Ethernet IP for KRC2

[Caldeira]

Hi anybody,
I need one help about configuration in "IOsys".

[CONFIG]
2 VERSION=2.00
3 [DRIVERS]
4 EthernetIP=23,eipInit,eipdrv.0
5 [EthernetIP]
6 INB0=3,4,x8-(Why using number 4)
7 OUTB0=3,10,x8-(Why using number 10)

But I kwon address is begin in 0 into krc,but there are any things that I dont understend.
Thanks

[SkyeFire]

INB0 is $IN[1] through $IN[8] in the robot's I/O table.  INB1 would be $IN[9] through $IN[16].  INW0 would be $IN[1] through $IN[16].

INB0=3,4,x8 performs the following connection:

Beginning at $IN[1],
Connect 8 bytes beginning at Byte 4 (the fifth byte, since the first byte would be Byte 0) of the device at network address 3 on the EthernetIP network.

To put it another way, you are connecting a number of bytes in the robot's I/O table to a number of bytes on a remote slave device.  So, for INBX=A,B,xC:
X is the starting byte in the robot I/O table.
A is the address of the slave device on the EtherNetIP network
B is the starting byte on that slave device
C is a multiplier, controlling how many bytes to connect.

So, the line INB0=3,4,x8 will connect INB0 through INB7 ($IN[1] through $IN[64]) to bytes 4-11 on slave device 3.

[ktys]

Hi,

I still dont't understand -> "B is the starting byte on that slave device".

If i have reserved QB2 for KUKA on PLC(Profibus Master) whether it should look like this INB1=127,3,x1?

Now i have INB1=127,0,x1 and it work.

i must describe this, so please help me understand.

[SkyeFire]

The internal address of the PLC is irrelevant.  The robot does not know the PLC's internal addresses, and does not care.

All the robot knows is there there is a certain number of bytes allocated between the robot and the PLC.  The first of those bytes would be 127,0,x1.  The second of those bytes would be 127,1,x1.  And so on.  Inside the PLC, those bytes could be the first byte address, or the hundredth, or the thousandth.  It doesn't matter.  In 127,A,x1, the value of A is an offset from the 1st byte of the group of bytes allocated for communication between the robot and PLC.

To put it another way:  when you create your Profibus scan list for the PLC, you allocate a group of bytes for communication with the robot.  When setting up the robot's internal I/O mapping, the robot only cares about where a byte is located inside that group.