Controller Option
KUKA.PROFINET® M/S 5.0,
KUKA.PROFINET® -/S 5.0
For KUKA System Software 8.6
For VW System Software 8.6
Issued: 30.01.2020
KUKA.PROFINET M/S 5.0 V2
KUKA Deutschland GmbH
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
© Copyright 2020
KUKA Deutschland 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 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.
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, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation
Publication:
Pub KUKA.PROFINET M/S 5.0 (PDF) en
PB11645
Book structure:
KUKA.PROFINET M/S 5.0 V2.2
BS10762
Version:
2/162 | www.kuka.com
KUKA.PROFINET M/S 5.0 V2
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Contents
1
Introduction..............................................................................................
7
1.1
1.2
1.3
1.4
1.5
1.6
Target group..........................................................................................................
Industrial robot documentation..............................................................................
Representation of warnings and notes.................................................................
Trademarks............................................................................................................
Terms used............................................................................................................
Licenses.................................................................................................................
7
7
7
8
8
9
2
Product description.................................................................................
11
2.1
2.1.1
2.1.2
2.2
2.2.1
2.2.2
2.3
KUKA.PROFINET M/S..........................................................................................
Product description................................................................................................
Intended use and misuse......................................................................................
KUKA.PROFINET -/S............................................................................................
Product description................................................................................................
Intended use and misuse......................................................................................
Overview of PROFINET........................................................................................
11
11
11
11
11
11
12
3
Safety.........................................................................................................
13
4
Technical data..........................................................................................
15
4.1
Robot controller as PROFIsafe device.................................................................
15
5
Installation................................................................................................
17
5.1
5.2
5.3
5.3.1
5.3.2
5.4
5.4.1
5.4.2
System requirements.............................................................................................
Routing the data cables........................................................................................
Installation via smartHMI.......................................................................................
Installing or updating PROFINET.........................................................................
Uninstalling PROFINET.........................................................................................
Installation via WorkVisual....................................................................................
Installing or updating PROFINET.........................................................................
Uninstalling PROFINET.........................................................................................
17
17
18
18
19
19
19
20
6
Configuration............................................................................................
23
6.1
6.2
6.3
Configuration – overview.......................................................................................
Making GSDML files available for configuration with WorkVisual.......................
Making GSDML files available for configuration with STEP 7, TIA Portal or
PC WORX.............................................................................................................
Naming a device...................................................................................................
Identifying a device...............................................................................................
Resetting the device configuration to factory settings.........................................
Updating the device list.........................................................................................
Configuring the bus with WorkVisual....................................................................
Configuring the robot controller as a PROFINET device.....................................
“Communication settings” tab...............................................................................
“PROFIenergy” tab................................................................................................
“Device diagnosis” tab...........................................................................................
Configuring the robot controller as PROFINET controller....................................
“Communication settings” tab...............................................................................
23
23
6.4
6.4.1
6.4.2
6.4.3
6.5
6.5.1
6.5.1.1
6.5.1.2
6.5.1.3
6.5.2
6.5.2.1
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
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25
27
27
28
28
28
29
33
36
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40
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6.5.2.2
6.5.2.3
6.5.2.4
6.5.2.5
6.6
6.7
6.8
6.8.1
6.8.2
6.8.3
6.8.4
6.9
6.9.1
6.9.2
6.9.3
6.9.4
6.9.5
6.9.6
6.10
6.10.1
6.10.2
6.10.3
6.11
Device settings......................................................................................................
Using a PROFINET device as a shared device..................................................
Activating Fast Startup (FSU)...............................................................................
Reducing the amount of configuration work.........................................................
Configuring the bus with STEP 7 or PC WORX.................................................
PROFIBUS signal names in WorkVisual..............................................................
Configuring the topology (optional).......................................................................
Opening the topology view...................................................................................
Connecting devices...............................................................................................
Configuring virtual devices....................................................................................
Rearranging the topology......................................................................................
Safety interface via PROFIsafe (optional)............................................................
Safety functions via PROFIsafe (KSS).................................................................
Safety functions via PROFIsafe (VSS).................................................................
SafeOperation via PROFIsafe (optional)..............................................................
Schematic circuit diagram of PROFIsafe enabling switch...................................
Logging off the higher-level safety controller.......................................................
Checking via PLC whether the safety configuration has been changed............
Exporting a PROFINET configuration...................................................................
Exporting the configuration of the PROFINET node............................................
Exporting the configuration of a PROFINET device............................................
Exporting the entire PROFINET configuration.....................................................
Importing a PROFINET configuration...................................................................
43
46
46
48
49
50
51
51
51
52
52
53
53
58
63
67
67
70
72
72
72
73
73
7
Operation..................................................................................................
75
7.1
7.2
7.3
7.4
7.5
7.6
Decoupling PROFINET devices via the smartHMI .............................................
Coupling PROFINET devices via the smartHMI .................................................
Activating or deactivating bus errors via the smartHMI.......................................
PROFIenergy commands......................................................................................
Power management via PROFINET.....................................................................
Displaying user rights (KSS only).........................................................................
75
76
78
79
80
81
8
Programming............................................................................................
83
8.1
8.2
8.3
8.4
8.5
8.6
8.7
8.8
8.8.1
8.8.2
8.8.3
8.8.3.1
8.9
Decoupling PROFINET devices via KRL.............................................................
Coupling PROFINET devices via KRL.................................................................
Changing the wait time for coupling PROFINET devices via KRL.....................
Querying the state of PROFINET devices via KRL.............................................
Activating or deactivating bus errors via KRL......................................................
Querying the energy saving mode of the robot controller via KRL.....................
Restarting the bus system via KRL......................................................................
Acyclic communication..........................................................................................
Configuring the robot controller............................................................................
Acyclic data to the devices (controller ring).........................................................
Acyclic data to the higher-level controller (device ring).......................................
Configuring the record index.................................................................................
Example of acyclic communication.......................................................................
83
84
86
86
87
88
89
89
89
90
92
93
93
9
Diagnosis..................................................................................................
95
9.1
9.1.1
Displaying diagnostic data....................................................................................
Profinet Controller Stack (PNIO-CTRL)................................................................
95
95
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
9.1.2
9.1.3
9.1.4
9.1.5
9.2
9.2.1
9.2.2
9.3
9.4
9.5
9.6
9.7
9.8
Profinet Device Stack (PNIO-DEV).......................................................................
Profinet Device......................................................................................................
Profinet IO Driver (PNIODriver)............................................................................
PROFIenergy (PROFIenergy)...............................................................................
Performing device diagnosis via the topology view.............................................
“Topology table” tab...............................................................................................
“Topology diagram” tab.........................................................................................
Advanced device diagnosis...................................................................................
Displaying the port list...........................................................................................
Diagnostic signals via PROFINET........................................................................
I&M data sets........................................................................................................
Access to network devices via SNMP..................................................................
PROFINET alarms.................................................................................................
96
98
99
100
101
101
103
104
105
105
109
110
110
10
Messages..................................................................................................
111
10.1
10.2
10.2.1
10.2.2
10.2.3
10.2.4
10.2.5
10.2.6
10.2.7
10.2.8
10.2.9
10.2.10
10.2.11
10.2.12
10.2.13
10.2.14
10.2.15
10.2.16
10.2.17
10.2.18
10.2.19
10.2.20
10.2.21
10.2.22
10.2.23
10.2.24
10.2.25
10.2.26
10.2.27
10.2.28
10.2.29
10.2.30
10.2.31
10.2.32
Information about the messages..........................................................................
System messages from module: CrossMeld (KSS).............................................
KSS11000..............................................................................................................
KSS11001..............................................................................................................
KSS11006..............................................................................................................
KSS11007..............................................................................................................
KSS11008..............................................................................................................
KSS11015..............................................................................................................
KSS11016..............................................................................................................
KSS11021..............................................................................................................
KSS11022..............................................................................................................
KSS11023..............................................................................................................
KSS11024..............................................................................................................
KSS11025..............................................................................................................
KSS11026..............................................................................................................
KSS11027..............................................................................................................
KSS11028..............................................................................................................
KSS11029..............................................................................................................
KSS11030..............................................................................................................
KSS11031..............................................................................................................
KSS11032..............................................................................................................
KSS11033..............................................................................................................
KSS11034..............................................................................................................
KSS11035..............................................................................................................
KSS11036..............................................................................................................
KSS11037..............................................................................................................
KSS11038..............................................................................................................
KSS11039..............................................................................................................
KSS11041..............................................................................................................
KSS11042..............................................................................................................
KSS11043..............................................................................................................
KSS11044..............................................................................................................
KSS11045..............................................................................................................
KSS11046..............................................................................................................
111
111
111
114
116
117
117
118
119
119
120
121
121
122
123
123
124
125
125
126
126
129
129
131
137
144
145
147
148
149
149
150
150
150
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10.2.33
10.2.34
10.2.35
10.2.36
10.2.37
10.2.38
KSS11078..............................................................................................................
KSS11081..............................................................................................................
KSS11084..............................................................................................................
KSS13037..............................................................................................................
KSS13038..............................................................................................................
KSS13039..............................................................................................................
151
152
153
154
154
157
11
KUKA Service........................................................................................... 159
11.1
11.2
Requesting support...............................................................................................
KUKA Customer Support......................................................................................
159
159
Index
161
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
1
Introduction
1.1
Target group
Introduction
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
This documentation is aimed at users with the following knowledge and
skills:
•
•
•
•
•
1.2
Advanced KRL programming skills
Advanced knowledge of the robot controller system
Advanced knowledge of field buses
Knowledge of WorkVisual
Knowledge of the STEP 7 or TIA Portal software from Siemens or
PC WORX from Phoenix Contact
Industrial robot documentation
The industrial robot documentation consists of the following parts:
•
•
•
•
•
•
Documentation for the robot arm
Documentation for the robot controller
Documentation for the smartPAD-2 (if used)
Operating and programming instructions for the System Software
Instructions for options and accessories
Spare parts overview in KUKA Xpert
Each of these sets of instructions is a separate document.
1.3
Representation of warnings and notes
Safety
These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur, if no precautions are taken.
WARNING
These warnings mean that death or severe injuries may occur, if no
precautions are taken.
CAUTION
These warnings mean that minor injuries may occur, if no precautions
are taken.
NOTICE
These warnings mean that damage to property may occur, if no precautions are taken.
These warnings contain references to safety-relevant information or general safety measures.
These warnings do not refer to individual hazards or individual precautionary measures.
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Introduction
This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions:
SAFETY INSTRUCTION
The following procedure must be followed exactly!
Procedures marked with this warning must be followed exactly.
Notices
These notices serve to make your work easier or contain references to
further information.
Tip to make your work easier or reference to further information.
1.4
Trademarks
Windows is a trademark of Microsoft Corporation.
STEP 7 is a trademark of Siemens AG.
TIA Portal is a trademark of Siemens AG.
PC WORX is a trademark of Phoenix Contact.
1.5
Terms used
Term
Description
ARP
Address Resolution Protocol
Protocol for resolution of IP addresses in accordance with RFC 826
CBA
Component Based Automation
Component-based automation
Controller
Higher-level controller that controls all the components of a system
CSP
Controller System Panel
Display element and connection point for USB and network
DCP
Discovery and Configuration Protocol
PROFINET subprotocol
Device
Field device subordinated to a controller
Ethernet
Data network technology for local data networks
Ethernet allows data to be exchanged between the connected devices in the form of data frames.
FSU
Fast Startup
Enables PROFINET devices to be started up quickly.
GSDML
Generic Slave Description Markup Language
Device description file for PROFINET
I&M
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Identification and Maintenance
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IRT
Introduction
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Isochronous Real Time
Cycle-synchronous communication
KSS
KUKA System Software
LLDP
Link Layer Discovery Protocol
MIB
Management Information Base
Database with information about network devices
PC WORX
Configuration software from Phoenix Contact
PROFIsafe
PROFINET-based safety interface for connecting a safety PLC to
the robot controller (PLC = master, robot controller = slave)
RFC
Request for Comments
Technical or organizational documents of the Internet Society
SIB
Safety Interface Board
SNMP
Simple Network Management Protocol
Network protocol for monitoring and controlling network devices via
a central station
PLC
Programmable Logic Controller
STEP 7
Configuration software from Siemens.
Subnet
Subnetwork in the Internet Protocol (IP)
Subnet mask
Defines which IP addresses a device looks for in its own network
and which addresses can be reached in other networks.
TIA Portal
Configuration software from Siemens.
VSS
VW System Software
1.6
Licenses
The KUKA license conditions and the license conditions of the opensource software used can be found in the following folders:
• Under .\LICENSE on the data storage medium with the installation
files of the KUKA software
• Under D:\KUKA_OPT\Option package name\LICENSE after installation
on the robot controller
• In the license folder under the name of the option package in the Options catalog after installation in WorkVisual
Further information about open-source licenses can be requested from
the following address: opensource@kuka.com
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Introduction
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2
Product description
2.1
KUKA.PROFINET M/S
2.1.1
Product description
Product description
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Description
KUKA.PROFINET M/S is an option package for communication of the robot controller with a PROFINET PLC or PROFINET 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. Only non-safe inputs and outputs can be used for the communication with the devices.
Using KUKA.PROFINET M/S, the robot controller can be configured as
PROFINET controller, PROFINET device or PROFIsafe device.
2.1.2
Intended use and misuse
Use
The KUKA.PROFINET M/S option package is used for safe and/or nonsafe communication with a higher-level PROFINET controller (PLC) and
for non-safe communication with subordinate devices.
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.
2.2
KUKA.PROFINET -/S
2.2.1
Product description
Description
KUKA.PROFINET -/S is an option package for communication of the robot
controller with a PROFINET PLC. Safe or non-safe inputs and outputs can
be used for the communication.
Using KUKA.PROFINET -/S, the robot controller can be configured as
PROFINET device or PROFIsafe device.
