I am trying to get an autonics ARD-DX16p to communicate with my robot. I had this working on a different robot but I can not get it to work now. I am hoping someone can help me. I believe it is an addressing issue. Autonics provided me with an eds file for the ARD controllers but I am not totally sure I know what I need to put in to the Kuka for settings. I think I should use 24 for the data byte size and 1 for the consumed data size. I have it set to 125 bps. On the robot it shows the Devicenet is active but the lpdn1 is not.
devnet.ini
[krc]
debug=1
baudrate=125
[1]
macid=63
DNSC_1co.ini
;-----------------------------------------------------------------------------------------------------------
; Configuration for LPDN-Scanner (Channel 1)
[CONFIG]
MAC_ID=63
BAUDRATE=125
DEBUG=1
LOGFILE=LOG/LPDN1.LOG
OPTIONS=1179992907
; USE_ERROR_DB= ; use default value
; SCANLIST_COMMENT= ; use default value
; OPTIONS= ; use default value
[FAST_OUT]
; MAC_ID=10 ; not activated
dnsc_1sl.ini
INACTIV= ; Example: 1,5,6
CONTINUE_WITH_WARNING= ; Example: 8,25
[SCANNERCFG]
NET_EPR=75
NET_ISD=2
NET_BACKGROUND_POLL_RATE=2
NET_TX_RETRY_COUNT=2
Iosys.ini
;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
[CONFIG]
VERSION=2.00
[DRIVERS]
DIAGDRV=22,cp_DiagInit,diagdrv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
DEVNET=2,dnInit,dn2drv.o
DNSC1=12,dnsc1Init,dnsc1drv.o
[DIAGDRV]
;COMMENT=Configuration not required
[DEVNET]
;[RSI]
;[DNSC1]
;[DNSC2]
;[DNSC3]
;[DNSC4]
;[DNSC5]
;[DNSC6]
;[IOLINKING]
;[ERX]
[END SECTION]
;==========================================================
;
[DEVNET] ;DeviceNet on the KUKA MFC
INB1=63,0,X1 ;$IN[1-16]
OUTB1=63,0,X1 ;$OUT[1-16]
functionality cannot be guaranteed!).
;----------------------------------------------------------
; 04/02/02 section [IOLINKING] added
[DNSC1]
INB0=63,1
OUTB0=63,1
ARDI08O08.eds
(There is a bunch more pages to the .eds file, If needed I can post them)
$ EZ-EDS Version 3.3 Generated Electronic Data Sheet
[File]
DescText = " ARD-I08O08 EDS File";
CreateDate = 07-02-2009;
CreateTime = 09:43:09;
ModDate = 05-28-2010;
ModTime = 09:43:04;
Revision = 1.2;
HomeURL = "http://www.autonics.co.kr";
[Device]
VendCode = 801;
VendName = "Autonics Corporation ";
ProdType = 7;
ProdTypeStr = "General Purpose Discrete I/O";
ProdCode = 10;
MajRev = 1;
MinRev = 1;
ProdName = "ARD_I08O08";
Catalog = "ARD SERIES";
[IO_Info]
Default = 0x0001; $ Poll
PollInfo =
0x000F, $ Poll, BitStrobe, COS, Cyclic
1, $ Default Input = Input1
1; $ Default Output = No Exist
StrobeInfo =
0x000F, $ Poll, BitStrobe, COS, Cyclic
1, $ Default Input = Input1
1; $ Default Output = NO Exist
COSInfo =
0x0007, $ COS, Poll, BitStrobe
1, $ Default Input = Input2
0; $ Default Output = NO Exist
CyclicInfo =
0x000B, $ Cyclic, Poll, BitStrob
1, $ Default Input = Input2
0; $ Default Output = NO Exist
Input1 =
1, $ 2 Byte
0, $ All bits are significant
0x000F, $ All
"Input 08 Points",
6,
"20 04 24 04 30 03", $ Assembly Instance 1
"";
Input2 =
1, $ 1 Byte
0, $ All bits are significant
0x000F, $ All
"Generic Status",
6,
"20 64 24 01 30 65", $ Path
"";
Output1 =
1, $ 1 Byte
0, $ All bits are significant
0x000F, $ All
"Output 8 Points",
6,
"20 04 24 22 30 03", $ Path
"";
$ ==================================Parameter===============================================
[ParamClass]
MaxInst = 30; $ Number of Parameters
Descriptor = 0x0001; $ Charactoeristics of Parameters
$ & ( Supports Full Attribute, Must do non-volatile storage save command)
CfgAssembly = 0; $ Not support Configuration Assembly
[Params]
$ ==================================Unit manager Object=======================================
$ Generic Status
Param1 =
0, $ Shell Equal 0
6,"20 64 24 01 30 65", $ Path Size
$ Path
0x003C, $ Descriptor
24, $ Data Size = BYTE
1, $ Data Size = 1 Byte
"Generic Status", $ Name
"", $ Unit
"Bit0:Reserved\n"
"Bit1:Reserved\n"
"Bit2:Network power voltage drops(below the set level)\n"
"Bit3:Reserved\n"
"Bit4:Reserved\n"
"Bit5:Reserved\n"
"Bit6:Operation time over bit\n"
"Bit7:Reserved\n"
"",
$ Help String
0x00,0xFF,0x00, $ Min/ Max/ Default
1,1,1,0, $ Mult/ Div/ Base/ Offset Scaling
0,0,0,0, $ Mult/ Div/ Base/ Offset Links not used
1; $ Decimal places
[1]
MAC_ID=63 ; 0-63
VENDOR_ID=801 ; device keying info
PRODUCT_TYP=7 ; device keying info
PRODUCT_CODE=10 ; device keying info
POLL_RESPL=32 ; total # of bytes expected in poll resp
POLL_CMDL=8 ; total # of bytes expected sent in poll
;USERNAME=ARD-DX16P
;NAME=Not Determined