From a KRC 2 robot of a customer we have received the all the files.
There is a profibus card in the robot.
When looking into the iosys.ini file I had the impression that input addresses 1-16 $IN [1 -16] are defined twice : for MFC and for Profibus.
Underneath is inserted the IOSYS.INI.
Are inputs 1-16 realy double configured (and thus wrong), or do I misunderstand the situation?
;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------
; cp 28/04/2010 13:11
; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet
; driver "dndrv.o". Now you have to use the driver
; "dn2drv.o" and the appropriate syntax (form 2)
[CONFIG]
VERSION=2.00
[DRIVERS]
;CNKE2=21,cnke2CPInit,cnke2drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
PBMASL=11,pbmsInit,pfbmsdrv.o
;DEVNET=2,dnInit,dn2drv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;MFC=0,mfcEntry,mfcdrv.o
[MFC]
INW0=0 ;$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]
[PBMASL]
INB2 = 5,0,x1 ; $IN [17-24]
INB0 = 5,1,x2 ; $IN [1 -16]
OUTB0= 5,0,x4 ; $OUT[1-32]
INB5 = 127,0, x20
INB5 = 127,0 x 18
; SWAP
INB23 = 127,19, x1
INB24 = 127,18, x1
INB25 = 127,21, x1
INB26 = 127,20, x1
INB27 = 127,23, x1
INB28 = 127,22, x1
INB29 = 127,25, x1
INB30 = 127,24, x1
INB31 = 127,27, x1
INB32 = 127,26, x1
INB33 = 127,29, x1
INB34 = 127,28, x1
INB35 = 127,31, x1
INB36 = 127,30, x1
OUTB5 = 127,0,x20
;SWAP
OUTB25= 127,21, x1
OUTB26= 127,20, x1
OUTB27= 127,23, x1
OUTB28= 127,22, x1
;NO SWAP
OUTB29= 127,24, x1
OUTB30= 127,25, x1
OUTB31= 127,26, x1
OUTB32= 127,27, x1
OUTB33= 127,28, x1
OUTB34= 127,29, x1
;SWAP
OUTB35= 127,31, x1
OUTB36= 127,30, x1