Kuka Interbus 1.1 Manual
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Kuka Interbus 1.1 Manual

Kuka Interbus 1.1 Manual

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KUKA Roboter GmbH
Controller Option
Interbus 1.1
For KUKA System Software 8.2
For VW System Software 8.2
Issued: 29.11.2012
Version: KR C4 Interbus 1.1 V2 en (PDF)

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Summary of Contents for Kuka Interbus 1.1

  • Page 1 KUKA Roboter GmbH Controller Option Interbus 1.1 For KUKA System Software 8.2 For VW System Software 8.2 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
  • Page 2 Translation of the original documentation KIM-PS5-DOC Publication: Pub KR C4 Interbus 1.1 (PDF) en Bookstructure: KR C4 Interbus 1.1 V2.1 Version: KR C4 Interbus 1.1 V2 en (PDF) Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 2 / 65...

  • Page 3: Table Of Contents

    Operation ...................... Coupling/decoupling segments .................. 7.1.1 Coupling/decoupling segments via HMI ............... 7.1.2 Coupling/decoupling segments via KRL ............... Activating/deactivating the Interbus driver ..............Diagnosis ..................... Displaying diagnostic data ..................Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 3 / 65...
  • Page 4 PCP server response to a fault in the master ring ..........Messages ...................... KUKA.HMI error messages ..................KUKA Service ....................10.1 Requesting support ....................10.2 KUKA Customer Support ................... Index ......................Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 4 / 65...

  • Page 5: Introduction

     For optimal use of our products, we recommend that our customers take part in a course of training at KUKA College. Information about the training program can be found at www.kuka.com or can be ob- tained directly from our subsidiaries.

  • Page 6: Trademarks

    (remote bus) can contain up to 256 devices; local buses or loop segments can be coupled, e.g. in a machine, by means of bus couplers. Industry Standard Architecture: commonly-used PC bus before PCI. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 6 / 65...
  • Page 7 Software Telnet Simple terminal communications protocol. It is used, for example, to configure individual hard- ware units. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 7 / 65...
  • Page 8 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 8 / 65...

  • Page 9: Product Description

    Maximum cable length with HCS (hard-clad silica): 400 m  Maximum cable length with fiberglass cable: 3500 m  Optional operation of master and slave at 500 kBaud or 2 MBaud  Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 9 / 65...

  • Page 10: Ibs Pci Sc Controller Board

    Up to 64 PCP devices (FW version 4.49)  The slave part is supplied independently via an external 24 V power supply  KR C4 Interbus 1.1 is compatible with the following field buses: Compatibility KR C4 PROFINET 2.0, 2.1 and 2.2 ...

  • Page 11: Safety

    The “Safety” chapter in the operating instructions or as- sembly instructions of the robot controller must be ob- served. Death to persons, severe injuries or considerable damage to property may otherwise result. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 11 / 65...
  • Page 12 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 12 / 65...

  • Page 13: Installation

    The KR C4 cannot be operated with multiple master or slave cards. Installing or updating INTERBUS (KSS) There is an option CD for INTERBUS: Description KR C4 Interbus 1.0  Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 13 / 65...

  • Page 14: Installing Interbus (Vss)

    2. Select the entry KRC4 Interbus and press Uninstall. Reply to the request for confirmation with Yes. Uninstallation is prepared. 3. Reboot the robot controller. Uninstallation is resumed and completed. A LOG file is created under C:\KRC\ROBOTER\LOG. LOG file Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 14 / 65...

  • Page 15: Start-Up And Recommissioning

    Slave interface (Remote Out, outgoing remote bus) Slave interface (Remote In, incoming remote bus) Indicator elements (LEDs) DIP switches for the slave configuration DIP switches for the master configuration Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 15 / 65...

  • Page 16: Connecting Fiber-Optic Cables

    CMD. It is also possible to update the firm- ware of the IBS PCI SC controller board via the RS232 interface. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 16 / 65...
  • Page 17 Fig. 5-4: RS232 cable for connection to diagnostic PC It is connected to the diagnostic PC via a special RS232 cable that is available from Phoenix Contact. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 17 / 65...

  • Page 18: Ibs Pci Sc/Ri/I-T

    External power supply to slave An external 24 V DC power supply is required for operation of the slave mod- ule. This is connected via a 2-pin MINI-COMBICON connector. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 18 / 65...
  • Page 19 5 Start-up and recommissioning Fig. 5-6: Connection of the external 24 V power supply to the slave mod- Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 19 / 65...
  • Page 20 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 20 / 65...

  • Page 21: Configuration

    This number is number used to identify the different cards in the system. The card number can be set Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 21 / 65...

