Configuration Error I/O driver DNDRV KRC1

Johneg1 · June 20, 2023 at 4:24 PM

Hello All,

I hope you have good time, i have one refurbished Kuka Robot KRC1 with KVR150 running KSS 4.1.7 SP05.

right now I'm trying connect device net to MFC card to enable use I/O. but seem to be i have problem either with configuration or with driver version.
this is the error i get after reconfiguring the Devicenet.
"Configuration Error I/O driver DNDRV"
i have check similar threads similar to this one , as found most of these issue due to missing wiring ,matching Baudrate parameter or IOsys configuration.
problem with in/out ports Kuka KRC2
I would like to share some details about this issue:

1-I'm using Wago 750-306 with one input and one output module. i have used 120ohm resistor on both sides and current value is ~60ohms over the CAN L and Can H.
voltage with reference to ground is ~2.2V and ~3.6V. i have powered up Wago with 24V from the computer power supply, also connected ground for shield terminal.
also i have set dip switch to match the files configuration.

https://ibb.co/nL14mKc

after wiring all. i still did'nt get the connect LED lit on.

2- for the robot part file configuration:
i have attached Iosys and Devnet after editing and matching the MACID 5 and Baudrate 500.

3- after trying to use reconfiguration i get this error

I appreciate your help!! and i hope i didn't miss any information you might need
here are the file.
https://www.mediafire.com/file/3uenftfph…devnet.ini/file
https://www.mediafire.com/file/ergzmklbh2ziajo/dn2drv.o/file
https://www.mediafire.com/file/bgubvfe1sneb2ga/dndrv.o/file
https://www.mediafire.com/file/hxbm9mpor…/iosys.ini/file
https://www.mediafire.com/file/3zvzx6jch…/slave.ldb/file

"> " class="messageFloatObjectLeft">
devnet

[krc]

debug=0

baudrate=500

LOGFILE=1

[1]

macid=5

iosys

;==========================================================

; IOSYS.INI - Configuration file for the IO-System

;==========================================================

; For configuration help go to the end of this file.

;----------------------------------------------------------

[CONFIG]

VERSION=2.00

[DRIVERS]

;MFC=0,mfcEntry,mfcdrv.o

;INTERBUS=1,ibusInit,ibusdrv.o

DEVNET=2,dnInit,dndrv.o

;BOSCH=3,boschInit,boschdrv.o

;PERCEPTRON=4,percInit,percdrv.o

;SBIP=5,sbipInit,sbipdrv.o

;FIPIO=6,fipioInit,fipiodrv.o

;PROFISL=7,pbslInit,pfbsldrv.o

;PROFIMA=8,pbmaInit,pfbmadrv.o

;RIO=9,rioInit,riodrv.o

;LIBO=10,liboInit,libodrv.o

;PBMASL=11,pbmsInit,pfbmsdrv.o

;DNSC1=12,dnsc1Init,dnsc1drv.o

;DNSC2=13,dnsc2Init,dnsc2drv.o

;DSEIO=14,dseIoInit,dseiodrv.o

;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o

;CNKE1=16,cnke1CPInit,cnke1drv.o

;DNSC3=17,dnsc3Init,dnsc3drv.o

;DNSC4=18,dnsc4Init,dnsc4drv.o

;DNSC5=19,dnsc5Init,dnsc5drv.o

;DNSC6=20,dnsc6Init,dnsc6drv.o

;CNKE2=21,cnke2CPInit,cnke2drv.o

[MFC]

INW0=0 ;$IN[1-16]

OUTW0=0 ;$OUT[1-16]

OUTW2=2 ;$OUT[17-32]

[INTERBUS]

;------- Inputs ---------

;Slave Inputs

INW50=896 ;$IN[401-416]

INW52=898 ;$IN[417-432]

INW54=900 ;$IN[433-448]

INW56=902 ;$IN[449-464]

;------- Outputs --------

;Slave Outputs

OUTW50=896 ;$OUT[401-416]

OUTW52=898 ;$OUT[417-432]

OUTW54=900 ;$OUT[433-448]

OUTW56=902 ;$OUT[449-464]

