Hello,
This is my first time to work on our KR C2 sr(KRC V7.0.14) for DevicNet on the MFC card. The devicenet log file shows some error messages, and the two LED on the MFC card are always OFF. I don't know this is software or hardware issue. I have Terminating resistor and 24 V DC on DeviceNet. Below are my devicenet.log, iosys.ini, devicenet.ini, dnShow, and dnWho.
Thanks in advance for your help.
Code
FILE_PTR_POS=001478
DN2Drv : Log Date 1.1.0 : 12:03
01/01/00 12:03:41 : Gen2 debugging enabled
01/01/00 12:03:41 : DN2DRV Version : 1.23.0.0
01/01/00 12:03:41 : baudrate 500 KBaud
01/01/00 12:03:41 : scan gap default is 6
01/01/00 12:03:41 : default priority is 173
01/01/00 12:03:41 : Power Off clear device data disabled
01/01/00 12:03:41 : Writing in case of error disabled
01/01/00 12:03:41 : scans 1 devices
01/01/00 12:03:41 : CAN1 base is f8202000
01/01/00 12:03:42 : ERROR: receive error Interrupt
01/01/00 12:03:46 : ERROR: receive error Interrupt
01/01/00 12:03:50 : ERROR: receive error Interrupt
01/01/00 12:03:54 : ERROR: receive error Interrupt
01/01/00 12:03:55 : ERROR CreateInstance failed !
01/01/00 12:03:55 : ERROR create instance failed
01/01/00 12:03:55 : ERROR [01] invalid IN-data
01/01/00 12:03:55 : ERROR [01] invalid OUT-data
===== LAST_ENTRY =====
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Code
;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------
; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet
; driver "dndrv.o". Now you have to use the driver
; "dn2drv.o" and the appropriate syntax (form 2)
[CONFIG]
VERSION=2.00
[DRIVERS]
EKX=59,EKXInit,ethKRLXMLld.o
DEVNET=2,dnInit,dn2drv.o
;CNKE2=21,cnke2CPInit,cnke2drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
SRIO=27,sriodrvInit,sriodrv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;MFC=0,mfcEntry,mfcdrv.o
[EKX]
[BOSCH]
;------- Inputs ---------
INW64=0 ;$IN[513-528]
;------- Outputs --------
;OUTW64=0 ;$OUT[513-528]
;OUTW66=2 ;$OUT[529-544]
[SRIO]
INB0=0 ;$IN[1-8] KRC2SR Mini-IO
OUTB0=0 ;$OUT[1-7] KRC2SR Mini-IO
INB1=1 ;$IN[9-14] KRC2SR Hand-IO
OUTB1=1 ;$OUT[9-16] KRC2SR Hand-IO
[MFC]
INW0=0 ;$IN[1-16]
OUTW0=0 ;$OUT[1-16]
OUTW2=2 ;$OUT[17-32]
[INTERBUS]
;------- Inputs ---------
;Slave Inputs
;INW50=896 ;$IN[401-416]
;INW52=898 ;$IN[417-432]
;INW54=900 ;$IN[433-448]
;INW56=902 ;$IN[449-464]
;------- Outputs --------
;Slave Outputs
;OUTW50=896 ;$OUT[401-416]
;OUTW52=898 ;$OUT[417-432]
;OUTW54=900 ;$OUT[433-448]
;OUTW56=902 ;$OUT[449-464]
[DEVNET]
INW0 = 1,0,X1
OUTW0 = 1,0,X1
[PBMASL]
[DNSC1]
[DNSC2]
[DNSC3]
[DNSC4]
[DNSC5]
[DNSC6]
[DSEIO]
INDW0=0 ;$IN[1-32]
OUTDW0=0 ;$OUT[1-32]
[INTERBUSPCI]
;------- Inputs ---------
;Slave Inputs
;INW50=896 ;$IN[401-416]
;INW52=898 ;$IN[417-432]
;INW54=900 ;$IN[433-448]
;INW56=902 ;$IN[449-464]
;------- Outputs --------
;Slave Outputs
;OUTW50=896 ;$OUT[401-416]
;OUTW52=898 ;$OUT[417-432]
;OUTW54=900 ;$OUT[433-448]
;OUTW56=902 ;$OUT[449-464]
[CNKE1]
; =ConNo, additional offset,xSize
[CNKE2]
; =ConNo, additional offset,xSize
[VIO]
;INW0=0 ;$IN[1-16]
;INW8=2 ;$IN[65-80]
;OUTW0=0 ;$OUT[1-16]
;OUTW2=2 ;$OUT[17-32]
[O2I]
;INW4=0 ;$IN[33-48]
;INW6=2 ;$IN[49-64]
;OUTW4=0 ;$OUT[33-48]
;OUTW6=2 ;$OUT[49-64]
[IOLINKING]
[END SECTION]
;==========================================================
;Valid entries have the following formats.
;Arguments in squared brackets are optional.
;If nothing else is mentioned, arguments are decimal.
;Digital Inputs and Outputs:
;
; Form 1:
; {token}{offset}={byte}[,{multip}]
;
; {token} INB (byte), INW (word), INDW (double word)
; OUTB, OUTW, OUTDW
; {offset} byte offset of robot IO System (0..m)
; {byte} byte offset over all peripheral devices (0..m)
; Offset starts with 0 at the first device and
; ends with m at the end of the last device.
; {multip} creats n dataobjects of {token}
; Example:
; OUTW4=2,x3
; Three words of the periphery, starting at byte 2,
; are mapped to the outputs 33-80.