  • Page 22: Dip Switches On The Slave Module

    The DIP switches are on the top left-hand side of the slave module. KUKA default: DIP 1 … 4 OFF, DIP 5 ON, DIP 6 … 9 OFF, DIP 10 ON Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
  • Page 23 2 words 3 words 4 words 5 words 6 words 7 words 8 words 9 words 10 words 11 words 12 words 13 words 14 words 16 words Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 23 / 65...

  • Page 24: Configuring The File Ibspci.xml

    Assigns a unique identifier to the controller board for the data channel. This identifier must match the card Default: 1 number selected by means of the DIP switches on the master module. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 24 / 65...
  • Page 25 If it is not possible to address the controller board within these 7 s, the loading of the driver is aborted. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 25 / 65...
  • Page 26 Function STATUS Default: -1 I/O address for status register PARAMETER1 Default: -1 I/O address for 1st parameter register PARAMETER2 Default: -1 I/O address for 2nd parameter register Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 26 / 65...
  • Page 27 True: In the case of a fault, the application is not noti- fied that an error has occurred while reading and writ- ing the I/Os. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 27 / 65...

  • Page 28: Configuring The Bus With Workvisual

    If all DTMs are to be accepted, click on the Double right arrow button. 4. The selected DTMs are displayed under Current DTM Catalog. Click on Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 28 / 65...

  • Page 29: Configuring The Interbus Master

    6. If necessary, repeat steps 4 and 5 for further devices. The device description files from the manufacturers or the generic de- vice description files “KUKA Proxy” from KUKA can be used for the master configuration. The generic device description files “KUKA Slave Proxy” must not be used for the master configuration.

  • Page 30: Configuring The Interbus Slave

    6.5.5 "Setting an offset" Page 33). Alternatively, placeholders can be inserted, as shown in the example. All de- vice description files except “KUKA Slave Proxy” can be used as placeholders in the master ring. Fig. 6-4: Example of an INTERBUS master image...
  • Page 31 6. If necessary, repeat steps 4 and 5 for further devices. The generic DTMs “KUKA Slave Proxy” from KUKA must be used for the slave configuration. The smallest possible memory unit is 2 bytes. A memory of 2 bytes is created in the image for 8 inputs and/or outputs.

  • Page 32: Configuring The Interbus Master And Slave

    6. If necessary, repeat steps 4 and 5 for further devices. The device description files from the manufacturers or the generic de- vice description files “KUKA Proxy” from KUKA can be used for the master configuration. The generic device description files “KUKA Slave Proxy” from KUKA must be used for the slave configuration.

  • Page 33: Setting An Offset

    896 bytes, a corresponding number of placehold- ers must be inserted. In this case, the placeholder with the 160 inputs/outputs has been inserted 44 times. Only the device description files “KUKA Proxy” can be used as placeholders in the master and slave ring.

  • Page 34: Entering The Ip Address Of The Line Interface

    PCI SC/RI-LK and select Settings... in the pop-up menu. The Master Set- tings window opens. 3. Enter the IP address of the line interface and confirm with OK. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 34 / 65...

  • Page 35: Operation

    RET =IOCTL("IBS1",60,Segment number) Coupling: RET =IOCTL("IBS1",50,Segment number) Here, segment 512 is decoupled, depending on the tool used. Example IF (NEXT_TOOL == GRIPPER_1) THEN RET = IOCTL("IBS1",60,512) ENDIF Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 35 / 65...

  • Page 36: Activating/Deactivating The Interbus Driver

    3. Press the Close icon. Answer the request for confirmation with Yes. Re- configuration is carried out. Fig. 7-1: Activating/deactivating the Interbus driver Interbus name “Installed” column Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 36 / 65...

  • Page 37: Diagnosis

    1: Diagnostic register displays faulty data cy-  cle bit. Status information of the driver state of state machine from driver (>>> 8.2 "Status information of the driver" Page 38) Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 37 / 65...

  • Page 38: Status Information Of The Driver

    I/O data once the slave ring has sig- naled an error. INST_ERR_DETECTING 0x2000 This status bit indicates that the firmware has started searching for an error in the Interbus master ring. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 38 / 65...

  • Page 39: Leds On The Master Module

    Interbus Running The controller board has the state RUN Yellow Host Failure System fault of the host FAIL Failure A fault has occurred in the Interbus system Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 39 / 65...

  • Page 40: Leds On The Slave Module

    U Logic Operating voltage present Green Remote bus Check The connection to the higher-level controller board has been established Flash- Bus Active Bus is in the ACTIVE state Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 40 / 65...

  • Page 41: Ioctl Commands

    IOCTL commands The IOCTL commands are also used for advanced troubleshooting. Description All communications cables have been installed. Precondition  Expert user group  Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 41 / 65...

  • Page 42: Generating A Dump File

    (even in the event of a periphery fault). An error message to this effect is sent to the KUKA.HMI and the function is exited with an error code (ERROR). This informs the user that the controller board is active, but that there is still a periphery fault.

