SOFTWARE

KR C2

Configuration

LPDN Scanner

Issued: 05 Aug 2003 Version: 00

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e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

PD Interleaf

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Contents

1 Technical description of hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Hardware installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 DeviceNet connector pin allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6 LED description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6.1 Module and network status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6.2 I/O status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2 Technical description of software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.1 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Version compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 Installation of the driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.1 Software prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Installing during the KR C1 set--up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Installing the driver subsequently from the KUKA installation CD . . . . . . . . . . . . . . . . . . . . . 11
3.4 Installing additional LPDN scanner cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.5 Parallel operation of LPDN scanner cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4 Network and data configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.1 IOSYS.ini . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2 Configuring the DeviceNet channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3 Configuring the DeviceNet network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.3.1 With RSNetworx for DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.3.2 Manual configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.3.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3.4 Description of the mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5 Range of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1 Telnet driver functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.1 Overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.2 Status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.3 Show I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.4 Configuration mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.5 DPR display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1.6 Module information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1.7 Set MAC ID (implemented from version 2.00 onwards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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Configuration

5.1.8 Set baud rate (implemented from version 2.00 onwards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5.2 IOCTL commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2.1 Overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2.2 Module activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.3 Configuration mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.4 Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.5 Module status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.6 Bus status (implemented from version 1.12 onwards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6 System response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1 Reload – Cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.2 Reset – Warm start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.3 Module activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.4 I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.5 Bus Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

7 Working with the driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7.1 Module switch--off (tool change) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

8 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
8.1 ScanList entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
8.2 Version documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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Configuration

1 Technical description of hardware

1.1 General
The LPDN scanner is a 16 bit PCI – CAN card. It has two channels available; these channels
work independently of each other. Each channel is provided with its own processor (386EX),
memory and CAN interface.
Its firmware includes the complete DeviceNet protocol. Data are transferred to the hardware
by the CALL--P driver via DPRam.

1.2 Hardware installation

1. Copy the file
“[CDRomDrive]:\Internat\KRCSetup\Windows\inf\LPDNScan.INF”
into the directory “Windows\Inf”.
2. Switch off the computer and install the LPDN scanner PCI card in your system.
3. Start up your system and open the Setup program (BIOS setup) on your com-
puter. Make sure that interrupt numbers 3, 4, 5, 11 and 15 are assigned to the ISA bus.
Note: ISA cards use a number of different interrupts. When allocating resources during
the boot procedure, the computer is not able to determine which interrupts are used by
ISA bus plug--in cards. This can lead to multiple assignments which might cause the
system to crash.
4. During the Windows start phase, the message “New Hardware Found” will ap-
pear. If you have copied the file “LPDNScan.INF” into the directory “Windows\inf”, the
PCI card will be automatically integrated into your system. If not, you will be asked to
specify the drive or directory where the .inf file is located.
5. Following this, you will be asked to restart your system.
The hardware is now integrated into your system.

1.2.1 Troubleshooting
If your computer does not boot, check the interrupt settings in the computer’s BIOS.

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 1 Technical description of hardware (continued)

1.3 Components used

Microcontroller: INTEL i386EX 33MHz

CAN controller: Philips SJA1000
Dual--port RAM: IDT 7133 with 2K x 16--bit
PCI Chip: PLX 9050 with serial EEPROM

1.4 DeviceNet connector pin allocation

The front plate of the card has two connectors for DeviceNet.
The designations of the individual connector pins are marked on the card, but will in addition
be described again below.
DeviceNet connector on the front plate:
Connector 1 (Channel 1, upper 5--pin connector):

Pin 1: Ground (supply voltage ground)

Pin 2: CAN Low
Pin 3: Shield (shield/grounding)
Pin 4: CAN High Pin 4: CAN High
Pin 5: +24 V direct voltage

Connector 2 (Channel 2, lower 5--pin connector):

Pin 1: Ground (supply voltage ground)

Pin 2: CAN Low
Pin 3: Shield (shield/grounding)
Pin 4: CAN High Pin 4: CAN High
Pin 5: +24 V direct voltage

PIN
1
Connector 1 :

LED 2 LED 1

Connector 2

LED 4 LED 3

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Configuration

1.5 Bus termination

The DeviceNet must be fitted with a terminator at two ends of the network. The requirements
for the terminators are as defined by the DeviceNet specification:
G 121 ohms (nominal value)
G 1% tolerance (metal film)
G 1/4 watt
The DeviceNet specification does not allow any terminators in a device. For this reason, no
bus terminators are present on the LPDN scanner card.
1.6 LED description
Two bicolor (red/green) LEDs per channel are available for signalling the status of the card
and network.
Assignment:
LED 1, 2: channel 1
LED 3, 4: channel 2
Meaning:
LEDs 1 and 3: I/O status
LEDs 2 and 4: module/network status
To also allow signalling beyond the limits of the housing, the 4 LEDs are also wired in parallel
to the plug connector at the top left.
Kingbright model L--937EGW bicolor LEDs can be connected there directly, i.e. without
series resistors.
Terminal assignment:

L1 K--G L2 K--G L3 K--G L4 K--G

LED 1 LED 2 LED 3 LED 4

The external LEDs are to be connected so that the cathode of the green LED is connected
to pin K--G of the corresponding LED. The corresponding LEDs are L1 to L4, as present on
the front plate and marked on the board next to the front plate LEDs.
Under no circumstances may the pins be short--circuited or jumpered.
This will inevitably destroy the card!
The status LEDs are implemented in accordance with the ODVA DeviceNet specification.
Meaning:

1.6.1 Module and network status LED

State LED: Meaning
Reset Red The device is in the “Reset” state.
No mains voltage / not online Off Device is not online.
-- The device has not completed the
duplicate MAC ID test
-- The device has no mains voltage
on the DeviceNet.

