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kuka 机器人 KR C4 DeviceNet
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kuka 机器人 KR C4 DeviceNet 通讯说明,包含硬件配置
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KR C4 DeviceNet
KUKA System Software 8
Training Documentation
Issued: 22.10.2012
Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
KR C4 DeviceNet
2 / 125 Issued: 22.10.2012 Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter 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.
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, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication: Pub COLLEGE FBT DeviceNet KR C4 (PDF-COL) en
Bookstructure: FBT DeviceNET KR C4 V1.2
Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
3 / 125Issued: 22.10.2012 Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
Contents
1 Familiarization with the field bus system DeviceNet ............................... 5
1.1 Overview ....................................................................................................................5
1.2 Why are field bus systems required? ......................................................................... 5
1.3 Familiarization with DeviceNet ................................................................................... 6
1.4 DeviceNet devices ..................................................................................................... 7
1.5 DeviceNet transmission media .................................................................................. 9
1.6 Which bus topologies and bus access procedures are used? ................................... 12
1.7 DeviceNet cabling ...................................................................................................... 15
1.8 Key data for DeviceNet .............................................................................................. 20
1.9 Questions: Familiarization with DeviceNet ................................................................. 20
2 Configuring the KLI ..................................................................................... 23
2.1 Overview ....................................................................................................................23
2.2 Configuring the KLI .................................................................................................... 23
2.3 Starting KLI diagnosis ................................................................................................ 27
2.4 Exercise: Configuring the KUKA Line Interface ......................................................... 29
3 Working with WorkVisual ........................................................................... 31
3.1 Overview ....................................................................................................................31
3.2 Product description .................................................................................................... 31
3.3 Graphical user interface ............................................................................................. 31
3.4 Transferring a project to the robot controller (installing) ............................................ 35
3.5 Activating a project on the robot controller ................................................................. 39
3.6 Comparing projects with WorkVisual ......................................................................... 42
3.7 Questions: Familiarization with WorkVisual ............................................................... 47
4 Integrating ESI files in WorkVisual ............................................................ 49
4.1 Overview ....................................................................................................................49
4.2 Integrating ESI device description files in WorkVisual ............................................... 49
4.3 Exercise: Installing ESI drivers .................................................................................. 51
5 Configuring the KR C4 as DeviceNet master ............................................ 53
5.1 Overview ....................................................................................................................53
5.2 General description .................................................................................................... 53
5.2.1 KR C4 DeviceNet interfaces ................................................................................. 53
5.3 Master configuration description ................................................................................ 55
5.3.1 EtherCAT field bus system ................................................................................... 55
5.3.2 Description ............................................................................................................ 57
5.3.3 Preparation for physical configuration .................................................................. 58
5.3.4 Physical configuration ........................................................................................... 64
5.3.5 Preparing input and output data words ................................................................. 74
5.3.6 Working with the signal editor ............................................................................... 76
5.3.7 Working with the mapping editor .......................................................................... 80
5.3.8 Assigning long texts .............................................................................................. 83
5.3.9 Printing the I/O mapping ....................................................................................... 86
5.3.10 I/O mapping options .............................................................................................. 87
5.4 Exercise: Configuring the KR C4 as controller ........................................................... 88
Contents
4 / 125 Issued: 22.10.2012 Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
KR C4 DeviceNet
6 Coupling and decoupling DeviceNet modules ......................................... 91
6.1 Overview ....................................................................................................................91
6.2 Coupling and decoupling bus devices ....................................................................... 91
6.3 Coupling/decoupling field bus devices via the HMI ................................................... 92
6.4 Coupling and decoupling via KRL ............................................................................. 93
6.5 Exercise: Coupling bus modules ............................................................................... 94
7 Configuring the KR C4 as DeviceNet slave ............................................... 97
7.1 Overview ....................................................................................................................97
7.2 Description .................................................................................................................97
7.3 Physical slave configuration ...................................................................................... 98
7.4 Logical slave configuration ........................................................................................ 101
7.5 Exercise: Configuring the KR C4 as a device ............................................................ 102
8 Troubleshooting .......................................................................................... 105
8.1 Overview ....................................................................................................................105
8.2 DeviceNet diagnostic options .................................................................................... 105
8.3 Displaying the diagnosis via the diagnostic monitor (HMI) ........................................ 105
8.4 Using the WorkVisual diagnostic monitor .................................................................. 111
8.5 Exercise relating to the chapter: DeviceNet troubleshooting ..................................... 113
9 Appendix ...................................................................................................... 115
9.1 Preparing the Office PC ............................................................................................. 115
9.2 DeviceNet HMI messages ......................................................................................... 118
9.3 Description of buttons in the I/O mapping window .................................................... 120
9.3.1 I/O Mapping window ............................................................................................ 120
9.3.2 Buttons in the I/O Mapping window ..................................................................... 121
Index ............................................................................................................. 123
5 / 125Issued: 22.10.2012 Version: FBT DeviceNet KR C4 V1 en (PDF-COL)
1 Familiarization with the field bus system DeviceNet
1 Familiarization with the field bus system DeviceNet
1.1 Overview
The following contents are explained in this training module:
Why are field bus systems required?
Familiarization with DeviceNet
DeviceNet devices
DeviceNet transmission media
DeviceNet bus topologies and access procedures
DeviceNet cabling
Bus terminator resistor
Key data for DeviceNet
1.2 Why are field bus systems required?
Communications
pyramid
Modern production facilities are fully networked, i.e. there is no longer a strict
separation of production networks, management levels and traditional IT/of-
fice networks. Each network nevertheless has its own individual requirements.
Field buses are characterized by the very fast transmission of small quantities
of data. Transmission times are in the lower millisecond range. The data trans-
mission time is constant. This is in contrast to the office bus (office network),
where several Mbytes of data may be involved. Compared to the field bus, the
transmission time is slow and variable.
Fig. 1-1: Communications pyramid
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