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CS8C configure profibus dio in iomap.cf

  • aknezevi.proton
  • November 21, 2023 at 8:20 AM
  • Thread is Unresolved
  • aknezevi.proton
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    • November 21, 2023 at 8:20 AM
    • #1

    Hello,

    I have a CS8C controller with a TX60 robot arm and would like to use it without MCP. The controller has remoteMCP on it.

    To do that there needs to be a configured iomap.cf. In it, I uncommented the code and made it as follows:

    Code
    remoteMoveHold = io:BLOCKA_IX1
    
    
    
    remoteEnablePower = io:BLOCKA_IX0

    The thing is, the controller says that io:BLOCKA_IX1 is not a dio. I tried various things, like "BLOCKA_IX1", without the "io:" part, as well as "BLOCKA-IX1" to no avail.

    The question I have is, is it possible to configure a profibus dio for a remoteMoveHold and remoteEnablePower and if so, how?

    Thanks!

  • aknezevi.proton
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    • November 22, 2023 at 12:35 PM
    • #2

    Update:

    It seems to have something to do with STARC, SRC or MCP versions. The other robot works fine, and this one does not work even if I put usrIn0 as input.

    I would have done a STARC and SRC version update if Staubli did not destroy the technical support library and with it the compatibility tables.

  • klausi
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    • November 23, 2023 at 1:29 PM
    • #3

    Hi ,

    The syntax is definitively without the io: prefix.

    The setting of iomap file has nothing to do with STARC or MCP version.

    The SRC version affects only the iomap file. For SRC versions <s7.xx the file is called iomap.cf and for version s>=7.xx it is called iomap.cfx.

    Since you've got a message in the errror logger, you probably have SRC version <s7.xx

    Can you post the content of error logger (/log/errors.log) to check if one can see more valuable info on your issue ?

    REgards.

  • aknezevi.proton
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    • November 27, 2023 at 8:02 AM
    • #4

    klausi

    Of course I can, here is the relevant part, ignore the dates, they are not set properly yet.

    Code
    [AUG 15 2006 23:32:18]: -----------------------------------------------
    [AUG 15 2006 23:32:18]: Logger started
    [AUG 15 2006 23:32:24]: Unknown event:Communication established
    [AUG 15 2006 23:32:49]: CPU board: EM07N 400Mhz; 64Mb RAM; 112Mb disk; bios: 1.22; fpga: D5; ataIde: Rev:1.5d
    [AUG 15 2006 23:32:49]: Cycle time set to 0.004s
    [AUG 15 2006 23:32:49]: RSI Board rev: 2 - Driver ver: 2
    [AUG 15 2006 23:32:49]: Mcp = D24275104B
    [AUG 15 2006 23:32:49]: FIELDBUS-Version-E-BIOS-4.6.3-LIB-2.3.3
    [AUG 15 2006 23:32:49]: Internal error FIELDBUS-InitBoard Board=2 Equipment=0 Channel=0 Status=92
    [AUG 15 2006 23:32:49]: Power hour count = 92126
    [AUG 15 2006 23:32:49]: Mac Address = 00-c0-3a-60-0e-a6
    [AUG 15 2006 23:32:49]: STARC-FpgaVersion:BoardId:0x0531='STARC2' - BoardRev:1 - FpgaRev:0x0202='2.2'
    [AUG 15 2006 23:32:49]: STARC-SerialNumber:00031
    [AUG 15 2006 23:32:49]: STARC-FlashCounter:Power On Board counter=2048 ; Auto Test Flash check sum : fpga_res=0, fpga_fw=1, dsp=0
    [AUG 15 2006 23:32:49]: STARC_Version Pack: 1.17.2 - Date:May 16 2008
    [AUG 15 2006 23:32:49]: STARC_Version Board:DVC:1329 - BOARD:1 - FPGA:2.2 - DSP1:3.5 - DSP2:3.5
    [AUG 15 2006 23:32:49]: STARC-Version Dsi:  DVC:756 - MOTH:0 - DAUG:0 - FPGAR:3.0 - FPGAF:3.1 - DSPR:4.0 - DSPF:4.5
    [AUG 15 2006 23:32:49]: STARC-Version Encoder1: IdNb=524536-04 ; SerialNb= 33202339B
    [AUG 15 2006 23:32:49]: STARC-Version Encoder2: IdNb=524536-04 ; SerialNb= 33309936B
    [AUG 15 2006 23:32:49]: STARC-Version Encoder3: IdNb=524536-04 ; SerialNb= 35389084B
    [AUG 15 2006 23:32:49]: STARC-Version Encoder4: IdNb=524536-04 ; SerialNb= 36588500B
    [AUG 15 2006 23:32:49]: STARC-Version Encoder5: IdNb=524536-04 ; SerialNb= 35965604B
    [AUG 15 2006 23:32:49]: STARC-Version Encoder6: IdNb=524536-04 ; SerialNb= 36453695B
    [AUG 15 2006 23:32:49]: STARC-Version Drv0: DP:32 - DF:232 - FP:1 - FF:7 - HD:1 - HP0:2 - HP1:2 - LIB:22
    [AUG 15 2006 23:32:49]: STARC-Version Drv1: DP:32 - DF:232 - FP:1 - FF:7 - HD:1 - HP0:2 - HP1:2 - LIB:22
    [AUG 15 2006 23:32:49]: STARC-Version Drv2: DP:32 - DF:232 - FP:1 - FF:7 - HD:1 - HP0:2 - HP1:2 - LIB:22
    [AUG 15 2006 23:32:49]: MCP firmware version: D24275104B
    [AUG 15 2006 23:32:49]: Working mode:invalid.
    [AUG 15 2006 23:32:49]: enablePower link failed : usrIn0
     is not a dio
    [AUG 15 2006 23:32:49]: remoteMoveHold link failed : usrIn1
     is not a dio
    [AUG 15 2006 23:32:49]: End of arm power shutdown phase.
    [AUG 15 2006 23:32:49]: Internal error Network error on fieldbus Board=1 Equipment=0 Channel=0 Status=33
    [AUG 15 2006 23:32:49]: COM-PC: server created on all interfaces [5653]
    [AUG 15 2006 23:32:49]: tresnja_test open.
    [AUG 15 2006 23:32:49]: tresnja_test application started
    [AUG 15 2006 23:32:49]: tresnja_teststarted.
    [AUG 15 2006 23:32:49]: VAL3: s6.6.4 Jan 20 2009
    [AUG 15 2006 23:32:49]: Option testMode: enabled 
    [AUG 15 2006 23:32:49]: Option mcpMode: enabled 
    [AUG 15 2006 23:32:49]: Configuration Version: D24265596A 
    [AUG 15 2006 23:32:49]: Machine Number: F07_56T0A1_C_01 CPU1.5d 
    [AUG 15 2006 23:32:49]: Arm: tx60-S1-R2 ceiling
    [AUG 15 2006 23:32:49]: Arm serial number: F07_56T0A1_A_01 
    [AUG 15 2006 23:32:49]: Starc: 1.17.2 May 16 2008
    [AUG 15 2006 23:32:49]: EP: s6.6.3 Dec  4 2008
    [AUG 15 2006 23:32:49]: SCA: s6.6.3 Dec  4 2008
    [AUG 15 2006 23:32:49]: PLC: s6.6 Dec  4 2008
    [AUG 15 2006 23:32:49]: New profile : maintenance
    [AUG 15 2006 23:32:49]: System event INTERFACE-Stopped  (Main menu)
    [AUG 15 2006 23:32:49]: Working mode:automatic.
    [AUG 15 2006 23:32:50]: System event INTERFACE-Stopped  (Main menu). 29 events lost.
    [AUG 15 2006 23:33:51]: Settling arm power...
    [AUG 15 2006 23:33:51]: Arm power settled.
    [AUG 15 2006 23:33:52]: Unknown event:motion generator activated
    [AUG 15 2006 23:35:00]: System event INTERFACE-Stopped  (Events logger)
    [AUG 15 2006 23:35:02]: System event INTERFACE-Stopped  (Events logger). 31 events lost.
    Display More
  • Galet
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    • November 27, 2023 at 6:57 PM
    • #5
    Quote

