Hallo,
Ich versuche gerade ein neue Kuka roboter mit ein Siemens SPS verbinden.
Ich bekomme keine Fehler Meldung aber es keine Signalenaustausch gibt.
Karte es eine CP5614A2
Profibus slave nummer 99
IOSYS
;==========================================================
; 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]
;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
;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 ;$OUT[529-544]
[MFC]
INW0=0 ;$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]
[DEVNET]
;------- Inputs ---------
;Slave Inputs
INB9=9,0,x1 ;$IN[73-80]
INW25=10,0,x7 ;$IN[201-312]
INW40=11,0,x7 ;$IN[321-432]
INW55=12,0,x7 ;$IN[441-552]
INW70=13,0,x7 ;$IN[561-672]
;------- Outputs --------
;Slave Outputs
OUTW25=10,0,x4 ;$IN[201-264]
OUTW40=11,0,x4 ;$IN[321-384]
OUTW55=12,0,x4 ;$IN[441-504]
OUTW70=13,0,x4 ;$IN[561-624]
[PBMASL]
;------- Inputs ---------
;Slave Inputs
INW88=127,0,x16 ;$IN[705-960]
;------- Outputs --------
;Slave Outputs
OUTW88=127,0,x16 ;$OUT[705-960]
[DNSC1]
[DNSC2]
[DNSC3]
[DNSC4]
[DNSC5]
[DNSC6]
[DSEIO]
INDW0=0 ;$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
[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
;
;[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
pfbms
;-----------------------------------------------------------------------------------------------------------
; [CP_5613/14] general section for master and slavemodul
;
; DEBUG=0 : no printings on Telnet-shell (default: DEBUG=0)
; DEBUG=1 : printings are enabled
;
; LOGFILE_PATH=__/__ : if this entry is used, a logfile will be created
; at the projected path
;
; ERROR_TEXT=German : Siemens specific error messages in German
; ERROR_TEXT=English : Siemens specific error messages in English
; FORCE_RESET=0 : Reset the Master or the Slave only if there is really a bus error.
; FORCE_RESET=1 : Reset the Master and the Slave in any case.
; OLD_ERROR_DB=0 : Each error detection routine uses its own message.
; New drivers can cause system errors if used on older KRC systems.
; OLD_ERROR_DB=1 : Error detection routines use standard messages.
; New drivers are comaptible to older KRC systems.
;
;-----------------------------------------------------------------------------------------------------------
[CP_5613/14]
DEBUG=1
LOGFILE_PATH=log/pfbms.log
ERROR_TEXT=German
FORCE_RESET=0
OLD_ERROR_DB=0
;-----------------------------------------------------------------------------------------------------------
; [MASTER] section for master
;
; MASTER_USED=1 : Master will be started
; MASTER_USED=0 : Master will not be started
;
; DATABASE_PATH=__/__ : path of database file, generated from configuration program
; (Siemens AG), e.g. "COM Profibus"
;
; FIRMWARE_PATH_A1=__/__ : path of the location of the A1-firmware file
; FIRMWARE_PATH_A2=__/__ : path of the location of the A2-firmware file
;
; WATCHDOG_TIME=0 : Watchdog deactivated
; WATCHDOG_TIME= : (1 to 65534) * 10 ms
;
; MAPPING_USED=0 : mapping functionality disabled
; MAPPING_USED=1 : mapping functionality enabled
;
; MAPPING_PATH=__/__ : path of the mapping table file, generated from
; "Transfer5614-Configuration" program (Siemens AG)
;
; DEACTIVATED_SLAVES=Modul_Address_X,Modul_Address_Y : Slaves which should be ignored at the start of the KRC,
; if they are not connected to the bus.
; This is needed for Slaves, which are in the database,
; projected in the IOSYS.INI, but not currently connected
; to the bus.
; Usefull for changing Slaves during the running KRC.
