I followed the instructions and made the connections as well. But when I obstruct any of the light curtains, an error pops up saying that there is an error saying safe device safety Interface board SIB standard (SION-SI: error at input 1). Why does this happen?
Posts by Nishant Gajjar
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How would one connect lets say a Light curtain to the X11 circuit? How will the safety relay be used?
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I have this safety relay and a safety PLC from SICK. I wanted to know as to how would my connections be if I am getting a single output from my PLC for each of the light curtains? On the X11 Safety Interface.
https://www.sick.com/de/en/ue410-4ro4/p/p54589
Can someone help with this please?
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Actually we have used Safety scanner as well but we had an extra pair of LC's lying around which is why we thought of using it as the outer most warning zone. If someone obstructs the outermost LC (on the 1st door), the velocity will be decreased and when someone enters the 2nd door (inside door 1 with another pair of LC), the robot would completely stop moving.
The controller came with an X12 interface with Beckhoff modules already installed, which is what we were thinking to use. Is the system viable?
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panic mode We decided to completely shift to Profinet and everything worked fine. I could ping both the SICK PLC and the robot as well. I could find the PLC as an active device in the Profinet Devices page(image attached), but an error saying communication between the PLC and the robot couldn't be established.
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panic mode We decided to completely shift to Profinet and everything worked fine. I could ping both the SICK PLC and the robot as well. I could find the PLC as an active device in the Profinet Devices page(image attached), but an error saying communication between the PLC and the robot couldn't be established. If you need to know anything else, I would be happy to provide. Thanks in advance.
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panic mode Just a quick question! While passivizing x11 in order to use ethernet/ip for safety do I need to do anything on the workvisual end other than connecting the jumpers on the x11 plug?
And in the safety configuration do I keep the x11(ethercat) option or do we have to change something there as well?
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Before you can start dreaming about some safety network configuration, you need to have a very clear BIG picture:
* This means understanding that fieldbus nodes can talk to each other only if they are all designed to work with the SAME fieldbus type. You cannot connect directly Ethernet/IP device to a ProfiNet network or the other way around. So pick your fieldbus network type and stick with it. There are gateway devices that may connect two dissimilar networks but... that only complicates things as both networks still must be able to function independently (each one of them needs suitable master). This is usually the last ditch effort to make things communicate and may introduce latency etc. if at all possible stick to ONE fieldbus.
* In order for things to communicate over some sort of fieldbus (Ethernet or whatever), they MUST have compatible settings. all nodes in one LAN must have:
a) Same subnet mask (which must be VALID of course).
b) Same LAN address (first part of IP address as defined by subnet mask)
c) Unique MacID (last part of IP address as defined by subnet mask
* if things are SAFETY rated, they have an additional and unique SAFETY ID, not just network settings.
* Most nodes on a fieldbus are SLAVES but every fieldbus also requires a MASTER. There is no way to communicate MASTER to MASTER... or SLAVE to SLAVE. this is why you cannot have two safety area laser scanner talk to each other, they are both slaves and need a MASTER. MASTER controls everything and SLAVES simply respond when spoken to. Some snowflakes got triggered by M/S terminology so equivalent terms also exist:
"MASTER/SLAVE"
"SCANNER/ADAPTER"
"CONTROLLER/DEVICE"
etc.
but the idea is the same, just some politically correct language police at work...
* MASTER may have different capabilities. Some masters can only support "standard data " (non-safe messages). This is example of any non-safety rated PLC. Safety PLCs support both standard and safe data.
* Just because you have two products with support for same fieldbus and one of them is master and the other is slave - it STILL does not guarantee that they can talk to each other. so... be careful when picking components, and best stay with things that are KNOWN to work with each other. or be prepared for extra cost, delays, pulling hair, hitting head against the wall etc.
If above is understood, we can move onto specifics of KUKA safety interface. This is just a detail that is based on above info.
If you are using network based safety (CIP safety, ProfiSafe or FSoe) you need:
1. removed or passivated parallel safety interface (X11/X13) because KRC4 controller must have exactly ONE safety interface (no more and no less). When NO interface is defined or you screwed up something in controller MADA, smartPad will show GRAY banner. When ONE safety interface is defined but not complete (safety PLC not controlling it), RED banner is shown on the smartPad. remember, red banner is a GOOD sign when setting up safety interface.
2. X311 jumper on CCU or X403 jumper on CCUsr, or wired external enable switch on a passivated X11 interface when jumper plugs are not available.