2.2.2
Intended use and misuse
Use
The KUKA.PROFINET -/S option package is used for safe and/or nonsafe communication with a higher-level PROFINET controller (PLC). Communication with subordinate devices is not possible.
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Product description
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
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.
2.3
Overview of PROFINET
Description
PROFINET is an Ethernet-based field bus. Data exchange is carried out
on a client-server basis.
A detailed description of the PROFINET technology and a current list of
PROFINET-capable devices can be found on the website of the PROFIBUS User Organization.
Constraints
Only PROFINET IO class A and B, Fast Startup, PROFIsafe device, PROFIenergy and RTC classes RT_Class_1 (legacy) and RT_Class_1 are supported.
The following device classes/functions are not supported, for example:
•
•
•
•
•
PROFINET I/O class C (includes the IRT function)
PROFINET CBA
PROFIsafe controller
Profiles, e.g. PROFIdrive
Gateway devices (for converting PROFINET to other field buses)
The Shared Device function cannot be used for the KR C4 robot controller
as a PROFINET device. Signals from the PROFINET device cannot be
swapped; this is only possible for subordinate devices.
Device types
The following device types are used with PROFINET:
• Controller: A higher-level controller that controls all the components of
a system.
• Device: A field device subordinated to a controller. A device consists
of a number of modules and submodules.
• Supervisor: Can be a programming device or industrial PC. Parallel to
the controller, this has access to all process and parameter files.
The 3 device types have relationships for transferring configuration data
and process data.
A physical device, e.g. the robot controller, can be a controller and/or a
device. The configuration of communication relationships is carried out
solely in the controller.
PROFIenergy
PROFIenergy enables control of the energy consumption via a PROFINET
network. For this, commands are used by means of which the energy-consuming devices react to planned and unplanned interruptions.
The PROFINET device supports PROFIenergy. If PROFIenergy is used,
the robot controller communicates with the higher-level controller via the
PROFIenergy protocol.
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3
Safety
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Safety
This documentation contains safety instructions which refer specifically to
the product described here. The fundamental safety information for the industrial robot can be found in the “Safety” chapter of the operating or assembly instructions for the robot controller.
Comply with safety-relevant information
The safe use of this product requires knowledge of and compliance with
fundamental safety measures. Death, severe injuries or damage to property may otherwise result.
• The “Safety” chapter in the operating or assembly instructions of the
robot controller used must be observed.
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Safety
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4
Technical data
4.1
Robot controller as PROFIsafe device
Designation
Values
Device Acknowledge
Time (DAT)
Formula:
Technical data
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
DAT = (2 + floor(24 ms / CTSM)) * CTSM
Default value:
DAT = (2 + floor(24 ms / 8 ms)) * 8 ms =
40 ms
Worst Case Delay
Time (WCDT)
WCDTSM1 = 71.5 ms
Formula:
WCDT = WCDTSM1 + CTSM - 1 ms
Default value:
WCDT = 71.5 ms + 8 ms - 1 ms = 78.5 ms
One Fault Delay Time
(OFDT)
(corresponds to the
Watchdog Time
(WDTime))
OFDTSM1 = 149.5 ms
Formula:
OFDT = OFDTSM1 + CTSM - 1 ms
Default value:
OFDT = 149.5 ms + 8 ms - 1 ms = 156.5 ms
CTSM is the configured cycle time of the SharedMemory and has the
default value of 8 ms. The values of WCDTSM1 and OFDTSM1 are valid
for CTSM = 1 ms.
The specified values are general specifications that are independent of
the selected safety function. If further specifications are required, please
contact KUKA Service (>>> 11 "KUKA Service" Page 159).
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Technical data
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5
Installation
The option package can either be installed on the robot controller via the
smartHMI or via WorkVisual.
5.1
System requirements
Hardware
• KR C4 or KR C4 compact robot controller
• or VKR C4 robot controller
• Laptop/PC
Software
KR C4 and KR C4 compact robot controller:
• KUKA System Software 8.6
VKR C4 robot controller:
• VW System Software 8.6
Laptop/PC:
• WorkVisual 6.0
• Depending on the selected procedure, additional configuration
software may be required for the configuration:
‒ STEP 7 or TIA Portal from Siemens
‒ Or PC WORX from Phoenix Contact
• For configuring the higher-level controller:
‒ Corresponding configuration software from the manufacturer, e.g.
STEP 7 from Siemens.
Compatibility
• KUKA.PROFINET M/S 5.0 and KUKA.PROFINET -/S 5.0 cannot be installed on a robot controller together with the following option packages:
‒ KUKA.INTERBUS M/S 3.0
‒ KR C4 PROFIBUS
‒ KR C4 EtherCAT
• KUKA.PROFINET M/S 5.0 and KUKA.PROFINET -/S 5.0 must not be
installed on the same robot controller.
5.2
Routing the data cables
Description
The devices can be connected to the robot controller either directly or via
a switch. The switch must support LLDP.
When installing and starting up the PROFINET network, the following
standards must be observed in particular:
• IEC 61918
• IEC 61784-5-3
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Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Procedure
• Route the Ethernet cables to the devices from the robot controller or
the switch using a star or ring topology.
5.3
Installation via smartHMI
5.3.1
Installing or updating PROFINET
It is advisable to archive all relevant data before updating a software
package.
On updating, the existing configuration is automatically adopted. If this
is not desired, the existing version must first be uninstalled.
Precondition
• User rights:
‒ KSS: Function group General configuration
But at least the user group “Expert”
‒ VSS: User group “User”
• T1 or T2 mode
• No program is selected.
• USB stick with the option package (KOP file)
NOTICE
We recommend using a KUKA USB stick. Data may be lost if a stick
from a different manufacturer is used.
Procedure
1. Connect the USB stick to the robot controller or smartPAD.
2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry KUKA.PROFINET MS or KUKA.PROFINET S must be displayed in the Name column and drive E:\ or K:\
in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be
configured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Set the check mark next to KUKA.PROFINET MS or KUKA.PROFINET S and press Install. Confirm the installation query with OK.
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6. The request for confirmation Do you want to activate the project […]?
is displayed. The active project is overwritten during activation. If no
relevant project will be overwritten: Answer the query with Yes.
7. An overview of the changes and a request for confirmation are displayed. Answer this with Yes. The option package is installed and the
robot controller carries out a reboot.
8. Remove the stick.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
5.3.2
Uninstalling PROFINET
It is advisable to archive all relevant data before uninstalling a software
package.
Precondition
• User rights:
‒ KSS: Function group General configuration
But at least the user group “Expert”
‒ VSS: User group “User”
• T1 or T2 mode
• No program is selected.
Procedure
1. In the main menu, select Start-up > Additional software.
2. Set the check mark next to KUKA.PROFINET MS or KUKA.PROFINET S and press Uninstall. Answer the request for confirmation with
Yes.
3. Answer the request for confirmation Do you want to activate the
project […]? with Yes.
4. An overview of the changes and a request for confirmation are displayed. Answer this with Yes. The option package is uninstalled and
the robot controller carries out a reboot.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
5.4
Installation via WorkVisual
5.4.1
Installing or updating PROFINET
Description
The option package is installed in WorkVisual and added to the project.
When the project is transferred to the robot controller, the option package
is automatically installed there.
In the case of an update, the previous version of the option package in
WorkVisual must first be uninstalled.
It is advisable to archive all relevant data before updating a software
package.
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Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Precondition
• User rights:
•
•
•
•
‒ KSS: user group “Expert”
‒ VSS: user group “User”
T1 or T2 mode
No program is selected.
Network connection to the robot controller
The option package is available as a KOP file.
Procedure
1. Only for an update: Uninstall the previous version of the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
2. Install the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the KUKA.PROFINET MS or KUKA.PROFINET S option package in the project.
5. Configure the option package.
(>>> 6.1 "Configuration – overview" Page 23)
6. Deploy the project from WorkVisual to the robot controller and activate
it.
7. The request for confirmation Do you want to activate the project […]?
is displayed on the smartHMI. The active project is overwritten during
activation. If no relevant project will be overwritten: Answer the query
with Yes.
8. An overview with the changes and a request for confirmation are displayed on the smartHMI. Answer this with Yes. The option package is
installed and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVisual documentation.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
5.4.2
Uninstalling PROFINET
It is advisable to archive all relevant data before uninstalling a software
package.
Precondition
• User rights:
‒ KSS: user group “Expert”
‒ VSS: user group “User”
• T1 or T2 mode
• No program is selected.
• Network connection to the robot controller
Procedure
1. Load the project from the robot controller.
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2. Remove the KUKA.PROFINET MS or KUKA.PROFINET S option
package and the PROFINET node on the Hardware tab from the
project. A window with modifications is displayed.
3. Deploy the project from WorkVisual to the robot controller and activate
it.
4. Answer the request for confirmation Do you want to activate the
project […]? on the smartHMI with Yes.
5. An overview with the changes and a request for confirmation are displayed on the smartHMI. Answer this with Yes. The option package is
uninstalled and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVisual documentation.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
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Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Installation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
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6
Configuration
6.1
Configuration – overview
Step
1
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Description
Configure the higher-level controller with STEP 7.
Note: This step only needs to be carried out if a higher-level controller is being used.
2
Make GSDML files available.
• For configuration with WorkVisual
(>>> 6.2 "Making GSDML files available for configuration with WorkVisual" Page 23)
• For configuration with STEP 7, TIA Portal or PC WORX
(>>> 6.3 "Making GSDML files available for configuration with STEP 7, TIA Portal or PC WORX" Page 24)
3
Name the devices.
(>>> 6.4 "Naming a device" Page 25)
4
Configure PROFINET.
• Configure the bus with WorkVisual.
(>>> 6.5 "Configuring the bus with WorkVisual"
Page 28)
• Or: Configure the bus with STEP 7 or PC WORX.
(>>> 6.6 "Configuring the bus with STEP 7 or
PC WORX" Page 49)
5
Map the inputs and outputs in WorkVisual.
(>>> 6.7 "PROFIBUS signal names in WorkVisual"
Page 50)
6
Configure the topology. (optional)
(>>> 6.8 "Configuring the topology (optional)" Page 51)
7
Safety interface via PROFIsafe (optional)
(>>> 6.9 "Safety interface via PROFIsafe (optional)"
Page 53)
Information about procedures in WorkVisual is contained in the WorkVisual documentation. Information about procedures in STEP 7, TIA Portal
or PC WORX can be found in the documentation for this software.
6.2
Making GSDML files available for configuration with WorkVisual
If the robot controller is the controller and a different device is to be
added as the device, WorkVisual requires the GSDML file of this device
for the configuration. The GSDML file must be obtained from the manufacturer of the device.
Precondition
• There is no project open.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Procedure
1.
2.
3.
4.
5.
6.
7.
8.
9.
6.3
Select the menu sequence File > Import / Export. A window opens.
Select Import device description file. and click on Next >.
Click on Search.... Another window opens.
Select the file format PROFINET GSDML.
Navigate to the directory in which the device description files are located.
Select the files to be imported and click on Open. A list is displayed
of the device description files that are to be imported.
Confirm with Next >. A list is displayed of the devices that are to be
imported.
Click on Finish. The devices are imported.
Close the window.
Making GSDML files available for configuration with STEP 7, TIA Portal
or PC WORX
Procedure
1. Copy the GSDML file of the KUKA robot controller.
The file can be found on the WorkVisual CD-ROM, in the following directory: DeviceDescriptions\GSDML
2. Insert the file in STEP 7, TIA Portal or PC WORX.
If an older GSDML file has previously been used, it is not necessary
to delete it.
Description
If a KUKA robot controller is added as a device in STEP 7, TIA Portal or
PC WORX, this software requires the GSDML file for the KUKA robot controller.
The setting that has to be selected in the Compatibility mode: box in
WorkVisual varies depending on which GSDML file for the KUKA robot
controller has been used to configure the higher-level PROFINET controller.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
It is advisable to use the GSDML file that matches the PROFINET version. Compatibility mode should only be used if the GSDML file may not
be changed in the configuration of the higher-level PROFINET controller.
The setting in WorkVisual must always correspond to the GSDML file or
device selection on the PLC. Failure to observe this can result in PROFINET device malfunctions.
The following table provides an overview of which GSDML file matches
which PROFINET version. The name of the device corresponds to the setting in WorkVisual.
PROFINET
version
KSS / VSS
version
4.1
KSS 8.5
GSDML-V2.33-KUKA-KRC4-ProfiNet_4.1-20170630.xml
KRC4-ProfiNet_4.1
5.0
KSS/VSS 8.6
GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20180524.xml
KRC4-ProfiNet_5.0
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Required GSDML file
Name of device (in
GSDML file)
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
If an older GSDML file is used, it is not possible to establish a PROFIsafe connection.
6.4
Naming a device
Description
A PROFINET device is delivered without a name. In order to be able to
use the device, it must first be assigned a unique name. This procedure is
referred to as “Device naming”.
It is advisable to assign a meaningful name to the device. For example, if
the device belongs to a certain tool, this should be obvious from the
name.
The assigned device name must conform to the naming convention for
PROFINET devices (RFC 5890):
•
•
•
•
•
Length of name: 1 … 240 characters
The name must consist of at least 1 label.
Labels are separated from each other by means of the symbol “.”.
Length of a label: 1 … 63 characters
A label can consist of lower-case letters (a-z), numbers (0-9) and the
symbol “-”.
• A label must not begin or end with the symbol “-”.
• The 1st label must not take on the form “port-xyz-” or “port-xyz-abcde”
(a, b, c, d, e, x, y, z = 0 … 9).
• The name must not have the form “n.n.n.n” (n = 0 … 999).
However, it is also possible to use Unicode characters in the configuration
software. The Unicode characters are converted to ASCII-compatible characters by the configuration software using the Punycode procedure. In
WorkVisual, the converted device name is either displayed under the device name entered or in a tool tip when the mouse pointer is hovered
over the device name.
