Kuka .EtherNet/IP M/S 5.1 Instruction Manual
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Kuka .EtherNet/IP M/S 5.1 Instruction Manual

Kuka .EtherNet/IP M/S 5.1 Instruction Manual

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KUKA.EtherNet/IP™ M/S 5.1
For KUKA System Software 8.7
For VW System Software 8.7
Issued: 01.04.2021
KUKA.EtherNet/IP M/S 5.1 V1
KUKA Deutschland GmbH

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Summary of Contents for Kuka KUKA.EtherNet/IP M/S 5.1

  • Page 1 Controller Option KUKA.EtherNet/IP™ M/S 5.1 For KUKA System Software 8.7 For VW System Software 8.7 Issued: 01.04.2021 KUKA.EtherNet/IP M/S 5.1 V1 KUKA Deutschland GmbH...
  • Page 2 Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Deutschland GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

  • Page 3: Table Of Contents

    Changing the connection type................5.4.2 Configuring Ethernet/IP adapters................5.4.2.1 “Communication settings” tab................5.4.2.2 “Local Slave” tab....................5.4.2.3 “Local safety slave” tab..................Mapping inputs/outputs in WorkVisual..............Configuring ports of bus devices................Exporting EDS files....................KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 3/114...
  • Page 4 Displaying diagnostic data relating to the safety configuration......Advanced device diagnosis................... Messages....................Information about the messages................System messages from module: CrossMeld (KSS)..........9.2.1 KSS15147......................9.2.2 KSS15148......................9.2.3 KSS15149......................9.2.4 KSS15150......................9.2.5 KSS15151......................9.2.6 KSS15152......................9.2.7 KSS15153......................4/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 5 9.2.14 KSS19005......................9.2.15 KSS19006......................9.2.16 KSS19008......................9.2.17 KSS19009......................9.2.18 KSS19010......................9.2.19 KSS19011......................9.2.20 KSS19012......................9.2.21 KSS19013......................9.2.22 KSS19014......................9.2.23 KSS19015......................KUKA Service................... 10.1 Requesting support....................10.2 KUKA Customer Support..................Index KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 5/114...
  • Page 6 KUKA.EtherNet/IP™ M/S 5.1 6/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 7: Introduction

    • Advanced knowledge of field buses • Knowledge of WorkVisual For optimal use of KUKA products, we recommend the training courses offered by KUKA College. Information about the training program can be found at www.kuka.com or can be obtained directly from our subsidia- ries.

  • Page 8: Trademarks

    Device description file for EtherNet/IP Ethernet Data network technology for local data networks Ethernet allows data to be exchanged between the connected devi- ces in the form of data frames. KUKA System Software 8/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 9: Licenses

    • Under .\LICENSE on the data storage medium with the installation files of the KUKA software • On the KUKA smartHMI, in the main menu under Help > Info, tab Li- censes • Under D:\KUKA_OPT\Option package name\LICENSE on the robot controller •...
  • Page 10 KUKA.EtherNet/IP™ M/S 5.1 10/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 11: Product Description

    Product description Product description Description KUKA.EtherNet/IP M/S is an option package for communication of the ro- bot controller with an EtherNet/IP PLC and/or EtherNet/IP devices that are connected to the robot (e.g. grippers or weld guns). Safe or non-safe inputs and outputs can be used for the communication with the PLC.

  • Page 12: Intended Use And Misuse

    Any use or application deviating from the intended use is deemed to be misuse and is not allowed. It will result in the loss of warranty and liability claims. KUKA is not liable for any damage resulting from such misuse. 12/114 | www.kuka.com...

  • Page 13: Safety

    Death, severe injuries or damage to prop- erty may otherwise result. • The “Safety” chapter in the operating or assembly instructions of the robot controller used must be observed. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 13/114...
  • Page 14 KUKA.EtherNet/IP™ M/S 5.1 14/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 15: Installation

    Precondition • User rights: ‒ KSS: function group General configuration But at least the user group “Expert” ‒ VSS: user group “User” • T1 or T2 mode KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 15/114...

