Posts by motoman55534

Quote from SkyeFire

And one nice thing about KRC4s is that you can have multiple Projects on a robot, and switch between them from the pendant, without needing to fire up WoV again.

How do you do this? I can't seem to find the projects I want on the pendant.

Thanks for you help SkyeFire, I really appreciate it. I just have one more tangentially related question: I'm playing around in WoV with different modules and busses, and I think I've come across three different modules labelled as SION-CIB: "CIB Safety Module," "CIB Safety Modul," and "Safety Modul for Cabinet Interface Board."

Is there a difference between these modules and if so, what is it?

Great thank you, that's what I was wondering. When you say to disable the Safety portion, are you saying to just change the "Active Configuration" parameter in the "Local Safety Slave" tab to Deactivated? Will that do the trick?

Hi all,

My KRC4 controller was ordered with the X11 + X13 interface, and I recently switched it over to EtherNet/IP and CIP Safety. I now want to revert back to the X11 interface, and I'm just trying to make sure I make all the necessary steps. I think I have everything covered on the hardware side in terms of plugging things in, but I was just wondering about whether or not I had to delete the EtherNet/IP option off of the controller, and whether or not I had to delete the option from the "Bus" branch in Workvisual before I deploy the new project. Any guidance is very much appreciated.

Thanks,

Owen

Thanks for your response; I never ended up figuring out exactly what the issue was, but I re-ran the executable within the EtherNet/IP option on the pendant, and after that I was able to connect again to the PLC.

Hi all,

I'm attempting to configure my KRC4 controller with CIP Safety. It was previously using the X11 connector interface, so when I began setting up the option, I jumpered X311 and unplugged the X11 interface, as well as X258 (which I took from an old forum post by Skyfire). From the WoV side, I removed the SION-SIB-STD and SION-SIB-EXT from my project, and then deployed it onto the controller with the correct EtherNet/IP settings (setting up my KRC4 as a local slave, and activating the local safety slave as well. However, on my teach pendant, I have a red bar at the top of the screen with the works "Emergency Stop only local." The three icons next to it are all green (person wearing a seatbelt, "IP," and robot outline). I also have the error KSS00404 "Safety stop." I can't seem to figure out how to get the red bar to go away, allowing me to run my submit interpreters and turn drives on.

Furthermore, after successfully getting the controller to connect to my Allen-Bradley PLC yesterday, I can no longer connect from Studio 5000. However, I am able to successfully ping the robot; I just can't reach it within the PLC software.

Any help is greatly appreciated.

Thanks,
Owen

Hi all,

I recently set up my YRC1000 with a Allen Bradley PLC, and was using CIP Safety to externally stop the robot. However, I now want to disconnect my PLC from the controller, but every time I either unplug the ethernet cable or turn off the PLC, I receive "Alarm 4911: Safety Fieldbus Comm Not Built," preventing me from being able to move the robot no matter which mode I'm in. How do I reset my robot to no longer look for the safety fieldbus?

Thanks,

Owen

Thank you for your response - I have CIB safety, so I am using the X13 connector interface to send the signals. I've attached the X13 output pinout; to my understanding, the alarm spaces correlate to the first six configurable keep-in zones, and the "Safe Monitoring Active" signal correlates to any of the safety functions being active (correct me if I'm wrong). Using CIB Safety, is there any way to output any other signals, such as those related to axis speed monitoring?

Thanks,
Owen

Hello all,

I am currently setting up the safety configuration for my KR C4 controller, and I have found within the SafeOperation manual the explanation of all of the safety outputs for various safety functions:

$SR_ACTIVETOOL Number of the active safe tool
$SR_AXISSPEED_OK Reduced axis acceleration exceeded
$SR_CARTSPEED_OK Cartesian velocity exceeded
$SR_DRIVES_ENABLE Enabling of the drives by the safety controller
$SR_MOVE_ENABLE Enabling by the safety controller
$SR_RANGE_ACTIVE[1] ... $SR_RANGE_ACTIVE[16] Active workspaces
$SR_RANGE_OK[1] ... $SR_RANGE_OK[16] Workspace vioaltion state
$SR_SAFEMON_ACTIVE State of safe monitoring
$SR_SAFEOPSTOP_ACTIVE[Index]
$SR_SAFEOPSTOP_OK Violation of an externally activated operational stop
$SR_SAFEREDSPEED_ACTIVE State of the monitoring of the reduced velocity

However, how do I physically output these signals from the controller using digital I/O? For example, I want to receive a signal when $SR_SAFEREDSPEED_ACTIVE goes high; where are the pins located that output this signal, or which pins can i configure to output the signal? Any clarification is greatly appreciated.

Thanks,
Owen

Ok, I guess I'm just confused about what that OUT #00020 corresponds to. How do I get it to then flip the signal in #20040?

Thanks for your help!

Thanks, that's super helpful. If it would be possible, do you mind posting an example of inverting a signal using the concurrent i/o ladder program? For example, I've tried inverting the logical number #20040, but I keep running into errors whenever I attempt to save it.

Hi,

I am receiving an input signal to my YRC1000 controller that I want to invert; I know it's possible to invert outputs from the YRC1000, but is it possible to invert an input signal?

Thanks

Great, thank you!

Hello,

I have configured the Ethernet/IP option on my YRC1000, and am able to correlate the External Input Signals with General Purpose Inputs. I would like to assign functions to those inputs (external start, external hold, etc.) but I am unsure of how to assign system functions to general purpose inputs. Any help would be very much appreciated.

Thanks,
Owen

Thank you that's what I was looking for!

Thanks yeah I saw that too, but I'm using the S2C701 parameter, which allows you to govern speed without a safety input. Whenever it is on, there is a message that pops up saying "over-riding speed" (see picture), but I have been unable to find an output that correlates with that message.

Ljuba, I'm pretty sure that the output you sent only correlates to the "Speed Limit" safety function, which I'm not using in this case.

Thank you that would be awesome. I know it's completely different, but my issue would also be solved if I could just find a parameter on the DX200/YRC1000 which sends an output signal when the speed override function is ON.

Not sure if that's an easier question or not.

Thanks.

Thanks for your response. I'm not quite sure how to properly set up a concurrent job, do you think you could go into a little bit more detail on how to do it?

Thanks so much.

Thanks for your response. I have the same settings as you and I haven't defined any other signals, but I'll keep checking to make sure I don't have any other parameters turned on which could be preventing the robot from speeding back up.

Hi,

I've set up my YRC1000 with parameter S1C1G334 set to 1, which enables the function for outputting the axis speed to registers. I would like to have a background program which turns an output signal ON when a register (for example, M010) equals a certain value. What's the best way to write a program that is constantly running in the background while my controller is on?

For this example I have the parameter S1C1G1270 set to 10.

Thanks.