Kuka KRC2 + Wago Fieldbus I/O

Nox · Mar 13th 2019

Hello everyone,
I've been reading a lot on this problem, but I still haven't found out the exact solution to my problem.

I have a KUKA robot with KRC2, in the cabinet there is a Wago 750-306 Fieldbus coupler with 4 DI Modules 750-402 and 4 DO Modules 750-504 and of course the end Module 750-600.

The thing is that testing some things I thing we destroyed one of the DO cards, and I want to remove it to test the others, but when I change the setting of this modules, KCP shows me the error "ackn stop for error fieldbus".

I've realized that in the file IOSYS.ini i can manage this settings, but I'm not quite sure how to do it, because there are a lot of lines showing the Output modules.

Right now what I want to do is to test each DO module (the red ones), what do I have to change in this file in order to do it?

Thanks in advance!

Nox · Mar 13th 2019

btw, this is the content of iosys.ini

Code

;==========================================================
; 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]
;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]
;Input
inw0=5,0,x1
;inb1=5,1,x1
;output
outw0=5,0,x1
;outb1=5,1,x1


[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]


;==========================================================
;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!).
;----------------------------------------------------------
; 04/02/02  section [IOLINKING] added

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**panic mode** · Mar 13th 2019

[size=1em]be a pal and fix that attachment[/size]
[size=1em]https://www.robot-forum.com/ro…irst/msg127355/#msg127355[/size]

if you don't know what you are doing, use BYTE size mapping.
It also gives you better granularity and flexibility. you can change number of bytes mapped
[size=1.35em]outB0=5,0,x2[/size]

Nox · Mar 13th 2019

Thanks for your reply, I fixed it by changing

[DEVNET]
;Input
inw0=5,0,x1
;inb1=5,1,x1
;output
outw0=5,0,x1
;outb1=5,1,x1

to

[DEVNET]
;Input
inw0=5,0,x1
;inb1=5,1,x1
;output
outb0=5,0,x1
;outb1=5,1,x1

anyways, the problem was a fuse destroyed because of the device that we attached to one of the digital outputs, I just have to change the fuse and it will work. Thanks again!

**panic mode** · Mar 13th 2019

fix that attachment size please

Kuka KRC2 + Wago Fieldbus I/O

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