  • Page 16: Uninstalling Ethernet/Ip

    NOTICE Data loss due to USB sticks from third-party manufacturers Data may be lost if USB sticks from manufacturers other than KUKA are used for activities on the robot controller. • For activities on the robot controller requiring a USB stick, use a KUKA stick.

  • Page 17: Installation Via Workvisual

    Procedure 1. In the main menu, select Start-up > Additional software. 2. Activate the check box next to KUKA.EtherNetIP MS and press Unin- stall. Answer the request for confirmation with Yes. 3. Answer the request for confirmation Do you want to activate the project […]? with Yes.

  • Page 18: Uninstalling Ethernet/Ip

    • Network connection to the robot controller Procedure 1. Load the project from the robot controller. 2. Remove the KUKA.EtherNetIP MS option package and the EtherNet/IP node on the Hardware tab from the project. A window with modifications is displayed.

  • Page 19: Configuration

    EDS file is required for each module. EDS files must be ob- tained from the manufacturer of the device. Precondition • A robot controller has been added and set as active. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 19/114...

  • Page 20: Making Eds Files Available For Configuration Of The Plc With Third-Party Engineering Software

    Making EDS files available for configuration of the PLC with third-party engineering software Description If a KUKA robot controller is added as a device on the PLC with third-par- ty engineering software, this software requires the EDS file for the KUKA robot controller.

  • Page 21: Configuring The Robot Controller As Ethernet/Ip Adapter On The Plc

    Configuration of the robot controller as EtherNet/IP adapter is described taking the PLC software Studio 5000 Logix Designer V32 from Rockwell as an example. Precondition • EDS file of the KUKA robot controller has been added to the PLC software. Procedure KRC5EtherNetIP.eds: 1.
  • Page 22 Fig. 5-3: Module settings (CIP Safety) 2. In the Module Definition area, click on Change... to add local slaves. The Module Definition window opens. Fig. 5-4: Module definition (CIP Safety) 22/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 23: Configuring The Robot Controller As Ethernet/Ip Adapter And Cip Safety With A Generic Add-On Profile

    6. Click on the Change button. A window for the module settings opens. 7. Under General, enter the following data from the file KRC5CipSaf- ety.eds: • Vendor: 121 • Product Type: 140 KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 23/114...
  • Page 24 The assembly instances must match the configuration in WorkVisual. Bear in mind that an input on the PLC is an output on the robot con- troller and vice versa. Fig. 5-6: Settings in WorkVisual (“Local Safety Slave” tab) 24/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 25: Configuring The Bus With Workvisual

    (e.g. Web Server or RSPLogix) is used for configuration. 5.4.1 Configuring Ethernet/IP scanners Precondition • A robot controller has been added and set as active. • The EtherNet/IP node is inserted into the bus structure. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 25/114...

  • Page 26: Address Setting

    9. Save the device data with OK. 10. If necessary, repeat steps 4 to 9 for further devices. 5.4.1.1 Address setting Fig. 5-8: “Address Setting” tab Description IP address Enter the IP address of the device. 26/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 27: Device Properties

    Note: If a name is entered, it is displayed in the diagnostic monitor of smartHMI. If nothing is entered, the default name is displayed. 5.4.1.3 Chassis/Modules Fig. 5-10: “Chassis/Modules” tab KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 27/114...

  • Page 28: Setting Parameters

    Description box by clicking on the parameter. The connection type can be changed. (>>> 5.4.1.6 "Changing the connection type" Page 3. Make the desired settings and save them by pressing OK. 28/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 29: Module Configuration

    1. Right-click on the device in the tree structure and select Settings… from the context menu. A window with the device data is opened. The modules are displayed in the box to the left of the tabs. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 29/114...