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 1 Technical description of hardware (continued)

Normal operation, device online Green The device is operating normally, is

Normal operation without connec-
tions/configuration
Minor error and/or connection timeout
Critical bus or firmware error
Communication breakdown due to an
error query
online and has one or more connec-
tions to other devices.
Flash- The device is operating normally and
ing is online, but no connections have
green been established to other devices.
Cause: configuration is missing, in-
complete or incorrect.
Flash- Recoverable error and/or one or more
ing red I/O connections are in “Timeout”
state.
Red The device has an unrecoverable er-
ror:
-- Duplicate MAC ID – there is
another device with the same
MAC ID on the bus.
-- The bus is in the “Bus off” state:
broken cable / short--circuit or
incorrect baud rate setting on at
least one device.
Flash- The device has detected a network
ing red access error and is in the “Communi-
& cation error” status. The device has
green then received and accepted a com-
munication error query message.

1.6.2 I/O status LED

State LED: Meaning

Reset Off In the “Reset” state or if no firmware
is loaded on the card.
Inputs and outputs are inactive Off All outputs are inactive, all inputs are
inactive.
Inputs and outputs are active Green All configured outputs are active and
error--free. All configured inputs are
active and error--free.
No I/Os configured Flash- No inputs/outputs configured, active,
ing used or faulty.
green
Inputs faulty Flash- One or more inputs/outputs cannot be
Outputs faulty ing red read/written. This error is generally
accompanied by an incorrect configu-
ration or a faulty external device.
Outputs are inactive. Inputs have an Red One or more outputs/inputs are faulty.
unrecoverable error.

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Configuration

2 Technical description of software

2.1 General description
The DeviceNet driver is subdivided into two parts (firmware / CALL--P driver).
Its firmware includes the DeviceNet driver. The CALL--P driver makes data exchange be-
tween the hardware and robot controller possible.
Each of the two channels of the LPDN scanner card can be operated either as master and/or
slave.
The operating mode of the LPDN scanner driver is defined during configuration of the net-
work using “RSNetworx for DeviceNet” from Allen--Bradley.
“RSNetworx for DeviceNet” is a software tool that runs on an external configuration PC.
The network configuration (“ScanList”) is loaded via the DeviceNet network to the LPDN
scanner DeviceNet interface, and automatically saved there.

2.2 Data exchange

DeviceNet is a connection--oriented network. The required I/O connections are configured
dynamically by means of a connection object. In order to simplify this complex process for
a typical master/slave combination, the Predefined Master/Slave Connection Set, which is
also used by the LPDN scanner, has been implemented. No other connections are sup-
ported.
The following I/O types are available for process data exchange:
-- POLL “basic connection” which must be supported by each device
-- STROBE synchronous data polling (max. 1 bit OUT / 64 bits IN data per device)
-- COS event--controlled data exchange
-- CYCLIC time--controlled data exchange
The input/output data lengths of each individual configured device may have a maximum of
255 bytes (maximum of 8 bytes for STROBE, see above) per connection type.

2.3 Version compatibility

The compatibility between the different configuration tool and driver versions is indicated in
the following table. Other combinations have not been tested.

Software version Software version

LPDN scanner RSNetworx
V 1.10 2.11.51 / RSLinx V 2.10
V 1.10 3.00.00 / RSLinx V 2.20

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 3 Installation of the driver

3 Installation of the driver

3.1 Software prerequisites
KRC versions:
-- 2.5 and higher
-- 3.2 and higher
-- 4.0 and higher
-- 2.3 and higher
Soft PLC:
-- ProConOS

3.2 Installing during the KR C1 set--up

The driver can be installed automatically during the KR C1 set--up from the KUKA installation
CD by checking the “DeviceNet LPDN--Scanner” option box.

3.3 Installing the driver subsequently from the KUKA installation CD

Even if the KR C1 control software has already been installed, the necessary files can subse-
quently be copied onto the robot manually.

Copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc1drv.o

and: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc2drv.o
and: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnscBdrv.o
and: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnscFdrv.o
to: C:\Program Files\KRC\Drivers
and
copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_1Co.ini
[CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_2Co.ini
to: C:\Program Files\KRC\Init
and
copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\LPDNScanner.eds
to: [RSLinx directory]\RSCommon\EDS

If present:

Copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_1Sl.ini

and: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_2Sl.ini
to: C:\Program Files\KRC\Init

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Configuration

3.4 Installing additional LPDN scanner cards

Up to three LPDN scanner cards can be installed on a single system. For each additional
card, the two DeviceNet channels can be activated and configured independently of each
other. The system resources are assigned automatically. The following notation applies for
the DeviceNet channels:
LPDN card 1 ® channel 1
channel 2
LPDN card 2 ® channel 3
channel 4
LPDN card 3 ® channel 5
channel 6
The corresponding driver files and ini files must be present for each card.
When installing the second card subsequently, this means:

Copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_1Sl.ini

and: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc4drv.o
to: C:\Program Files\KRC\Drivers
and
copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_3Co.ini
[CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_4Co.ini
to: C:\Program Files\KRC\Init

If present:
copy from: [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_3Sl.ini
and [CD]:\Internat\KRCsetup\Drivers\LPDN\dnsc_4Sl.ini
to: C:\Program Files\KRC\Init

Use the same procedure when installing a third card.

By default, the logfiles and MAC IDs of the scanners are numbered the same as the corre-
sponding channels.

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 3 Installation of the driver (continued)

3.5 Parallel operation of LPDN scanner cards

When operating two or three LPDN scanner cards in parallel, the assignment of the individual
DeviceNet channels must be determined from the slot allocation.
The diagram shows the assignment of the slots as a top view of the motherboard. The table
shows which channels are assigned to which occupied slot.

PCI 3 PCI 2 PCI 1

ISA

ISA

ISA

PCI

PCI

PCI

1 1 card

2 1 Parallel opera-
tion of 2 cards
Parallel opera-
3 2 1 tion of 3 cards

1: dnsc1drv.o 2: dnsc3drv.o 3: dnsc5drv.o

dnsc2drv.o dnsc4drv.o dnsc6drv.o

The explanations in the following sections are for one installed LPDN scanner card. They can
also be applied by analogy to the second or third card.

Only certain slots and combinations are enabled for parallel operation of LPDN cards.
Other combinations must not be used.
(See slot allocation plan of the motherboard used, KUKA handbook, etc.)

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Configuration

4 Network and data configuration

4.1 IOSYS.ini
Activation of the driver is carried out in the “DRIVERS” section.
In the following example, both channels of the LPDN scanner will be activated.
The first channel is designated by the number “1”, and the second channel by the number
“2”.
It is possible to operate only the first or second channel, or both channels. The procedure
is the same for additional channels.
[DRIVERS]
DNSC1=12,dnsc1Init,dnsc1drv.o
DNSC 2=13,dnsc2Init,dnsc2drv.o

The numbers of the driver handle may not be set to any other value. Otherwise proper ope-
ration of the driver cannot be guaranteed.

For each entry in the DRIVERS section, a “[LPDNX]” section must be present. The following
example shows the entries for both channels of the PCI card with the corresponding I/O maps
for the robot.
[DNSC1]
INB0=5,0,x8 ; $in[1--64]
[DNSC2]
INB8=5,0,x8 ; $IN[65--128]
OUTB0=5,0,x8 ; $OUT[1--64]
INW16=2,0 ; $IN[129--144] Weld Controller 1
OUTW8=2,0 ; $OUT [65--80] Weld Controller 1

If the third parameter is not specified, the length of the data to be processed will always
be “x1”.

e.g.:
INB8=5,0, ; Length: 1 byte = 8 bits
OUTW8=2,0 ; Length: 1 word = 2 bytes = 16 bits

These mappings have the following structure:

I/O SYSTEM = Module MAC ID , Offset in bytes , Number of I/O data (bytes/words)

Examples:
IINW8=5,4,x1 One word of the I/O system (this word begins at the 8th
byte) is read by the slave module with the MAC ID 5. The
reading starts with the 4th byte (offset = 4). The data
length is 1 word (multiplier = 1). In this case, the I/O
module must deliver at least 6 bytes of data:
Offset + number of I/O data ® 4 bytes + 1 word (2 bytes)
= 6 bytes (3 words).
Note: the length specification “x1” can be omitted.
INB10=3,0,x1 IN byte 10 of the I/O system is assigned to the device with
MAC ID 3. Within the slave the 1st byte is addressed (off-
set = 0). The data length is 1 byte (multiplier = 1).
Note: the length specification “x1” can be omitted.

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 4 Network and data configuration (continued)

OUTW10=10,0,x2 Two words of the I/O system (the word begins at the 10th
byte) are assigned to the device with MAC ID 10. Within
the slave the 1st byte is addressed (offset = 0). The data
length is 2 words (2 bytes).
Note: the length specification “x2” must be made.
OUTB10=17,0,x2 Two words of the I/O system (the word begins at the 10th
byte) are assigned to the device with MAC ID 17. Within
the slave the 1st byte is addressed (offset = 0). The data
length is 2 bytes.
Note: the length specification “x2” must be made.

4.2 Configuring the DeviceNet channels

Configuration of the DeviceNet channels is carried out in the files “dnsc_XCo.ini”. The pa-
rameter X defines which channel is configured.

Note the following when editing the .ini files:

--> No distinction is made between uppercase and lowercase letters.
--> Text following a semicolon is interpreted as a comment line.

