Beckhoff Nc
Firman Lamarre
Hello, I am back I have finally received the Beckhoff parts and gotten them installed in a panel along with the EL6695-1001 into the KRC4 cabinet. I am having some issues with setting up the Beckhoff EL6910 safety to interface with the KUKA robot and am wondering if i can get some feedback on whether the physical configuration is correct, the software setup is correct, or if I'm making some blatant mistakes in interfacing between these two systems.
does this seems correct? we are going to have DI/O in the form of a colour sensor and force torque sensor and i don't think it matters if the EL1008 and EL2008 cards are connected to the robot slave ethercat network versus the Beckhoff and being passed along Ethercat to the robot.
I have the ethernet cable connected between the secondary side of the EL6695-1001 to the EK1110. as far as i am aware in Work visual I only need to put the EK1100 and the EL6695-1001 Primary devices in under the SYS-X44 bus and ensure that FSoE is activated in the safety control page and then map inputs ( as well as the robot programs). (I then pushed this configuration to the robot successfully)
As for the Twincat3 side of things is where i am a little more confused, The documentation for setting up FSoE from KUKA is dated and doesn't really explain it to well so i am having issues with the implementation here. (some tabs are different, some things are missing and its hard to follow, I will be contacting Beckhoff for some help on the twincat implementation but i would like other eyes to help as well.
I have scanned the devices into the I/O section, it had issues with the EL6695-1001 so i followed the KUKA guide and imported the secondary .esi file and it still has issues. The EL6695 is stuck in ERR_PREOP and is not moving into the OP state. (I can reset it and it goes into INIT state) and its not allowing me to map the inputs to the safety or even view the inputs in the I/O section of the solution explorer. Any clarification on how to achieve communication correctly would be greatly appreciated as I am lost currently.
I have fixed it WOOHOOOOOOO. I now have working safety via FSoE. For anyone curious as to how i accomplished this. Other than following the KUKA document on beckhoff FSoE integration, i called beckhoff support and also just banged my head against a wall for 40 hours.
As per my last post I was able to get safety working over FSoE with a Beckhoff EL6910 and the EL6695-1001 from KUKA. Almost everything seems to be working and its nice being able to run programs now :). As to why im posting here i am having an issue where the EL6695-1001 loses communication to the beckhoff safety controller for some odd reason sometimes when I reset or cancel a program on the KUKA teaching pendant. The issue is very intermittent (might happen 4/10 resets programs and 5/10 cancel programs) and the only error i recieve is the EL6695-1001 has a communication error from the pendant. In the KUKA safety interfaces page, the X44 interface seems to still be able to communicate with the EL6695-1001 and From the Beckhoff side, i have one error and my safety configuration is put into a reset state that cannot be left until I reboot the Beckhoff system or redownload my safety program to the safety controller.
I am writing this to see if anyone else has had this issue or can help pinpoint the issue. I have a sneaking suspicion the issue is caused by my handling or lack thereof of the Comm Err, which is causing the reset, however in the live safety view, my safety networks doesnt give a diagnostic Comm error and instead says "ethercat master has reached a failsafe value"
I dont have any photos of the errors at this moment but if need be i can get some. I am posting here because the configuration is already detailed in my previous replies which will hopefully make it easier to diagnose.
we can only go by what you shared. so far issue seem to be on the PLC side with some undescribed error. Also downloading PLC code does a temporary fix that allows everything else to function again. this means KRC is ok and ready the whole time, just waiting for PLC. my guess is that your configuration, code or both are faulty so PLC stops due to bug or for safety reasons.
From the Beckhoff side, i have one error and my safety configuration is put into a reset state that cannot be left until I reboot the Beckhoff system or redownload my safety program to the safety controller.
Solved this issue and figured i would post it here, I never handled ErrAck and ComErr properly and it was causing issues. When i redeployed the KUKA configuration from WorkVisual it was tripping the safety and the CommErr LED would light up, so i just needed to acknowledge it properly and now it is working as intended.
I did configuration on Beckhoff side, no error, on Siemens side, no error, but i have error about configuration on PN/PN coppler. So if anybody excanged data that way please for some instructions :)
EL6631 is already o Coupler, that can be used between Siemens S7-300 and CX2020. You just need to define the size of transfer area in both ends. Remove the Siemens PN/PN Coupler completely from the hardware. And add EL6631 with the correct GSDML file to your project.
Hello! Thank you for your answer. is EL6631 enough as a coupler also when S7-300 and Cx2020 are not on the came network? If yes I add EL6631 on configuration od Siemens side and s7-300 on Beckhoffs side (under i define as IN smt i want to receive/read from siemens side) and on Siemens side as OUT smt i want to send/write to the beckhoff side? Side of transfer is for ex 1 BYTE, size is all that we need to know on beckhoff side, or?
Yes, it's enough, it will work like a coupler. You have to define IN and OUT area to both ends (Siemens and Beckhoff). You need to be precise with the configuration, both ends of the connection has to be the same configuration. You can select "In- and output byte 1" if it's enough for your needs, or you can select 200bytes.
Bit of a thread revival, but the PN-PN coupler has one advantage over the EL6631 - one half is powered by the PLC, the other by the Beckhoff (or other system). If the Beckhoff power goes off, then the profinet network on the PLC side is not affected. I'm guessing that if the EL6631 loses power, the network will be disrupted. If anyone knows if this is correct, I'd love to know.