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Controller Option

Interbus 1.1

For KUKA System Software 8.2

For VW System Software 8.2

KUKA Roboter GmbH

Issued: 29.11.2012

Version: KR C4 Interbus 1.1 V2 en (PDF)

 

Summary of Contents for Interbus 1.1

Page 1: ...Controller Option Interbus 1 1 For KUKA System Software 8 2 For VW System Software 8 2 KUKA Roboter GmbH Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF...

Page 2: ...se 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 r...

Page 3: ...3 CMD interface 16 5 4 IBS PCI SC RI I T 18 5 5 External power supply to slave 18 6 Configuration 21 6 1 Overview 21 6 2 DIP switches on the master module 21 6 3 DIP switches on the slave module 22 6...

Page 4: ...8 5 4 Extended state polling of slave 43 8 5 5 Polling the state of a module 43 8 6 PCP functionality of the slave 44 8 6 1 PCP hardware settings 44 8 6 2 Establishing the connection 44 8 6 3 Reading...

Page 5: ...to procedures which serve to prevent or remedy emergencies or malfunctions Notes These hints serve to make your work easier or contain references to further information For optimal use of our products...

Page 6: ...e operating software of a device which is automatically loaded when the device is activated HCS fiber HCS fiber Hard Cladded Silica a FOC variant consisting of a glass fiber core with a plastic claddi...

Page 7: ...Unit connection unit for a bus device MAU warning Warning of decreasing transmission quality weakening reception level on the optic transmis sion link in order to be able to isolate and elimi nate th...

Page 8: ...8 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

Page 9: ...a transmission via ring system Master slave system Connected devices are automatically loaded by means of an identification cycle Supports PCP functionality Configurable and parameterizable across the...

Page 10: ...ithout a slave part The slave card however can only be installed and operated in combination with a master card The master card is installed in PCI slot 1 and the slave card is installed in PCI slot 2...

Page 11: ...d here The fundamental safety information for the industrial robot can be found in the Safety chapter of the operating or assembly instruc tions for the robot controller The Safety chapter in the oper...

Page 12: ...12 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

Page 13: ...ro bot controller is installed as follows The controller board consists either of both master and slave cards or just a master card The master card can also be installed and operated without a slave...

Page 14: ...onal software In this case a corresponding prompt is displayed Confirm with OK and reboot the robot controller Installation is resumed and completed LOG file A LOG file is created under C KRC ROBOTER...

Page 15: ...ion of the IBS PCI SC RI LK controller board 1 Reset button slave 2 Master interface Remote Out outgoing remote bus 3 External 24 V supply voltage slave 4 Slave interface Remote Out outgoing remote bu...

Page 16: ...the IBS PCI SC controller board via the RS232 serial interface Using CMD the user can configure parameterize and diagnose the Interbus The parameterization and configuration can be stored in a non vo...

Page 17: ...g The CMD interface is designed as a 6 contact mini DIN socket PS 2 on the front plate It is connected to the diagnostic PC via a special RS232 cable that is available from Phoenix Contact Fig 5 3 CMD...

Page 18: ...via a 2 pin MINI COMBICON connector Fig 5 5 Configuration of the IBS PCI SC RI I T controller board 1 RS232 interface CMD connection 2 Master interface Remote Out outgoing remote bus 3 External 24 V s...

Page 19: ...19 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF 5 Start up and recommissioning Fig 5 6 Connection of the external 24 V power supply to the slave mod ule...

Page 20: ...20 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

Page 21: ...card number can be set Step Description 1 DIP switches of master module 6 2 DIP switches on the master module Page 21 2 Only if INTERBUS slave present DIP switches of slave module 6 3 DIP switches on...

Page 22: ...e Interbus with physical ad dressing and activates it During test mode the controller board does not re spond to instructions from the host system PC The controller board initializes the Interbus syst...

Page 23: ...lso defines the length code Fig 6 2 DIP switches on the slave module DIP 1 DIP 2 Parameter channel ID code decimal OFF OFF 0 words 3 ON OFF 1 word 235 OFF ON 2 words 232 ON ON 4 words 233 DIP 3 DIP 4...

