IRC5 Profisafe SDO Signals not working

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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

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Answers

  • MatthiasDecker13
    MatthiasDecker13 ✭
    Hi

    So here the solution we found. In case someone else is encoutering this problem. 

    The problem was with the PLC. It has set is source adress for the F Device to 1. Also the Robot has 1. So this seems not to be a good idea. We changed the source adress at the PLC to 100. Additionally, it has set a limit to the destination adresses at 99. We had 222 for the Robot SDI Devide and 333 for the Robot SDO Device. 

    On the robot side, i deleted the seperate SDI and SDO Device and replaced it with a combined SDIO Device. We provided the destination adress 55 for that device. Now everything is working. 

    Why the SDI Device on the robot side was working before, we can not explain. We might have achieved it also with the seperate devices, but as it is working now with the combined SDIO device, we will not change that. 

    Hope someone finds help with this post in the future :)

    Kind regards, Matthias

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