That is what we are thinking.. Most likely an ethernet switch setting but even with that we have the same configuration file that we use and they are all the same.
Its also strange that it only seems to block only our Robots. All other devices we can ping.
We are having an interesting problem with one of our sites
Robot model: M-420 ia
Controller is a R-30iB.
We have this setup in many locations, all set up using the same configuration.
For some reason, the robot talks to the PLC and is working as normal but all the robots at this site we are not able to ping any of the IP addresses or get onto the ROBOT homepage.
But all robots (3 of them) function normally. Just not able to get on to the Homepage or ping the IP addresses.
As far as we can see the TCP/IP settings are the same for all robots and other sites.
Is there anything you can think of to check?
We are trying to do this remotely with our customer.
Done that so many times....
There's more than one way to do this. If the intent is to protect operators, you'll need to use a safe input pair (X11 or SafeOperation inputs, if you have SafeOp installed). If you're just trying to prevent fat-fingered trainees from breaking the end effectors, then a non-safe input could serve.
X11 doesn't have any non-safe inputs, so you would have to use a dual-channel breakaway sensor (to avoid single-channel faults), possibly on the Safe Stop channel. And wire a dual-channel "bypass" switch in parallel with the breakaway sensor. Again, since these are all dual-channel safety signals, you'll need dual-channel switches that close both contacts simultaneously -- a timing difference greater than a few milliseconds will generate a single-channel fault.
The "right" way to do this would probably be to add a PLC to kill $MOVE_ENABLE unless either the breakaway sensor or the bypass is active. That wouldn't require all the safety-rated components.
So if we are doing an exercise and the trainee is teaching a position, crashes the tool into the fixture I can tie the output to the $MOVE_ENABLE to stop the robot? Makes sense.
I will give this a try.
Thanks
The plan is to have it just stop the robot if the trainee is in T1 mode teaching a point and breaks the air safety wrist and then to get out of the position he can hold down a button to bypass the safety wrist.
Once the trainee is done with his program I will have safety fences in place to run in Auto-Ext.
I'm currently putting together a small Kuka training robot with a suction tool for training our maintenance techs.
I have the KRC4 compact with KR Agilus Sixx. Im using Work Visual 6.0. Kuka runs 8.3.37 I believe.
What I want to accomplish is I have an air wrist that the tool is attached to (3D printed) and I want a pressure switch to drop out when the tool is crashed into a fixture and cause a safety stop in T1. At this point, in order for the tech to reset he will have to hold a bypass switch to drive the robot back out and reset the tool.
Would the output of the pressure switch go to the PLC and then to X11 to cause a safe stop? Or is there an internal way to program the ouput of the pressure switch into a config file to cause a stop? Currently I don't have any PLC connected to the Kuka but I may put one in for other safety features and for running in Auto.
I'm basing this off the training robots at Kuka.
If there is a safety manual that someone could recommend that would be great. I have what seems dozens of them but I'm still confused how I would accomplish this setup.
Thanks
I don't know how but completely missed the port by the power switch. Somehow got it in my head that the port next to KSI was the KLI.
Sorry for wasting your time.
I knew there was something weird going on when my KEB was giving me errors.
Thanks for the help.
Network setting
So I'm trying to connect 2 of our smaller robots in the plant here to our network.
Both robots are running the KRC4 Compact controller. One robot is a KR3 and the other a KR6
None of them run Profinet. All run on Profibus. I have searched both the forums, through Kuka Xpert, Manuals and the commisioning manuals.
Both robots are running 8.3 one is on 8.3.37 and the other on 8.3.14
using WV6.0 but have also tried using WV5.0
From what I can gather this shouldn't be to hard to do.
You go to the startup - network and then you can change your KLI to a static IP and make sure it matches your companies network.
Ive also tried looking at the NAT ports. Manual says the 49xxx ports are for windows and connecting to Work visual.
I have the check box on the Virtual5 network checked for the windows interface.
I then Save everything and it tells me to reboot with reload files.
When I reboot the RC everything seems fine.
When I plug into the network I start getting SYS X44 PB slave errors.
To me this looks like the network is trying to reconfigure my PB slaves like I'm setup for Profinet? Is this a Port Issue?
I can't seem to find an answer anywhere and I'm wondering is there something I'm just missing that is obvious?
Ive read through at least 3 manuals that shows how to configure the KLI so that we can make program changes through the network but nothing explains why I'm having Profibus issues after I connect the KLI up.
Display MoreDetails?
KSS version?
Profibus version?
Profibus bridge?
Is the robot a Profibus Master or Slave?
The WV error I can't really speak to.
I'm having this same issue with same messages.
I'm installing a new robot and controller into a station.
Pretty new to this but I'll try and answer.
KSS is the 8.3.37.
I'm using IBH S5 for Windows.
Robot is a small KR3 R540 with compact controller.
The profibus module is a Beckhoff EL6731 with the EL6731-10 Slave unit controlled by the EK1100 module.
In WV its saying my module is Version 10.0
Robot is a Slave, I'm seeing the Node for the Kuka when scanning the network but I think my Kuka is waiting on a reply from the PLC side. Ive checked parameters and I've compared them to the other KRC4 compact we have in the plant. Same devices and same GSE file.
Baud Rate is set at 1.5Mbits
Is there any basics to check for that I'm missing?
As far as I can see there is only one type of GSE/GSD file you can download from Beckhoff.
I've gone through my PLC side and compared it to other that are working and I'm stumped.
The error messages on the Pendant are
KSS10042 Error in profibus code 130 waiting for parameter.
KSS00099 Error on REading Writing with followup message KSS03092
Saying possible casue is incoreect profibus module installed.
You can use a CASE statements to drive back to home positions.
at each position set a Variable of INT DATA type and then when you want to interupt the robot to go back to home The "Go home()" Subroutine will have a case statement that reads the value in the INT Data. Depnding on the the data you write the SWITCH to equal the INT.
Each CASE then takes you back a point and then sets the INT Variable to the next CASE Statement you want to go to until you are back in Home position with the INT equal to zero.