[DEVNET]

INB0=5,0,x1 ;$IN[1-8]

OUTB0=5,0,x1 ;$OUT[1-8]

[BOSCH]

;------- Inputs ---------

INW64=0 ;$IN[513-528]

;------- Outputs --------

OUTW64=0 ;$OUT[513-528]

OUTW66=2 ;$OUT[529-544]

[PERCEPTRON]

;------- Inputs ---------

INW68=0 ;$IN[545-560] X

INW70=2 ;$IN[561-576] X

INW72=4 ;$IN[577-592] Y

INW74=6 ;$IN[593-608] Y

INW76=8 ;$IN[609-624] Z

INW78=10 ;$IN[625-640] Z

INW80=12 ;$IN[641-656] A

INW82=14 ;$IN[657-672] B

INW84=16 ;$IN[673-688] C

INW86=18 ;$IN[689-704] ERG

;------- Outputs --------

OUTW68=0 ;$OUT[545-560] model, partner

OUTW70=2 ;$OUT[561-576] color, pointnr

OUTW72=4 ;$OUT[577-592] phase, fixture, command

OUTW74=6 ;$OUT[593-608] wrist angle roll

OUTW76=8 ;$OUT[609-624] wrist angle roll

OUTW78=10 ;$OUT[625-640] wrist angle pitch

OUTW80=12 ;$OUT[641-656] wrist angle pitch

OUTW82=14 ;$OUT[657-672] wrist angle yaw

OUTW84=16 ;$OUT[673-688] wrist angle yaw

[SBIP]

;------- Inputs ---------

INW0=0 ;TASK READ : $IN[1-16]

INW2=2 ;MMI READ : $IN[17-32]

INW4=100 ;KEY READ : $IN[33-48]

INW6=4 ;RESULT1 : $IN[49-64]

INW8=6 ;RESULT2 : $IN[65-80]

INW10=8 ;RESULT3 : $IN[81-96]

INW12=10 ;RESULT4 : $IN[97-112]

INW14=12 ;RESULT5 : $IN[113-128]

INW16=14 ;RESULT6 : $IN[129-144]

INW18=16 ;RESULT7 : $IN[145-160]

INW20=18 ;RESULT8 : $IN[161-176]

INW22=20 ;RESULT9 : $IN[177-192]

INW24=22 ;RESULT0 : $IN[193-208]

;------- Outputs --------

OUTW0=0 ;TASK WRITE : $OUT[1-16]

OUTW2=2 ;MMI WRITE : $OUT[17-32]

OUTW4=100 ;KEY WRITE : $OUT[33-48]

OUTW6=102 ;PARAM1 : $OUT[49-64]

OUTW8=104 ;PARAM2 : $OUT[65-80]

OUTW10=106 ;PARAM3 : $OUT[81-96]

OUTW12=108 ;PARAM4 : $OUT[97-112]

OUTW14=110 ;PARAM5 : $OUT[113-128]

OUTW16=112 ;PARAM6 : $OUT[129-144]

OUTW18=114 ;PARAM7 : $OUT[145-160]

OUTW20=116 ;PARAM8 : $OUT[161-176]

OUTW22=118 ;PARAM9 : $OUT[177-192]

OUTW24=120 ;PARAM0 : $OUT[193-208]

[FIPIO]

[PROFISL]

;------- Inputs ---------

INW0=0 ;$IN[1-16]

INW2=2 ;$IN[17-32]

INW10=4 ;$IN[81-96]

INW12=6 ;$IN[97-112]

;------- Outputs --------

OUTW0=0 ;$OUT[1-16]

OUTW2=2 ;$OUT[17-32]

OUTW10=4 ;$OUT[81-96]

OUTW12=6 ;$OUT[97-112]

[PROFIMA]

[RIO]

[LIBO]

[PBMASL]

[DNSC1]

[DNSC2]

[DNSC3]

[DNSC4]

[DNSC5]

[DNSC6]

[DSEIO]

INDW0=0 ;$IN[1-32]

OUTDW0=0 ;$OUT[1-32]

[INTERBUSPCI]