[CONFIG]
MAC_ID=1 MAC ID of the robot DeviceNet channel
Use: required parameter
Permissible values: 0...63
BAUDRATE=500 Baud rate of the DeviceNet network in KBaud
Use: required parameter
Permissible values: 125, 250, 500
LOGFILE=dnsc1.log Path and name of the log file (unambiguous for each chan-
nel)
Use: parameter is optional
Default value: “log/dnsc1.log” or “log/dnsc2.log” (first or
second channel)
DEBUG=0 Advanced diagnostic information on / off
Use: parameter is optional
Permissible values: 0 / 1 respectively (off / on)
Default value: 0
USE_ERROR_DB=1 Defines whether the language database of the robot is to
be used.
Use: parameter is optional
Permissible values: 1 / 0 (use database / do not use data-
base).
Default value: 0
OPTIONS=0 Customer--specific options. May only be entered if
expressly instructed by LP Elektronik GmbH.
Use only if you have a GE--Fanuc PLC with a Horner
DeviceNet scanner and problems connecting the LPDN to
the PLC as a slave.
Use: parameter is optional
Permissible values: 0 / 1179992907 (off / compatibility
mode)
Default value: 0
SERIAL_BAUDRATE=0 Baud rate of the integrated serial channel in kBaud (ser-
vice personnel only).
Use: parameter is optional
Permissible values: 1200, 2400, 4800, 9600, 19200,
38400, 57600, 115200
Default value: 9600

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Configuration

SCANLIST_COMMENT=0 Comments are generated in the ScanList during configura-

tion with RSNetworx.
Use: parameter is optional
Permissible values: 1 / 0 respectively (on / off).
Default value: 0
[FAST_OUT]
MAC_ID=30 Fastwrite MAC ID
Use: parameter is optional
Permissible values: 0..63
Default value: deactivated
Deactivation: specification of an invalid value or deletion of
the entire entry.

The mode of the DeviceNet channel (Master and/or Slave) is defined in the DeviceNet net-
work configuration.

4.3 Configuring the DeviceNet network

4.3.1 With RSNetworx for DeviceNet
(a) Set the DeviceNet channel on the robot to configuration mode (see 5.1.4 and
5.2.3).
(b) Configure the network using the “RSNetworx for DeviceNet” software tool.
This product can be obtained from Rockwell Automation.
Before using these products, be sure to read the corresponding software docu-
mentation carefully.
Save the configuration (ScanList) on the LPDN scanner.
For detailed procedures, please refer to the documentation from Rockwell.
(Note: after the LPDN scanner card has received the new scanlist, the list will auto-
matically be saved to the hard disk of the robot.)
(c) Execute the command “I/O Reconfigure” on the GUI. To reconfigure all of the driv-
ers, select the GUI and execute the appropriate command via the menu bar.

4.3.2 Manual configuration

(d) Set the DeviceNet channel on the robot to configuration mode.
(e) Edit the scanlist (dnsc_1SL.ini for the first channel, dnsc_XSL.ini for an additional
channel).
(f) Save the files and carry out a reconfiguration of the I/O system.

Reconfiguration of the I/O drivers is essential for changes to take effect.

The next time the system is started, the DeviceNet configuration will be loaded automati-
cally without it being necessary to configure the channels again.

Table 1 below contains a list of the parameters (except for the mapping entries, see 4.3.4)
which can be edited in the scanlist (file dnsc_1SL.ini or dnsc_XSL.ini).
Not all of the entries are absolutely necessary in order to configure the DeviceNet network.
Table 2 shows an abbreviated, but valid configuration. Parameters which are not specified
here are stored as default values in the driver program.

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 4 Network and data configuration (continued)

Keyword Group Description Default

[MODULE_STARTUP] Section
INACTIV = 4, 5, 6 Module handling Deactivated MacID at
startup

[SCANNERCFG] Section
NET_EPR Connection handling Expected packed rate 75
[ms*4]
NET_ISD Connection handling Inter scan delay 2
NET_BACK- Connection handling 1
GROUND_POLL_RATE
NET_TX_RE- Connection handling 1
TRY_COUNT

[1..64] Section
MAC_ID Device Info Node number of the module
CONFIG_VALID (1) Connection handling 1 = entry valid, 1
0 = entry invalid
VENDOR_ID Device Info Device info
PRODUCT_TYP Device Info Device info
PRODUCT_CODE Device Info Device info
SCAN_TYP Transmission type 2=Poll,4=Strobe,6=Strobe& 2
Poll,0=Neither
POLL Transmission type 0=every scan,1=at back- 0
ground rate
STROBE_RESPL Data length Data length in bytes for
strobe response
STROBE_CMDL Data length Always 8 bytes by strobe
definition
POLL_RESPL Data length Data length (bytes) for poll
response
POLL_CMDL Data length Data length (bytes) for poll
command
COS_CYC_RESPL Data length Data length (bytes) for cos/
cyc response
COS_CYC_CMDL Data length Data length (bytes) for cos/
cyc command
MAJOR_REV Device Info Device info 0
MINOR_REV Device Info Device info 0
EPR Timeout handling Cos/cyc heartbeat expected 0
packed rate
ACK_TIMER Timeout handling Ack timer value used for 0
node
IH_TIMER Connection handling Inhibit timer 0

(1): If the entry is 0, the entire section (and thus the device itself) is ignored. This has nothing
to do with the module activation.

