Digital Input / Output Signal Mapping, Analog Output to control external peripherals

    Hello everyone,
    After connecting external peripherals to the I/O Pins on 3 Modules (Digital input, Digital Output and Analog Output), I am having difficulty in Mapping these devices to the controller (V)KRC2ed05. I hope everyone can help.
    MY CURRENT STATUS IS:
    I use Omron Digital Input and Output Modules: DRT2-ID16-1 + XWT-OD16-1. Node Address on DRT2-ID16-1 is (X10=1 and X1=0).
    - Analog Output Module: DRT2-DA02. Node Address on DRT2-DA02 is (X10=2 and X1 = 1).
    I have declared the Node addresses of these Modules in 2 Files DEVNET.INI and IOSYS.INI, the MS and NS lights are stable Green.
    - I HAVE CONNECTED THE PINS OF THE PERIPHERAL DEVICES TO THE PINS OF THE 3 MODULES AS FOLLOWS:

    - Pin OD0 on the Digital Output Module XWT-OD16-1 is connected to pin MI1 on the Delta C2000 Inverter (VFD110C43A).

    - Pin G and V on the Digital Output Module XWT-OD16-1 are connected to an external 24V power source.

    - Pin G on the Digital Output Module XWT-OD16-1 is connected to the DCM pin on the Delta C2000 Inverter (VFD110C43A).
    THE PURPOSE IS TO CONTROL THE SPINDLE ON/OFF.

    - Pin OD1 on the Digital Output Module XWT-OD16-1 is connected to pin FWD on the Delta C2000 Inverter.
    - Pin OD2 on the Digital Output Module XWT-OD16-1 is connected to the REV pin on the Delta C2000 Inverter.
    THE PURPOSE IS TO CONTROL THE FORWARD AND REVERSE ROTATION DIRECTION OF THE SPINDLE.

    - Pin V0+ on the Analog Output Module DRT2-DA02 is connected to the AVI pin on the Delta C2000 Inverter.
    - Pin 0- on the Analog Output Module DRT2-DA02 is connected to the ACM pin on the Delta C2000 Inverter.
    THE PURPOSE IS TO CONTROL THE SPEED OF THE SPINDLE THROUGH THE ANALOG SIGNAL.

    - Pin OD3 on the Digital Output Module XWT-OD16-1 is connected to the 24V+ pin on the Solenoid Valve.
    - Pin G on the Digital Output Module XWT-OD16-1 with pin 0V on the Solenoid Valve.
    PURPOSE IS TO CONTROL THE OPENING AND CLOSING OF THE COMPRESSED AIR SUPPLY TO THE SPINDLE.

    - The Black and White wires of the 2 pairs of NC wires are connected to pin G on the Digital Input Module DRT2-ID16-1.
    - The Red wire of the first pair of NC wires on the Knife Solenoid is connected to pin ID0 of the Digital Input Module DRT2-ID16-1.
    - The Green wire of the second pair of NC wires on the Knife Solenoid is connected to pin ID1 of the Digital Input Module DRT2-ID16-1.
    PURPOSE IS TO RECEIVE THE SIGNAL TO MEASURE THE HEIGHT OF THE KNIFE

    Quote from PhunxamLinda

    I use Omron Digital Input and Output Modules: DRT2-ID16-1 + XWT-OD16-1. Node Address on DRT2-ID16-1 is (X10=1 and X1=0).
    - Analog Output Module: DRT2-DA02. Node Address on DRT2-DA02 is (X10=2 and X1 = 1).

    So, the actual Node MAC IDs are 10 and 21?

    Look down in the "Example" section of IOSYS.INI, it covers the formatting quite thoroughly.

    For the Analog module, the key will be how many bits each analog output is allocated. You will need to study the module documentation. Typical are 8, 12, 14, and 16. IOSYS allocations must be in numbers of bytes. Some analog modules are signed, some are not.

    So, for the DA02, you could do OUTB1 = 21,0,x2 -- this would connect the first output of the module to $OUTs 1-16 of the KRC. However, if (for example) the DA02 uses 12bits instead of 16, OUTs 13-16 will be ignored. Assigning an INT value to $OUTs 1-12 will put an equivalent value out to the DA02.

    If the DA02 is unsigned, setting all the OUTs to True will cause the DA02 to output its maximum voltage. If it is signed, it might output maximum negative voltage, or some may put out maximum negative voltage if the highest bit is True and all others are False -- you will have to determine that from the DA02 documentation.

    Your config looks OK. Your device net bus seems to run.

    But you must check documentation for format of data your AO module expects: how much bits, right or left justified, with or without sign. Then adjust the Anout entry in IOSYS.ini. Very often this is not really straight forward, because the doc isn't that clear. So normally I don't use Anout entry in IOSYS.ini. I configure the analog output module also as bits like normal digital i/o, then use a multimeter and setting single bits to check where the bits exactly are working. With this info I then change the setting to anout in IOSYS.ini.