  • Page 30: Configuring Ethernet/Ip Adapters

    7. Save the settings by selecting OK. 5.4.2.1 “Communication settings” tab The settings on this tab are only required for online functions. The con- nection to the PLC or adapters is configured elsewhere. 30/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 31 If the robot controller cannot establish the con- nection to the device within this time, it gener- ates an error message. (If the connection is then established subsequently, the message changes to an acknowledgement message.) Unit: ms KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 31/114...

  • Page 32: Local Slave" Tab

    Default setting: check box not active Bus error bit num- Enter the number of the status bit in the ad- ber: dress range of the local slave. 0 … 4071 bits Default value: 1 bit 32/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 33: Local Safety Slave" Tab

    Inputs (O -> T) Size: Number of inputs of the local slave 1 … 505 bytes Default value: 256 bytes 5.4.2.3 “Local safety slave” tab Fig. 5-14: “Local Safety Slave” tab KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 33/114...

  • Page 34: Mapping Inputs/Outputs In Workvisual

    Mapping inputs/outputs in WorkVisual Procedure • Map the inputs/outputs in WorkVisual. Signal names of local slaves The EtherNet/IP signal names of the local slaves have the following struc- ture in WorkVisual: 34/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 35 (in the case of non-modu- lar devices). 3rd value from left Index number (consecutive as- 0005 cending numbering of the indi- vidual inputs/outputs) Input/Output Direction of processing Input KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 35/114...

  • Page 36: Configuring Ports Of Bus Devices

    Project structure window. 2. Right-click on EtherNet/IP in the tree structure and select Connect from the context menu. 3. Right-click on EtherNet/IP and select Functions > Extended mode. 36/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 37: Exporting Eds Files

    2. A window opens. Select the directory to which the EDS file is to be exported. The name of the EDS file can be changed. 3. Click on Save. The file is exported to the specified directory. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 37/114...

  • Page 38: Safety Interface Via Cip Safety (Optional)

    • Correct configuration of the robot controller and the communication pa- rameters can only be regarded as “validated” after a user test (SRS42). • The signature should only be regarded as “verified” after a user test (SRS43). 38/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 39: Safety Functions Via Cip Safety (Kss)

    0, then the manipulator either does not move or comes unexpectedly to a standstill. KUKA recommends pre-assignment of the reserved inputs with 1. If a reserved input has a new safety function assigned to it, and the input is not used by the customer’s PLC, the safety function is not activated.

  • Page 40: Signal Description

    Cancelation of this function does not require ac- knowledgement. This function is not permissible for the EMERGEN- CY STOP function. 0 = safety stop is active 1 = safety stop is not active 40/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 41 PLC, and the controller shuts down. 0 = confirmation is not active 1 = confirmation is active KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 41/114...
  • Page 42 0 = T1 mode is not active 1 = T1 mode is active The manipulator is in Manual High Velocity mode. 0 = T2 mode is not active 1 = T2 mode is active 42/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 43 “Peri enabled” in conjunction with the signal “Safe operational stop” • In the case of activation of the signal “Safe operational stop” during the motion: ‒ Error -> braking with Stop 0. “Peri enabled” eliminated. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 43/114...

  • Page 44: Safety Functions Via Cip Safety (Vss)

    0, then the manipulator either does not move or comes unexpectedly to a standstill. KUKA recommends pre-assignment of the reserved inputs with 1. If a reserved input has a new safety function assigned to it, and the input is not used by the customer’s PLC, the safety function is not activated.
  • Page 45 0 = safety stop is active 1 = safety stop is not active E2 keyswitch (customer-specific signal for mode se- lection) 0 = E2 keyswitch is not active 1 = E2 keyswitch is active KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 45/114...
  • Page 46 PLC, and the controller shuts down. 0 = confirmation is not active 1 = confirmation is active 46/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 47 0 = T1 mode is not active 1 = T1 mode is active The manipulator is in Manual High Velocity mode. 0 = T2 mode is not active 1 = T2 mode is active KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 47/114...
  • Page 48 “Peri enabled” in conjunction with the signal “Safe operational stop” • In the case of activation of the signal “Safe operational stop” during the motion: ‒ Error -> braking with Stop 0. “Peri enabled” eliminated. 48/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 49: Safeoperation Via Cip Safety (Optional)

