Control connection between VFD and KRC2

signal to noise ratio is essential metric to determine quality of communication. the more noise is the signal, the lower the signal quality. some people are purposely introducing a lot of noise. they are called spammers. you may not be aware or do so on purpose but your communication contains a lot of noise. you question is actually several questions, each deserving own topic.

Quote from PhunxamLinda

In this Robot I do not see the X11 Jack, but instead there are XS2 and XS3 Jacks

that was already discussed and you were told that your safety connector is XS2, and suitable jumper plug pinout for XS2 was shared.

previous user did not want to deal with it. probably did not want to spend few hundred $$$ on Harting crimper and pin extractor tools. So he unplugged it, followed wires and made jumper plug on a lower cost DB plug. Job nicely done but unconventional.

Quote from PhunxamLinda

...a signal and power connection wire from pin X801 of the MCF3 Card down to the Input Module DRT2-ID16-1 and Output XWT-OD16-1. (This module has been connected to 2 24V power wires).

For VFD I have a Delta C2000 Inverter with model VFD110C43A connected to external power and connected to Spindle.

...

Apart from the available devices that I have listed above, is there any other additional device needed to control the Inverter on KRC2?

that depends on what you want to do. how do you want to control the VFD? if you only need start/stop you can use digital I/O. in fact the I/O you have on DRT2-ID16-1 and XWT-OD16-1 should do...

if you also want to control the speed, it depends how many speeds you need. most VFDs will allow selecting 2 -4 different speeds using digital I/O. for more control you would need either an analog signal or have drive connected to fieldbus.

and this is just standard connections (gray logic). this would allow control of the VFD. but this does not do anything for safety (which you have bypassed anyway, i guess safety is not a concern in your country).

Quote from PhunxamLinda

...connect the 24V pin of the Solenoid Valve.

the valve can connect directly to output(s) of XWT-OD16-1. if you need more I/O, you can add additional DRT2-ID16-1 and XWT-OD16-1. Just need to configure and map them to robot I/Os.

Quote from PhunxamLinda

How to configure these I/O signals on KRC2.

DeviceNet configuration and I/O mapping is already discussed many times. You already have some DeviceNet I/O modules. Are they working already or need configuring? Check DevNet.INI and IOSYS.INI

your DeviceNet is not wired correctly - i see no terminating resistor on both sides of the bus.

MFC side has one but i do not see the value:

This is also needed at the other end of the BUS

Your I/Os have been assigned node address 10.

i do not see anything to set bus speed so this product probably auto-detects bus speed used by MFC.

since this is the only slave node your DevNet.ini should look something like:

[krc]
debug=0
baudrate=500

[1]
macid=10

and your IOSYS.INI should have DeviceNet driver enabled

and the the I/O mapped.

since you have

DRT2-ID16-1 (16 digital inputs = 2 bytes worth of inputs) and
XWT-OD16-1 (16 digital outputs = 2 bytes worth of outputs)

the mapping in IOSYS.INI could look something like this:

that would be first milestone - testing I/O...

if done correctly you should be able to control the outputs (toggle the on/off one by one).

if this works you can connect solenoid valve to one of them, (say $OUT[1] is used for tool changer solenoid).

you probably want to know if the tool changer is present... and if it is locked.

this means connecting signals to inputs....

once the above is solved you can think of the next step... connecting VFD.

if your VFD has DeviceNet option, you can add the VFD to DeviceNet network. In this case, the option is a module called CMC-DN01

if using THAT option you need to also:

1. install/configure/enable that module in the VFD drive
2. configure its DebviceNet settings. must use same speed as rest of the DeviceNet network (so far it was set to 500kbps) and must have unique node address (0 and 10 are already used, so maybe give it node address 11).
3. modify DEVNET.INI so that second DeviceNet node is 11.
4. in the IOSYS.INI map I/Os to node 11. make sure there is no overlap with mapping of signals for node 10.
...

if NOT using that option, you can control VFD using I/O that was mapped in previous step - just like you did with tool changer.

Quote from PhunxamLinda

Here there is a resistor attached to the X801 jack.
and the jack on the Omron IO Module I don't see? Do you think it is necessary to add a resistor there?

absolutely...

you need terminating resistors at each end of the bus cable.

the cable has two ends so you need resistor at each end.

bus cable is essentially a transmission line. when signal is inserted, it travels along the cable in both directions away from insertion point. and once the signal reaches cable end, if reflects and goes back. then it reaches the other end of the cable and reflects again... this ringing is an interference that MUST be eliminated.

one way to eliminate it is to use infinitely long cable. so signal will get weaker and weaker until it disappears completely. but infinitely long cables are not practical. so solution is to use special cable with known parameters. one of the parameters is characteristic impedance. for this cable that impedance is 121 Ohm. so if one places that resistor at the extreme ends of the bus, they simulate that cable is going to infinity and there is no reflection.

but for this to work, one must place TWO resistors... one at each END of the bus cable.

note, resistors are NOT placed at the ends of each cable segment. they are placed only at the far ends of the bus.