Posts by Gintsd

you can not use safe modules with krc2 cp1616. you need to use standard digital modules if krc2 is master. Factory reset is made buy step7 PLC > edit ethernet node

It seems you have similar robot i have. If you want to use profinet with failsafe modules you need external failsafe PLC. These modules in cabinet is for external control ( somewhere outside control cabinet ) and if you want to move robot you have to make a lot of jumpers on X11 ( check wiring diagrams there is page for jumper to work in standalone mode ). Check my posts about cp1616.

Finally got everything working seems there was problem with profinet version of KUKA package. Here is configuration working with 1200's

Profinet package FW 2.3.3 ( in telnet much more diagnostics showing on IO driver reconfigure )
CP1616 firmware 2.5.1
S7-1200 FW 4.2

can`t get profinet work, so asking for help to experts. Here is my configuration sequence and settings, maybe someone can see my mistake.

1. Make factory reset to CP1616, disable driver for PNET and cold start for krc2
2. Make Step7 project ( CP1616 as controller, et200s with 4DO module as device, both in profinet system. ) Compile and download.
3. Make PNET as this
ENABLECONTROLLER=1
ENABLEDEVICE=0
4.Make IOSYS as this
[DRIVERS]
PNET=26,pnioInit,PnetDrv.o
[PNET]
OUTB8=0,x1 ; ET200s outputs 0.0..0.3 mapped to krc output byte 8
4. Cold restart for krc
5. Enable driver for PNET and reconfigure I/O. Still got errors.

What`s wrong in my configuration ?

If you want to move robot, you should wire it. You should also write more details in question https://www.robot-forum.com/ro…a-robot-forum/read-first/

I have tried also with power restart etc. I have tested several configuration with no result, last try is that krc2 ( 8x bytes in and out ) and ET200s (1 byte output) is device in profinet and S7-1200 controller. Result the same...errors in krc2 but et200s works ok. Time to time thinking maybe reinstall KSS software, but this cd is missing in robot cabinet. Also contacted KUKA and as surprise nearest official representative is 1k km from me also service cost could be more worth than this old robot. By the way, robot is not in production.

I made a little play with telnet and here is what appeared. Under pnioHelp shows several choices, here is result some of these commands. All tests done when step7 configuration loaded, power reset made, driver reconfiguration made ( one more strange thing i noticed - even if in reconfiguration phase i that there is error, driver led indicator comes red, which means it thing driver is ok )

-> printDADevices

IN ADRESS 2 DEVICE 0 DEACTIVATED
IN ADRESS 3 DEVICE 0 DEACTIVATED
IN ADRESS 4 DEVICE 0 DEACTIVATED
IN ADRESS 5 DEVICE 0 DEACTIVATED
IN ADRESS 6 DEVICE 0 DEACTIVATED
IN ADRESS 7 DEVICE 0 DEACTIVATED
IN ADRESS 8 DEVICE 0 DEACTIVATED
IN ADRESS 9 DEVICE 0 DEACTIVATED
OUT ADRESS 2 DEVICE 0 DEACTIVATED
OUT ADRESS 3 DEVICE 0 DEACTIVATED
OUT ADRESS 4 DEVICE 0 DEACTIVATED
OUT ADRESS 5 DEVICE 0 DEACTIVATED
OUT ADRESS 6 DEVICE 0 DEACTIVATED
OUT ADRESS 7 DEVICE 0 DEACTIVATED
OUT ADRESS 8 DEVICE 0 DEACTIVATED
OUT ADRESS 9 DEVICE 0 DEACTIVATED value = 13 = 0xd

printPNIOErrors

CONTROLLER ERROR: NONE
DEVICE ERROR: NONE
IN CHANNEL ERRORS:
Dataobject 0 NONE
Dataobject 1 NONE
Dataobject 2 NONE
Dataobject 3 NONE
Dataobject 4 NONE
Dataobject 5 NONE
Dataobject 6 NONE
Dataobject 7 NONE
OUT CHANNEL ERRORS:
Dataobject 0 NONE
Dataobject 1 NONE
Dataobject 2 NONE
Dataobject 3 NONE
Dataobject 4 NONE
Dataobject 5 NONE
Dataobject 6 NONE
Dataobject 7 NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE
NONE NONE NONE NONE NONE NONE NONE NONE NONE
Fehleranzahl 0
value = 16 = 0x10

-> pnioShow

------------------------------------------------------------
PROFINET-IO DRIVER
Build Oct 7 2010 12:41:17
Version 2.1/180
EnableController 0
EnableDevice 1
DriverState 1
DeviceState 0
PNIO Mode =OFFLINE
NullDataPtr 0

