DN2DRV driver ready 0

Vincent · March 13, 2024 at 1:46 PM

Good day Everyone, I hope someone of you experts can help me somehow.

One of my two robots cannot move with 'Active Commands Inhibit' message.

I noted that all I/O are off and the Beckoff thing seems to be not communicating. I proved that HW is fine when I swapped both the Beckoff and the Device Net card in the PC with the other robot.

Then I saw the iosys.log file and found that [DN2DRV driver ready 0] and this is where my capability ends.

Anyone please?

Ravo · March 13, 2024 at 2:07 PM

Do reconfiguration of I/O drivers

Vincent · March 13, 2024 at 2:11 PM

What you mean? The robot was working fine for years and the problem came after the last controlled shutdown. I've seen the iosys.ini and the devnet.ini and they are there.

Vincent · March 13, 2024 at 2:51 PM

Just done mate but unfortunatelly received 'Error on writing, driver: DN2DRV'.

Also, if I go to I/O Driver Reset the driver is not running.

Ravo · March 13, 2024 at 6:05 PM

Go to configure > io drivers> io drivers reconfiguration

Make sure you are logged as expert

Vincent · March 13, 2024 at 6:20 PM

Yes, I did it with no joy unfortunatelly.

Received message 'Error on writing, driver: DN2DRV'.

**SkyeFire** · March 13, 2024 at 9:30 PM

Quote from Vincent

Yes, I did it with no joy unfortunatelly.
Received message 'Error on writing, driver: DN2DRV'.

There should be additional errors with greater detail -- for example, which node is failing to be written to.

Have you checked the power on the DN cable? The status LEDs on the DN modules and the X801 connector?

Vincent · March 13, 2024 at 9:49 PM

No, sorry. No other messages (I know it's weird).

Power is ok on each node but all of them shows some kind of communication error. Beckoff LEDs are binking red and the AB PLC interface is displaying no RX.

**Roland Keller** · March 13, 2024 at 9:49 PM

What does the iosys.ini look like?

Vincent · March 13, 2024 at 9:57 PM

Code

;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------
[CONFIG]
VERSION=2.00




[DRIVERS]
RSI=50,rsiLibInit,rsiLib.o
;CNKE2=21,cnke2CPInit,cnke2drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
DEVNET=2,dnInit,dn2drv.o
ERX=58,rsiCOROBInit,ethRSIXML.o
;INTERBUS=1,ibusInit,ibusdrv.o
;MFC=0,mfcEntry,mfcdrv.o


[BOSCH]
;------- Inputs ---------
INW64=0      ;$IN[513-528]
;------- Outputs --------
OUTW64=0     ;$OUT[513-528]
OUTW66=2     ;$OUT[529-544]


[RSI]


[DEVNET]
;Start Joystick Control
;ANIN1=11,0,16,1
;ANIN2=11,2,16,1
;ANIN3=11,4,16,1
;ANIN4=11,6,16,1
;ANIN5=11,8,16,1
;ANIN6=11,10,16,1
;INB0=11,12,x1
;INB1=11,13,x1
;OUTB0=11,O,x1
;OUTB1=11,1,x1
;End Joystick Control


;Start Robot I/O
INB32=21,0,x6 ; $IN[257] TO $IN[304]
ANOUT1=21,0,16,1,CAL32767 ; PROPORTIONAL VALVE
ANOUT2=21,2,16,1,CAL32767 ; SPARE
ANOUT3=21,4,16,1,CAL32767 ; SPARE
ANOUT4=21,6,16,1,CAL32767 ; SPARE
OUTB32=21,8,x2 ; $OUT[257] TO $OUT[272]
;End Robot I/O


;Start Atlas Copco I/O
INB40=31,0,x4
OUTB40=31,0,x4
;End Atlas Copco I/O


;Start PLC I/O
INB16=41,0,x14
OUTB16=41,0,x14
;End PLC I/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]




