Hello all,
we recently bought KUKA robot with KPC ed05, KP C V5.4.14.
Trying to connect IO's on DeviceNet using MFC DeviceNet port. IO's are GE "IC200DBI001" Network interface unit with GE IC200MDD842J module with 16DO/16DI for start.
Did everything like in manual "DeviceNet For KR C2 edition2005 and KR C2 sr".
24VDC power supply in Pin 1 & Pin 5 is there;
Termination resistors at both cable ends between CAN_H and CAN_L 121 ohm;
When plugged in, resistance between CAN_H and CAN_L ~65 ohm;
Pin Shield - grounded;
Slave address set correctly, and baudrate too.
But I get error "6503" - "Configuration error I/O driver DN2DRV".
Also LED1 and LED2 on MFC card, all the time is off. They never light up!
Have read through forum for this problem, but nothing helps !
So following questions :
1. Could it be hardware problem of MFC card's DeviceNet port? If yes, is there any way to simply check if it is hardware problem, and how to do it?
2. Is it possible that IO bytes mapped are reserved somewhere else (in iosys.ini all other drivers and corresponding IO bytes commented out)? If so, how to check this?
3. Is it possible to tell something useful, except from obvious, from devicenet.log records :
"06/11/15 10:11:39 : ERROR: receive error Interrupt
06/11/15 10:11:52 : ERROR CreateInstance failed ! "?
4. In normal situation if I unplug slave, then in devicenet.log would be some info that element not reachable or something like that?
Ini files and log files bellow :
devnet.ini :
iosys.ini :
;==========================================================
; 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]
;MFC=0,mfcEntry,mfcdrv.o
;CNKE2=21,cnke2CPInit,cnke2drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
DEVNET=2,dnInit,dn2drv.o
;INTERBUS=1,ibusInit,ibusdrv.o
[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 ;$OUT[449-464]
[DEVNET]
;Device net MACID 5
INB0=5,0
INB1=5,1
OUTB0=5,0
OUTB1=5,1
[PBMASL]
[DNSC1]
[DNSC2]
[DNSC3]
[DNSC4]
[DNSC5]
[DNSC6]
[DSEIO]
;INDW0=0 ;$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]
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devnet.log :
FILE_PTR_POS=001316
DN2Drv : Log Date 6.11.15 : 10:11
06/11/15 10:11:34 : Gen2 debugging enabled
06/11/15 10:11:34 : DN2DRV Version : 2.00.0.0
06/11/15 10:11:34 : baudrate 500 KBaud
06/11/15 10:11:35 : scan gap default is 6
06/11/15 10:11:35 : default priority is 173
06/11/15 10:11:36 : Power Off clear device data disabled
06/11/15 10:11:36 : Writing in case of error disabled
06/11/15 10:11:36 : scans 1 devices
06/11/15 10:11:37 : CAN1 membase is 0xD2000
06/11/15 10:11:37 : CAN1 io-base is 0x260
06/11/15 10:11:39 : ERROR: receive error Interrupt
06/11/15 10:11:52 : ERROR CreateInstance failed !
06/11/15 10:11:52 : ERROR create instance failed
06/11/15 10:11:53 : ERROR [05] invalid IN-data
06/11/15 10:11:53 : ERROR [05] invalid OUT-data
===== LAST_ENTRY =====
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iosys.log :