Page 24: ...DIP switches 1 to 9 ineffective parameterization from stored resi dent configuration or from configuration received by lower level master ON DIP switches 1 to 9 determine parameterization 6 4 Configu...

Page 25: ...tasks e g transmitting and receiving messages during loading of the SVC configuration file BAUDRATE Default 9600 Baud rate of the CMD serial interface EXTERN_START False True Default False False Inter...

Page 26: ...to the KRC Roboter directory CONTINUE_WITH _WARN False True Default True False In the case of a periphery fault the application is notified that an error has occurred while reading and writing the I...

Page 27: ...e or externally If the slave ID has been changed the slave module must be disconnected briefly from the external 24 V supply in order for the new data to be accepted SWAP_SLAVE_BYTES False True Defaul...

Page 28: ...is reset as soon as the driver is in the RUN NING state It is withdrawn if it is in a fault state or has not been started and is not set following a restart or a warm start until the output data have...

Page 29: ...e inputs and outputs are located at the right place in the image Alternatively placeholders can be in serted Precondition A robot controller has been added and set as active Procedure 1 Expand the tre...

Page 30: ...TERBUS slave Description The start address and the length of the image of the slave must be set in the Interbus communication DTM for configuration of the Interbus slave 6 4 Configuring the file IBSPC...

Page 31: ...following image The image must be replicated in WorkVisual Fig 6 5 To ensure that the structure of the Interbus is read correctly an offset of 896 must be entered so that the precise addresses of the...

Page 32: ...nd select Add from the context menu The DTM Selection window is opened 5 Select the desired device and confirm with OK The device is inserted in the tree structure 6 If necessary repeat steps 4 and 5...

Page 33: ...h 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 6 5 5 Setting an offset Precondition The image...

Page 34: ...set as active IBS PCI SC RI I T or IBS PCI SC RI LK is added Procedure 1 Expand the tree structure of the robot controller on the Hardware tab in the Project Structure window 2 Depending on which car...

Page 35: ...g coupling If a coupled device is not functional e g because it is disconnected from the bus or supply voltage a message is displayed 7 1 1 Coupling decoupling segments via HMI Procedure 1 Select the...

Page 36: ...t user group Procedure 1 In the main menu select Configuration Inputs outputs I O driver 2 Activate deactivate the Interbus driver Activate Set the check mark in the Installed column after the Interbu...

Page 37: ...g bus error Bus failure by device number Indicates which device has a bus fault Last segment acti vated The number indicates the most recently acti vated segment last segment deacti vated The number i...

Page 38: ...tatus bit is set if the Interbus is to be started by means of a boot project or exter nally and is waiting for this start INST_STOP_WARN 0x0040 This status bit is set if the driver is to signal an err...

Page 39: ...rt the bus in the case of a bus error The bus is thus automatically restarted once the error has been rectified INST_DOING_SHUTDOWN 0x8000 This status bit indicates that the driver is being shut down...

Page 40: ...us segments are switched off Fig 8 2 LED for diagnosis of the outgoing fiber optic cable interface Designation Color Meaning FO3 Yellow Fiber Optic 3 Lights up when the initialization of the outgo ing...

Page 41: ...Running Bus is in the RUN state RD Red Remote bus Disabled The outgoing remote bus interface is deacti vated Fig 8 3 LEDs on the slave module Designation Color Meaning FO1 FO2 Yellow Fiber Optic 1 Fi...

Page 42: ...ion 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 Parameter Return value Depends on the function REQUEST number...

Page 43: ...so has its own states The read and write functions are the same for the master and slave The slave can have the following states Slave Data Transfer bit 1 Fail bit 2 Slave Initialized bit 3 Power On b...

Page 44: ...ork Each PCP capable device is referenced in the higher level ring by means of the position of the data in the summation frame protocol The CRs in the master ring are issued in ascending order as a co...

Page 45: ...the settings that have been made and these data are returned with a positive response Subindex 33 functions in the same way as subindex 0 except that in this case the data are read from the output ran...