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Configuration

4.3.3 Example
dnsc1_Co.ini:
[CONFIG]
MAC_ID=1
BAUDRATE=500
LPDNLogfile=log/lpdn1.log
In the following scanlist file, three modules are configured.
The first entry in the scanlist [1] is used to configure the first channel of the LPDN scanner
card as a slave.
This is the case if the MAC_ID entry in the file dnsc_1Co.ini is the same as the MAC_ID entry
in the file dnsc_1Sl.ini.
Entry [2] describes a connection to the second channel of the LPDN scanner card. In this
case, channel 1 is the master for channel 2 of the LPDN scanner.
For this configuration, the files dnsc_2Co.ini and dnsc_2Sl.ini must be adapted accordingly.
This configuration serves only as an example, and would not be very useful in practice.
Entry [3] describes a connection to a FlexIO 1794 ADN module.

The section numbers [1..64] are independent of the values of the MAC_ID entries, and do
not have anything to do with each other.

dnsc1_Sl.ini:
[SCANNERCFG]
NET_EPR=75
NET_ISD=2
NET_BACKGROUND_POLL_RATE=1
NET_TX_RETRY_COUNT=1

[1] [2] [3]

MAC_ID=1 MAC_ID=2 MAC_ID=3
VENDOR_ID=418 VENDOR_ID=418 VENDOR_ID=1
PRODUCT_TYP=12 PRODUCT_TYP=12 PRODUCT_TYP=12
PRODUCT_CODE=14 PRODUCT_CODE=14 PRODUCT_CODE=14
POLL_RESPL=8 POLL_RESPL=8 POLL_RESPL=4
POLL_CMDL=8 POLL_CMDL=8 POLL_CMDL=2

The scanlist from Table 2 describes a configuration by means of poll connection (default
value of SCAN_TYP is poll mode). All 3 sections are valid (default value of CONFIG_VALID).
(1) The data lengths of the configured connection types must be specified in all cases.
Description for I/O data length:
Descriptions for input and output lengths are required to initialize the devices and establish
connections.
Device 1 (first column) and device 2 (second column) have 8 bytes each for input and output.
The keywords POLL_RESPL and POLL_CMDL all have the value 8.
Device 3 (third column) has 2 bytes of input data and 4 bytes of output data. Therefore the
keyword POLL_RESPL has the value 4 and the keyword POLL_CMDL has the value 2. The
values are specified in bytes.

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 4 Network and data configuration (continued)

4.3.4 Description of the mapping

Mapping should be used only in special cases, and only by experts.
As default, the mapping is carried out automatically by the driver.
The entries for mapping are required to store the I/O data of the devices in the dual port
memory of the card, thus making the data accessible to the driver.
The following keywords must be adapted:
MAP_IN_IMGL_0 and MAP_IN_IMGDO_0 for the input range of the card,
MAP_OUT_IMGL_0 and MAP_OUT_IMGDO_0 for the output range.
The values are specified in bits.
..._IMGL_0 specifies the length of the data.
..._IMGDO_0 specifies the position beginning at which the data are stored in the memory
of the card.
It must be ensured that these ranges do not overlap.
In the example, the data for device 1 begin at position 0 and have a length of 64 bits:
MAP_OUT_IMGL_0=64
MAP_OUT_IMGDO_0=0
The data for device 2 thus begin at bit position 64, and likewise have a length of 64 bits:
MAP_OUT_IMGL_0=64
MAP_OUT_IMGDO_0=64
The data for device 3 thus begin at bit position 128, and have a length of 16 bits:
MAP_OUT_IMGL_0=16
MAP_OUT_IMGDO_0=128
In the example, the data are arranged as they should be – one right after the other, without
overlap.
The input data (from the external devices to the LPDN) are configured in a similar manner.

Device Device
Mac_ID 2 Mac_ID 3
_RESPL=8 _CMDL=8 _RESPL=4 _RESPL=2

Output Input
DBRam DBRam

_RESPL=8 _CMDL=8

Fig. 1 LPDN scanner MAC_ID 1

All additional mapping entries must be 0.

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Configuration

5 Range of functions
5.1 Telnet driver functions
-- Open the Windows 95 Start menu.
-- Select the command “Run”.
-- Enter the command “telnet 192.0.1.1”.
-- Change to the command prompt.
-- Enter and start the function.
The commands for DeviceNet have the following notation:
“dnsc ...” ® commands for channel X (1 to max. 6)
The commands for Channel 1 will be described below. The other channels can be addressed
by replacing the “1” with another permissible value.

5.1.1 Overview of the functions

Function 1st parameter 2nd parameter Description

dnsc1Show ---- ---- Show status information
dnsc1ShowDevice MAC ID / --1 ---- Show I/O data
dnsc1SetConfig ---- Switch configuration mode
dnsc1Dpr ---- ---- Show DPRAM
dnsc1GetNodeInfo ---- Get module information
dnsc1SetMacId MAC ID MAC ID Set MAC ID of a device
dnsc1SetBaudrate MAC ID Baud rate Set baud rate of a device

5.1.2 Status information

dnsc1Show
Diagnostic function used to determine the current state of the DeviceNet from the view of
the KR C1.