    ‒ US2 voltage (if present) is deactivated. ‒ Signal “Peri enabled” is deactivated. 5.8.4 SafeOperation via CIP Safety (optional) Information on this topic is contained in the KUKA.SafeOperation docu- mentation. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 49/114...
  • Page 50 KUKA.EtherNet/IP™ M/S 5.1 50/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 51: Operation

    3. Confirm by pressing the Enter key. The device is coupled or decou- pled. 60 and 50 are IOCTL functions. Description [Device number]: The device number is displayed in WorkVisual in the Number box in the device properties. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 51/114...

  • Page 52: Coupling/Decoupling Devices Via Krl

    This allows tools to be changed more quickly. Quick Con- nect can be enabled/disabled via the HMI or KRL. Quick Connect can only be enabled for devices that support Quick Con- nect. 52/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 53: Enabling/Disabling Quick Connect Via Hmi

    [Device number]: The device number is displayed in WorkVisual in the Number box in the device properties. (>>> 5.4.1.2 "Device properties" Page 6.2.2 Enabling/disabling Quick Connect via KRL KRL syntax Enable: KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 53/114...

  • Page 54: Requesting The Device Status

    KRC IO bus error suppression active for bus instance: {Bus instance} {Bus instance}{Bus instance} • If an error has already occurred for a bus instance, it is not possible to re-enable bus errors. 54/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 55: Reading Data Of The Ethernet/Ip Driver Online

    5. Select the node EtherNet/IP in the tree structure. The EtherNet/IP ob- jects and Ping tabs are displayed. In extended mode, the EtherNet/IP objects tab has the name Module information. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 55/114...

  • Page 56: Reading And Modifying Data From A Device Online

    On the Ping tab, a ping can be sent to the device. In the Online parameter window, device data can be read and modified. By clicking on Get values from EDS, the values are called from the EDS file and displayed. 56/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 57: Programming

    Length of command UserData User data • 0 … 255 7.1.1 Configuring the robot controller for acyclic communication In order to enable acyclic communication, the robot controller must be configured accordingly. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 57/114...

  • Page 58: Configuring The Plc For Acyclic Communication (Example)

    // write cmd 2, cmd len 8, Data = 0x1 0x2 0x3 0x4 0x1 0x2 0x3 0x4 IF KUKA:I.Data[0].1 THEN ReqDataBufWrite[0] := 2; ReqDataBufWrite[1] := 8; ReqDataBufWrite[2] := 16909060; ReqDataBufWrite[3] := 16909060; 58/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 59: Example Of Acyclic Communication

    ; --- Prepare Read Response CmdID = 1 CmdLen = 8 UserData = 255; Offset=0 CAST_TO(Buffer[],Offset,CmdID) CAST_TO(Buffer[],Offset,CmdLen) CAST_TO(Buffer[],Offset,UserData) CAST_TO(Buffer[],Offset,UserData) CWrite (nHandle,Stat,WMode,"%1.16r",Buffer[]) Wait for (Stat.Ret1==#DATA_OK) else if (CmdID == 2) then ;--- SPS WRITE KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 59/114...

  • Page 60: Sending Acyclic Data

    Sending acyclic data Description Using the function krl_EipEM, the robot controller can send acyclic data to a PLC or EtherNet/IP device. Syntax CWRITE($FCT_CALL, State, Mode, "krl_EipEM", EM-Params, Device-Identifier, Send-Data, Send-Length, Recv-Data, Recv-Length) 60/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 61 Maximum possible size: 1400 bytes Recv-Data Type: CHAR array [OUT] Response buffer in which the received data are saved Recv-Length Type: INT [OUT] Size of the received data in bytes KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 61/114...