Page 46: ...only 0x5FFF 31 3840 3967 128 bytes Read only 0x5FFF 32 3968 4095 128 bytes Read only Index Subindex MPM range Length Access 0x5FFF 33 Can be set using object 5FFE subin dex 1 Variable max 240 bytes R...

Page 47: ...s 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 0x5FFF 47 1664 1791 128 bytes Read only 0x5FFF 48 1792 1919 128 bytes Read only 0x...

Page 48: ...ND_CODE and PCP_REJECT_IND_CODE are received but the driver does not react to these messages 8 6 6 PCP connection settings When the Interbus is started the driver checks whether the controller board s...

Page 49: ...Message Reason Effect Remedy 1 Bus error 2 seg ment 3 Bus error with specifi cation of the device in which the error was localized The error code 2 is saved by the firmware Further information can be...

Page 50: ...e driver cannot be started Check whether the file is present in the correct directory or whether it has an incorrect format 1 No restart carried out as no error pres ent The restart is not exe cuted a...

Page 51: ...e to a higher value using the Set_Value service 0750hex 1 bus error 2 additional info 3 A bus error has occurred The error code 2 and addi tional information are saved by the firm ware Further informa...

Page 52: ...n message that the Interbus is not in Asynchronous with synchronization pulse mode Correct functioning of the Interbus driver is only assured in Asynchronous with synchronization pulse mode In the oth...

Page 53: ...e executed or it gener ates an error The loading of the command from the SVC file is aborted Depending on where this cancellation occurs the Interbus remains in the corre sponding state The driver con...

Page 54: ...on the return value of the firmware services 1 Negative return value received from one command in the SVC file A negative return value was received from the firmware when executing a command from the...

Page 55: ...tware Optional software or modifications Archive of the software For KUKA System Software V8 instead of a conventional archive gener ate the special data package for fault analysis via KrcDiag Applica...

Page 56: ...ardo do Campo SP Brazil Tel 55 11 4942 8299 Fax 55 11 2201 7883 info kuka roboter com br www kuka roboter com br Chile Robotec S A Agency Santiago de Chile Chile Tel 56 2 331 5951 Fax 56 2 331 5952 ro...

Page 57: ...rgaon Haryana India Tel 91 124 4635774 Fax 91 124 4635773 info kuka in www kuka in Italy KUKA Roboter Italia S p A Via Pavia 9 a int 6 10098 Rivoli TO Italy Tel 39 011 959 5013 Fax 39 011 959 5141 kuk...

Page 58: ...angor Malaysia Tel 60 3 8061 0613 or 0614 Fax 60 3 8061 7386 info kuka com my Mexico KUKA de M xico S de R L de C V Progreso 8 Col Centro Industrial Puente de Vigas Tlalnepantla de Baz 54020 Estado de...

Page 59: ...to da Guerra n 50 Armaz m 04 2910 011 Set bal Portugal Tel 351 265 729780 Fax 351 265 729782 kuka mail telepac pt Russia OOO KUKA Robotics Rus Webnaja ul 8A 107143 Moskau Russia Tel 7 495 781 31 20 Fa...

Page 60: ...amark co za Taiwan KUKA Robot Automation Taiwan Co Ltd No 249 Pujong Road Jungli City Taoyuan County 320 Taiwan R O C Tel 886 3 4331988 Fax 886 3 4331948 info kuka com tw www kuka com tw Thailand KUKA...

Page 61: ...36 24 501609 Fax 36 24 477031 info kuka robotics hu USA KUKA Robotics Corporation 51870 Shelby Parkway Shelby Township 48315 1787 Michigan USA Tel 1 866 873 5852 Fax 1 866 329 5852 info kukarobotics...

Page 62: ...62 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

Page 63: ...terbus 6 Interbus driver activating deactivating 36 INTERBUS master and slave configuring 32 INTERBUS master configuring 29 INTERBUS slave configuring 30 INTERBUS installing VSS 14 INTERBUS installing...

Page 64: ...64 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

Page 65: ...65 65 Issued 29 11 2012 Version KR C4 Interbus 1 1 V2 en PDF Interbus 1 1...

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