;
; Form 2:
; {token}{offset}={address},{byte}[,{multip}]
;
; {token} INB, INW, INDW, OUTB, OUTW, OUTDW
; {offset} byte offset of robot IO System
; {address} address of a peripheral device (0..m)
; driver specific information, see descr. below
; {byte} byte offset at this peripheral device (0..m)
; Offset starts with 0 at the every device
; driver specific information, see descr. below
; {multip} creats n dataobjects of {token}
; Example:
; INW4=10,0,x2
; Two words of the peripheral device with address 10 and
; up from byte 0 are mapped to the inputs 33-80.
;Analog Inputs and Outputs:
;
; Form 1:
; {token}{num}={byte},{res},{type}[,CAL{factor}]
;
; {token} ANIN or ANOUT
; {num} number of the analog channel (1..i)
; {byte} byte offset over all peripheral devices (0..m)
; Offset starts with 0 at the first device and
; ends with m at the end of the last device.
; {res} resolution of the analog value (number of bits)
; {type} type of analog value
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
; {factor} maximum analog value, decimal without prefix,
; hexadec. with prefix 0x or octal with prefix 0
; "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN1=10,12,3
; The analog input No.1 is used. The byte offset on
; peripheral side is 10, the resolution is 12 bit and the
; type of analog value is 3 (left justified with sign).
; The maximum binary analog value is 2047.
;
; Form 2:
; {token}{num}={address},{byte},{res},{type}[,CAL{factor}]
;
; {token} ANIN or ANOUT
; {num} number of the analog channel (1..i)
; {address} address of a peripheral device (0..m)
; driver specific information, see descr. below
; {byte} byte offset at this peripheral device (0..m)
; Offset starts with 0 at the every device
; driver specific information, see descr. below
; {res} resolution of the analog value (number of bits)
; {type} type of analog value
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
; {factor} maximum analog value, decimal without prefix,
; hexadec. with prefix 0x or octal with prefix 0
; "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN3=30,0,16,2,CAL 0x6C00
; The analog input No.3 is used. The device address is 30,
; the byte offset at this device is 0, the resolution is
; 16 bit and the type of analog value is 2 (left justified
; without sign). The maximum binary analog value is 27648.
; The CAL-factor is especially required in case of using
; Profibus analog modules.
;particularities:
;[MFC] MFC-IO with KRC1 / CAN-IO-Modul with KRC2
; Entries in form 1
;
;[INTERBUS/INTERBUSPCI] Interbus Phoenix Mast./Slave Cu/LWL
; Entries in form 1
; $IN/OUT[n_1]=(n+1)*8-7
; $IN/OUT[n_8]=(n+1)*8
;[DEVNET] DeviceNet on the KUKA MFC
; Entries in form 2 for driver dn2drv.o
; {address}=DeviceNet MACID
;[DNSC1] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC2] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC3] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC4] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC5] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC6] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address} = DeviceNet slave MACID
; {address} = MACID of CH2 ==> Slave part of LPDN CH2
;
;[PBMASL] ProfiBus Siemens Master/Slave CP5614
; Entries in form 2
; {address} = Slave DP-address
; {address} = 127 ==> Slave part of CP5614
;
;[DSEIO] Digital inputs/outputs for KR C3A
; Entries in form 1
;
;[CNKE1] ControlNet 1784PCIC LP-Elektronik
; Entries in form 2
; {address} = ConNo
; {byte} = additional offset
;
;[CNKE2] ControlNet 1784PCIC LP-Elektronik
; Entries in form 2
; {address} = ConNo
; {byte} = additional offset
;
;[SRIO] Digital I/O of KRC2 Small Robot
; Entries in form 1
;
;SRIO=27,sriodrvInit,sriodrv.o
;
; Example:
; INB0=0 ;$IN[1-8] KRC2SR Mini-IO
; OUTB0=0 ;$OUT[1-7] KRC2SR Mini-IO
; INB1=1 ;$IN[9-14] KRC2SR Hand-IO
; OUTB1=1 ;$OUT[9-16] KRC2SR Hand-IO
;
; Notes:
; Mini-I/Os: 8 digital Inputs, 7 digital Outputs
; Hand-I/Os: 6 digital Inputs, 8 digital Outputs
;
;[VIO] inputs/outputs for Virtual IO driver over TCP/IP
; Entries in form 1
;
;VIO=30,vioInit,vio_drv.o
;
;[O2I] inputs/outputs for 'output to input for software developers'
; Entries in form 1
;
;O2I=31,o2iInit,o2i_drv.o
;
;[IOLINKING] Outputs follow inputs
; Special form:
; $OUT[{bitoffset}]=$IN[{bitoffset}]
;
; {bitoffset} Bit(!)offset in the robot I/O-System,
; starting with 1 (1..MAXIO)
;
; Example: $OUT[512]=$IN[401]
; In this case output nr. 512 (bit 8 of byte 63)
; is linked to input nr. 401 (bit 1 of byte 50)
;
; Notes:
; IOLINKING means outputs follow inputs in the robot
; I/O-system (within ipo-cycle), regardless if they
; are mapped to drivers.
; Port ranges cannot be specified, each bit must be
; linked by itself.
; Only a maximum of MAX_IOLINKS can be configured (set
; in progress.ini, if this value is increased, robot
; functionality cannot be guaranteed!).
;----------------------------------------------------------
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-> dnShow
DN2DRV Version : 1.23.0.0
Scanner enable : stopped
Scanner State : ERROR
CAN Errors : 28
CAN OverFlow : 0
SystemTime : 217210
BaudRate : 125 KBaud
[00] KRC State 00 Master none
I:
O:
[01] Warn 0 State 03:01 offline
value = 1 = 0x1
->
-> dnWho
DNDRV DNDRV starting WHO
DNDRV DNDRV using baudrate 125 KBaud
DNDRV [00] is in scanlist
DNDRV [01] is in scanlist
DNDRV searching devices...
DNDRV [01] UCMM
DNDRV ready
value = 0 = 0x0
->
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