  • Page 62: Example Program

    Line Description 2 … 8 Declaration section 9 … 20 The arguments are initialized with the desired command parameters. The function krl_EipEM is called in order to send acyclic data. 62/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 63: Cip Energy Commands

    Further information about using the CIP objects is provided in the speci- fication Volume 1: Common Industrial Protocol (CIP) Specification. We recommend requesting a function block from the PLC manufacturer for use of the CIP objects. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 63/114...

  • Page 64: Power Management Object

    Power Management Com- DWORD Power Management com- mand mand Pass_Code DWORD 32-bit value Service Code 0x4E (Set_Pass_Code) If this service is used, the following parameter must be entered under Da- 64/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 65 Further information about using the CIP objects is provided in the speci- fication Volume 1: Common Industrial Protocol (CIP) Specification. We recommend requesting a function block from the PLC manufacturer for use of the CIP objects. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 65/114...
  • Page 66 KUKA.EtherNet/IP™ M/S 5.1 66/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 67: Diagnosis

    Asynchronous data Applications that can exchange asynchronous data with the EtherNet/IP driver Scanner bus error bit Status bit that is sent to the PLC in the event of a bus er- KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 67/114...

  • Page 68: Ethernet/Ip Device

    • 0: No error Extended Status Note: The description of the other values can be found in the specifications of the Common Industrial Protocol. CCO Status General CCO Status Reserved CCO Status Extended 68/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 69: Ethernet/Ip Local Slave

    Originator-Target API [µs] Real refresh rate of the Originator-Target connection. Target-Originator API [µs] Real refresh rate of the Target-Originator connection. Originator-Target RPI [µs] Configured refresh rate of the Originator-Target connec- tion. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 69/114...

  • Page 70: Ethernet/Ip Local Safety Slave

    Network interface name Name of the network interface Network interface number Number of the network interface Stack version Version of the software stack User version Version of the KUKA driver 70/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 71: Displaying Diagnostic Data Relating To The Safety Configuration

    SCID comparison. The SCID consists of a check- sum (CRC) and a time stamp (date and time). Precondition • The robot controller and the KUKA smartHMI are running. Procedure 1. In the main menu, select Diagnosis > Diagnostic monitor.

  • Page 72: Advanced Device Diagnosis

    • Connection type: EIP connection diagnosis; I/O values Diagnostic and process data of the current configuration are displayed on the Ethernet Diagnostic, Diagnosis of the local slave and EIP connec- 72/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 73 This allows errors in the I/O mapping to be detected. The length and sta- tus of the I/O data are also displayed. If the Refresh every 500 ms check box is activated, the data are refresh- ed at intervals of 500 ms. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 73/114...
  • Page 74 KUKA.EtherNet/IP™ M/S 5.1 74/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 75: Messages

    NodeID in the Properties window. Precondition • Project is open in WorkVisual. • The robot controller has been set as the active controller. • A robot has been assigned to the robot controller. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 75/114...

  • Page 76: Kss15148

    Input of active commands (robot motions, program start) is blocked. Possible cause(s) Cause: Errors on the robot controller (>>> Page 77) Solution: Restore most recently used configuration (>>> Page 77) 76/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 77 Restore the most recently used configuration using the most recently cre- ated archive. Further information about archiving is contained in the operating and programming instructions for the KUKA System Software (KSS). Cause: Errors on the robot controller Description Errors have occurred on the robot controller. Possible causes include: •...

  • Page 78: Kss15149

    (>>> Page 79) Solution: Correct the configuration with WorkVisual. (>>> Page 80) Cause: KLI configuration is faulty (>>> Page 80) Solution: Correct the configuration on the controller (>>> Page 80) 78/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 79 2. The configured NodeID of the robot controller is displayed in the BaseAddress box in the Properties window. If the Properties window is not displayed: Display the window by se- lecting the menu sequence Window > Properties. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 79/114...