;------- Inputs ---------

;Slave Inputs

INW50=896 ;$IN[401-416]

INW52=898 ;$IN[417-432]

INW54=900 ;$IN[433-448]

INW56=902 ;$IN[449-464]

;------- Outputs --------

;Slave Outputs

OUTW50=896 ;$OUT[401-416]

OUTW52=898 ;$OUT[417-432]

OUTW54=900 ;$OUT[433-448]

OUTW56=902 ;$OUT[449-464]

[CNKE1]

;=ConNo, additional offset,xSize

[CNKE2]

;=ConNo, additional offset,xSize

[END SECTION]

**panic mode** · June 20, 2023 at 6:20 PM

your KRC is older and using older DeviceNet so check if IO mapping syntax is correct.

i think you need to try editing IOSYS.INI

replace syntax used on newer DNET driver

Code

[DEVNET]
INB0=5,0,x1      ;$IN[1-8]
OUTB0=5,0,x1     ;$OUT[1-8]

with something that matches your version. probably like:

Code

[DEVNET]
INB0=0         ;$IN[1-8]
OUTB0=0        ;$OUT[1-8]

for details check the bottom of the INI file (should be comments) or compare to other mapping.

hermann · June 21, 2023 at 6:21 AM

Code

[DEVNET]
INB4=0         ;$IN[1-8]
OUTB4=0        ;$OUT[1-8]

The bytes beginning from zero are used by MFC card.

Johneg1 · June 21, 2023 at 9:00 AM

Good morning "Panic Mode"
i have check the bottom of the IOSYS file and here what i found
I have tried both examples but still did not work.
I get the same error " Configuration Error I/O driver DNDRV"

Code

;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------


[CONFIG]
VERSION=2.00




[DRIVERS]
;MFC=0,mfcEntry,mfcdrv.o
;INTERBUS=1,ibusInit,ibusdrv.o
DEVNET=2,dnInit,dndrv.o
;BOSCH=3,boschInit,boschdrv.o
;PERCEPTRON=4,percInit,percdrv.o
;SBIP=5,sbipInit,sbipdrv.o
;FIPIO=6,fipioInit,fipiodrv.o
;PROFISL=7,pbslInit,pfbsldrv.o
;PROFIMA=8,pbmaInit,pfbmadrv.o
;RIO=9,rioInit,riodrv.o
;LIBO=10,liboInit,libodrv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;CNKE2=21,cnke2CPInit,cnke2drv.o

[MFC]
INW0=0       ;$IN[1-16]
OUTW0=0      ;$OUT[1-16]
OUTW2=2      ;$OUT[17-32]

[DEVNET]
INB0=5,0,x1  ;$IN[1-8]
OUTB0=5,0,x1 ;$OUT[1-8]


[END SECTION]

;==========================================================
;Valid entries have the following formats.
;Arguments in squared brackets are optional.
;If nothing else is mentioned, arguments are decimal.


;Digital Inputs and Outputs:
;
; Form 1:
; {token}{offset}={byte}[,{multip}]
;
; {token}   INB (byte), INW (word), INDW (double word)
;           OUTB, OUTW, OUTDW
; {offset}  byte offset of robot IO System (0..m)
; {byte}    byte offset over all peripheral devices (0..m)
;           Offset starts with 0 at the first device and
;           ends with m at the end of the last device.
; {multip}  creats n dataobjects of {token}
; Example:
; OUTW4=2,x3
; Three words of the periphery, starting at byte 2,
; are mapped to the outputs 33-80.
;
; Form 2:
; {token}{offset}={address},{byte}[,{multip}]
;
; {token}   INB, INW, INDW, OUTB, OUTW, OUTDW
; {offset}  byte offset of robot IO System
; {address} address of a peripheral device (0..m)
;           driver specific information, see descr. below
; {byte}    byte offset at this peripheral device (0..m)
;           Offset starts with 0 at the every device
;           driver specific information, see descr. below
; {multip}  creats n dataobjects of {token}
; Example:
; INW4=10,0,x2
; Two words of the peripheral device with address 10 and
; up from byte 0 are mapped to the inputs 33-80.