    The question I have is, is it possible to configure a profibus dio for a remoteMoveHold and remoteEnablePower and if so, how?

    How does it work?


    The principle is very simple: the keys of the Stäubli MCP are simulated by digital or analog inputs. A configuration file allows the assignment to each key of a signal replacing the key when the runtime license is activated. The input signals can be originated from the BIO or MIO boards, a field bus or even a Modbus TCP "software" configuration.


    The "Remote MCP" software is activated when the Stäubli MCP is replaced with the plug delivered with the controller. As soon as the Stäubli MCP is reinstalled, the software is deactivated and the Stäubli MCP takes control of the arm without the need to reboot the controller, thus making maintenance operations easier.

  • klausi
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    • November 28, 2023 at 8:15 AM
    • #6

    Hi aknezevi

    I confirm the explanation of Galet.

    This indeed stange that you cannot link to usrIn0/usrIn1.

    Maybe, they are out of order. Do you see these inputs in ControlPanel->I/O->UserIO ?

    Have you tried with fIn0/fIn1 ?

  • aknezevi.proton
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    • November 28, 2023 at 1:13 PM
    • #7

    Thank you Galet

    klausi Regarding your questions. Yes, all those I/O are visible on the MCP. I did not try fIn0/fIn1, what are those supposed to be?

  • Galet
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    • November 28, 2023 at 3:55 PM
    • #8

    Hi,

    Your SRC is 6.6.4 so your file is correct.

    I try on emulator with this configuration in the iomap.cf : remoteMoveHold = b2In0

    and have the result, in the logger : RemoteMoveHold linked to b2In0 !

    On modbus :

    I try on emulator with this configuration in the iomap.cf : remoteMoveHold = mbItem1

    and have the result, in the logger : RemoteMoveHold linked to mbItem1 !

    So, the comment at the begining of file is correct :

    // To activate a io mapping, remove the comment marks '//'

    // and replace the description with the name of a system input or output,

    Perhaps, on the real controller (I don't have it), you need do configure other signal to for safety reason.

    Have a nice day...

    Edited once, last by Galet (November 28, 2023 at 4:39 PM).

  • aknezevi.proton
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    • November 29, 2023 at 8:13 AM
    • #9

    Thank you Galet , I will try to look into it some more.

  • klausi
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    • December 4, 2023 at 9:35 AM
    • #10

    Hi

    fIn0/fIn1 are supposed to be in I/O->Controller->FastIO and available at J111 connector.

    Galet might be right saying that something is wrong in your current controller configuration.

    I would suggest you to re-install your SRC version or take that opportunity to upgrade to version s6.8.4.

    If you have SRS , you may download this SRC version without access to technical support library

    Regards

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