I have a KUKA KRC2 controller using DeviceNet Protocol to speak to a Siemens S7-1200 PLC. In order to stablish the comunication, I'm using an Anybus-X Gateway DeviceNet Adapter-ProfiNet IO Device.
Once the comunicaction is stablished, the robot sends at most 512 bytes properly to the PLC (devnet.ini and IOSYS.ini already configured and no DN2DRV errors at all).
But when it comes to programming the Robot, it suddenly stops moving either in T1/T2 or in Auto. Since I've seen in the forum, this usually happends when the wiring is not wisely done so I started checking the hardware.
Apparently, neither the MFC nor the Gateway shows any error, but when it comes to voltage, CanH-CanL is around 1/1.5 V.
Both sides of the cable has a 120 ohm terminator resistor, and CanH canL resistance without plugging any device is around 60 ohm which seems fine.
The power supply used is the KUKA KRC2 one but an external 24V has been also tried in case the KUKA 27V where messing around with the gateway.
Mesh has been also tried both connected and not connected to 0V since it was recomended in some posts here.
Thank you in advance!