;Analog Inputs and Outputs:
;
; Form 1:
; {token}{num}={byte},{res},{type}[,CAL{factor}]
;
; {token}   ANIN or ANOUT
; {num}     number of the analog channel (1..i)
; {byte}    byte offset over all peripheral devices (0..m)
;           Offset starts with 0 at the first device and
;           ends with m at the end of the last device.
; {res}     resolution of the analog value (number of bits)
; {type}    type of analog value
;           0 : right justified without sign
;           1 : right justified with    sign
;           2 : left  justified without sign
;           3 : left  justified with    sign
; {factor}  maximum analog value, decimal without prefix,
;           hexadec. with prefix 0x or octal with prefix 0
;           "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN1=10,12,3
; The analog input No.1 is used. The byte offset on
; peripheral side is 10, the resolution is 12 bit and the
; type of analog value is 3 (left justified with sign).
; The maximum binary analog value is 2047.
;
; Form 2:
; {token}{num}={address},{byte},{res},{type}[,CAL{factor}]
;
; {token}   ANIN or ANOUT
; {num}     number of the analog channel (1..i)
; {address} address of a peripheral device (0..m)
;           driver specific information, see descr. below
; {byte}    byte offset at this peripheral device (0..m)
;           Offset starts with 0 at the every device
;           driver specific information, see descr. below
; {res}     resolution of the analog value (number of bits)
; {type}    type of analog value
;           0 : right justified without sign
;           1 : right justified with    sign
;           2 : left  justified without sign
;           3 : left  justified with    sign
; {factor}  maximum analog value, decimal without prefix,
;           hexadec. with prefix 0x or octal with prefix 0
;           "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN3=30,0,16,2,CAL 0x6C00
; The analog input No.3 is used. The device address is 30,
; the byte offset at this device is 0, the resolution is
; 16 bit and the type of analog value is 2 (left justified
; without sign). The maximum binary analog value is 27648.
; The CAL-factor is especially required in case of using
; Profibus analog modules.




;particularities:
;[MFC] MFC-IO with KRC1 / CAN-IO-Modul with KRC2
;     Entries in form 1
;
;[INTERBUS/INTERBUSPCI] Interbus Phoenix Mast./Slave Cu/LWL
;     Entries in form 1
;     $IN/OUT[n_1]=(n+1)*8-7
;     $IN/OUT[n_8]=(n+1)*8


;[DEVNET] DeviceNet on the KUKA MFC
;     Entries in form 1 for driver dndrv.o
;     Entries in form 2 for driver dn2drv.o
;     If using dn2drv, be carefully when doing a Release Update,
;     because the setup program will replace dn2drv with dndrv
;     {address}=DeviceNet MACID


;[DNSC1] DeviceNet LPDN scanner channel 1
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC2] DeviceNet LPDN scanner channel 2
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC3] DeviceNet LPDN scanner channel 1
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC4] DeviceNet LPDN scanner channel 2
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC5] DeviceNet LPDN scanner channel 1
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC6] DeviceNet LPDN scanner channel 2
;     Entries in form 2
;     {address}=DeviceNet slave MACID
;     {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[LIBO] Welding sensor LP-Elektronik
;     Entries in form 1


;[RIO] Remote IO LP-Elektronik
;     Entries in form 1


;[FIPIO] FIP IO Schneider automation
;     Entries in form 1


;[BOSCH] Spot weld timer Bosch
;     Entries in form 1


;[PERCEPTRON] Laser measurement system
;     Entries in form 1


;[SBIP] Single board image processor KUKA
;     Entries in form 1
;     Portnr.=COMBUFIndex+1


;[PROFISL] Profibus Siemens Slave IM182
;     Entries in form 2


;[PROFIMA] Profibus Siemens Master IM180/181
;     Entries in form 1


;[PBMASL] ProfiBus Siemens Master/Slave CP5614
;     Entries in form 2
;     {address}=Slave DP-address
;     {address}=127 ==> Slave part of CP5614


