Hi
I am new user in kuka robot , i want to install "Phoenix contact ILB DN 24 DI16 DO16"
in the VKRC2 . I know need some modification in I/0 Config and connect PHOENIX to the interbus
but i don't know exactly how can do it ? .PLEASE help me ( as blind man ) to solve this.
Many Thanks in advance.
Help me to install Phoenix contact ILB DN 24 DI16 DO16 in VKRC2
-
NASERKARGAR -
January 20, 2015 at 9:22 AM -
Thread is marked as Resolved.
-
-
Well what you want to do is very easy, but i think you mean devicenet and not interbus, because you have a devicenet module listed.
I have added the same module to our vkrc2 and here is some information that can help you:
https://www.robot-forum.com/robotforum/kuk…56418/#msg56418change devnet.ini to:
[krc]
DEBUG=0
BAUDRATE=500[1]
macid=4and in the IOSYS.INI activate the driver and add under [DEVNET]:
INW0=4,0,x1
OUTW0=4,0,x1
(16x in and 16x out) -
Hi Leon
Thank you for your Replay .
Your Right This connect to Devicenet . please tell me about the type of cable and also terminal wiring .
i don't know which terminal should be connect . i guess X801 in PC(win95) slot but not sure and don't know the wiring.
this device don't need any driver for PC? all driver in PC(win95) exist?Again many thanks for your cooperation
-
Win95 in the robot only controls the user interface. The robot's motion and I/O all run out of its own realtime OS, VxWorks, which runs alongside Win95 as a virtual machine. The DeviceNet drivers are part of VxWorks, no Windows drivers are involved. X801 is the inbuilt DeviceNet port that all KRC2s had, and the driver should already be installed.
This manual is for a newer KRC2 version than you have, but it should help get you started: https://www.robot-forum.com/robotforum/man…vicenet-manual/
-
OK
Lets start to install Phonix I/O
I Ready to do it...
What's first step? -
Read the manual.
-
special cable need?
-
yes although you can get around it. devicenet is not very demanding (because it is so slow).
it is just a bus like many others (profibus, cclink, compobus-S, DH+, RS485, canbus...).all busses have lots in common:
- terminators are required at the ends of a bus (low value resistance)
- simple wiring - you can just parallel in additional nodes (until you reach address limit of particular protocol)
- there is one master (at least) and bunch of slaves, master starts conversation and slaves usually respond only when spoken to
- each node must have unique ID (macid or node address)
- baud rate and message format is defined by standard of particular protocol
- each node must use same bus settings (baud rate).in case of DeviceNet:
- terminator is 121Ohm 1%
- wiring uses 4-core cable with overall shield (shield connects to GND in one point, one pair is used for communication and other pair is 24V power)
- if you are using MFC card, there are some restrictions: it can only be master (this is meant to add I/Os to robot, not to link two or more robots), does not support decoupling of modules and MFC address cannot be changed. if you use LPDN card you get two channels supporting all DeveiceNet features .
- node addresses are 0-63, if using MFC - it must be master and it must be node 0 (slaves can have addresses in range 1-63) -
Hi
Many Thanks for you replay
I want send Image of terminal X801 but not possible .
PC side of cable should be connect to this terminal , Right?
If i use Resistor 123 ohm and other side 120 ohm then i have problem? -
"PC side"?
The resistors need to be 120 ohms, within +/- 10%.
External power must be provided to the Devicenet cable as well -- terminals 12 and 5 need to be provided with 24VDC from an external source. Reversing the polarity will likely damage the MFC card. Communications is pins 2 and 4, and pin 3 is the shield. Make certain to wrap the exposed portion of the shield with tape to avoid electrical shorts.
-
Hi
I going to install PHONIX CONTACT as i mentioned , need transfer file "BLDN16DIO3.eds" to PC or not?
only modification LEON was explained enough?
Dont need any modification in IOSYS.INI like:[DRIVERS]
;MFC=0,mfcEntry,mfcdrv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;DEVNET=2,dnInit,dndrv.oREmove ; from last line?
-
yes you have to remove ';' from the devnet line. that is what i mean by activating the driver.
-
what about eds file?
-
as far as i know you don't have to use it. not completely sure where you do need that file for though. i didn't use it when i set up my module.
-
no EDS files for MFC
you need to:
1. correctly wire up network (create bus, power it up and terminate ends)
2. edit scan list (DEVNET.INI)
3. enable driver (remove ; in IOSYS.INI before correct driver. semicolon is used to comment out code)
4. map I/O (in IOSYS.INI, for DeviceNet it must be under [DEVNET])details for mapping rules are at the bottom of the IOSYS.INI
also this was discussed so many times, just search forumDeviceNet specification and Kuka manuals call for 121 Ohm 1% terminating resistors (E96 series). In practice I have seen quite often 120 Ohm 5% or even 10% resistors (E24 or E12 series).
-
Hi
I well done. Thank you very much. -
as far as i know you don't have to use it. not completely sure where you do need that file for though. i didn't use it when i set up my module.EDS is basically a file more powerful communication systems (like PLCs) use to set up their IO. On the KRC2, you just edit the IOSYS to set it up. The KRC2 implementation of dnet is very basic.
-
Hi all
Many Thanks for this topic
I install "Phoenix contact ILB DN 24 DI16 DO16"
SO I change devnet.ini to:
[Krc]
DEBUG = 0
BAUDRATE = 500[1]
macid = 4
and in the IOSYS.INI I activate the driver and add under [DEVNET]:
INW0 = 4? , 0?, X1? // I dont understand this line
please tell me about it -
The IO-Linking is explained in great detail in the comment section at the bottom of IOSYS.INI:
Code
Display More;========================================================== ;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 ; ;[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!). ;----------------------------------------------------------