Kuka Interbus 1.1, Руководство пользователя, Страница: 10 / 65

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Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
Interbus 1.1

Up to 4096 I/Os (FW version 4.49)

Up to 64 PCP devices (FW version 4.49)

The slave part is supplied independently via an external 24 V power supply
Compatibility
KR C4 Interbus 1.1 is compatible with the following field buses:

KR C4 PROFINET 2.0, 2.1 and 2.2

KR C4 EtherCAT
2.2 IBS PCI SC controller board
The IBS PCI SC controller board, the Interbus PCI interface for the KR C4 ro-
bot controller, is available in two versions:

IBS PCI SC/RI-LK for connection of fiber-optic cables

IBS PCI SC/RI/I-T for connection of copper cables
( >>> 4.1.1 "PCI slot assignment" Page 13)
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 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.
2.3 PCP functionality
The slave part of the Interbus PCI interface supports the Peripherals Commu-
nication Protocol. PCP makes it possible to access the lower-level Interbus
from a higher-level Interbus via the MPM (I/O range). By reading from or writ-
ing to the MPM from the higher-level Interbus, it is possible to read inputs and
outputs in the lower-level Interbus and to set outputs there.
No PCP data are sent to the robot controller. The PCP functionality is restrict-
ed to the Interbus driver and to reading and writing I/O data in the MPM from
the higher-level controller. When making the parameter channel and process
data channel settings for the PCP functionality, the DIP switch settings on the
slave module (
>>> 6.3 "DIP switches on the slave module" Page 22) must be
observed.