3. need suitable package installed on your robot. CIP Safety requires Ethernet/IP. ProfiSafe requires ProfiNet, FSoE requires hardware bridge (EK1100 + EL6695-1001, and note that this is the special one from KUKA, not the generic one from Beckhoff that lacks "-1001" sufix)
4. safety PLC that can be MASTER on YOUR safety network. If you are using CIP Safety on the robot, you need safe plc that can be a CIP Safety master. If you are using ProfiSafe on the robot, you need safe PLC that can be ProfiSafe master, if you are using FSoE on the robot, you need safety PLC that can be FSoE master.
5. connect things correctly. ProfiSafe or Ethernet/IP means connect KLI to safety PLC. FSoE means connect CCU X44 to EK1100 and connect EK6695 to FSoE safety PLC. Read schematics. KLI is internal port but may be exposed as X66 or X67.1 etc. X44 is internal port but it may be exposed as X65. Read schematics...!
6. Integrate KRC4 device description file into safety PLC project then configure it. These files are supplied with WorkVisual so check on your laptop WoV folder for Device Description Files subdirectory.
7. If using KLI (ProfiSafe or CIP Safety) make sure that network settings match as explained before. Safety ID must match. IF using ProfiNet, also device name must match - both on Device itself and in corresponding setting for that device in ProfiNet Master.
If using X44, make sure that you use correct device description file for EL6695. in WoW project that would be one from KUKA (not from Beckhoff) and it must be PRIMARY. On safety PLC side also use one from KUKA (not Beckhoff) and make sure it is SECONDARY.
So, how to fail:
1. don't take any training, figure things out on a job and ask for step by step instruction someone anonymous on the internet. after all it is only safety, what can go wrong? it's not like someone can get hurt or you can go to jail. or... is it?
2. ask vague questions without sharing your exact setup
3. don't use correct documentation (manuals and schematics) or correct version.
4. don't understand basics of networking
5. don't connect things to correct port or using correct cable
6. don't assign proper network and safety ID settings
7. don't use correct device description file or settings that are supported by ALL participants. If one device can only respond every 10ms and you are flooding it with messages every 1ms of course things will go wrong. And a lot of people immediately go for 1ms update instead of something reasonable and more conservative, even though they have never read manuals or datasheets and confirmed if that will work. depending on used GSDML, fastest update may be 8ms. In case of KRC4, CIP Safety requirement is that RPI is not faster than some 25ms or whatever. read the documentation or start with conservative values if you want things to work. then you can try to crank numbers until you start seeing failures and back it off a good margin.
etc.
Thanks! This is a good explanation and it explains a lot of things!
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Did you ever figure out how to get this working? I am also in the beginning of setting up a Sick Safety Scanner with a Kuka Krc4, I cannot communicate to the krc4 when in the Sick Designer Software. I do have a good Tutorial from the Sick Side but nothing on the kuka CIP Safety and how to set it up.
I was told that using the Kuka SafeOperation 3.4 would allow me to communicate with the Sick Scanner and no hard wiring would be required.
Please let me know what you found out Nishant.
Thanks,
Hey, I wasn't able to figure it out yet! Did you find anything substantial? If so please do share it with me!
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Wait, Profinet or Ethernet/IP? Those are two completely different protocols, and cannot co-exist on a KRC.
What options was this KRC-4 ordered with? Which options are installed? If the robot was originally ordered with ProfiNet and ProfiSafe, it won't have an X11.
I am sorry for the late reply and also for the confusion that I created. Of course,both of them are two different protocols but what I meant was that in order to create a Master/Slave configuration I had to load the SICK EFi-pro ESD file into the Ethernet/IP option as there was no other way to do it. Another thing , the SICK PLC is based on CIP which is the same as Ethernet/IP. When the KRC-4 was ordered, it originally came with the X11 interface.
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Hello! Thank you for the prompt reply. Yes, the Sick PLC is capable of acting as Profisafe master. I haven't integrated the GSDML file into it but have setup the Ethernet/IP connection using the SICK ESD file, but there is no kind of communication between the two. Can you elaborate more on the X311 plug and passivizing X11?
Thanking you in advance!
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Greetings everyone!
I am trying to create a safety system for a KUKA robot. The system includes a laser scanner, a couple of light curtains and a safety mat. Everything is hooked up to the SICK PLC which has an Efi-Pro gateway that can be used to send instructions to the robot. The SICK PLC is hooked up and running but I am unable to establish a connection between the robot and the PLC. I want to use the x66 interface on KRC4 and not the x11 interface. The controller safety configuration is setup to work in Profinet mode.
It would be of great help if someone can help me out over here. I can provide anything from my end if and when needed.
Thanking you in advance!
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Hey, I am facing a similar problem. Did you find a workaround for that? Thank you!!