Internal name = ORINOCO
Analog IOs = AVAILABLE
Swapping = AVAILABLE, WORD TYPE ONLY
IO_Routing = AVAILABLE
Configuration with running driver = AVAILABLE
Device activation / deactivation = AVAILABLE
Fast startup feature (FSU) = NOT AVAILABLE
------------------------------------------------------------
DaemonState 0
Num of SubMods 0
value = 1 = 0x1
->
Internal name = ORINOCO
Analog IOs = AVAILABLE
Swapping = AVAILABLE, WORD TYPE ONLY
IO_Routing = AVAILABLE
Configuration with running driver = AVAILABLE
Device activation / deactivation = AVAILABLE
Fast startup feature (FSU) = NOT AVAILABLE
------------------------------------------------------------
DaemonState 0
Num of SubMods 0
value = 1 = 0x1

And here comes strange thing, like there is two drivers installed. When i type on telnet i and then devs i got this
drv name
0 /null
4 pc:
6 /pty/telnet.S
7 /pty/telnet.M
8 /vio
9 /tgtsvr
1 /tyCo/2
10 /dev/cp16xx0/synch
10 /dev/cp16xx0/alarm
10 /dev/cp16xx0/modind
10 /dev/cp16xx0/datarec
10 /dev/cp16xx0/mgt
10 /dev/cp16xx0/5
10 /dev/cp16xx0/6
10 /dev/cp16xx0/7
10 /dev/cp16xx0/8
10 /dev/cp16xx0/control
10 /dev/cp16xx1/synch
10 /dev/cp16xx1/alarm
10 /dev/cp16xx1/modind
10 /dev/cp16xx1/datarec
10 /dev/cp16xx1/mgt
10 /dev/cp16xx1/5
10 /dev/cp16xx1/6
10 /dev/cp16xx1/7
10 /dev/cp16xx1/8
10 /dev/cp16xx1/control
value = 25 = 0x19

Is there any documentation on telnet diagnostics for KRC2 ? On network couldn`t find.

thanks jurii , i will concentrate on software problems rather than hardware.
I tried to make project with 1200`s plc in tia portal, make it as i-device and then export gsd file. Gsd file I imported in Classic step7, but that didn`t help.

I have et200s station in cabinet, I will remove safety modules of it and add simple 4DI module to test with step7.

Found that this error PNIO_controller_open returned 0x3ff means internal error of cp1616 card. Seems problem is in card.

Sent from my SM-A500FU using Tapatalk

Tried to do reset for card but with no effect on driver reconfiguration. Reset of card and project download was successfull from TIA portal. Started telnet diagnostics and it show this

PNIODRV driver version 2.1/180
PNIODRV creating instance ...
----------------------------------
pnioCP16xx Driver
version 2.1/0180
build Oct 7 2010 12:41:17
----------------------------------
PNIODRV searching CP16xx card...
PNIODRV PCI found device, Idx: 0, BusNo: 3, DeviceNo: 15, FuncNo: 0
PNIODRV found IRQ = 11
PNIODRV creating channels/devices ok
PNIODRV successfully connects firmware on major 0

PNIODRV Application starts...
PNIODRV Appl: Error in Initialize
PNIODRV Appl: PNIO_controller_open returned 0x3ff
PNIODRV Application started ! 3 secs
Driver is going down because of severe error ... byeIOSYS no hDriver PNET
IOSYS no hInstance PNET

at that moment pnioDrv.ini

[CONFIG]
DEBUG=1
ENABLECONTROLLER=1
ENABLEDEVICE=1
[ANIN]
[ANOUT]
[SWAP]
[OPTIONS]
DEACTIVATED_DEVICES=

and iosys.ini

[CONFIG]
VERSION=2.00
[DRIVERS]
PNET=26,pnioInit,PnetDrv.o
[PNET]
INB8=1,6,xx4
[END SECTION]

No idea what to do next

Well, unfortunately firmware update does not help, still error on driver configuration. Is there some special firmware needed or standart siemens firmware should work ?

Sent from my SM-A500FU using Tapatalk

ok, then possible that when I reinstalled profinet package it has downgraded firmware. I will try to find new firmware and download to CP1616. Thanks !

Hello,

I am now trying to set up KRC2 ed05 version V5.5.16 with profinet card 1616 . Robot is ex bmw with all original packages. CP1616 has firmware version V2.1.4.0.4, which is included in original cd.
When i reconfigure profinet driver ( version 1.3.5 ) , it gives error, Profinet configuration made like this
PnioDrv
[CONFIG]
DEBUG=1
ENABLECONTROLLER=1
ENABLEDEVICE=1

On card SF and BF light are in off state, ethernet active ( web diagnostics works ).
Is there some minimal firmware version for CP1616 to use with KSS 5.6 ?