Hello. I have robot KUKA (KRC v.5.4.14, KR200 2 CPT S C2 FLR ZH06, Windows XPe) with Profibus card CP5614A2 and PLC Siemens 1212C with commutation module CM1243-5. I need to set up the link betwin them and send some bytes. PLC-Master, KRC-Slave.
In TIA Portal i'm install GSD file KUKA for CP5614A2 as slave and config it with Profibus adress 3, PLC adress- 2, also there in configuration CP i added 1 byte input data and 1 byte output data.
In KUKA i configured files iosys:
[CONFIG]
VERSION=2.00
[DRIVERS]
PBMASL=11,pbmsInit,pfbmsdrv.o
[PBMASL]
INB64=127,0,x1
OUTB64=127,0,x1
and pfbms:
[CP_5613/14]
DEBUG=1
LOGFILE_PATH=log/pfbms.log
ERROR_TEXT=German
FORCE_RESET=0
OLD_ERROR_DB=0
[MASTER]
MASTER_USED=0
DATABASE_PATH=init/
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
WATCHDOG_TIME=3
MAPPING_USED=0
MAPPING_PATH=init/
;DEACTIVATED_SLAVES=
[SLAVE]
MODUL_USED=1
MODUL_ADDRESS=3
START_TIME=60
ERROR_ACTION=1
STANDBY=1
SLAVE_TIMEOUT=0
CHECK_CONFIGURATION_DATA=0
ACCEPTABLE_INPUT_LENGTH=244
ACCEPTABLE_OUTPUT_LENGTH=244
IO_DATA_BASE=0
CONSISTENCE=0
After restart and reconfiguration drivers in robot there is error of reading driver CP561DRV and message ERROR IN SLAVE circuit:
LOG file:
On the PLC flash BF(bus fault)
what am I doing wrong? 