5.1.3 Show I/O data

dnsc1ShowDevice( MAC ID )
Shows the I/O data of the specified slave.
Permissible values are 0...63 (polling of the individual nodes) and --1.
If --1 is specified for the MAC ID, all of the I/O data of all configured slaves will be output.

5.1.4 Configuration mode

dnsc1SetConfig ( mode )
Sets the channel to Config mode.
Permissible values: 1 = Config mode on, 0 = Config mode off

5.1.5 DPR display

dnsc1Dpr
Shows the contents of the DPR. For experts only.

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 5 Range of functions (continued)

5.1.6 Module information

dnsc1GetNodeInfo( MAC ID )
Shows static and module--specific data.
Permissible values are 0...63 (polling of the individual nodes) and --1.
The I/O data of a slave are output, even if it is not configured.
If --1 is specified for the MAC ID, the device addresses 0 to 63 will be polled.
5.1.7 Set MAC ID (implemented from version 2.00 onwards)
dnsc1SetMacId( MAC ID, New MAC ID )
Changes the existing MAC ID of a device which supports the assignment of MAC IDs via the
network.
Permissible values for the MAC ID / new MAC ID are both 0...63
If this utility is not supported by a particular device, or if an error occurs, an error message
is generated. In this case the existing MAC ID remains unchanged.
Once the function has been carried out without errors, acceptance of the new MAC ID of the
device concerned must be initiated by switching the power OFF and ON (re--initialization).
5.1.8 Set baud rate (implemented from version 2.00 onwards)
dnsc1SetBaudrate( MAC ID, new baud rate )
Changes the existing baud rate of a device which supports changing of the baud rate via the
network.
1st parameter: Permissible values for the MAC ID are 0...63
2nd parameter: Permissible values for the baud rate are 125, 250 and 500 (kBaud)
If this utility is not supported by a particular device, or if an error occurs, an error message
is generated. In this case the existing baud rate remains unchanged.
Once the function has been carried out without errors, acceptance of the new baud rate of
the device concerned must be initiated by switching the power OFF and ON (re--
initialization).
The baud rate of the scanner may have to be adapted and the change initiated by means
of I/O reconfiguration.
5.2 IOCTL commands
On the Telnet shell
RETURN VALUE = iosysIoctl (DRIVER ID, REQUEST, Parameter)
In the KRL program
RETURN VALUE = IOCTL (DRIVER ID, REQUEST, Parameter)

RETURN VALUE The return value depends on the function (REQUEST

number) called.
Driver ID The Driver ID is a number. The value can be found in
the [DRIVERS] section of the IOSYS.INI file. It should
be 12 for the first channel and 13 for the second chan-
nel.

5.2.1 Overview of the functions

Request Parameter Description

110 MAC ID Activate module
111 MAC ID Deactivate module
512 1/0 Configuration mode on/off
513 1/0 Watchdog on/off
514 MAC ID Request module status of an individual module
515 ---- Request bus status of the entire DeviceNet network

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Configuration

5.2.2 Module activation

Request: 110, 111
Parameter: MAC ID
Return value: 0 = Operation executed, --1 = Error occurred (wrong MAC ID)
This call is used to determine the activation state of a module.
This module must be configured in order to be able to deactivate a module.

The I/O connection is NOT deactivated when a module is deactivated.

Only the error messages of the LPDN scanner card are suppressed.
This means that the I/O module does not indicate any error state as long as it is connected
to the LPDN scanner card.

5.2.3 Configuration mode

Request: 512
Parameter: 1/0
Return value: 0 = Operation executed, --1 = Error occurred (wrong MAC ID)
Comparable with the modes of a PLC: RUN / Program.
In order to be able to configure the field bus interface for DeviceNet using the software tool
RSNetworx (saving the scanlist to the LPDN scanner), the driver must be switched to Config-
uration mode.
Once configuration with RSNetworx is completed, the Run mode must be restored.
To do this, simply reload the driver.

5.2.4 Watchdog
Request: 513
Parameter: 1/0
Return value: 0 = Operation executed, --1 = Error occurred (wrong MAC ID)
Used to switch the watchdog on and off.

5.2.5 Module status

Request: 514
Parameter: MAC ID
Return value: 0 = Operation executed, --1 = Error occurred (wrong MAC ID)
Limitations: May only be used on device MAC IDs which are configured in the scanlist
(dnscxSl.ini).
A “0” is always returned for devices which are not configured in the scanlist.
Note: This also applies for the MAC ID of the LPDN scanner itself. If the LPDN scanner is
configured as a slave, its module status can be polled.
If the LPDN scanner is NOT configured as a slave (MAC ID of the LPDN scanner is not in
the scanlist), then a “0” will always be returned, even in the event of an error.

