ControllLogix connection to Kuka KRC4 robot via EthernetIP

[taylor1982]

Hello,

I have to communicate with a KUKA robot (Type KRC4 with EthernetIP Interface). For that I use the Generic Ethernet Module with the settings

Input instance = 1
Output instance = 2
Config instance = 3
Input = 20 (8-bit)
Output = 52 (8-bit)
DataType SINT

I successfully integrated a communication between a ControlLogic and a KUKA KRC2 robot three years ago. In this project I used the settings above.

Now with the KRC4 we don´t get a successfull connection. We always get the error code "16#0315 - Connection Request Error: Invalid segment type".
I´m not sure if the configuration on the robot side is OK.

Does anybody know with settings particulary which instances are needed on the PLC side? My PLC is a 1756-L72.

Thanks very much for answers.

 

[Basti504]

See attached image for settings that worked for me in the past in multiple projects using ControlLogix and KUKA KRC4 controllers. Picture is from a project using L72S.

Good luck!

 

[Donnchadh]

Hi

I have not done this with a kuka but i have with Epson and abb
You will have to match the input and output size with what you have setup
In the kuka robot. I found it was better the set both the input and outputs up as the same size in the robot controller. This made it easier to get it working then I changed it to the data size I wanted

Donnchadh

 

[taylor1982]

Thank you for the answers guys!

See attached image for settings that worked for me in the past in multiple projects using ControlLogix and KUKA KRC4 controllers. Picture is from a project using L72S.

Good luck!

I made the same config as in the pic, so I expect the problem is in the KUKA robot config. We´ll try this tomorrow.
Thanks!

 

[Basti504]

On the KUKA side, the following config was made.
Keep in mind the AB works in DINTS (32 bits) and de KUKA WorkVisual software works in BYTES (8 bits), the total amounts of bits has to match on both systems.

 

[taylor1982]

On the KUKA side, the following config was made.
Keep in mind the AB works in DINTS (32 bits) and de KUKA WorkVisual software works in BYTES (8 bits), the total amounts of bits has to match on both systems.

Thanks Basti! That was the hint in the right direction! It was configured not in the right way in WorkVisual. Now the connection works.

Thank you so much, it´s a great board here with great help from specialists.

Greets Steve