My customer has two KRC2s (KSS 5.5) that have been in production for a long time, using the Master module of the Profibus card to control the end effectors. They now want a central PLC added to coordinate the robots, and the plan was to activate the Slave module of the CP5614 cards and connect them to the new PLC. No changes to the Master module on the robots.
Now, it's been a long time since I did PB on KRC2, but I recall the Slave side being dead easy -- no need to use NCM, just change the settings in PFBMS.INI So, of course, it's being difficult now.
I left the MASTER section of PFBMS.INI untouched, and just activated the SLAVE section with the following settings:
MODUL_USED=1
MODUL_ADDRESS=3 ; for robot 1, robot 2 is 4
START_TIME=60
ERROR_ACTION=1
STANDBY=1
SLAVE_TIMEOUT=0
CHECK_CONFIGURATION_DATA=0
ACCEPTABLE_INPUT_LENGTH=8
ACCEPTABLE_OUTPUT_LENGTH=8
IO_DATA_BASE=0
CONSISTENCE=0
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Not using anything in the Crossover section.
The PLC is using the S0100008.GSD file from the robot's KRC/INIT directory.
But we can't establish communications. All the robot shows is "error in slave line", and PFBMS.LOG doesn't have anything enlightening -- just "Slavemodul is not in mode data_exchange within 6000 millsec", followed by number of "Ignore Datasize" messages.
The Master circuit is still communicating with the end effectors, so I know I haven't broken anything there.
The PB cable runs PLC>Robot1>Robot2. We have the terminations "ON" on the PLC and Robot2, and "OFF" on Robot1, which agrees with the manual -- just two active terminations, on the longest ends of the bus. We have no branches or stubs.
I've been re-reading the KUKA Profibus manual, but so far nothing obvious is jumping out at me that I missed or overlooked. I'm open to suggestions.