  • Page 43: Switching Segments On And Off

    This command must be sent to the driver along with the number of the module in the form of the segment and position number. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 43 / 65...

  • Page 44: Pcp Functionality Of The Slave

    PCP_INITIATE_IND_CODE, a positive response message is returned. The parameters Access_Group and Password are ignored and set to 0 in the re- sponse message. 8.6.3 Reading data PCP_READ_IND_CODE Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 44 / 65...
  • Page 45 1920 ... 128 bytes Read-only 2047 0x5FFF 2048 ... 128 bytes Read-only 2175 0x5FFF 2176 ... 128 bytes Read-only 2303 0x5FFF 2304 ... 128 bytes Read-only 2431 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 45 / 65...
  • Page 46 1152 ... 128 bytes Read-only 1279 0x5FFF 1280 ... 128 bytes Read-only 1407 0x5FFF 1408 ... 128 bytes Read-only 1535 0x5FFF 1536 ... 128 bytes Read-only 1663 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 46 / 65...

  • Page 47: Writing Data

    The start address can thus be selected between 0 and 4096. Here also, a check is made to see if the start address plus the length of the data to Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 47 / 65...

  • Page 48: Terminating The Connection

    If the Interbus driver is switched to the inactive state as the result of a fault on the Interbus, all incoming PCP messages receive a negative response. The Error_Class and Error_Code word are set to 0x0902. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 48 / 65...

  • Page 49: Messages

    KUKA.HMI error messages Bus error and periphery fault messages are implemented as “status messag- es” in the KUKA.HMI. In this way, messages are withdrawn by the driver when the faults have been eliminated or a different error message is present. Error codes and additional information generated with the messages come from the firmware.
  • Page 50 (%2) and error code and addi- additional information tional information come from the firm- come from the firm- ware and describe the ware and describe the error. error. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 50 / 65...
  • Page 51 Carry out I/O recon- has expired. the diagnostic status on the application figuration, reboot con- register has been set. (see note above troller, exchange table). controller board. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 51 / 65...
  • Page 52 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 52 / 65...
  • Page 53 To locate the precise cause, the error codes of the firmware services must be evaluated. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 53 / 65...
  • Page 54 SVC file. which firmware ser- vice. The physical bus vice has failed. configuration does not match that config- ured in the SVC file. Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 54 / 65...

  • Page 55: Kuka Service

    Description of the problem, duration and frequency of the fault  10.2 KUKA Customer Support KUKA Customer Support is available in many countries. Please do not hesi- Availability tate to contact us if you have any questions. Ruben Costantini S.A. (Agency)
  • Page 56 Tel. +86 21 6787-1888 Fax +86 21 6787-1803 www.kuka-robotics.cn KUKA Roboter GmbH Germany Zugspitzstr. 140 86165 Augsburg Germany Tel. +49 821 797-4000 Fax +49 821 797-1616 info@kuka-roboter.de www.kuka-roboter.de Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 56 / 65...
  • Page 57 KUKA Robotics Canada Ltd. Canada 6710 Maritz Drive - Unit 4 Mississauga L5W 0A1 Ontario Canada Tel. +1 905 670-8600 Fax +1 905 670-8604 info@kukarobotics.com www.kuka-robotics.com/canada Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 57 / 65...
  • Page 58 Fax +47 61 18 62 00 info@kuka.no KUKA Roboter Austria GmbH Austria Vertriebsbüro Österreich Regensburger Strasse 9/1 4020 Linz Austria Tel. +43 732 784752 Fax +43 732 793880 office@kuka-roboter.at www.kuka-roboter.at Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 58 / 65...
  • Page 59 Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se KUKA Roboter Schweiz AG Switzerland Industriestr. 9 5432 Neuenhof Switzerland Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 59 / 65...
  • Page 60 Organisation Tschechien und Slowakei Sezemická 2757/2 193 00 Praha Horní Počernice Czech Republic Tel. +420 22 62 12 27 2 Fax +420 22 62 12 27 0 support@kuka.cz Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 60 / 65...
  • Page 61 Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com KUKA Automation + Robotics Hereward Rise Halesowen B62 8AN Tel. +44 121 585-0800 Fax +44 121 585-0900 sales@kuka.co.uk Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 61 / 65...
  • Page 62 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 62 / 65...

  • Page 63: Index

    INTERBUS, installing or updating (KSS) 13 Trademarks 6 INTERBUS, uninstalling (KSS) 14 Training 5 Introduction 5 IOCTL commands 41 ISA 6 Warnings 5 KCP 7 KR C 7 KRL 7 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 63 / 65...
  • Page 64 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 64 / 65...
  • Page 65 Interbus 1.1 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 65 / 65...

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