no... your card name is still CP5613/14...
127 is a node address or handle for one particular device.
see if you use CP5613/14 as a master, there are likely to be several slaves that master is talking to.
bus cable is simply daisy chaining all nodes.
so you may have something like one PLC acting as master that is connected to several pieces of equipment in the plant:
node 3 : kuka robot 1
node 7 : kuka robot 2
node 2 : Siemens PLC doing job A
node 26 : Siemens PLC doing job B
node 31 : Festo manifold controlling conveyor
node 15 : Festo manifold controlling XYZ
etc.
all of them respond to messages from same master. and when they respond, their message also contains the node address info. that way master can tell that message sent from node 3 is really from node 3 and not from node 31 or something else.
to keep track of all of this, master need a list or database of some sort.in case of profibus LDB file is that database.
so rather than using long names, master is using a number to keep track of its slaves.
iit is more efficient to use one byte (0-255) than series of characters or string that that would otherwise be needed.
humans use numbers all the time to organize things, such as hotel room numbers. when someone asks for service, attendant can arrange for it and send the service (cleaning/food delivery/whatever) to specific room by using room number rather than guest name or room coordinates. "send the bottle to room 391". payload is the bottle of vine.
so hotel room numbers are handle to refer to specific room. field bus node address is handle to refer to specific fieldbus node.
"send the message to node 26". payload is the block of data that node 26 will receive
when it sends message to "node 26", everything on the bus sees that message but they all choose to ignore it - except the node 26 which thinks "ok this message is for me, i better take care of this".
if the address set on slave does not match address in master DB (in this case tat database is an LDB file), then message is lost and master will complain that it cannot reach specific node (26 or whatever).
so no... your card name is still CP5613/14... and it sees all the data on the network. but to access data sent from master and destined to this card, you need to use handle 127
actually profibus nodes are normally 0-63. there is no node 127. so this is a special number used by KUKA CP5613/14 to access data that "master exchanges with me"...!
you keep using "Bay" to refer to robot cabinet/controller. this is wrong and confusing.
you should decide what the network addresses are and use them - consistently...
from what i see so far you have one PLC acting as master and three KRC2 controllers acting as slaves.
slaves are identified on DP network by their node addresses (macid) 61, 62, 63. if i recall Siemens PLC normally uses value 2 as default macid for itself.
slaves cannot talk to each other. the only get messages from PLC and respond to PLC.
node 2 talks to 61
node 2 talks to 62
node 2 talks to 63
61 has no clue about 62 or 63 since they are all slaves (only masters are aware of slaves - masters keep track of their slaves by some sort of scan list or in this case an LDB file).
so...
DP master (PLC in this case) will need to have configured network with three slaves addressed 61,62 and 63.
each robot will be configured the same way except that each of them will have own macid listed in their PFBMS.INI.
Robot 1 will have "MODUL_ADDRESS=61"
Robot 2 will have "MODUL_ADDRESS=62"
Robot 3 will have "MODUL_ADDRESS=63"
and everything else in that file is the same
...and none of them should have "MODUL_ADDRESS=15".
then in the IOSYS.INI, each robot will have access using macid 127. as mentioned this is a special number for "my own data channel to communicate with my master".
[PBMASL]
;esclave
inb1=127,0,x4 ; Automate ($IN[9-40])
outb1=127,0,x4 ; Automate ($out[9-40])of course it is possible to create more complex relationships.
for example robot1 can be a slave to PLC and at the same time it could be master to some ET200S IO (gripper for example)
in that case LDB file on the robot1 cannot be the dummy file - you need to create correct LDB file yourself and that file will have info of the nodes that are slaves to robot1 (in this example just single ET200S node). so lets say that node is using macid 21
then the IOSYS.INI on robot 1 would have more IO mapped, something like:
[PBMASL]
; signals to/from ET200s (our slave that has macid 21)
; when referring to own slaves, address them directly using their own macid:
inb0=21,0,x1 ; ($IN[1-8])
outb0=21,0,x1 ; ($out[1-8])
; signals to/from PLC (this is slave with macid 63 is seen by PLC, but...
; the slave is unaware of master so always use 127 when talking to master)
inb1=127,0,x4 ; ($IN[9-40])
outb1=127,0,x4 ; ($out[9-40])Hello,
I want to communicate krc2 with ET200s profibus I/O module. I'm getting a Configuration error I/O driver PBMASL error.Where am I doing wrong?
Display Moreyou keep using "Bay" to refer to robot cabinet/controller. this is wrong and confusing.
you should decide what the network addresses are and use them - consistently...
from what i see so far you have one PLC acting as master and three KRC2 controllers acting as slaves.
slaves are identified on DP network by their node addresses (macid) 61, 62, 63. if i recall Siemens PLC normally uses value 2 as default macid for itself.
slaves cannot talk to each other. the only get messages from PLC and respond to PLC.
node 2 talks to 61
node 2 talks to 62
node 2 talks to 63
61 has no clue about 62 or 63 since they are all slaves (only masters are aware of slaves - masters keep track of their slaves by some sort of scan list or in this case an LDB file).
so...
