Hi Everybody,
i'm a little bit struggling here with an old KRC2 because of profibus! I hade a controller with a profibus car with double connector and
i had a devicenet card, due to the strange function of the device net that loses the configuration everytime i reboot the robot, and i had to
pull out/pull in the power and reconfigure io couple of times to make it starts, we decide to swap it with a profibus slave.
We choose a Wago 750-323. Now the situation was that the robot was a slave in a profibus netowork with this configuration :
IOSYS.INI
PBMASL=11,pbmsInit,pfbmsdrv.o
DEVNET=2,dnInit,dn2drv.o
[DEVNET]
INB32=5,0,x4
OUTB32=5,0,x4
[PBMASL]
INB0=127,0,x32
OUTB0=127,0,x32
and pfbms.ini was like this :
[MASTER]
MASTER_USED=0
DATABASE_PATH=init/Slave.ldb
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
WATCHDOG_TIME=3
MAPPING_USED=0
MAPPING_PATH=init/
;DEACTIVATED_SLAVES=
WAIT_FOR_SLAVES=0
[SLAVE]
MODUL_USED=1
MODUL_ADDRESS=20
;START_TIME=60
ERROR_ACTION=0
STANDBY=0
SLAVE_TIMEOUT=0
CHECK_CONFIGURATION_DATA=0
ACCEPTABLE_INPUT_LENGTH=256
ACCEPTABLE_OUTPUT_LENGTH=256
IO_DATA_BASE=0
CONSISTENCE=0
The profibus network worked with the omron PLC and everything was fine.
Now i create a Ldlb database from a step 7 project adding a wago card and changed the configuration like this:
pfbms.ini :
[MASTER]
MASTER_USED=1
DATABASE_PATH=init/Kuka_CP5613.Ldb
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
and iosys.ini :
PBMASL=11,pbmsInit,pfbmsdrv.o
;DEVNET=2,dnInit,dn2drv.o
[PBMASL]
INB0=127,0,x32
OUTB0=127,0,x32
INB32=2,0,x4
OUTB32=2,0,x4
WATCHDOG_TIME=3
MAPPING_USED=0
MAPPING_PATH=init/
;DEACTIVATED_SLAVES=
WAIT_FOR_SLAVES=0
[SLAVE]
MODUL_USED=1
MODUL_ADDRESS=20
;START_TIME=60
ERROR_ACTION=0
STANDBY=0
SLAVE_TIMEOUT=0
CHECK_CONFIGURATION_DATA=0
ACCEPTABLE_INPUT_LENGTH=256
ACCEPTABLE_OUTPUT_LENGTH=256
IO_DATA_BASE=0
CONSISTENCE=0
the wago card is setted with address 2 and the profibus card with 11. Now the probibus network with plc works
but the one with wago don't i have a write and read error on driver cp561drv on kcp and the wago card is in bus fault.
I' m really struggling since this morning at 6:00 is possbile that i need to create a file with step 7 to configure the profibus on
a robot? And this bad kuka manuals that don't explain nothing very well are letting me gone crazy!!! Can please somebody
help me? I don't know even which model of profibus card i have in the controller, there's no label on it because the robot is refurbished,
amd because my customer is so hard that instead of buying a new devicenet card it take a used profibus wago...Thanks!
PS.: I really don't understand if it is possible for the robot to work on two separate profibus networks one like slave with plc and one like
master on the wago card. Thanks in advance!