The converted device name may contain max. 44 characters. If the
name is longer, it is truncated after the 44th character. This leads to a
situation where the device name is not displayed in full in error messages on the smartHMI.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
As an alternative to the procedure in WorkVisual, the device can be renamed in STEP 7 or any other software with a device naming function.
NOTICE
The following address ranges are used by default by the robot controller
for internal purposes. IP addresses from this range must therefore not
be assigned when naming the device.
This applies to naming of the device with WorkVisual or any other software.
• 192.168.0.0 … 192.168.0.255
• 172.16.0.0 … 172.16.255.255
• 172.17.0.0 … 172.17.255.255
NOTICE
The subnet configuration of the robot controller may be modified only in
consultation with KUKA Deutschland GmbH. Modifications carried out
without consultation may result in the loss of functions of the robot controller.
A PROFINET device can have the following states:
State
Description
The device is currently present in the WorkVisual project
but could not be found in the network.
The device is currently present in the network but could not
be found in the WorkVisual project.
The device settings have been changed.
The device is currently present in the network and the
WorkVisual project.
Precondition
• The robot controller has been set as the active controller.
• The device is not in cyclical communication with a controller.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on Bus structure and select Add… from the context
menu.
3. A window opens. Select the entry PROFINET in the Name column
and confirm with OK. The entry is inserted in the tree structure.
4. Right-click on PROFINET in the tree structure and select Settings
from the context menu.
5. A window opens. Select the Communication settings tab.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
6. Select the network card used and confirm with OK.
button in the button bar at the top.
7. Click on the
A window opens. The Available devices tab is displayed.
8. Double-click on the name of the desired device and change the name.
9. If required, assign an IP address to the device.
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The device will subsequently be assigned an IP address by the robot
controller. This will cause the address assigned here to be overwritten.
It may nonetheless be useful to assign the device an address here,
e.g. for diagnostic purposes, as it is not otherwise possible to communicate with the device.
10. Save the changes with Name devices.
6.4.1
Identifying a device
Precondition
• The robot controller has been set as the active controller.
• The PROFINET node is inserted into the bus structure.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
3. Click on the
button.
A window opens. The Available devices tab is displayed.
4. Select the desired device and click on Signal.
One or more LEDs on the device flash. A description of which LEDs
flash can be found in the device manufacturer documentation.
In the case of the robot controller, LEDs 4 to 6 on the CSP flash.
LED 1 is lit up permanently.
At the bottom left of the smartHMI, the 2 life sign LEDs flash simultaneously with a frequency of 1 Hz. Normally, the LEDs flash alternately.
5. To stop the flashing, click on Stop signaling.
6.4.2
Resetting the device configuration to factory settings
Precondition
• The robot controller has been set as the active controller.
• The PROFINET node is inserted into the bus structure.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
button.
3. Click on the
A window opens. The Available devices tab is displayed.
4. Select the desired device and click on Reset.
5. Answer the request for confirmation with Yes.
The configuration of the device is reset to the factory settings.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.4.3
Updating the device list
Precondition
• The robot controller has been set as the active controller.
• The PROFINET node is inserted into the bus structure.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
3. Click on the
button.
A window opens. The Available devices tab is displayed.
4. Click on Scan devices. The device list is updated.
Alternatively, the device list can be automatically updated at set intervals: For this, set the check mark at Auto scan.
6.5
Configuring the bus with WorkVisual
6.5.1
Configuring the robot controller as a PROFINET device
Description
If a robot controller is configured as a PROFINET device, a higher-level
controller (e.g. PLC) can communicate with the robot controller. In this
way, the PLC is capable of monitoring and controlling the robot controller.
The robot controller can be configured as a PROFINET device with nonsafe inputs and outputs and as a PROFIsafe device with safe inputs and
outputs.
Configuration of the robot controller as a PROFINET device must be carried out both in WorkVisual and on the PLC. The configuration in WorkVisual is described below.
Precondition
• WorkVisual is started.
• The KUKA.PROFINET -/S or KUKA.PROFINET M/S option package is
installed in WorkVisual.
Procedure
1. Open the project in WorkVisual and set the robot controller to active.
2. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
3. Right-click on Bus structure and select Add… from the context
menu.
4. A window opens. Select the entry PROFINET in the Name column
and confirm with OK. The entry is inserted in the tree structure.
5. Right-click on PROFINET and select Settings... from the context
menu.
6. A window opens. Select the Communication settings tab.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
7. Assign a name to the robot controller in the Device name: box in the
PROFINET area.
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8. If write access via SNMP is to be used, assign a password in the
SNMP password: box.
9. Activate the check box next to Activate PROFINET device stack in
the PROFINET device area.
10. Fill out the following boxes:
• PROFIsafe configuration:
• Number of I/Os:
• Compatibility mode:
• Display diagnostic alarm as message
• Transmit device alarms to PLC
11. Save the settings with Apply.
12. If PROFIenergy is to be used, on the PROFIenergy tab, activate the
Enable PROFIenergy check box and fill out the following boxes for
the states Hibernate, Drive bus OFF and Brakes applied:
• Time to pause
• Time min length of stay
• Time to operate
(>>> 6.5.1.2 "“PROFIenergy” tab" Page 33)
13. Save the settings with Apply.
14. Only if the robot controller is to be used as both a PROFINET controller and a PROFINET Device (KUKA.PROFINET M/S option package
must be installed):
a. Select the Device diagnosis tab.
(>>> 6.5.1.3 "“Device diagnosis” tab" Page 36)
b. If a status bit is to be sent to the PLC in the case of a bus error,
maintenance requirement, maintenance demand or diagnosis
alarm: activate the check box next to Use status bit in the corresponding area and enter the bit number.
15. Save the settings by selecting OK.
6.5.1.1
“Communication settings” tab
Fig. 6-1: Communication settings tab
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Box
Description
Network adapter:
Select the network adapter used.
Note: The network card only needs to be configured once. It remains automatically saved for
subsequent projects.
PROFINET
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Box
Description
Device name:
Assign a name to the robot controller.
SNMP password:
Enter the password for write access to network
devices via SNMP.
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
PROFINET device
Box
Activate PROFINET
device stack
Description
• Check box active: the robot controller is
used as PROFINET device.
• Check box not active: the robot controller
is used as PROFINET controller.
PROFIsafe configura- Select the PROFIsafe configuration.
tion:
• No PROFIsafe: a different safety interface
is used, e.g. FSoE.
• PROFIsafe 2.4: the safety interface via
PROFIsafe with PROFIsafe standard 2.4 is
used. The Profinet Safety ID communication parameter must be set in the safety
configuration.
• PROFIsafe 2.4 + iParCRC: the safety interface via PROFIsafe with PROFIsafe standard 2.4 is used. The Profinet Safety ID
communication parameter must be set in
the safety configuration. Additionally, the activation code of the safety configuration
must be entered on the PLC in the PROFIsafe F parameter “F_iPar_CRC”. For startup, the value 0xFFFFFFF can be used.
• PROFIsafe 2.6.1: the safety interface via
PROFIsafe with PROFIsafe standard 2.6.1
is used. The Profinet Safety ID communication parameter must be set in the safety
configuration.
• PROFIsafe 2.6.1 + iParCRC: the safety interface via PROFIsafe with PROFIsafe
standard 2.6.1 is used. The Profinet Safety
ID communication parameter must be set in
the safety configuration. Additionally, the activation code of the safety configuration
must be entered on the PLC in the PROFIsafe F parameter “F_iPar_CRC”. For startup, the value 0xFFFFFFF can be used.
Notes:
• This setting must match the setting on the
PLC. Otherwise, this can lead to a bus error and the robot can no longer be moved
in Automatic mode.
• The settings PROFIsafe 2.4 + iParCRC,
PROFIsafe 2.6.1 and PROFIsafe 2.6.1 +
iParCRC are only available with the
GSDML file GSDML-V2.33-KUKA-KRC4ProfiNet_5.0-20180524.xml.
Number of I/Os:
Select the number of non-safe inputs and outputs of the robot controller.
Note: This setting must match the setting on
the PLC. Otherwise, this can lead to a bus error and the robot can no longer be moved in
Automatic mode.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Box
Description
Compatibility mode:
PROFINET device from the GSDML file used
for configuration of the higher-level PROFINET
controller.
Update time:
Enter the update time.
Update time: The data for communication with
the PLC are exchanged between the PROFINET device and an internal memory of the robot controller every x ms.
Note: The lower the value for the update time,
the greater the CPU utilization.
The PROFINET reaction time is the sum of the
update time for the PROFINET device and the
update time for the PLC. This calculation does
not take into account the reaction times of the
applications which need these data (e.g. submit
interpreter).
Bus timeout:
If the robot controller cannot establish the connection to the PLC within this time, it generates
an error message. (If the connection is then
established subsequently, the message
changes to an acknowledgement message.)
Unit: ms
Display diagnostic
alarm as message
• Check box active: Diagnostic messages
are displayed in the message window of
the KUKA smartHMI. The diagnostic messages are also displayed as PROFINET
alarms on the Topology diagram tab.
(>>> 9.2.2 "“Topology diagram” tab"
Page 103)
• Check box not active: No diagnostic messages are displayed.
Transmit device
alarms to PLC
• Check box active: If a device signals an
alarm to the robot controller, the robot controller informs the PLC that a device has
sent an alarm. The PLC can read the IP
address and the PROFINET name of the
device in an acyclic mode. For this purpose, the PLC must use the corresponding
diagnostic address of the robot controller.
(>>> 9.8 "PROFINET alarms" Page 110)
• Check box not active: The robot controller
does not inform the PLC when a device
sends an alarm.
Note: Further information can be found in the
PROFINET specification.
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PROFINET controller
Box
Description
Update time:
Enter the update time.
Update time: The data for communication with
the devices are exchanged between the PROFINET controller and an internal memory of the
robot controller every x ms.
Note: The lower the value for the update time,
the greater the CPU utilization.
The PROFINET reaction time is the sum of the
update time for the PROFINET controller and
the update time for the PLC. This calculation
does not take into account the reaction times
of the applications which need these data (e.g.
submit interpreter).
Bus timeout:
If the robot controller cannot establish the connection to the device within this time, it generates an error message. (If the connection is
then established subsequently, the message
changes to an acknowledgement message.)
Unit: ms
6.5.1.2
“PROFIenergy” tab
Description
The robot controller supports the following PROFIenergy states:
• Ready_To_Operate: the robot controller is ready for operation.
• Drive bus OFF: the drives are switched off.
• Hibernate: the robot controller is in the rest state and only reacts to
the WakeOnLan packet.
• Brakes applied: the brakes have been applied and only react to the
next motion command.
• Energy_Saving_Disabled: the energy saving modes of the robot controller are deactivated because the robot controller is not in AUT EXT
mode (KSS) or EXT mode (VSS).
If the break in production is too short to use the Drive bus OFF state,
energy can be saved with the Brakes applied state. However, the robot
controller can only activate the Brakes applied state if it is in a programmed stop.
PROFIenergy is only executed in AUT EXT mode, not in T1 or T2.
It is not possible to combine PROFIenergy and power management.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 6-2: PROFIenergy states
1 Ready_To_Operate state
2 Drive bus OFF, Hibernate or Brakes applied state
Properties
The PROFIenergy states have the following properties:
Name
Description
Time_to_Pause (toff)
Time until the controller has reached the Drive
bus OFF, Hibernate or Brakes applied state
from the Ready_To_Operate state.
Time_min_length_of_
stay (toff_min)
Time in which the controller remains in the
Drive bus OFF, Hibernate or Brakes applied
state. For the Drive bus OFF and Hibernate
states, it should be possible to shut down all
connected devices completely in this time before the controller reboots.
Time_to_operate (ton) Time until the controller has reached the
Ready_To_Operate state from the Drive bus
OFF, Hibernate or Brakes applied state.
Fig. 6-3: “PROFIenergy” tab
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The default values of the break times correspond to the minimum values. The defaults must not fall below these values.
The break times may increase if further option packages are installed. It
is advisable to test the break times required during start-up.
Box
Enable PROFIenergy
Description
• Check box active: PROFIenergy is used.
• Check box not active: PROFIenergy is not
used.
Default setting: Check box not active
Hibernate
Box
Description
Time to pause:
Enter the time that the controller may take before the “Hibernate” state is reached.
Default value: 50000 ms
Time min. length of
stay:
Enter the minimum time for which the controller
is to remain in the “Hibernate” state.
Default value: 10000 ms
Time to operate:
Enter the time that the controller may take before the “Ready_To_Operate” state is reached.
Default value: 60000 ms
Drive bus OFF
Box
Description
Time to pause:
Enter the time that the controller may take before the “Drive bus OFF” state is reached.
Default value: 5000 ms
Time min. length of
stay:
Enter the minimum time for which the controller
is to remain in the “Drive bus OFF” state.
Default value: 0 ms
Time to operate:
Enter the time that the controller may take before the “Ready_To_Operate” state is reached.
Default value: 20000 ms
Brakes applied
Box
Description
Time to pause:
Enter the time that the controller may take before the “Brakes applied” state is reached.
Default value: 1000 ms
Time min. length of
stay:
Enter the minimum time for which the controller
is to remain in the “Brakes applied” state.
Default value: 0 ms
Time to operate:
Enter the time that the controller may take before the “Ready_To_Operate” state is reached.
Default value: 1000 ms
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.5.1.3
“Device diagnosis” tab
Description
Using the settings on this tab, the robot controller can forward messages
from subordinate devices to the higher-level controller. The device part of
the robot controller collects the messages from the device and forwards
them to the higher-level controller. The availability of the messages depends on the specific device.
Fig. 6-4: “Device diagnosis” tab
Bus error
Box
Description
Use status bit
• Check box active: in the case of a bus error, a status bit is sent to the higher-level
controller.
• Check box not active: no status bit is sent
to the higher-level controller.
Invert status bit
• Check box active: in the case of a bus error, the status bit is inverted and sent to
the higher-level controller.
• Check box not active: the status bit is not
inverted.
