on this issue please let me know

Did you ever figure out a solution to this problem?

Quote from fluke

or try XHOME point and $IN_HOME system variable.

Fluke, what if i don't want it to be just when I'm home. For this cell I will be tending multiple machines and I would like to have them start when it knows the robot is safe and away from the machines. So in reality I would need two or three reference positions along with the Home position

I'm looking for a reference position feature manual for Kuka Robots. By reference position i'm talking about how Fanuc robots will have a set reference position that triggers an output when the robot enters and leaves that position. Is there something like this in Kuka robots and if so is it possible to set up a background task that triggers a series of outputs based on the robot position.

If you know of what manual I can look at that would be extremely helpful or if you know any other helpful information about it let me know

Thanks