Hi All,
I'm working on a project which is about robot control. I have a DeviceNet Slave/ Profibus Slave Adapter. I will use IPS (from FESTO Company) as a profibus master. And I will use a KUKA (KRC1) as a DeviceNet master. The robot has a Devicenet Master Card. How can I configure DeviceNet at the robot? And How can I add EDS files to robot?
KUKA DeviceNet Configuration
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gulcan -
April 25, 2014 at 9:54 PM -
Thread is marked as Resolved.
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Robot does not using EDS file. If you use MFC card for DeviceNet you only need MAC ID, I/O map and baudrate configuration in devnet.ini and iosys.ini.
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Hi,
Thank you for your reply. I am beginner robotics. What is the DEVNET.INI and IOSYS.INI? How can I get that? How recognize robot and Anybus Modul without EDS files? -
See attached PDF, it's for a KRC2, but the configuration is the same on a KRC1.
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Short answer: the MFV DevNet driver is about as minimal as possible. The only information it needs about a Slave device is the device's MAC ID, and the number of in/out bytes of polled I/O the device has. And the Baud Rate settings have to match. One of the nice things about DevNet (as opposed to, say Profibus) is that you don't even need the EDS files for this information -- as long as your baud rate is correct, you can query the bus from the robot's Telnet diagnostic tools and get all the Slaves to answer with their addresses and I/O sizes. It helps a lot, especially when you have a factory run of modules whose DIP switches for setting the MAC ID turn out to be backwards from the documentation. Numatics, argh....
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See attached PDF, it's for a KRC2, but the configuration is the same on a KRC1.
Attention! It's not really the same.
In fact exactly with the MFC deviceNet there is a difference.
With the old dndrv.o driver the entry at the [MFC] section in iosys.ini differs from the new dn2drv.o -
dndrv.o is a REALLY old driver, and isn't needed unless you user a really old version of KSS
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Hello,
Where we connect the 24V in KRC 1? -
You don't. Internal power in a KRC1 or KRC2 runs 27VDC.
Now, some DeviceNet components will work with 27VDC, and some won't -- 27V is slightly higher than the official upper voltage limit for DeviceNet, IIRC.
For a KRC1, you'll need to examine the wiring diagrams and find a breakout point on one of the terminal strips that has uninterrupted 27VDC. HOWEVER! Using internal robot power this way can damage your controller, if you have any wiring mistakes. At minimum[b], you must ensure that you draw your power from a [b]fused source in the robot -- drawing directly from the PM1 module can cause damage that will be very, very expensive to repair.