Bit number:
Enter the number of the status bit in the address range of the higher-level controller.
• 1 ... Number of device I/Os
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Box
Description
Signal name:
The signal name depends on the entered bit
number.
Box
Description
Maintenance request
Use status bit
• Check box active: if maintenance is to be
carried out on the device, a status bit is
sent to the higher-level controller. It is not
necessary for the maintenance to be carried out immediately; the wear limit has not
yet been reached.
• Check box not active: no status bit is sent
to the higher-level controller.
Invert status bit
• Check box active: if maintenance is to be
carried out on the device, the status bit is
inverted and sent to the higher-level controller.
• Check box not active: the status bit is not
inverted.
Bit number
Enter the number of the status bit in the address range of the higher-level controller.
• 1 ... Number of device I/Os
Signal name:
The signal name depends on the entered bit
number.
Box
Description
Maintenance demand
Use status bit
• Check box active: if maintenance has to
be carried out on the device, a status bit is
sent to the higher-level controller. The
maintenance must be carried out immediately; the wear limit has been reached.
• Check box not active: no status bit is sent
to the higher-level controller.
Invert status bit
• Check box active: if maintenance has to
be carried out on the device, the status bit
is inverted and sent to the higher-level controller.
• Check box not active: the status bit is not
inverted.
Bit number
Enter the number of the status bit in the address range of the higher-level controller.
• 1 ... Number of device I/Os
Signal name:
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
The signal name depends on the entered bit
number.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Diagnosis alarm
Box
Description
Use status bit
• Check box active: if a diagnostic alarm is
active for a device, a status bit is sent to
the higher-level controller.
• Check box not active: no status bit is sent
to the higher-level controller.
Invert status bit
• Check box
active for a
and sent to
• Check box
inverted.
Bit number:
active: if a diagnostic alarm is
device, the status bit is inverted
the higher-level controller.
not active: the status bit is not
Enter the number of the status bit in the address range of the higher-level controller.
• 1 ... Number of device I/Os
Signal name:
The signal name depends on the entered bit
number.
Up to 4 diagnostic bits can have the same bit number. Diagnostic bits
with the same bit number are linked by a logic OR operation. All diagnostic bits with the same bit number must therefore be either inverted or
not inverted.
The current status of a status bit can be found in the diagnostic data
(>>> 9.1 "Displaying diagnostic data" Page 95).
6.5.2
Configuring the robot controller as PROFINET controller
Description
If a robot controller is configured as PROFINET controller, the robot controller can communicate with subordinate devices. In this way, the robot
controller is capable of monitoring and controlling the subordinate devices.
Configuration of the robot controller as PROFINET controller is carried out
in WorkVisual.
Precondition
• WorkVisual is started.
• The KUKA.PROFINET M/S option package is installed in WorkVisual.
Procedure
1. Open the project in WorkVisual and set the robot controller to active.
2. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
3. Right-click on Bus structure and select Add… from the context
menu.
4. A window opens. Select the entry PROFINET in the Name column
and confirm with OK. The entry is inserted in the tree structure.
5. Right-click on PROFINET and select Settings... from the context
menu.
6. A window opens. Select the Communication settings tab.
(>>> 6.5.2.1 "“Communication settings” tab" Page 40)
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7. Assign a name to the robot controller in the Device name: box in the
PROFINET area.
8. If write access via SNMP is to be used, assign a password in the
SNMP password: box.
9. In the PROFINET controller area, fill out the boxes Update time: and
Bus timeout:.
10. Save the settings by selecting OK.
11. Open the node PROFINET in the tree structure.
12. Right-click on PROFINET IO and select Add… from the context menu.
13. A window opens with a list of devices. Select the device used and
confirm with OK. The device is inserted in the tree structure.
NOTICE
The inserted device must correspond to the actual device used in
reality. Substantial damage to property may otherwise result.
14. Right-click on the device in the tree structure and select Settings…
from the context menu. A window opens with device data.
Fill out the following boxes on the Network tab:
•
•
•
•
•
•
•
•
IP address:
Subnet mask:
Use a gateway
Gateway:
Device name:
Is Active
User ID:
Display diagnostic alarm as message
(>>> 6.5.2.2 "Device settings" Page 43)
15. The Modules tab displays the slots on the device. Assign the slots to
the modules used.
16. If necessary, repeat steps 11 to 15 for further devices.
17. Save the device data by selecting OK.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.5.2.1
“Communication settings” tab
Fig. 6-5: Communication settings tab
Box
Description
Network adapter:
Select the network adapter used.
Note: The network card only needs to be configured once. It remains automatically saved for
subsequent projects.
PROFINET
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Box
Description
Device name:
Assign a name to the robot controller.
SNMP password:
Enter the password for write access to network
devices via SNMP.
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
PROFINET device
Box
Activate PROFINET
device stack
Description
• Check box active: the robot controller is
used as PROFINET device.
• Check box not active: the robot controller
is used as PROFINET controller.
PROFIsafe configura- Select the PROFIsafe configuration.
tion:
• No PROFIsafe: a different safety interface
is used, e.g. FSoE.
• PROFIsafe 2.4: the safety interface via
PROFIsafe with PROFIsafe standard 2.4 is
used. The Profinet Safety ID communication parameter must be set in the safety
configuration.
• PROFIsafe 2.4 + iParCRC: the safety interface via PROFIsafe with PROFIsafe standard 2.4 is used. The Profinet Safety ID
communication parameter must be set in
the safety configuration. Additionally, the activation code of the safety configuration
must be entered on the PLC in the PROFIsafe F parameter “F_iPar_CRC”. For startup, the value 0xFFFFFFF can be used.
• PROFIsafe 2.6.1: the safety interface via
PROFIsafe with PROFIsafe standard 2.6.1
is used. The Profinet Safety ID communication parameter must be set in the safety
configuration.
• PROFIsafe 2.6.1 + iParCRC: the safety interface via PROFIsafe with PROFIsafe
standard 2.6.1 is used. The Profinet Safety
ID communication parameter must be set in
the safety configuration. Additionally, the activation code of the safety configuration
must be entered on the PLC in the PROFIsafe F parameter “F_iPar_CRC”. For startup, the value 0xFFFFFFF can be used.
Notes:
• This setting must match the setting on the
PLC. Otherwise, this can lead to a bus error and the robot can no longer be moved
in Automatic mode.
• The settings PROFIsafe 2.4 + iParCRC,
PROFIsafe 2.6.1 and PROFIsafe 2.6.1 +
iParCRC are only available with the
GSDML file GSDML-V2.33-KUKA-KRC4ProfiNet_5.0-20180524.xml.
Number of I/Os:
Select the number of non-safe inputs and outputs of the robot controller.
Note: This setting must match the setting on
the PLC. Otherwise, this can lead to a bus error and the robot can no longer be moved in
Automatic mode.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Box
Description
Compatibility mode:
PROFINET device from the GSDML file used
for configuration of the higher-level PROFINET
controller.
Update time:
Enter the update time.
Update time: The data for communication with
the PLC are exchanged between the PROFINET device and an internal memory of the robot controller every x ms.
Note: The lower the value for the update time,
the greater the CPU utilization.
The PROFINET reaction time is the sum of the
update time for the PROFINET device and the
update time for the PLC. This calculation does
not take into account the reaction times of the
applications which need these data (e.g. submit
interpreter).
Bus timeout:
If the robot controller cannot establish the connection to the PLC within this time, it generates
an error message. (If the connection is then
established subsequently, the message
changes to an acknowledgement message.)
Unit: ms
Display diagnostic
alarm as message
• Check box active: Diagnostic messages
are displayed in the message window of
the KUKA smartHMI. The diagnostic messages are also displayed as PROFINET
alarms on the Topology diagram tab.
(>>> 9.2.2 "“Topology diagram” tab"
Page 103)
• Check box not active: No diagnostic messages are displayed.
Transmit device
alarms to PLC
• Check box active: If a device signals an
alarm to the robot controller, the robot controller informs the PLC that a device has
sent an alarm. The PLC can read the IP
address and the PROFINET name of the
device in an acyclic mode. For this purpose, the PLC must use the corresponding
diagnostic address of the robot controller.
(>>> 9.8 "PROFINET alarms" Page 110)
• Check box not active: The robot controller
does not inform the PLC when a device
sends an alarm.
Note: Further information can be found in the
PROFINET specification.
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PROFINET controller
Box
Description
Update time:
Enter the update time.
Update time: The data for communication with
the devices are exchanged between the PROFINET controller and an internal memory of the
robot controller every x ms.
Note: The lower the value for the update time,
the greater the CPU utilization.
The PROFINET reaction time is the sum of the
update time for the PROFINET controller and
the update time for the PLC. This calculation
does not take into account the reaction times
of the applications which need these data (e.g.
submit interpreter).
Bus timeout:
If the robot controller cannot establish the connection to the device within this time, it generates an error message. (If the connection is
then established subsequently, the message
changes to an acknowledgement message.)
Unit: ms
6.5.2.2
Device settings
Network settings
Fig. 6-6: “Network” tab
Box
Description
IP settings
IP address:
Enter the IP address of the device.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Box
Description
Subnet mask:
The controller is delivered with the subnet mask 255.255.0.0 set; that
is why this address is already entered. If the subnet mask has been
changed, enter the changed address.
Use a gateway
Gateway:
• Check box active: A gateway is used.
• Check box not active: No gateway is used.
Enter the IP address of the gateway. The address only needs to be
entered if a gateway is to be used.
PROFINET I/O settings
Device name:
Is Active
User ID:
Enter the name of the device. This must be identical with the name
assigned during the naming of the device.
• Check box active: The robot controller expects the device to be
active when the controller boots up. If the device is not active, the
robot controller issues an error message.
• Check box not active: The robot controller does not check
whether the device is active when the controller boots up.
Enter the ID of the device. The ID must be unambiguous and must
not be less than 2.
Note: The ID is required for coupling and decoupling devices.
Delete ARP cache
• Check box active: The ARP cache is deleted.
• Check box not active: The ARP cache is not deleted.
Note: It is recommended to activate the check box if the devices are
configured as in the example “Reduced scope”. In the case of a configuration as in the example “Normal scope”, the check box should
not be activated.
(>>> 6.5.2.5 "Reducing the amount of configuration work" Page 48)
Display diagnostic
alarm as message
• Check box active: Diagnostic messages are displayed in the
message window of the KUKA smartHMI.
• Check box not active: No diagnostic messages are displayed in
the message window of the KUKA smartHMI.
Update cycle
Update time:
Enter the update time.
Update time: The current I/O data are exchanged between the PROFINET controller and the devices every x ms.
Note: The lower the value for the update time, the greater the CPU
utilization.
The PROFINET reaction time is the sum of the update time of the
PROFINET controller and the update time of the devices. This calculation does not take into account the reaction times of the applications
which need these data (e.g. submit interpreter).
Max. invalid frames:
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Enter the maximum number of data packets that may be lost before
the robot controller generates an error message.
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Slot configuration
Fig. 6-7: “Modules” tab
All the windows can be resized as desired.
Item
1
Description
Slot of the device
The number of slots displayed depends on the device selected. The number of slots
displayed is always the maximum number possible for the device.
Some devices have predefined modules. These cannot be changed. If a predefined
module is added to a slot, the module has a padlock symbol.
There are several possible methods for assigning a module to a slot:
• Select the desired group in the module window. Click on the desired module in
the group and drag it onto a compatible slot. If the module is marked, the compatible slots are highlighted in orange.
• Assign a module to a next available slot: Select the desired group in the module
window and double-click on the desired module.
• Modules assigned to one slot can be clicked on and dragged onto another slot.
Modules that support submodules contain one or more subslots. By way of example,
these have been given the name “Channel” in the figure. A submodule can be assigned to each one of these subslots.
There are several possible methods for assigning a submodule to a subslot:
• In the module window, click on the desired module in the Available submodules group and drag it onto a compatible subslot. The submodules displayed in
the Available submodules group are compatible with every subslot for all modules of the device. If the submodule is marked, the compatible subslots are also
highlighted in orange.
• Right-click on the subslot and select the desired submodule from the Insert submodule context menu.
• Submodules assigned to one subslot can be clicked on and dragged onto another subslot.
2
Parameter window
Displays the module-specific parameters which can be set via a selection menu.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Item
Description
3
Search box
The search box can be used to search for modules. The search is a full-text search.
4
Module window
The modules are divided into groups.
5
Module description
Describes the module type and properties.
6
Parameter description
Describes the parameters that can be set in the parameter window.
6.5.2.3
Using a PROFINET device as a shared device
Description
Shared device allows 2 robot controllers that are configured as
PROFINET controllers to access the same PROFINET device. In this way,
the number of PROFINET interfaces required for an application can be reduced. By default, full access is activated for every slot of a device. Only
1 controller may have full access to each slot. In order to enable another
robot controller to access the slots, full access must be deactivated for
these slots.
Shared device can only be used if the factory settings of the device
support this function.
Procedure
1. Right-click on the device in the tree structure and select Settings…
from the context menu. A window opens with the device settings.
2. On the Modules tab, click on a slot that is to be used by a different
robot controller.
(>>> 6.5.2.2 "Device settings" Page 43)
3. Set the parameter Full access to False in the Shared device section
of the parameter window.
4. Repeat steps 2 to 3 for all slots that are to be used by the other robot
controller.
5. Save the settings by selecting OK.
6. Configure the slots the other way round in the configuration of the other robot controller.
6.5.2.4
Activating Fast Startup (FSU)
Description
When a PROFINET device is coupled or started up, the device must
reach its operational state as quickly as possible. A normal device can require up to 10 seconds to start up. Fast Startup enables devices to reach
their operational state in less than a second. This allows tools to be
changed more quickly.
Fast Startup can only be used if the couplable/decouplable device and
the factory settings of the device description file support this function.
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The following must be taken into consideration when using a PROFINET device on more than one robot:
• The IOCTL command 1050 must be executed shortly before or at
the same time as the physical connection of the device. If this is not
done, Fast Startup will not function.
