How to determine they type of network communication used between kuka robots

[JMinnesota]

Hello,
I have a robot cell with three Kuka (all KRC2 controls) robots hooked up to each other with an ethernet router.  In addition, there are other devices hooked on this network such as AllenBradley PLC's, a panelview, AB remote IO, etc.  I am trying to figure out how the Kuka IO are mapped to the network devices.  I don't know if the robot is using devicenet, profibus, etc.

Here is a copy of the iosys.ini file:

;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================

[CONFIG]
VERSION=2.00

[DRIVERS]
DEVNET=2,dnInit,dn2drv.o

[DEVNET]
INW0=5,0,x10
OUTW0=5,0,x10

[ENDSECTION]

Does the IOSYS.ini tell you how the IO are mapped, or are there other files on the Kuka robot that will explain it?  I have looked through the Kuka Parts & Docs DVD looking for a manual about this but I can't find one that explains the IOSYS.INI, do you know of one?

Thanks for the help, I realize this issue has already been discussed on this forum alot (I did a form search and read lots of discussions) but I am still confused about how my specific robot cell is configured.

Thanks!

[kr16_2]

Based on your iosys.ini your robot is only using device net.
Therefore it is not sending IO signals through network connection.
Unless you have devnet to ethernet bridge (can't help here)

Section
[DEVNET]
INW0=5,0,x10     ;Inputs are mapped from $IN[1] to $IN[160] 10 words are reserved starting and bit 0 (actually 1)
OUTW0=5,0,x10  ;same for outputs $OUT[1] to $OUT[160]

Explanation to this is on the bottom of iosys.ini file

[SkyeFire]

KRCs have "split" brains -- the motherboard actually runs two separate OSs in parallel:  Windows for the user interface, and VxWorks for all the critical stuff that Windows can't be trusted for.

If the robots are connected to the network from the Windows side, then no I/O is going through them.  Instead, the network can be used to access the robots' hard drives via SMB shares, and to use Remote Desktop.
There are a few add-on packages for KRCs that could perform some degree of I/O through the Windows ethernet connection (OPC Server comes to mind), but I don't see many of those.