IRC5 Profisafe SDO Signals not working

Options
MatthiasDecker13
MatthiasDecker13 ✭
in IRC5

Hello

Setup:


I am using an IRC5 Controller, IRB-6700-205-280, RW 6.15.07.00 in combination with an S7-1500 PLC. 

Robot Controller Options are:

  • 613-1 Collision Detection
  • 617-1 Flex Pendant Interface
  • 623-1 Multitasking
  • 611-1 Path Recovery
  • 616-1 PC Interface
  • 888-3 Profinet Device
  • 996-1 Safety Module
  • 608-1 World Zones
  • Robotware Base:
  • 735-8 Keyless Mode Switch 2 Modes
  • 997-1 PROFISafe F-Device
  • 1125-2 SafeMove Pro

 I have configured the PROFINET Internal Device as follows:

  • IP 100.130.1.4
  • Subnet: 255.255.255.0
  • Port X5 / LAN3
Communication with the PLC works. 

The GSDML used ist the one GSDML-V2.32-ABB Robotics-INTERNAL-Robot Device-20191114.xml

I have set up:
  • 01:DO_256_bytes
  • 02:DI_256_bytes
  • 03:SDO_8_bytes
  • 04:SDI_8_bytes
The properties of the sdo_8_bytes are:
  • Source Adress: 1
  • Destination Adress: 333
The properties of the sdi_8_bytes are:

  • Source Adress: 1
  • Destination Adress: 222
(The PLC also uses Source Adress 1 for both devices but of course the Destination Adress for PLC IN = Robot OUT and PLC OUT = PLC IN). This works without errors on the PLC side. 

Now the problem: 

All normal I/O Signals are working with the PLC. There is no error message or anything. I can send signals, they get received, i can receive signals. No Problem.

The SAFE INPUTS are also working: I can use an sdi for safety enable, emergency_stop, etc...

BUT THE SAFE OUTPUTS are NOT working at all!!!
I have configured a "Stand Still Supervision" and try to set a signal. It wont work, no matter what I do. "enable in manual mode" active or not. I also tried other signals with TPO Supervision, etc...

Here comes the clue... when i take a backup of the real station and build a virtual station in Robot Studio from this backup THEN THE SIGNAL WORKS!!!

Has anyone an idea or encountered such a problem?

Thank you very much in advance. 
Kind Regards, Matthias

Tagged:

Categories