    And one more thing:

    You describe your wiring with hundreds of words:thinking_face:. The normal way for things like that is to draw a schematic, that's much more understandable for everybody. :winking_face:

    No problem, I will read 200 pages of documentation for io modules, then I will read documentation for your inverter and some other devices, draw a schematic for your setup, change IOSYS.ini for you, and because I am already working for you I also will draw a schematic for your safety problems with CI3 board. :winking_face:

    Sorry but you already have every information you need. You should try some of the possibilities by your own, then if something doesn't work, come back and describe what you tried, what works, and what doesn't. This is the way how this forum works.

    What you need is a technician on site who does your setup. Doing a complete setup for things like you want to have over the forum, won't lead to an end this year. :thinking_face:

    Hi everyone, can you help me see what is the cause of the error of not finding I/O connections after mapping? When I Reconfig I/O, the completion message appeared, but about 1 minute later, the error message as shown in figure 2 appeared again.

    Dưới đây là thông tin trong tệp IOSYS.INI

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

    ; 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)

    [CONFIG]
    VERSION=2.00


    [DRIVERS]
    DEVNET=2,dnInit,dn2drv.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
    ;INTERBUS=1,ibusInit,ibusdrv.o
    ;MFC=0,mfcEntry,mfcdrv.o

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

    [DEVNET]

    INB0 = 10,0,x2 ; $DRT2-ID16-1 (Digital Input) - Address 10

    OUTB0 = 10,0,x2 ; $XWT-OD16-1 (Digital Output) - DRT2-ID16-1

    ANOUT0 = 21,0,16,0 ; $DRT2-DA02 (Analog Output) - Channel 0
    ANOUT1 = 21,2,16,0 ; $DRT2-DA02 (Analog Output) - Channel 1


    [LIBO]

    [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]


    [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 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

    Edited 2 times, last by PhunxamLinda (February 16, 2025 at 4:25 AM).

    The other error was that my external IO source was not enabled. After enabling the IO source, I scanned the Devicenet network with the following commands:
    Windows > Run > Telnet95 192.0.1.1 > exec"dnShow" followed by: exec"dnLookIO" followed by: exec"dnWho"
    and the results returned the following messages:

    Once again: IOSYS.INI looks OK.

    Once again: at first try it with one single module. This minimizes the error reasons.

    Probably you have bad cabling.

    The green marked seems to be correct, the red one is wrong, you need at least a twisted pair for the data wires.

    Do you now have exact two resistors ? One at the mfc card, one at the end of the bus.

    Yes. I have 2 resistors at both ends, (1 at MCF, 1 at the end at DRT2-DA02).

    I use 5 core 1.5mm2 wire, I don't have small wire so I used this type of wire.

    One thing here is that errors like:

    - Error during scan device 10;

    - Error during scan device 21;

    - IOSYS LessArgs : INBO=10,0x2;

    - IOSYS LessArgs : OUTBO=10,0x2;

    - Stop for error fieldbus;

    - Error on reading, driver DN2DRV.
    do not appear often, when you turn on the machine it does not show any error, but after running for a while it shows the above errors.
    Sometimes it only shows this error:

    - Error during scan device 10;

    - Error during scan device 21;
    Sometimes it only shows this error:

    - IOSYS LessArgs : INBO=10,0x2;
    - IOSYS LessArgs : OUTBO=10,0x2;
    sometimes it shows this error :
    - Stop for error fieldbus;
    - Error on reading, driver DN2DRV.
    it does not appear together, and does not appear when the Robot is turned on.

    Quote from PhunxamLinda

    use 5 core 1.5mm2 wire, I don't have small wire so I used this type of wire.

    This is a problem. And I already told you.

    Once again: You need twisted pair for data line. Hasn't to be small, must be twisted pair. Having wrong wire type leads to sporadic errors like yours. There exist special canbus wires, function is only guaranteed with correct wire.

    Is it really necessary to repeat every post once or twice? I tell you you need twisted pair, you say you have 5 core 1.5. I have seen that and marked it red. So I think it's clear what's wrong. If you only have 5 core 1.5 you must look for correct wire, no chance to get rid of errors with your wrong wire.

    And a third time: try it with only one device, for that device you have the correct wire. You will see if that works without errors, the problem probably is your wiring.

    Quote from PhunxamLinda

    Sometimes it only shows this error:

    IOSYS LessArgs : INBO=10,0x2;
    IOSYS LessArgs : OUTBO=10,0x2;

    This is weird, here a comma is missed between '0' and 'x2'. But your IOSYS.ini above has this comma. I would delete the lines and retype it again.

    Yes, thanks, tomorrow I will remove an Analog Module and add a terminating resistor to the Digital Module to test again to see if the error is still there? I will replace a twisted pair cable for this Module. The original 5-core twisted Canbus cable is still connected from the MCF to the Digital Module.

    Quote from hermann

    This is weird, here a comma is missed between '0' and 'x2'. But your IOSYS.ini above has this comma. I would delete the lines and retype it again.

    I entered a comma incorrectly.

    Can you tell me more about the error of not finding Master when using the command Telnet > exec "dnShow"? and not finding signals connected to the Digital/Analog module when searching on Monitor IO?

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