IO-Link Acyclic Comunication

Hi,

I recenctly work on a project with a small KR600 Kuka robot (controlled by KRC5 Micro) without any higher PLC controller. The machine setup includes also Balluff's IO-Link Master (BNI PNT-507-005-Z040) for IO hub's and colour sensor (BFS 33M-GSI-F01-S75). I need to read acyclic data from colour sensor for further process. I tried to implement sample project, provided by Kuka (XpertKuka - „Sample project and KRL programs for acyclic communication with ProfiNet and an IO-Link module”) but without any success.

Step's I've made so far:

1. Added PN_IOL_acycle_plc.sub to EX1 as secound independent task (1 - sps.sub).

2. Added PN_IOL_acycle_V2.src and .dat
3. Changed master parameters in PN_IOL_acycle_V2.src to ARID = 2, API = 0, Slot = 0, SubSlot = 1, Index = 255.

4. Changed IO-Link device parameters to IOL_PortNumber = 4, IOL_Index = 1032, IOL_IndexLength = 12, IOL_TypeUserData = #STRING

5. Added declaration of external module to custom.dat file - DECL EXT_MOD_T $EXT_MOD_1={O_FILE[] "drivers\AsyncDataToKrl.o",OPTION 'B0010'} ;ext. Modul Informationen

6. Swapped AsyncDataToKrl.xml (from downloaded sample project) with AsyncDataToKrl.xml from Kuka C:\KRC\ROBOTER\CONFIG\USER\COMMON

Is there someone who done this communication properly? I'm totally newbie here and i'm doing sth wrong. I would be really thankful for any hints and solutions.

Thanks in advance,

Sl4w3k

So, after couples of extra houres, I made (with help) this acyclic comunication with some additional steps:

6. Swapped Added AsyncDataToKrl.xml (from downloaded sample project) with AsyncDataToKrl.xml from Kuka C:\KRC\ROBOTER\CONFIG\USER\COMMON.

7. Rebooted the robot controller with selected the option "Reload files" ( acording to - 7.1.1 KUKA.ProfiNet Controller/Device 3.1 KUKA.ProfiNet Device 3.1)

8. Added some changes to PN_IOL_acycle_V2.src to execute read function, turn off msgloop, convert ireaduserdata[] buffer to real.

9.Done