DP master (PLC in this case) will need to have configured network with three slaves addressed 61,62 and 63.
each robot will be configured the same way except that each of them will have own macid listed in their PFBMS.INI.
Robot 1 will have "MODUL_ADDRESS=61"
Robot 2 will have "MODUL_ADDRESS=62"
Robot 3 will have "MODUL_ADDRESS=63"
and everything else in that file is the same
...and none of them should have "MODUL_ADDRESS=15".
then in the IOSYS.INI, each robot will have access using macid 127. as mentioned this is a special number for "my own data channel to communicate with my master".
Code[PBMASL] ;esclave inb1=127,0,x4 ; Automate ($IN[9-40]) outb1=127,0,x4 ; Automate ($out[9-40])of course it is possible to create more complex relationships.
for example robot1 can be a slave to PLC and at the same time it could be master to some ET200S IO (gripper for example)
in that case LDB file on the robot1 cannot be the dummy file - you need to create correct LDB file yourself and that file will have info of the nodes that are slaves to robot1 (in this example just single ET200S node). so lets say that node is using macid 21
then the IOSYS.INI on robot 1 would have more IO mapped, something like:
Code[PBMASL] ; signals to/from ET200s (our slave that has macid 21) ; when referring to own slaves, address them directly using their own macid: inb0=21,0,x1 ; ($IN[1-8]) outb0=21,0,x1 ; ($out[1-8]) ; signals to/from PLC (this is slave with macid 63 is seen by PLC, but... ; the slave is unaware of master so always use 127 when talking to master) inb1=127,0,x4 ; ($IN[9-40]) outb1=127,0,x4 ; ($out[9-40])
You can't add Profisafe module to KRC2. Remove profisafe module and try again.
You can't add Profisafe module to KRC2. Remove profisafe module and try again.
You can't add Profisafe module to KRC2. Remove profisafe module and try again.
Sorry I deleted PBmaster. do you want me to remove 2 profisafe modules as hardware?
You can't add Profisafe module to KRC2. Remove profisafe module and try again.
Hi,
Error CP561DRV writing / reading
What should I do?
Thanks in advance.
My codes
[CP_5613/14]
Debug=1
LOGFILE_PATH=log/pfbms.log
ERROR_TEXT=English
FORCE_RESET=1
;OLD_ERROR_DB=0
[MASTER]
MASTER_USED=1
DATABASE_PATH=init/212R2_03.ldb
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
WATCHDOG_TIME=30 ;300ms
MAPPING_USED=0
MAPPING_PATH=init/
DEACTIVATED_SLAVES=40,45,50,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,49,41,42,46,47,48,51,52,53,55,60,61,62,63,64,65,66,67,68,69,70,71,72,73,93,94,74,75,76,77,78,79,80,81,82,85,86,87,88,89,90,91,92,95,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,120,59
WAIT_FOR_SLAVES=0 ;!
[SLAVE]
MODUL_USED=1
MODUL_ADDRESS= 94
START_TIME=60 ; ! min 20
CHECK_CONFIGURATION_DATA=0 ; !
ERROR_ACTION=1
STANDBY=1
ACCEPTABLE_INPUT_LENGTH= 244 ;1-244
ACCEPTABLE_OUTPUT_LENGTH= 244 ;1-244
IO_DATA_BASE=1 ;BYTE / WORD
CONSISTENCE=0
[SWAP]
...
DEACTIVATED_SLAVES=40,45,50,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,49,41,42,46,47,48,51,52,53,55,60,61,62,63,64,65,66,67,68,69,70,71,72,73,93,94,74,75,76,77,78,79,80,81,82,85,86,87,88,89,90,91,92,95,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,120,59
Remove all those numbers. They are for configured slaves, but not activated at boot time. F. e. when you have a tool changer with modules on the changed tool.
DATABASE_PATH=init/212R2_03.ldb
Did you create the file 212R2_03.ldb? Is it correct?
Did you remove the safety modules?
Remaster the robot and show ALL error messages regarding pfbms.
Post iosys.log and pfbms.log.
SLAVE]
MODUL_USED=1
Change 1 to 0, you don't use the slave part of the robot profibus card.
EDIT: Don't cross post. This thread is useless for you, as you already have another thread with more help.
EDIT: Don't cross post. This thread is useless for you, as you already have another thread with more help.
Use this thread: error on wrinting, driver, CP561DRV
Cross posting 
Use this thread: error on wrinting, driver, CP561DRV
Cross posting
OK. I delete my post and throws it there.