5.2.6 Bus status (implemented from version 1.12 onwards)

Request: 515
Parameter:
Return value: 0 = No error, >0 = Number of faulty slaves
The status of the entire DeviceNet network is polled.
Only activated devices are considered. This means that if a device is deactivated, it will not
be considered in the bus status polling. In this case, errors in this device will be suppressed
by the LPDN scanner.

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 6 System response

6 System response
6.1 Reload – Cold start
In the case of a cold start, the driver entities configured in the iosys.ini file are removed.
The cold start can be forced in one of two ways:
· by calling “iosysReload” via Telnet
· by means of I/O Reconfigure via the robot menu
The DeviceNet driver is removed completely. The driver is then reloaded (firmware and
Call--P driver). Once the driver has been started successfully, the connections are config-
ured. Errors are displayed.

6.2 Reset – Warm start

The reset is carried out via the robot menu. The firmware and the Call--P driver of the selected
channel are restarted.

6.3 Module activation

Specifies the activation state of a module.
Behavior of deactivated modules:
Error messages: are not forwarded
I/O data: are not updated

I/O data must not be delivered to deactivated modules, since this will result in generation
of cyclical errors.
This applies in particular to the submit interpreter. Execution of the interpreter is not
stopped in the event of an I/O error.

6.4 I/O data

Following the start or reset of the driver, the I/O data are not updated until the network status
is OK. All outputs are reset immediately when the robot controller is shut down.
If a fault occurs in a slave, the data of the fault--free slaves continue to be read and written.

6.5 Bus Off

If the number of faulty messages on the bus exceeds a certain value, the LPDN scanner en-
ters the Bus Off state. The LPDN scanner does not have to be reset. It monitors the data
traffic and reactivates itself when the fault has been rectified.

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Configuration

7 Working with the driver

7.1 Module switch--off (tool change)
The driver of the LPDN scanner allows you to add or remove modules while the bus is run-
ning.
This makes it possible, for example, to carry out a tool change while the bus is running. The
precondition for this function is that all modules which might be included in the bus structure
are already known to the master (via the scanlist). These modules must also be configured
in the file iosys.ini so that the KRC can exchange data with them once they have been acti-
vated.
It is not therefore necessary for all of the configured modules to be physically connected to
the bus. Two options are available for deactivating modules:
(1) deactivating modules which are not on the bus when the controller is booted,
(2) deactivating modules while the system is running, using the KRL command IOCTL.
Special modules that are not connected to the bus when the system is booted must be made
known to the driver by means of an entry in the scanlist dnsc_xSl.ini. The corresponding entry
is located in the section [MODULE_STARTUP], and reads as follows:
INACTIV=X,Y,Z
where X, Y and Z stand for the MAC IDs of the modules. Modules marked in this entry as
inactive are ignored by the driver, despite being present in the scan data list.
Activation and deactivation of modules while the bus is in operation is implemented by means
of the Ioctl control codes:

110 (activation)
111 (deactivation)
514 (module status polling)

A detailed description of the Ioctl commands may be found in Section 5.2 “IOCTL
commands”.

Example:
BACK=IOCTL(12,110,3) Module with the MAC ID 3 is activated
RET=IOCTL(12,514,3) Module status of the module with the MAC
ID 3 is polled

Since DeviceNet modules require several seconds (typically 3--5 seconds) for initia-
lization after being physically connected to the bus, in the case of module coupling
under program control it is advisable to carry out polling of the module status be-
fore activation. This can be done using a loop which polls the module status during
the mechanical coupling operation until the polling result indicates that the module
has been integrated into the bus communication. Otherwise there is a risk that the
module will be activated before it is ready, resulting in an error message which
stops the robot.

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 7 Working with the driver (continued)

Example:
A tool which initially (upon booting) is not on the robot is to be picked up and activated during
subsequent operation. The tool contains the DeviceNet module with the MAC ID 3.
The entry “INACTIV=3” in the file dnsc_2Sl.ini causes the module to be ignored during boot-
ing, and no error message is generated, even though the module is present in the configura-
tion but not on the bus. After the program is started, the module is first mechanically coupled,
its status is polled, and if the result is positive the module is then activated. The example be-
low shows a program extract for the status polling and subsequent activation.
; Coupling, the physical coupling operation has already been initiated.

INT RET1, RET2 Declaration of the return variables

... ; in the instruction section of the program
...

$TIMER[1]=--5000 ; Initialization of timer 1

; to 5 seconds
RET2=1 ; Initialization of the return value
$TIMER_STOP[1]=FALSE ; Start of timer 1
WHILE ($TIMER[1]<=0) AND (RET2<>0) ; Beginning of the status polling loop
RET1=IOCTL(13,514,3) ; Polling of the module status, MAC ID 3
IF RET1==0 THEN ; If module status OK, then activate
RET2=IOCTL(13,110,3) ; Activation of the module, MAC ID 3
ENDIF
ENDWHILE
$TIMER_STOP[1]=TRUE ; Stop of timer 1

IF RET2<>0 THEN ; If the module was not activated

RET2=IOCTL(13,110,3) ; within the loop, it is
ENDIF ; activated now at the latest and
; an error message is thus provoked

The following sequence would be possible for a complete tool changing process:
(Example: there are 5 modules on the bus, and 2 of them are to be uncoupled and coupled
alternately; in our example these modules have the MAC IDs 4 and 5.)
-- Booting with all modules except for the modules with the MAC IDs 4 and 5.
-- Program start
-- Coupling and polling of the module status, MAC ID 4
-- Activation of module 4
-- A program section is executed, then module 4 is deactivated and its tool is set
down
-- Coupling and polling of the module status, MAC ID 5
-- Activation of module 5
-- etc.