  • Page 80: Kss15150

    In this case, the user himself must check whether the safety configuration of the robot controller is correct If no SCID is set on the PLC, the PLC cannot establish a connection to the robot controller. 80/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 81: Kss15151

    It consists of a checksum (CRC) and a time stamp (date and time). Precondition • The robot controller and the KUKA smartHMI are running. Procedure 1. In the main menu, select Diagnosis > Diagnostic monitor. 2. Select the Safety controller module in the Module box. The corre- sponding diagnostic data are displayed: •...
  • Page 82 Restore the most recently used configuration using the most recently cre- ated archive. Further information about archiving is contained in the operating and programming instructions for the KUKA System Software (KSS). 82/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 83 4. Only for the “Administrator” user group: Confirm the safety message with OK. 5. Only for user group “Safety recovery”: Enter the activation code and press Activate again. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 83/114...

  • Page 84: Kss15152

    2. Select the appropriate tab and modify the configuration as required. 3. Save safety configuration. Following a change to the safety configuration, safety acceptance must be carried out and documented by means of checklists. 84/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 85 Restore the most recently used configuration using the most recently cre- ated archive. Further information about archiving is contained in the operating and programming instructions for the KUKA System Software (KSS). Cause: Safety configuration and SCID differ from one another Description The safety configuration of the robot controller and the SCID differ from one another.