;[DSEIO] Digital inputs/outputs for KR C3A
;     Entries in form 1


;[CNKE1] ControlNet 1784PCIC LP-Elektronik
;     Entries in form 2
;     {address}=ConNo
;     {byte}=additional offset


;[CNKE2] ControlNet 1784PCIC LP-Elektronik
;     Entries in form 2
;     {address}=ConNo
;     {byte}=additional offset

Display More

Code

Quote from panic mode
your KRC is older and using older DeviceNet so check if IO mapping syntax is correct.
i think you need to try editing IOSYS.INI
replace syntax used on newer DNET driver
Code
[DEVNET]
INB0=5,0,x1      ;$IN[1-8]
OUTB0=5,0,x1     ;$OUT[1-8]
with something that matches your version. probably like:
Code
[DEVNET]
INB0=0         ;$IN[1-8]
OUTB0=0        ;$OUT[1-8]
for details check the bottom of the INI file (should be comments) or compare to other mapping.

Johneg1 · June 23, 2023 at 3:41 PM

Is there any other way to use MFC board I/O?

hermann · June 24, 2023 at 6:27 AM

You only can either use the on board discrete i/o or the devicenet bus i/o you are actually trying to use.

You have to use exactly the version panic mode mentioned but with my correction:

INB4.

If that doesn't work you probably have a problem with wiring or power supply. There are several possibilities to get more info about the devicenet. You can use telnet to get some informations, and you can look into the log files. There are already some old post about devicenet problems here in the forum, try a search .

Johneg1 · June 24, 2023 at 3:37 PM

Hey Hermann, hope you had good weekend!
Yes, i have tried the same syntax but still have the same error with the driver. i checked the wiring, then removed the resistor on both sides. as result i got "connect LED on the Devicenet start blinking" but i still get the same error. attached photos.
also, Telnet didn't show connected device, just shows offline devicenet.

i believe that i have old MFC V1.06 for VKRC1.
seems that i't very complicated to run devicenet. any idea where i can get pinout for MFC board so i can use it for external enable signal and one output signal?
Thanks.

hermann · June 25, 2023 at 6:11 AM

I don't follow external links to pictures (they will get unavailable after some time, and it's a waste of time to follow them, too much clicks)

It's not complicated to use device net.

Do you have 24v supply at the device net connector?

You need the resistors on both sides.

You need the schematic of the cabinet, should be with the cabinet, I don't have one.

Johneg1 · July 1, 2023 at 7:39 AM

Good morning Herman,
Yes, i have connected the same 24v controller unit power supply to device net.
i'm trying to figure out how to upload photos to the forum. as i see it only accept links. which part i need to check on the cabinet schematic?
Thanks!

sjx · July 1, 2023 at 11:55 AM

In Telnet, it shows baudrate 125kBaud.

Photos shows DIP-Switch for 500kBaud ?

Changed any DIP Switch configuration? Switched OFF / ON the modul after changing?

Is this really a standard-version from Wago 750-306 ?

Think is the version used in old ABB S4C (+) Systems. (004-Version)

In IOSYS.ini, you can use also the new DeviceNet driver dn2drv.o and zhe new mapping system.

Change to:

[DRIVERS]

DEVNET=2,dnInit,dn2drv.o

[DEVNET]

INB0=5,0,x1 ;$IN[1-8]

OUTB0=5,0,x1 ;$OUT[1-8]

hermann · July 1, 2023 at 2:26 PM

Quote from sjx

.. In IOSYS.ini, you can use also the new DeviceNet driver dn2drv.o and zhe new mapping system.
Change to:

It's krc1, are you sure the newer driver exist on krc1? Don't think so.

sjx · July 1, 2023 at 2:41 PM

Quote from hermann

It's krc1, are you sure the newer driver exist on krc1? Don't think so.

It has nothing to do with KRC1. It has to do with KSS. He has written in Post #1 "running KSS 4.1.7 SP05".

KSS V4.1.x has version 2 driver.

Visentainer_Sulivan · November 29, 2024 at 2:34 PM New

Johneg1 how did you solve it?

Configuration Error I/O driver DNDRV KRC1

Lemster68 June 20, 2023 at 5:09 PM

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