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Configuration

8 Appendix
8.1 ScanList entry

Firmware v2.51 Size in bytes Type Range

[SCANNERCFG]
NET_EPR 2 unsigned short
NET_ISD 2 unsigned short
NET_STATUS 1 unsigned char
NET_BACKGROUND_POLL_RATE 2 unsigned short
GLOBAL_OPTIONS 4 unsigned
NET_TX_RETRY_COUNT 1 char
[1]
MAC_ID 1 unsigned char 0..63
CONFIG_VALID 1 unsigned char 0,1
IDN_PORT 1 unsigned char 0
VENDOR_ID 2 unsigned short
PRODUCT_TYP 2 unsigned short
PRODUCT_CODE 2 unsigned short
SCAN_TYP 1 unsigned char
POLL 1 unsigned char 0,1
STROBE_RESPL 1 unsigned char
STROBE_CMDL 1 unsigned char
POLL_RESPL 1 unsigned char
POLL_CMD 1 unsigned char
COS_CYC_RESPL 1 unsigned char
COS_CYC_CMDL 1 unsigned char
MAP_IN_MSGTYPE_0 1 unsigned char
MAP_IN_MAP_TYPE_0 1 unsigned char
MAP_IN_BYTEOFF_0 2 unsigned short
MAP_IN_BITOFF_0 1 unsigned char
MAP_IN_IMGL_0 2 unsigned short
MAP_IN_IMGDO_0 2 unsigned short
MAP_IN_MSGTYPE_1 1 unsigned char not used
MAP_IN_MAP_TYPE_1 1 unsigned char not used
MAP_IN_BYTEOFF_1 2 unsigned short not used
MAP_IN_BITOFF_1 1 unsigned char not used

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 8 Appendix (continued)

MAP_IN_IMGL_1 2 unsigned short not used

MAP_IN_IMGDO_1 2 unsigned short not used
MAP_IN_MSGTYPE_2 1 unsigned char not used
MAP_IN_MAP_TYPE_2 1 unsigned char not used
MAP_IN_BYTEOFF_2 2 unsigned short not used
MAP_IN_BITOFF_2 1 unsigned char not used
MAP_IN_IMGL_2 2 unsigned short not used
MAP_IN_IMGDO_2 2 unsigned short not used
MAP_IN_MSGTYPE_3 1 unsigned char not used
MAP_IN_MAP_TYPE_3 1 unsigned char not used
MAP_IN_BYTEOFF_3 2 unsigned short not used
MAP_IN_BITOFF_3 1 unsigned char not used
MAP_IN_IMGL_3 2 unsigned short not used
MAP_IN_IMGDO_3 2 unsigned short not used
MAP_OUT_MSGTYPE_0 1 unsigned char
MAP_OUT_MAP_TYPE_0 1 unsigned char
MAP_OUT_BYTEOFF_0 2 unsigned short
MAP_OUT_BITOFF_0 1 unsigned char
MAP_OUT_IMGL_0 2 unsigned short
MAP_OUT_IMGDO_0 2 unsigned short
MAP_OUT_MSGTYPE_1 1 unsigned char not used
MAP_OUT_MAP_TYPE_1 1 unsigned char not used
MAP_OUT_BYTEOFF_1 2 unsigned short not used
MAP_OUT_BITOFF_1 1 unsigned char not used
MAP_OUT_IMGL_1 2 unsigned short not used
MAP_OUT_IMGDO_1 2 unsigned short not used
MAP_OUT_MSGTYPE_2 1 unsigned char not used
MAP_OUT_MAP_TYPE_2 1 unsigned char not used
MAP_OUT_BYTEOFF_2 2 unsigned short not used
MAP_OUT_BITOFF_2 1 unsigned char not used
MAP_OUT_IMGL_2 2 unsigned short not used
MAP_OUT_IMGDO_2 2 unsigned short not used
MAP_OUT_MSGTYPE_3 1 unsigned char not used
MAP_OUT_MAP_TYPE_3 1 unsigned char not used
MAP_OUT_BYTEOFF_3 2 unsigned short not used

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Configuration

MAP_OUT_BITOFF_3 1 unsigned char not used

MAP_OUT_IMGL_3 2 unsigned short not used
MAP_OUT_IMGDO_3 2 unsigned short not used
MAJOR_REV 1 unsigned char
MINOR_REV 1 unsigned char
EPR 2 unsigned short
ACK_TIMER 2 unsigned short
IH_TIMER 2 unsigned short
OPTIONS=128 4 unsigned int
STATUS=141 4 unsigned int

8.2 Version documentation

See table ..\General\LPDN--Scanner Versionsdoku.xls
1

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