Kuka with Fronius Beckhoff module setup

Hi everyone,

I am fighting a welding setup - KRC2 ed05 KSS 5.6.9 and Fronius Transpulse 4000.

It is all working fine but i need to add 16 digital in and outs.

I want to use the Beckhoff module with the 6021 RS 485 and to add there these inputs and outputs.

I have troubles with devicenet config. Here are my settings:

; Fronius IO

INB0=20, 0, X12

OUTB0=20, 0, X12

; addon 16 IO

INB20=20, 0, X2

OUTB20, 0, X2

No errors registered, but the modules are not working - i tried bot in and outs.

The modules are working fine without the RS485 module

Any advise where to look?

Quote from panic mode

what are the modules, and what is the order... are they all with same bus coupler?

why are you mapping same IO bytes that are already mapped to 6021 ?

did you try simply

; Fronius IO and digital IO

INB0=20, 0, X14

OUTB0=20, 0, X14

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thank you!

That solved it!

I was using an example from an old thread, didnt think that i can just distribute the bytes in one line.

Actually this:

INB0=20, 0, X14

OUTB0=20, 0, X14

didn't work, gave me error in devicenet driver

But

INB0=20, 0, X13

OUTB0=20, 0, X13

Worked as i used 8 in and 8 outs not 16 (module is not here yet)

To be precise, outputs work fine inputs didnt for some reason - i feed 24v to the input 1 and it didnt blink ... i suppose it might be about the length of the outputs shared from the Fronius - the RS485 module. May be they need more than 96 bytes?

Will give it a try tomorrow and will report back.

Thanks again to everyone, specifically to Mr Mode - i am dreaming to be able to buy him a beer or two somewhere in the UK or EU

another update:

The KL6021 module is not connected to the K-bus. That was the original reason not to have power on the inputs.

So i moved the module as a last one and inserted 16 IO s as first modules and it is all good ,)

Mr Mode - it will be pleasure to leave the girl with an empty hands

Thanks again!