Hello everyone ,
HW configuration:
KRC2 V5.6.12 ed05
Profinet driver V2.3.3
CP1616 Firmware V2.5.1
Mitsubishi Iq-r RJ71PN92 master profinet module
I'm trying to figure out how to configure communication parameters between robot controller Kuka krc2 edo5 and Mitsubishi PLC Iq-r via ProfiNet.
I think there is some problem with mapping I/O in kuka robot controller , i found some manuals for profinet and cp1616 configuration but for now i can't establish proper communication.
The topology i did is shown in the picture below, my idea is that PLC (Mitsubishi RJ71PN92) is a master for Kuka krc2 and Kuka krc2 is a master for Festo device with modules ( digital I/O).
I have tried the following cases:
- Only KRC2 as controller and festo device, i successfully mapped inputs and outputs from Kuka KRC2.
- Only Mitsubishi PLC and festo device, also successfully mapped inputs and outputs from Mitsubishi PLC.
- When all systems are connected in topology which is shown in the attached picture, i can see devices on the network (Kuka krc2 and festo device) from PLC software, but i can't establish transfer data (inputs and outputs) with Kuka krc2.
There is code from kuka krc2 controller.
IOSYS.INI
[DRIVERS]
PNET = 26, pnioInit, PnetDrv.o
[PNET]
;Controller
INB5=0,xx1 ;inputs from festo device, there is 8 digital inputs(1 byte)
OUTB5=1,xx3 ;outputs to festo device, there is 24 digital outputs (3 byte)
;Device
INB6=1,7,x1 ;Module 7, DO on cp1616 device, one byte
OUTB6=1,6,x1 ;Module 6, DI on cp1616 device, one byte
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My questions are:
- Is this topology possible from Kuka KRC2 controller?
- What is about mapping I/O from kuka KRC2(Device) to PLC(Master), are there some banned addresses from kuka?
Thanks in advance, i hope there are some answers.