  • Page 86: Kss15153

    If the modification of the UNID was intentional, the robot controller must be reset to the factory settings via the PLC. This resets the OPCUNID on the robot controller and sets it again when the next connection is estab- lished. 86/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 87 If it is the same PLC, it is necessary to check why its UNID has changed. Solution: Contact KUKA Customer Support Description Contact the relevant KUKA Customer Support department to rectify the er- ror. Procedure • Send support request by e-mail to local subsidiary.
  • Page 88 Solution: Restore most recently used configuration (>>> Page 92) Cause: Safety configuration of the robot controller has been modi- fied (>>> Page 92) Solution: Activate the safety configuration (>>> Page 93) 88/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 89 Following a change to the safety configuration, safety acceptance must be carried out and documented by means of checklists. Further information on safety acceptance is contained in the assembly and operating instructions of the safety option. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 89/114...
  • Page 90 • A robot has been assigned to the robot controller. Checking instructions 1. Expand the tree structure of the robot controller on the Hardware tab in the Project structure window. 90/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 91 Solution: Correct the CSCID on the PLC Description The SCID of the robot controller on the PLC must be corrected. The same SCID must be entered on the PLC as in WorkVisual. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 91/114...
  • Page 92 Restore the most recently used configuration using the most recently cre- ated archive. Further information about archiving is contained in the operating and programming instructions for the KUKA System Software (KSS). Cause: Safety configuration of the robot controller has been modified Description The SCID on the PLC differs from the SCID on the robot controller be- cause the safety configuration of the robot controller has been modified.
  • Page 93 Precondition • User group “Safety recovery” or higher Procedure 1. In the main menu, select Configuration > Safety configuration. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 93/114...
  • Page 94 2. Check if the correct IP address has been entered. Solution: Enter correct IP address and perform a cold start Description Enter the correct IP address and perform a cold start. 94/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 95 Checking instructions • Check whether the connectors are correctly connected. Particular at- tention must be paid to: ‒ Pins pushed in ‒ Loose plug-in connections ‒ Connector on correct slot KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 95/114...
  • Page 96 Page 97) Cause: Power supply to bus device interrupted Description The power supply to the bus device has been interrupted. Therefore, it is not possible to connect to the bus device. 96/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 97 This activity must be carried out in accordance with the procedure described in the operating instructions. 9.2.13 KSS19004 Message code KSS19004 Message text Timeout establishing connection between PLC and {Name} KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 97/114...
  • Page 98 Solution: Exchange the bus cable Description The faulty bus cable must be replaced with a functional one. Procedure 1. Disconnect and remove the defective cable. 2. Route and connect a new cable correctly. 98/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 99 Restore the power supply to the bus device. The exact procedure depends on the bus device. Cause: Network connection to bus device interrupted Description The network connection to the bus device has been interrupted. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 99/114...
  • Page 100 No braking reaction No interlock of motions or commands Possible cause(s) Cause: Error in KUKA.EtherNet IP configuration file (>>> Page 101) Solution: Eliminating errors in the xml file (>>> Page 101) 100/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 101 No braking reaction No interlock of motions or commands Possible cause(s) Cause: KLIConfig.xml invalid (>>> Page 102) Solution: Enter correct IP address and perform a cold start (>>> Page 102) KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 101/114...
  • Page 102 • KLIKonfig.xml was imported from a different software version. • In response to the query “Inconsistency between RDC memory and controller. What has been exchanged?” the wrong component was selected, causing the network configuration to be overwritten. 102/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 103 1. In the main menu, select Start-up > Network configuration. The Net- work configuration window opens. The active Windows interface is displayed. (Default: "virtual5") 2. Check if the correct IP address has been entered. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 103/114...
  • Page 104 • No program is selected. • Network connection to the robot controller Procedure 1. Open project in WorkVisual. 2. Transfer the project to the robot controller. 3. Reboot the robot controller. 104/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 105 Description The EtherNet/IP driver signals an error in an EtherNet/IP configuration file. Solution: Contact KUKA Customer Support Description Contact the relevant KUKA Customer Support department to rectify the er- ror. Procedure • Send support request by e-mail to local subsidiary.
  • Page 106 Solution: Enter correct IP address and perform a cold start Description Enter the correct IP address and perform a cold start. 9.2.22 KSS19014 Message code KSS19014 Message text Timeout establishing connection to EIP device {Name} 106/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 107 Solution: Exchange the bus cable Description The faulty bus cable must be replaced with a functional one. Procedure 1. Disconnect and remove the defective cable. 2. Route and connect a new cable correctly. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 107/114...
  • Page 108 Restore the power supply to the bus device. The exact procedure depends on the bus device. Cause: Network connection to bus device interrupted Description The network connection to the bus device has been interrupted. 108/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 109 Installation in cable carrier Min. 10xØ of cable 3. Start-up of the corresponding part of the system. This activity must be carried out in accordance with the procedure described in the operating instructions. KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 109/114...
  • Page 110 KUKA.EtherNet/IP™ M/S 5.1 110/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

  • Page 111: Kuka Service

    ‒ Diagnostic package KRCDiag Additionally for KUKA Sunrise: existing projects including applica- tions For versions of KUKA System Software older than V8: archive of the software (KRCDiag is not yet available here.) ‒ Application used ‒ External axes used 10.2...
  • Page 112 KUKA.EtherNet/IP™ M/S 5.1 112/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...
  • Page 113 EtherNet/IP, displaying diagnostic data..67 Safety configuration, displaying diagnostic data..............71 Safety instructions..........7 Signal “Peri enabled”....... 43, 48 Subnet...............9 Functions............11 Subnet mask.............9 Support request..........111 System requirements........15 Hardware........... 15 Installation............15 KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021 www.kuka.com | 113/114...
  • Page 114 KUKA.EtherNet/IP™ M/S 5.1 Software.............15 Target group............. 7 Terms used............8 Timeout, coupling........... 52 Timeout, decoupling........52 Trademarks............8 Training............. 7 Uninstalling EtherNet/IP......16, 18 Updating EtherNet/IP....... 15, 17 VSS..............9 Warnings............7 WoL..............9 114/114 | www.kuka.com KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021...

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