• For stationary devices, Fast Startup is not possible during coupling,
as stationary devices are not disconnected from the power supply or
the network.
Fig. 6-8: Fast startup (schematic representation)
1 Robot controller
2 Coupling device
3 Couplable / decouplable device
Precondition
• There is an additional PROFINET device between the robot controller
and the device that is to be decoupled.
Procedure
The procedure is described using the example of a device with 2 ports
(port 1: slot X1 P1, port 2: slot X1 P2).
1. Right-click on the couplable/decouplable device in the tree structure
and select Settings… from the context menu. A window opens with
the device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
2. On the Modules tab, click on the slot X1 (PN-IO).
3. In the Start-up Behavior area of the parameter window, set the parameter Start-up prioritized to True.
4. Optional: assign a different value to the parameters Interval, Delay
and Repetitions.
The value for Interval specifies the time between 2 subsequent Hello
packages.
The value for Delay specifies the wait time until the device begins
sending Hello packages.
The value for Repetitions specifies how many Hello packages the device sends in total.
5. Click on the slot X1 P1 (Port 1).
6. Select the transmission medium in the Media access area of the parameter window. In the case of copper as the medium, the setting 100
MBit/s, twisted pair (TX), Fullduplex is normally used.
7. Save the settings by selecting OK.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
8. Right-click on the coupling device in the tree structure and select Settings… from the context menu. A window opens with the device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
9. On the Modules tab, click on the slot X1 P2 (Port 2).
10. Select the transmission medium in the Media access area of the parameter window. In the case of copper as the medium, the setting 100
MBit/s, twisted pair (TX), Fullduplex is normally used.
11. Save the settings by selecting OK.
The setting for the transmission medium must be identical for the couplable/decouplable device and for the coupling device. The setting must
not be set to auto negotiate.
The port settings must be carried out on the ports used for the couplable PROFINET connection. In the example, these are port 2 for the coupling device and port 1 for the couplable/decouplable device.
6.5.2.5
Reducing the amount of configuration work
Description
It is possible to reduce the amount of configuration work required and still
retain the fast startup setting when exchanging devices. For this, the devices must have the same device type, the same IP address and the same
device name. This means that only one device exists for the controller,
thereby reducing the number of inputs and outputs which need to be mapped.
Example
Normal scope
In the following example, 3 devices are configured in WorkVisual as PROFINET devices (grippers A, B and C). Each one has a different name and
a different IP address. During configuration, inputs and outputs need to be
configured for each device here. For 3 devices, this amounts to a total of
192 inputs and outputs in this example.
Fig. 6-9: Example: Normal scope of configuration work
Example
Reduced scope
In the following example, only 1 device is configured in WorkVisual as a
PROFINET device (gripper X). In actual fact, however, there are 3 devices
with the same device name and the same IP address. In this case, inputs
and outputs need to be configured for only one device. That means a
total of 64 inputs and outputs in this example.
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If this example is applied, only one of the identically configured devices
may be coupled at a time.
It is advisable to activate the Network check box on the Delete ARP
cache tab if using this example.
(>>> 6.5.2.2 "Device settings" Page 43)
Fig. 6-10: Example: Reduced scope of configuration work
6.6
Configuring the bus with STEP 7 or PC WORX
A comparable configuration from the TIA Portal software cannot be imported into WorkVisual.
Procedure
1. Configure the bus with STEP 7 or PC WORX.
2. Export the configuration from STEP 7 or PC WORX.
3. Import the configuration into WorkVisual.
Configuration
It is not possible to assign devices to a KUKA robot controller in STEP 7
and PC WORX.
Remedy in STEP 7:
1. Define a CP1616 as a controller.
2. Assign the required devices to the CP1616.
Remedy in PC WORX:
1. Create a project ILC 350 PN.
2. Assign the required devices to the project.
When a configuration of this type is imported into WorkVisual, WorkVisual
ignores the CP1616/ILC 350 PN and takes the KUKA robot controller as
the controller.
Export
To enable the configuration from STEP 7 or PC WORX to be imported into WorkVisual, the following options must be set for the export:
• Exporting from STEP 7:
‒ Activate the check boxes for Export default values, Export symbols and Export subnets.
‒ Activate the radio button Readable.
• Exporting from PC WORX:
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
‒ Select Export PLCopen xml file.
Import
On importing the configuration into WorkVisual, only the following settings are transferred:
•
•
•
•
•
IP address
Subnet mask
Gateway (if used)
Device name
Slot allocation
All other settings (e.g. fast startup, parameters of modules and ports)
must be performed again in WorkVisual.
6.7
PROFIBUS signal names in WorkVisual
Description
PROFINET signal names have the following structure in WorkVisual:
Example 03:01:0002 Output
Fig. 6-11: PROFINET signal names in WorkVisual
Name
Meaning
In the example
1st value from left
Slot number
03
Note: Modules without inputs/
outputs, e.g. power supply
modules, have a number but
are not displayed in the list.
2nd value from left
Subslot number (generally 01)
01
3rd value from left
Index number (consecutive ascending numbering of the individual inputs/outputs)
0002
Input/Output
Direction of processing
Output
If the robot controller is used as the PROFINET device, the safe signals
are located in slot 1 and the non-safe signals are located in slot 2.
The number of safe inputs and outputs can be set on the Communication settings tab.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
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6.8
Configuring the topology (optional)
Description
If a command topology is defined, it can subsequently be used for device
diagnosis. Devices can also be created in the command topology, e.g. devices that belong to the higher-level controller and are therefore not configured in WorkVisual. These devices are created as virtual devices. Virtual devices cannot be connected to the robot controller.
6.8.1
Opening the topology view
Precondition
• A project is open.
• The robot controller has been set as the active controller.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
3. Click on the
button. A window opens.
4. Select the Topology table or Topology diagram tab.
6.8.2
Connecting devices
Precondition
• Bus is configured.
• The topology view is open.
Procedure
1. Click on the port of the device on the Topology diagram tab and hold
down the mouse button.
2. Drag the mouse pointer to the port of the other device and release the
mouse button.
Alternative procedure
There are various options on the Topology table tab for connecting devices:
• In the Partner port (offline) column, select the port of the other device.
• Or: In the Device / port column, click on the port of one device and
drag it to the port of the other device.
• Or: Enter the port in the Partner port (offline) column. The correct
notation must be observed: [Device name]:port-xxx or [Device
name]:port-xxx-xxxxx.
If one of the devices is a changing device, a port can also be assigned
multiple partner ports.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.8.3
Configuring virtual devices
Precondition
• The topology view is open.
• The Topology diagram tab is selected.
Procedure
Adding a virtual device
1. Right-click in the empty space and select Add virtual device. from
the context menu. The virtual device is added.
Adding ports to the virtual device
1. Enter the desired port number in the input box.
2. Click on the
button. The port is added. A maximum of 10 ports can
be added to a virtual device.
Removing ports from the virtual device
• Right-click on the port and select Remove pin from the context menu.
• Alternatively: Enter the port number in the input box and click on the
button.
Renaming a virtual device
1. Double-click on the name of the virtual device.
2. Change the name and confirm with the Enter key.
Removing a virtual device
1. Right-click on the virtual device.
2. Select Delete device in the context menu.
Fig. 6-12: Virtual device
1 Input box for the port number
2 Button for adding a port
3 Ports of the virtual device
6.8.4
Rearranging the topology
Description
The topology can be rearranged either manually or automatically.
Precondition
• The topology view is open.
• The Topology diagram tab is selected.
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Procedure
Manual rearrangement:
• Re-arrange the devices and connecting cables by means of
drag&drop.
Automatic rearrangement:
• Right-click in the empty space and select the desired arrangement
type from the context menu.
‒ Rearrange in grid topology
‒ Rearrange in circular topology
6.9
Safety interface via PROFIsafe (optional)
6.9.1
Safety functions via PROFIsafe (KSS)
Description
The exchange of safety-relevant signals between the controller and the
system is carried out via PROFIsafe. The assignment of the input and output states in the PROFIsafe protocol is listed below. In addition, non-safety-oriented information from the safety controller is sent to the non-safe
section of the higher-level controller for the purpose of diagnosis and control.
Start-up of the PROFIsafe interface must be carried out using the
checklist in accordance with IEC 61784-5-3. In particular, this must ensure error-free addressing, restoration of the connection and adequate
signal quality.
Reserved bits
Reserved safety-oriented inputs can be pre-assigned by a PLC with the
values 0 or 1. In both cases, the manipulator will move. If a safety function is assigned to a reserved input (e.g. in the case of a software update)
and if this input is preset with the value 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.
This prevents the safety controller from unexpectedly stopping the manipulator.
The 64 safe inputs and outputs described below are indicated in yellow
in the WorkVisual mapping editor.
Input byte 0
Bit
0
Signal
Description
RES
Reserved 1
The value 1 must be assigned to the input.
1
NHE
Input for external Emergency Stop
0 = external E-STOP is active
1 = external E-STOP is not active
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Bit
2
Signal
Description
BS
Operator safety
0 = operator safety is not active, e.g. safety gate
open
1 = operator safety is active
3
QBS
Acknowledgement of operator safety
Precondition for acknowledgment of operator safety
is the signal "Operator safety active" set in the BS
bit.
Note: If the “BS” signal is acknowledged by the
system, this must be specified under Hardware options in the safety configuration. Information is contained in the Operating and Programming Instructions for System Integrators.
0 = operator safety has not been acknowledged
Edge 0 ->1 = operator safety has been acknowledged
4
SHS1
Safety STOP 1 (all axes)
• FF (motion enable) is set to 0.
• Voltage US2 is switched off.
• AF (drives enable) is set to 0 after 1.5 s.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safety stop is active
1 = safety stop is not active
5
SHS2
Safety STOP 2 (all axes)
• FF (motion enable) is set to 0.
• Voltage US2 is switched off.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safety stop is active
1 = safety stop is not active
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6
RES
-
7
RES
-
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Input byte 1
Bit
0
Signal
Description
US2
Supply voltage US2 (signal for switching the second
supply voltage, US2, without battery backup)
If this output is not used, it should be set to 0.
0 = switch off US2
1 = switch on US2
Note: Whether and how input US2 is used must be
specified under Hardware options in the safety
configuration. Information is contained in the Operating and Programming Instructions for System Integrators.
1
SBH
Safe operational stop (all axes)
Prerequisite: All axes are stationary
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safe operational stop is active.
1 = safe operational stop is not active.
2
RES
Reserved 11
The value 1 must be assigned to the input.
3
RES
Reserved 12
The value 1 must be assigned to the input.
4
RES
Reserved 13
The value 1 must be assigned to the input.
5
RES
Reserved 14
The value 1 must be assigned to the input.
6
RES
Reserved 15
The value 1 must be assigned to the input.
7
SPA
System Powerdown Acknowledge
The system confirms that it has received the powerdown signal. A second after the “SP” (System Powerdown) signal has been set by the controller, the
requested action is executed, without the need for
confirmation from the PLC, and the controller shuts
down.
0 = confirmation is not active
1 = confirmation is active
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Output byte 0
Bit
0
Signal
Description
NHL
Local E-STOP (local E-STOP triggered)
0 = local E-STOP is active
1 = local E-STOP is not active
1
AF
Drives enable (the internal safety controller of the
robot controller has enabled the drives so that they
can be switched on)
0 = drives enable is not active (the robot controller
must switch the drives off)
1 = drives enable is active (the robot controller
must switch the drives to servo-control)
2
FF
Motion enable (the internal safety controller of the
robot controller has enabled robot motions)
0 = motion enable is not active (the robot controller
must stop the current motion)
1 = motion enable is active (the robot controller
may trigger a motion)
3
ZS
The signal ZS (enabling) is set to 1 (active) if the
following conditions are met:
• One of the enabling switches on the smartPAD
is in the center position (enabling signal has
been issued).
• T1 or T2 mode
• External enabling signal has been issued (signal
ZSE1/ZSE2).
• Robot can be moved (no external
EMERGENCY STOP, safety stop, etc.).
4
PE
The signal “Peri enabled” is set to 1 (active) if the
following conditions are met:
• Drives are switched on.
• Safety controller motion enable signal present.
• The message “Operator safety open” must not
be active.
(>>> "Signal “Peri enabled” (PE)" Page 57)
5
AUT
The manipulator is in AUT or AUT EXT mode.
0 = AUT or AUT EXT mode is not active
1 = AUT or AUT EXT mode is active
6
T1
The manipulator is in Manual Reduced Velocity
mode.
0 = T1 mode is not active
1 = T1 mode is active
7
T2
The manipulator is in Manual High Velocity mode.
0 = T2 mode is not active
1 = T2 mode is active
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Output byte 1
Bit
0
Signal
NHE
Description
External E-STOP has been triggered.
0 = external E-STOP is active
1 = external E-STOP is not active
1
BSQ
Operator safety acknowledged
0 = operator safety is not assured
1 = operator safety is assured (input BS = 1 and, if
configured, input QBS acknowledged)
2
SHS1
Safety stop 1 (all axes)
0 = Safety stop 1 is not active
1 = Safety stop 1 is active (safe state reached)
3
SHS2
Safety stop 2 (all axes)
0 = Safety stop 2 is not active
1 = Safety stop 2 is active (safe state reached)
4
RES
Reserved 13
5
RES
Reserved 14
6
PSA
Safety interface active
Precondition: The Ethernet interface PROFINET
must be installed on the controller.
0 = safety interface is not active
1 = safety interface is active
7
SP
System Powerdown (controller will be shut down)
One second after the SP signal has been set, the
PSA output is reset by the robot controller, without
confirmation from the PLC, and the controller is
shut down.
0 = controller on safety interface is active.
1 = controller will be shut down
Signal “Peri enabled” (PE)
The signal “Peri enabled” is set to 1 (active) if the following conditions are
met:
• Drives are switched on.
• Safety controller motion enable signal present.
• The message “Operator safety open” must not be active.