;
;-----------------------------------------------------------------------------------------------------------
[MASTER]
MASTER_USED=0
DATABASE_PATH=init/
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
WATCHDOG_TIME=3
MAPPING_USED=0
MAPPING_PATH=init/
;DEACTIVATED_SLAVES=
;-----------------------------------------------------------------------------------------------------------
; [SLAVE] section for Slave
;
; MODUL_USED=0 : Slavemodul will not be started
; MODUL_USED=1 : Slavemodul will be started
;
; START_TIME= >= 20 : The Slavemodul have to be in the DATA_EXCHANGE mode to
; compare the configuration data with the entries in the
; file IOSYS.INI. This time makes it shure.
;
; MODUL_ADDRESS=X : DP address of slavemodul, have to be the same as projected
; in the PB-Net.
;
; ERROR_ACTION=1 : The KRC1 will stop if the master of the slavemodul is in the
; state "CLEAR".
;
; ERROR_ACTION=0 : The KRC1 will not stop if the master of the slavemodul is in the
; state "CLEAR".
;
; STANDBY=0 : Standby mode: OFF (default)
; The slave needs a master while boot up. Otherwise the driver fails
; A driver reload necessary to start it again
;
; STANDBY=1 : Standby mode: ON
; The slave will stay in standby mode until a master allocates it
;
; SLAVE_TIMEOUT=0 : Slave timer : OFF (default)
; state changes of slave module are not checked
;
; SLAVE_TIMEOUT= : Slave timer : ON
; max. value of counter for cyclic slave state changes.
; If counter value is reached the driver is unloaded.
;
; CHECK_CONFIGURATION_DATA=0 : configuration data from the master
; to the slavemodul will not be checked
;
; CHECK_CONFIGURATION_DATA=1 : configuration data from the master
; to the slavemodul will be checked
;
; ACCEPTABLE_INPUT_LENGTH=X : max length of input data allowed for the slavemodul.
; if the slavemodul is seperated in several modules:
; max length of input data allowed for the moduls of the
; slavemodul
;
; ACCEPTABLE_OUTPUT_LENGTH=X : max length of output data allowed for the slavemodul.
; if the slavemodul is seperated in several modules:
; max length of output data allowed for the moduls of the
; slavemodul
;
;
; IO_DATA_BASE=0 : database is byte
; IO_DATA_BASE=1 : database is word
;
; CONSISTENCE=0 : data consistence is not guaranteed
; CONSISTENCE=1 : data consistence is guaranteed
;
;-----------------------------------------------------------------------------------------------------------
[SLAVE]
MODUL_USED=1
MODUL_ADDRESS=99
;START_TIME=20
ERROR_ACTION=0
STANDBY=0
SLAVE_TIMEOUT=0
CHECK_CONFIGURATION_DATA=0
ACCEPTABLE_INPUT_LENGTH=244
ACCEPTABLE_OUTPUT_LENGTH=244
IO_DATA_BASE=0
CONSISTENCE=0
;-----------------------------------------------------------------------------------------------------------
; [SWAP] section for swapping high- and lowbyte, needed by some moduls (e.g. analog)
; - each slave has its own entry
; - example: INWORD_SLAVE_2=0,4
; INWORD_SLAVE_3=2
; OUTWORD_SLAVE_3=2
;
; INWORD_SLAVE_X=a : INWORD means, the data are read by the KRC1 from the slave
; : X is the DP Address of the slave
; : a is the offset of the word, which should be swapped.
; : if there are more then one word to swap within the same
; : slave, seperate the offsets with a comma
; : example: INWORD_SLAVE_5=2,8
;
; OUTWORD_SLAVE_X=a : OUTWORD means, the data are written by the KRC1 to the slave
; : X is the DP Address of the slave
; : a is the offset of the word, which should be swapped.
; : if there are more then one word to swap within the same
; : slave, seperate the offsets with a comma
; : example: OUTWORD_SLAVE_7=0,4
;
;-----------------------------------------------------------------------------------------------------------
[SWAP]
Vielen Dank in voraus!!!!
Frank