[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


[VIO]
;INW0=0       ;$IN[1-16]
;INW8=2       ;$IN[65-80]
;OUTW0=0      ;$OUT[1-16]
;OUTW2=2      ;$OUT[17-32]


[O2I]
;INW4=0       ;$IN[33-48]
;INW6=2       ;$IN[49-64]
;OUTW4=0      ;$OUT[33-48]
;OUTW6=2      ;$OUT[49-64]


[IOLINKING]










[ERX]


[END SECTION]




; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet
;                driver "dndrv.o". Now you have to use the driver
;                "dn2drv.o" and the appropriate syntax (form 2)


;==========================================================
;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 2 for driver dn2drv.o
;     {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
;
;[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
;
;[VIO] inputs/outputs for Virtual IO driver over TCP/IP
;     Entries in form 1
;
;VIO=30,vioInit,vio_drv.o
;
;[O2I] inputs/outputs for 'output to input for software developers'
;     Entries in form 1
;
;O2I=31,o2iInit,o2i_drv.o
;
;[IOLINKING] Outputs follow inputs
;     Special form:
;     $OUT[{bitoffset}]=$IN[{bitoffset}]
;
;     {bitoffset}    Bit(!)offset in the robot I/O-System,
;                    starting with 1 (1..MAXIO)
;
;     Example: $OUT[512]=$IN[401]
;     In this case output nr. 512 (bit 8 of byte 63)
;     is linked to input  nr. 401 (bit 1 of byte 50)
;
;     Notes:
;     IOLINKING means outputs follow inputs in the robot
;     I/O-system (within ipo-cycle), regardless if they
;     are mapped to drivers.
;     Port ranges cannot be specified, each bit must be
;     linked by itself.
;     Only a maximum of MAX_IOLINKS can be configured (set
;     in progress.ini, if this value is increased, robot
;     functionality cannot be guaranteed!).
;----------------------------------------------------------
; 04/02/02  section [IOLINKING] added

Display More

Vincent · March 13, 2024 at 10:00 PM

KUKA IOSYS LOGFILE

------------------

Log Date 14.3.35 : 10:15

open ini-file successful, version 2.00

driver rsiLib.o information

object file

driver ready 1

driver version 20001

function entry

input objects 0

output objects 0

driver DN2DRV information

object file

driver ready 0

driver version 0200

function entry

input objects 24

output objects 24

driver information

object file

driver ready 1

driver version 0000

function entry

input objects 0

output objects 0

IOLINKING: 0 links configured

**Roland Keller** · March 13, 2024 at 10:16 PM Best Answer

Is the terminating resistor on the last bus subscriber OK?

Vincent · March 13, 2024 at 10:21 PM

Yes, it is.

Vincent · March 14, 2024 at 11:04 AM

Eventually I found that the Atlas Copco Nut Runner was in fault. I disabled in turn all the devices on the network and when it was the turn of this device the network began to work again. It remains strange to me that no dedicated messages was showed but at this point I'm happy enought with the help I received from you all. Thanks a lot mates!

**SkyeFire** · March 14, 2024 at 4:55 PM

Quote from Vincent

Eventually I found that the Atlas Copco Nut Runner was in fault. I disabled in turn all the devices on the network and when it was the turn of this device the network began to work again. It remains strange to me that no dedicated messages was showed but at this point I'm happy enought with the help I received from you all. Thanks a lot mates!

It is odd. But I have seen it before -- there were certain Siemens devices that, if improperly configured (usually incorrect baud rate), would crash the entire network. But even then, I would normally get a message for each MAC ID on the DN bus, along with the general error.

I wonder if the nut runner was causing some sort of electrical fault on the DN line -- shorting the CAN+ and CAN- lines together, or something like that.

Vincent · March 25, 2024 at 3:58 PM

Sorry for the late answer.

The problem revealed to be within the AtlasCopco thing. It has not only one but two batteries that, we are to blame, got old and the configuration was wiped during a normal power off.

Replaced the batteries and reloaded the configuration and job done, as they say.

Cheers.

DN2DRV driver ready 0

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