This message is not active in the modes T1 and T2.
“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.
• Activation of the signal “Safe operational stop” with the manipulator
stationary:
Release the brakes, switch drives to servo-control and monitor for restart. “Peri enabled” remains active.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
‒ Signal “Motion enable” remains active.
‒ US2 voltage (if present) remains active.
‒ Signal “Peri enabled” remains active.
“Peri enabled” in conjunction with the signal “Safety stop 2”
• In the case of activation of the signal “Safety stop 2”:
‒
‒
‒
‒
‒
‒
‒
‒
6.9.2
Stop 2 of the manipulator.
Signal “Drive enable” remains active.
Brakes remain released.
Manipulator remains under servo-control.
Monitoring for restart active.
Signal “Motion enable” is deactivated.
US2 voltage (if present) is deactivated.
Signal “Peri enabled” is deactivated.
Safety functions via PROFIsafe (VSS)
Description
The exchange of safety-relevant signals between the controller and the
system is carried out via PROFIsafe. The assignment of the input and output states in the PROFIsafe protocol is listed below. In addition, non-safety-oriented information from the safety controller is sent to the non-safe
section of the higher-level controller for the purpose of diagnosis and control.
Start-up of the PROFIsafe interface must be carried out using the
checklist in accordance with IEC 61784-5-3. In particular, this must ensure error-free addressing, restoration of the connection and adequate
signal quality.
Reserved bits
Reserved safety-oriented inputs can be pre-assigned by a PLC with the
values 0 or 1. In both cases, the manipulator will move. If a safety function is assigned to a reserved input (e.g. in the case of a software update)
and if this input is preset with the value 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.
This prevents the safety controller from unexpectedly stopping the manipulator.
The 64 safe inputs and outputs described below are indicated in yellow
in the WorkVisual mapping editor.
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Input byte 0
Bit
0
Signal
Description
RES
Reserved 1
The value 1 must be assigned to the input.
1
NHE
Input for external Emergency Stop
0 = external E-STOP is active
1 = external E-STOP is not active
2
BS
Operator safety
Input for access to the protected area. Signal triggers a Stop 1 in Automatic mode. Cancellation of
this function must be acknowledged, as the manipulator must not be allowed to resume motion if, for
example, a safety gate accidentally closes itself.
0 = operator safety is not active, e.g. safety gate
open
1 = operator safety is active
3
QBS
Acknowledgement of operator safety
Precondition for acknowledement of operator safety
is the signal "Operator safety active" set in the BS
bit.
Note: If the “BS” signal is acknowledged by the
system, this must be specified under Hardware options in the safety configuration. Information is contained in the Operating and Programming Instructions for System Integrators.
0 = operator safety has not been acknowledged
Edge 0 ->1 = operator safety has been acknowledged
4
SHS1
Safety STOP 1 (all axes)
• FF (motion enable) is set to 0.
• Voltage US2 is switched off.
• AF (drives enable) is set to 0 after 1.5 s.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safety stop is active
1 = safety stop is not active
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Bit
Signal
Description
5
SHS2
Safety STOP 2 (all axes)
• FF (motion enable) is set to 0.
• Voltage US2 is switched off.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safety stop is active
1 = safety stop is not active
6
E2
E2 keyswitch (customer-specific signal for mode selection)
0 = E2 keyswitch is not active
1 = E2 keyswitch is active
7
E7
E7 keyswitch (customer-specific signal for mode selection)
0 = E7 keyswitch is not active
1 = E7 keyswitch is active
Input byte 1
Bit
0
Signal
Description
US2
Supply voltage US2 (signal for switching the second
supply voltage, US2, without battery backup)
If this output is not used, it should be set to 0.
0 = switch off US2
1 = Switch on US2
Note: Whether and how input US2 is used must be
specified under Hardware options in the safety
configuration. Information is contained in the Operating and Programming Instructions for System Integrators.
1
SBH
Safe operational stop (all axes)
Precondition: All axes are stationary
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY STOP function.
0 = safe operational stop is active.
1 = safe operational stop is not active.
2
RES
Reserved 11
The value 1 must be assigned to the input.
3
RES
Reserved 12
The value 1 must be assigned to the input.
4
RES
Reserved 13
The value 1 must be assigned to the input.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Bit
5
Signal
Description
RES
Reserved 14
The value 1 must be assigned to the input.
6
RES
Reserved 15
The value 1 must be assigned to the input.
7
SPA
System Powerdown Acknowledge
The system confirms that it has received the powerdown signal. A second after the “SP” (System Powerdown) signal has been set by the controller, the
requested action is executed, without the need for
confirmation from the PLC, and the controller shuts
down.
0 = confirmation is not active
1 = confirmation is active
Output byte 0
Bit
0
Signal
Description
NHL
Local E-STOP (local E-STOP triggered)
0 = local E-STOP is active
1 = local E-STOP is not active
1
AF
Drives enable (the internal safety controller of the
robot controller has enabled the drives so that they
can be switched on)
0 = drives enable is not active (the robot controller
must switch the drives off)
1 = drives enable is active (the robot controller
must switch the drives to servo-control)
2
FF
Motion enable (the internal safety controller of the
robot controller has enabled robot motions)
0 = motion enable is not active (the robot controller
must stop the current motion)
1 = motion enable is active (the robot controller
may trigger a motion)
3
ZS
The signal ZS (enabling) is set to 1 (active) if the
following conditions are met:
• One of the enabling switches on the smartPAD
is in the center position (enabling signal has
been issued).
• T1 or T2 mode
• External enabling signal has been issued (signal
ZSE1/ZSE2).
• Robot can be moved (no external
EMERGENCY STOP, safety stop, etc.).
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Bit
4
Signal
Description
PE
The signal “Peri enabled” is set to 1 (active) if the
following conditions are met:
• Drives are switched on.
• Safety controller motion enable signal present.
• The message “Operator safety open” must not
be active.
(>>> "Signal “Peri enabled” (PE)" Page 57)
5
EXT
The manipulator is in EXT mode.
0 = EXT mode is not active
1 = EXT mode is active
6
T1
The manipulator is in Manual Reduced Velocity
mode.
0 = T1 mode is not active
1 = T1 mode is active
7
T2
The manipulator is in Manual High Velocity mode.
0 = T2 mode is not active
1 = T2 mode is active
Output byte 1
Bit
0
Signal
NHE
Description
External E-STOP has been triggered.
0 = external E-STOP is active
1 = external E-STOP is not active
1
BSQ
Operator safety acknowledged
0 = operator safety is not assured
1 = operator safety is assured (input BS = 1 and, if
configured, input QBS acknowledged)
2
SHS1
Safety stop 1 (all axes)
0 = Safety stop 1 is not active
1 = Safety stop 1 is active (safe state reached)
3
SHS2
Safety stop 2 (all axes)
0 = Safety stop 2 is not active
1 = Safety stop 2 is active (safe state reached)
4
RES
Reserved 13
5
RES
Reserved 14
6
PSA
Safety interface active
Precondition: The Ethernet interface PROFINET
must be installed on the controller.
0 = safety interface is not active
1 = safety interface is active
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Bit
7
Signal
SP
Description
System Powerdown (controller will be shut down)
One second after the SP signal has been set, the
PSA output is reset by the robot controller, without
confirmation from the PLC, and the controller is
shut down.
0 = controller on safety interface is active.
1 = controller will be shut down
6.9.3
SafeOperation via PROFIsafe (optional)
Description
The components of the industrial robot move within the limits that have
been configured and activated. The actual positions are continuously calculated and monitored against the safety parameters that have been set.
The safety controller monitors the industrial robot by means of the safety
parameters that have been set. If a component of the industrial robot violates a monitoring limit or a safety parameter, the manipulator and
external axes (optional) are stopped. The PROFIsafe interface can be
used, for example, to signal a violation of safety monitoring functions.
Reserved bits
Reserved safety-oriented inputs can be pre-assigned by a PLC with the
values 0 or 1. In both cases, the manipulator will move. If a safety function is assigned to a reserved input (e.g. in the case of a software update)
and if this input is preset with the value 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.
This prevents the safety controller from unexpectedly stopping the manipulator.
Input byte 2
Bit
Signal
Description
0
JR
Mastering test (input for the reference switch
of the mastering test)
0 = reference switch is active (actuated).
1 = reference switch is not active (not actuated).
1
VRED
Reduced axis-specific and Cartesian velocity
(activation of reduced velocity monitoring)
0 = reduced velocity monitoring is active.
1 = reduced velocity monitoring is not active.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Bit
Signal
Description
2 … 7
SBH1 … 6
Safe operational stop for axis group 1 ... 6
Assignment: Bit 2 = axis group 1 … bit 7 =
axis group 6
Signal for safe operational stop. The function
does not trigger a stop, it only activates the
safe standstill monitoring. Cancelation of this
function does not require acknowledgement.
0 = safe operational stop is active.
1 = safe operational stop is not active.
Input byte 3
Bit
Signal
Description
0 … 7
RES
Reserved 25 … 32
The value 1 must be assigned to the inputs.
Input byte 4
Bit
Signal
Description
0 … 7
UER1 … 8
Monitoring spaces 1 … 8
Assignment: Bit 0 = monitoring space 1 … bit
7 = monitoring space 8
0 = monitoring space is active.
1 = monitoring space is not active.
Input byte 5
Bit
Signal
Description
0 … 7
UER9 … 16
Monitoring spaces 9 … 16
Assignment: Bit 0 = monitoring space 9 … bit
7 = monitoring space 16
0 = monitoring space is active.
1 = monitoring space is not active.
Input byte 6
Bit
Signal
Description
0 … 7
WZ1 … 8
Tool selection 1 … 8
Assignment: Bit 0 = tool 1 … bit 7 = tool 8
0 = tool is not active.
1 = tool is active.
Exactly one tool must be selected at all times.
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Input byte 7
Bit
Signal
Description
0 … 7
WZ9 … 16
Tool selection 9 … 16
Assignment: Bit 0 = tool 9 … bit 7 = tool 16
0 = tool is not active.
1 = tool is active.
Exactly one tool must be selected at all times.
Output byte 2
Bit
Signal
Description
0
SO
Activation status of the safety option
0 = safety option is not active.
1 = safety option is active
1
RR
Robot referenced
Mastering test display
0 = mastering is not referenced.
1 = mastering test performed successfully.
2
JF
Mastering error
The space monitoring is deactivated if at least
one axis is not mastered.
0 = mastering error. Space monitoring has
been deactivated.
1 = no error.
3
VRED
Reduced axis-specific and Cartesian velocity
(activation status of reduced velocity monitoring)
0 = reduced velocity monitoring is not active.
1 = reduced velocity monitoring is active.
4 … 7
SBH1 ... 4
Activation status of safe operational stop for
axis group 1 ... 4
Assignment: Bit 4 = axis group 1 … bit 7 =
axis group 4
0 = safe operational stop is not active.
1 = safe operational stop is active.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Output byte 3
Bit
Signal
Description
0 … 1
SBH5 … 6
Activation status of safe operational stop for
axis group 5 ... 6
Assignment: Bit 0 = axis group 5 … bit 1 =
axis group 6
0 = safe operational stop is not active.
1 = safe operational stop is active.
2
SOS
Safe Operation Stop
0 = a safety function has triggered a stop.
The output remains in the “0” state for at least
200 ms.
1 = none of the safety functions has triggered
a stop.
Note: The output SOS is available in System
Software 8.3 or higher. In System Software
8.2 or lower, bit 2 is a spare bit.
3 … 7
RES
Reserved 28 ... 32
Bit
Signal
Description
0 … 7
MR1 … 8
Alarm space 1 … 8
Output byte 4
Assignment: Bit 0 = alarm space 1 (associated monitoring space 1) … bit 7 = alarm
space 8 (associated monitoring space 8)
0 = space is violated.
1 = space is not violated.
Note: The signal is only set to 1 in the event
of a workspace violation if the corresponding
monitoring space is active, i.e. it must have
been configured as “always active” or switched to active by means of the corresponding
PROFIsafe input (input byte 4).
Output byte 5
Bit
Signal
Description
0 … 7
MR9 … 16
Alarm space 9 … 16
Assignment: Bit 0 = alarm space 9 (associated monitoring space 9) … bit 7 = alarm
space 16 (associated monitoring space 16)
0 = space is violated.
1 = space is not violated.
Note: The signal is only set to 1 in the event
of a workspace violation if the corresponding
monitoring space is active, i.e. it must have
been configured as “always active” or switched to active by means of the corresponding
PROFIsafe input (input byte 5).
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Output byte 6
Bit
Signal
Description
0 … 7
RES
Reserved 49 ... 56
Bit
Signal
Description
0 … 7
RES
Reserved 57 ... 64
Output byte 7
6.9.4
Schematic circuit diagram of PROFIsafe enabling switch
Description
An external enabling switch can be connected to the higher-level safety
controller. The signals (ZSE make contact and External panic break contact) must be correctly linked to the PROFIsafe signals in the safety controller. The resulting PROFIsafe signals must then be routed to the PROFIsafe of the robot controller. The response to the external enabling switch
is then identical to that for a discretely connected X11.
Signals
Fig. 6-13: Schematic circuit diagram of external enabling switch
• Enabling switch center position (make contact closed (1) = enabled)
OR AUT at SHS2
• Panic (break contact open (0) = panic position) = AND not AUT at
SHS1
6.9.5
Logging off the higher-level safety controller
Description
On switching off the robot controller, the connection to the higher-level
safety controller is terminated. This termination is announced so that an ESTOP does not have to be triggered for the entire system. When the robot controller is shutting down, it sends the signal System Powerdown
[SP=1] to the higher-level safety controller, triggering a Stop 1. The higher-level safety controller confirms the request with the signal System Powerdown Acknowledge [SPA=1]. Once the controller is restarted and communication is re-established with the higher-level safety controller, the signal Safety interface active [PSA=1] is set. The following diagrams show
the behavior on switching on and off.
Shutdown
The following example shows shutdown of the robot controller by a higherlevel controller using the KS signal. The robot controller sets the signals
“Drive bus deactivated [AB]” and “Controller operational readiness [BBS]”
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
accordingly and logs off from the PROFIsafe Bus via safety-oriented signals.
Fig. 6-14: Logging off systems from the higher-level controller
Shutdown to power save mode 0 - Hibernate is carried out in accordance with the timing shown. Instead of the KS signal, the HIB signal
must be activated by the higher-level controller for at least 200 ms.
Power save mode
The following example shows how the robot controller is put into power
save mode 2 and back into the operating state by a higher-level controller
using the AB signal. The robot controller remains logged on to the PROFINET/PROFIsafe Bus.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 6-15: Power save mode 2
Switching on via WakeOnLAN
The following example shows switch-on of the robot controller by a higherlevel controller via WakeOnLAN. After receiving a Magic Packet for WakeOnLAN, the robot controller signals operational readiness via BBS. The
PROFIsafe status is indicated via safety-oriented signals via PSA.
Fig. 6-16: Switching on via WakeOnLAN
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.9.6
Checking via PLC whether the safety configuration has been changed
Description
The activation code of the safety configuration can be stored on the PLC.
Whenever the controller establishes a PROFIsafe connection to the PLC,
the PLC returns the code to the safety controller. The safety controller
compares the received code with its current code. If the codes do not
match, certain responses occur.
The comparison checks whether the local safety configuration has been
modified.
If the codes do not match, the following responses occur on the robot
controller.
• Safety stop 1 (if Start-up mode is not active)
• Message: Checksum comparison error. PLC: {Stored checksum}, safety configuration: {Activation code of the safety configuration}
• The safety controller signals the following PROFINET alarm to the
PLC: 0x004B (75): Inconsistent iParameters (iParCRC error)
• Message: Safe device communication error {Device}
• No PROFIsafe connection between controller and PLC
If the activation code on the PLC is changed, this results in a new PROFIsafe connection being established between the controller and the PLC.
The PLC then sends the activation code to the safety controller again. If
the correct code has now been sent, the robot can immediately be moved
again.
Precondition
• Field bus: PROFINET
• Safety Interface: PROFIsafe
• A current device description file of the KUKA controller is present on
the PLC.
Preparation
The activation code of the safety controller must be determined. There are
two options for this.
Read activation code in diagnostic monitor:
1. Main menu Diagnosis > Diagnostic monitor
2. Select the Safety controller (HnfHlp) area in the Module box.
3. The line Activation code, controller now displays the code.
Or: read activation code in safety controller:
1. Main menu Configuration > Safety configuration
2. Tab Common, group Parameter data set, box Activation code
Procedure
Store an activation code in the PLC:
• On the PLC, enter the activation code manually in the PROFIsafe F
parameter “F_iPar_CRC”.
• Or: Transfer the activation code via a non-safe channel, e.g. via “I&M4
data”.
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Certain F_iPar_CRC assignments are reserved for special cases. If
these activation codes appear in a real safety configuration, substitute
values must be entered in F_iPar_CRC. The substitute values are considered to be valid activation codes for these configurations.
• Real activation code: 0x00
Enter as substitute value: 0x01
• Real activation code: 0xFFFFFFFF
Enter as substitute value: 0xFFFFFFFE
Start-up mode
To deactivate the comparison for safety start-up, 0xFFFFFFFF can be entered as the activation code on the PLC. When the safety controller receives 0xFFFFFFFF, no comparison is carried out.
Diagnostic monitor
In addition to the current activation code, the diagnostic monitor also displays the following information:
• The activation code received from the PLC
• The comparison status
Status
Meaning
Waiting for activation code
The safety controller has not yet received an activation code from the PLC.
Active, comparison successful
The safety controller has received an activation code
from the PLC. It matches the code on the controller.
Active, comparison failed
The safety controller has received an activation code
from the PLC. It does not match the code on the
controller.
Deactivated
The safety controller has received the activation code
0xFFFFFFFF from the PLC. It does not perform a
comparison.
F parameters
Relevant F parameters:
It is possible that not all parameters are visible on the configuration interface of the PLC.
Parameter
Description
F_iPar_CRC
Contains the activation code to be transferred.
Default: 0xFFFFFFFF, i.e. no comparison is carried
out. (Corresponds to status = deactivated)
F_Block_ID
Must have the value 1 in order to enable performance of the comparison. If the value is 0, no evaluation of the iParameters is carried out, irrespective of
the value in F_iPar_CRC.
Default: 1
F_Check_iPar
Unchangeable setting: NoCheck
“NoCheck” means that no further iParameters are
transferred for checking. The value is not visible on
most configuration interfaces.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6.10
Exporting a PROFINET configuration
The configuration created with WorkVisual can be exported into an XML
file. Different parts of the configuration can be exported:
• Configuration of the PROFINET node
(>>> 6.10.1 "Exporting the configuration of the PROFINET node"
Page 72)
• Configuration of a PROFINET device
(>>> 6.10.2 "Exporting the configuration of a PROFINET device"
Page 72)
• Entire PROFINET configuration
(>>> 6.10.3 "Exporting the entire PROFINET configuration" Page 73)
6.10.1
Exporting the configuration of the PROFINET node
The PROFINET node contains the PROFINET configuration of the robot
controller without lower-level PROFINET devices.
Precondition
• The project is open.
• The robot controller has been set as the active controller.
• The PROFINET node is configured.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the PROFINET node in the tree structure and select
Functions > Export Profinet... from the context menu.
3. A window opens. Enter a file name and select a directory.
4. Click on Save. The configuration of the PROFINET node is exported
into an XML file with the file extension KPNX.
6.10.2
Exporting the configuration of a PROFINET device
Precondition
• The project is open.
• The robot controller has been set as the active controller.
• The PROFINET device is configured.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the PROFINET device in the tree structure and select
Functions > Export Profinet... from the context menu.
3. A window opens. Enter a file name and select a directory.
4. Click on Save. The configuration of the PROFINET device is exported
in an XML file with the file extension KPNX.
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6.10.3
Exporting the entire PROFINET configuration
The entire PROFINET configuration contains the configuration of the PROFINET node as well as all lower-level PROFINET devices.
Precondition
• The project is open.
• The robot controller has been set as the active controller.
• PROFINET is configured.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the PROFINET node in the tree structure and select
Functions > Export Profinet (recursive)... from the context menu.
3. A window opens. Enter a file name and select a directory.
4. Click on Save. The entire PROFINET configuration is exported into an
XML file with the file extension KPNX.
6.11
Importing a PROFINET configuration
If a PROFINET configuration already exists in the project, it is overwritten during import and all mappings are deleted! A partial import is not
possible.
Precondition
• A project is open.
• The robot controller has been set as the active controller.
Procedure
1.
2.
3.
4.
Select the menu sequence File > Import / Export. A window opens.
Select Import Profinet XML. and click on Next >.
Click on Browse... and specify a directory.
Only if the names from the PROFINET configuration are to be displayed in the tree structure: Set the check mark at Set display name.
5. Click on Finish. The PROFINET configuration is imported.
6. Close the window.
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Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Configuration
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
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7
Operation
7.1
Decoupling PROFINET devices via the smartHMI
Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Description
For certain applications, e.g. tool change, it is necessary to decouple
PROFINET devices.
PROFINET devices can be decoupled via the smartHMI independently of
a program. The KRL function IOCTL is used to send a decoupling command to the bus driver.
IOCTL commands
There are 2 IOCTL commands for decoupling, each of which has different
applications and effects:
• IOCTL command 1060:
‒ In order to be able to operate a device alternately with different robots, IOCTL command 1060 is required for decoupling. The command can also be used if the device is operated on just one robot.
‒ The output map of the device is reset to zero immediately after decoupling. If the device is disconnected from the network briefly and
then reconnected, the output map is not restored.
• IOCTL command 60:
‒ This IOCTL command can only be used if the device is operated
on just one robot. It is only still available for compatibility reasons.
‒ On decoupling, the output map on the device is retained. If the device is disconnected from the network briefly and then reconnected, the output map is restored.
Properties of decoupled devices
• If decoupled devices are disconnected from the bus or the power supply, no error is triggered.
• All I/O operations on decoupled devices remain without effect.
• Decoupled devices cannot carry out error treatment in the case of
read/write errors.
• The device inputs are set to zero on decoupling.
Option Is Active
In an application with a tool changer system, not all devices are permanently coupled. In the case of a cold restart or reconfiguration of the I/O
driver, decoupled devices would directly trigger a bus error. This can be
prevented using the option Is Active:
• Check box active: error message
• Check box not active: no error message
The option can be set in the device data in WorkVisual.
(>>> 6.5.2.2 "Device settings" Page 43)
If the check box for the option Is Active is not activated for a device,
the device is automatically decoupled in the case of a reboot or reconfiguration of the I/O driver. In order to establish a connection with the device, it must be recoupled using the IOCTL command.
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Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Precondition
• User rights:
‒ KSS: Function group General configuration
‒ VSS: User group “User”
Procedure
1. In the main menu, select Display > Variable > Single.
2. In the Name box, enter:
• When using the device on one robot:
=IOCTL("PNIO-CTRL",60,User ID)
• When using the device on one or more robots:
=IOCTL("PNIO-CTRL",1060,User ID)
Element
Description
IOCTL
KRL function for sending commands to the bus
driver
PNIO-CTRL
Name of the bus driver
60/1060
IOCTL command for decoupling devices
User ID
User ID of the device that is to be decoupled
The user ID is displayed in WorkVisual in the User ID: box in the
device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
3. Confirm by pressing the Enter key. The device is decoupled.
Return values
7.2
Value
Description
0
IOCTL command was executed successfully.
1
IOCTL command could not be executed in the prescribed
time.
2
The KRL function IOCTL contains an incorrect parameter.
Coupling PROFINET devices via the smartHMI
Description
For certain applications, e.g. tool change, it is necessary to couple PROFINET devices.
PROFINET devices can be coupled via the smartHMI independently of a
program. The KRL function IOCTL is used to send a coupling command
to the bus driver.
IOCTL commands
There are 2 IOCTL commands for coupling, each of which has different
applications and effects:
• IOCTL command 1050: In order to be able to operate a device alternately with different robots, IOCTL command 1050 is required for coupling. The command can also be used if the device is operated on just
one robot.
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• IOCTL command 50: This IOCTL command can only be used if the
device is operated on just one robot. It is only still available for compatibility reasons.
Time required
• The IOCTL command for coupling is executed synchronously. A return
value is not displayed until the device is functional and can be written
to once again. If a coupled device is not functional, e.g. because it is
disconnected from the bus or supply voltage, a message is displayed
after a default wait time of 10 s.
• Fast Startup can be activated in order to accelerate start-up of a device after coupling.
(>>> 6.5.2.4 "Activating Fast Startup (FSU)" Page 46)
Precondition
• User rights:
‒ KSS: Function group General configuration
‒ VSS: User group “User”
Procedure
1. In the main menu, select Display > Variable > Single.
2. In the Name box, enter:
• When using the device on one robot:
=IOCTL("PNIO-CTRL",50,User ID)
• When using the device on one or more robots:
=IOCTL("PNIO-CTRL",1050,User ID)
Element
Description
IOCTL
KRL function for sending commands to the bus
driver
PNIO-CTRL
Name of the bus driver
50/1050
IOCTL command for coupling devices
User ID
User ID of the device that is to be coupled
The user ID is displayed in WorkVisual in the User ID: box in the
device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
3. Confirm by pressing the Enter key. The device is coupled.
Return values
Value
Description
0
IOCTL command was executed successfully.
1
IOCTL command could not be executed in the prescribed
time.
2
The KRL function IOCTL contains an incorrect parameter.
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Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
7.3
Activating or deactivating bus errors via the smartHMI
Description
As standard, bus errors are enabled. This leads to a stop and/or inhibits
active commands if a bus error occurs. Bus errors can be disabled and
re-enabled using the KRL function IOCTL. Enabling or disabling can be
carried out via the smartHMI independently of a program.
Disabling bus errors is possible for one or more bus instances. If bus errors are disabled, the response is as follows:
• Bus error: no stop and/or inhibition of active commands
• Bus error: no error message in the message window of the smartHMI
• The following message is displayed in the message window of the
smartHMI:
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.
Whether or not a bus error has occurred can be read in this case via the
system variable $IOBUS_INFO.
Precondition
• User rights:
‒ KSS: Function group General configuration
‒ VSS: User group “User”
Procedure
1. In the main menu, select Display > Variable > Single.
2. In the Name box, enter:
• To deactivate bus errors:
=IOCTL("KRC->PNIO-CTRL", 1, 1)
• To activate bus errors:
=IOCTL("KRC->PNIO-CTRL", 1, 0)
Element
Description
IOCTL
KRL function for sending commands to the bus
driver
PNIO-CTRL
Name of the bus driver
1, 1
IOCTL command for deactivating bus errors
1, 0
IOCTL command for activating bus errors
3. Confirm by pressing the Enter key.
Return values
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Value
Description
0
IOCTL command was executed successfully.
-1
The specified bus driver was not found.
-3
The KRL function IOCTL contains an incorrect parameter.
-4
Enabling is not permissible because a bus error has occurred.
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
7.4
Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
PROFIenergy commands
Description
Using PROFIenergy commands, the PLC can signal to the robot controller
to change the state or query information. In order to be able to change
the state, the robot controller must be in AUT EXT mode (KSS) or EXT
mode (VSS).
Fig. 7-1: Example: Using commands (schematic sequence)
Commands
The following PROFIenergy commands are supported:
Command
Description
Start_Pause
The robot controller switches to the Drive
bus OFF state.
End_Pause
The robot controller comes back out of Hibernate / Drive bus OFF.
Start_Pause_with_time_response
Queries the total time required by the robot controller to switch state (toff, ton and
toff_min).
Info_Sleep_WOL
Determines information about the
PE_sleep_mode_WOL state from the device.
Go_WOL
Switches a device to the
PE_sleep_mode_WOL state (Hibernate).
Query_Version
Queries the version of the PROFIenergy
protocol.
List_Modes
Displays a list of energy-saving modes
supported by the controller.
Get_Mode
Requests information about a specific energy-saving mode.
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Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Command
Description
Get_Measurement_List
Requests the IDs of all supported measurements.
The robot controller provides 5 measurement values:
• ID = 0xE001: current energy consumption; average value in kW over 100 ms
• ID = 0xE002: energy consumption of
last hour in kW/h
• ID = 0xE003: energy consumption in
kW/h between start and stop of measurement
• ID = 0xE004: energy consumption
since last cold restart in kW/h
• ID = 0xE005: energy consumption
since last interim in kW/h
Note: An interim is created in KRL with
the function InterimEnergy(interimInfo).
Get_Measurement_Values
Requests the measurement values using
the IDs from Get_Measurement_List.
PLC manufacturers provide modules for controlling the commands.
Some commands are executed automatically by the PLC; they cannot
be executed by the user.
The use of PROFIenergy commands is described and additional information about them are provided in the Siemens documentation Common Application Profile PROFIenergy.
7.5
Power management via PROFINET
Description
The following signals are available for activating or deactivating different
power save modes and for detecting the states of the robot controller.
These functions are only executed in EXT mode, not in T1 or T2.
Power management is not the same as PROFIenergy. The power management signals are configured in the file CabCtrl.xml in the directory
C:\KRC\ROBOTER\Config\User\Common.
It is not possible to combine PROFIenergy and power management.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Input byte 0
Bit
0
Signal
AB
Description
Drive bus
0 = activate drive bus, condition: HIB = 0 and
KS = 0
1 = deactivate drive bus, condition: HIB = 0
and KS = 0
1
HIB
Hibernate
0 = no function
1 = initiate Hibernate on the controller, condition: AB = 0 and KS = 0
2
KS
Cold start
0 = no function
1 = initiate cold start of the controller, condition: AB = 0 and HIB = 0
3 … 7
RES
Spare
Output byte 0
Bit
0
Signal
AB
Description
Drive bus
0 = drive bus activated
1 = drive bus deactivated
1
BBS
Operational readiness of the robot controller
0 = robot controller not ready
1 = robot controller ready
2 … 7
7.6
RES
Spare
Displaying user rights (KSS only)
Description
The functions of a software package are assigned various function groups.
In the rights management, the minimum user group required to execute a
function is defined for each function group.
• The administrator can assign other user groups to the function groups.
• The assignment of the individual functions to the function groups cannot be changed.
• Every user can display which user groups are currently assigned to
which function groups.
Further information about function groups and user rights is contained in
the operating and programming instructions for the KUKA System Software (KSS).
If a function group is relevant for a procedure, this is indicated under Precondition.
Procedure
The user groups assigned to the function groups can be displayed:
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Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Operation
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
1. In the main menu, select Start-up > Rights management.
The Rights management window opens.
2. Select the Function groups tab.
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8
Programming
8.1
Decoupling PROFINET devices via KRL
Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Description
For certain applications, e.g. tool change, it is necessary to decouple
PROFINET devices.
PROFINET devices can be decoupled within a program during the runtime. For this, a command for decoupling must be programmed in the program using the KRL function IOCTL.
IOCTL commands
There are 2 IOCTL commands for decoupling, each of which has different
applications and effects:
• IOCTL command 1060:
‒ In order to be able to operate a device alternately with different robots, IOCTL command 1060 is required for decoupling. The command can also be used if the device is operated on just one robot.
‒ The output map of the device is reset to zero immediately after decoupling. If the device is disconnected from the network briefly and
then reconnected, the output map is not restored.
• IOCTL command 60:
‒ This IOCTL command can only be used if the device is operated
on just one robot. It is only still available for compatibility reasons.
‒ On decoupling, the output map on the device is retained. If the device is disconnected from the network briefly and then reconnected, the output map is restored.
Properties of decoupled devices
• If decoupled devices are disconnected from the bus or the power supply, no error is triggered.
• All I/O operations on decoupled devices remain without effect.
• Decoupled devices cannot carry out error treatment in the case of
read/write errors.
• The device inputs are set to zero on decoupling.
Option Is Active
In an application with a tool changer system, not all devices are permanently coupled. In the case of a cold restart or reconfiguration of the I/O
driver, decoupled devices would directly trigger a bus error. This can be
prevented using the option Is Active:
• Check box active: error message
• Check box not active: no error message
The option can be set in the device data in WorkVisual.
(>>> 6.5.2.2 "Device settings" Page 43)
If the check box for the option Is Active is not activated for a device,
the device is automatically decoupled in the case of a reboot or reconfiguration of the I/O driver. In order to establish a connection with the device, it must be recoupled using the IOCTL command.
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Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Syntax
• When using the device on one robot:
RET = IOCTL("PNIO-CTRL",60,User ID)
• When using the device on one or more robots:
RET = IOCTL("PNIO-CTRL",1060,User ID)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
60/1060
IOCTL command for decoupling devices
User ID
User ID of the device that is to be decoupled
The user ID is displayed in WorkVisual in the User ID: box in the device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
Return values
Value
Description
0
IOCTL command was executed successfully.
1
IOCTL command could not be executed in the prescribed
time.
2
The KRL function IOCTL contains an incorrect parameter.
Example
Here, the device with the ID 3 is decoupled, depending on the tool used:
...
IF (NEXT_TOOL == GRIPPER_1) THEN
RET = IOCTL("PNIO-CTRL",1060,3)
ENDIF
...
8.2
Coupling PROFINET devices via KRL
Description
For certain applications, e.g. tool change, it is necessary to couple PROFINET devices.
PROFINET devices can be coupled within a program during the runtime.
For this, a command for coupling must be programmed in the program using the KRL function IOCTL.
IOCTL commands
There are 2 IOCTL commands for coupling, each of which has different
applications and effects:
• IOCTL command 1050: In order to be able to operate a device alternately with different robots, IOCTL command 1050 is required for cou-
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pling. The command can also be used if the device is operated on just
one robot.
• IOCTL command 50: This IOCTL command can only be used if the
device is operated on just one robot. It is only still available for compatibility reasons.
Time required
• The IOCTL command for coupling is executed synchronously. A return
value is not displayed until the device is functional and can be written
to once again. If a coupled device is not functional, e.g. because it is
disconnected from the bus or supply voltage, a message is displayed
after a default wait time of 10 s.
• Fast Startup can be activated in order to accelerate start-up of a device after coupling.
(>>> 6.5.2.4 "Activating Fast Startup (FSU)" Page 46)
Syntax
• When using the device on one robot:
RET= IOCTL("PNIO-CTRL",50,User ID)
• When using the device on one or more robots:
RET= IOCTL("PNIO-CTRL",1050,User ID)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
50/1050
IOCTL command for coupling devices
User ID
User ID of the device that is to be coupled
The user ID is displayed in WorkVisual in the User ID: box in the device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
Return values
Value
Description
0
IOCTL command was executed successfully.
1
IOCTL command could not be executed in the prescribed
time.
2
The KRL function IOCTL contains an incorrect parameter.
Example
Here, the device with the ID 5 is coupled, depending on the tool used:
...
IF (NEXT_TOOL == GRIPPER_2) THEN
RET = IOCTL("PNIO-CTRL",1050,5)
ENDIF
...
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Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
8.3
Changing the wait time for coupling PROFINET devices via KRL
Description
Some devices take longer for coupling than others. The robot controller
thus waits for a predefined time before generating an error message. The
standard predefined wait time is 10 s and can be changed within a program during the runtime. For this, a command for changing the wait time
must be programmed in the program using the KRL function IOCTL.
Syntax
RET = IOCTL("PNIO-CTRL",1001,Wait time)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
1001
IOCTL command for changing the wait time
Wait time
Time in ms that the robot controller waits before generating an error message
Return values
Value
Description
0
IOCTL command was executed successfully.
1
IOCTL command could not be executed in the prescribed
time.
2
The KRL function IOCTL contains an incorrect parameter.
Example
In this example, the value is set to 15 s (= 15000 ms):
RET = IOCTL("PNIO-CTRL",1001,15000)
8.4
Querying the state of PROFINET devices via KRL
Description
The state of PROFINET devices can be queried in a program during the
runtime. For this, a command for querying the state must be programmed
in the program using the KRL function IOCTL.
Syntax
RET = IOCTL("PNIO-CTRL",70,User ID)
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Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
70
IOCTL command for querying the state of the device
User ID
User ID of the device whose state is to be queried
The user ID is displayed in WorkVisual in the User ID: box in the device settings.
(>>> 6.5.2.2 "Device settings" Page 43)
Return values
Value
Description
4
The device is decoupled.
5
The device is coupled, but errors have occurred.
6
The device is decoupled and functioning correctly.
7
The device is decoupled but internally still active in the PROFINET controller.
Note: This state can occur, for example, if the device has
been decoupled with IOCTL command 60. In this case, the
PROFINET controller searches for the device using DCP.
8.5
Activating or deactivating bus errors via KRL
Description
As standard, bus errors are enabled. This leads to a stop and/or inhibits
active commands if a bus error occurs. Bus errors can be disabled and
re-enabled using the KRL function IOCTL. Enabling or disabling can be
carried out in a program via KRL during the runtime.
Disabling bus errors is possible for one or more bus instances. If bus errors are disabled, the response is as follows:
• Bus error: no stop and/or inhibition of active commands
• Bus error: no error message in the message window of the smartHMI
• The following message is displayed in the message window of the
smartHMI:
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.
Whether or not a bus error has occurred can be read in this case via the
system variable $IOBUS_INFO.
Syntax
• To deactivate bus errors:
RET = IOCTL("KRC->PNIO-CTRL", 1, 1)
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Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
• To activate bus errors:
RET = IOCTL("KRC->PNIO-CTRL", 1, 0)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
1, 1
IOCTL command for deactivating bus errors
1, 0
IOCTL command for activating bus errors
Return values
8.6
Value
Description
0
IOCTL command was executed successfully.
-1
The specified bus driver was not found.
-3
The KRL function IOCTL contains an incorrect parameter.
-4
Enabling is not permissible because a bus error has occurred.
Querying the energy saving mode of the robot controller via KRL
Description
The energy saving mode of the robot controller can be queried in a program during the runtime. For this, a command for querying the energy
saving mode must be programmed in the program using the KRL function
IOCTL.
Syntax
RET = IOCTL("PNIO-DEV",1002,0)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-DEV
Name of the bus driver
1002
IOCTL command for querying the energy saving mode of
the robot controller
Return values
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Value
Description
-1
An error occurred during the query.
1
The robot controller is in the Drive bus OFF state.
2
The robot controller is in the Brakes applied state.
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
8.7
Value
Description
240
The robot controller is in the Energy_Saving_Disabled state.
255
The robot controller is in the Ready_To_Operate state.
256
PROFIenergy is not initialized.
257
The robot controller is in a transitional state.
Restarting the bus system via KRL
Description
After a bus error, the bus system can be restarted in a program during
the runtime. For this, a command for restarting the bus system must be
programmed in the program using the KRL function IOCTL.
Syntax
RET = IOCTL("PNIO-CTRL",12,0)
Explanation of the syntax
Element
Description
RET
Variable for saving the return value of the KRL function
IOCTL. The variable has the data type INT and must be
declared in the program before it is used.
IOCTL
KRL function for sending commands to the bus driver
PNIO-CTRL
Name of the bus driver
12
IOCTL command for restarting the bus system
Return values
8.8
Value
Description
0
The restart of the bus system was successful.
3
The restart of the bus system failed.
Acyclic communication
In addition to typical I/O communication, asynchronous communication
may also be necessary between applications and the I/O driver.
Examples:
• Requesting data from the higher-level controller.
• Parameterizing I/O modules during operation. (Only possible for modules with the relevant functionality.)
8.8.1
Configuring the robot controller
In order to enable acyclic communication, the robot controller must be
configured accordingly. The procedure is different depending on whether
the acyclic communication is with the higher-level controller or a lower-level device or is used in both directions.
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Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Precondition
• The PROFINET controller or device has been mapped to KRL inputs
and outputs in WorkVisual.
• “Expert” user group
Procedure for 1 direction
1. Only for acyclic communication with the higher-level controller or with
a lower-level device:
a. Open the file AsyncDataToKrl.xml in the directory C:\KRC\ROBOTER\Config\User\Common.
b. Specify the appropriate driver in the <IODriver IODrvName="PNIODEV" /> entry:
2.
3.
4.
5.
• For communication with the higher-level controller: "PNIO-DEV"
• For communication with a lower-level device: "PNIO-CTRL"
c. Save and close the file.
Open the file $custom.dat in the directory KRC:\STEU\Mada.
Adapt the entry DECL EXT_MOD_T $EXT_MOD_1={O_FILE[]" " ,OPTION 'B0000'} as follows: DECL EXT_MOD_T
$EXT_MOD_1={O_FILE[]"drivers/asyncdatatokrl.o" ,OPTION 'B0010'}
Save and close the file.
Reboot the robot controller. For this, select Shutdown in the main
menu and select the option Reload files.
Procedure for 2 directions
1. Make two copies of the file AsyncDataToKrl.xml in the directory
C:\KRC\ROBOTER\Config\User\Common.
2. Rename the copies as AsyncDataToKrl1.xml (for channel 1) and AsyncDataToKrl2.xml (for channel 2).
3. In the files, specify the appropriate driver for channel 1 and channel 2
in the <IODriver IODrvName="PNIO-DEV" /> entry:
• For communication with the higher-level controller: "PNIO-DEV"
• For communication with a lower-level device: "PNIO-CTRL"
4. Save and close the file.
5. Open the file $custom.dat in the directory KRC:\STEU\Mada.
6. Adapt the entries DECL EXT_MOD_T $EXT_MOD_1={O_FILE[]"
" ,OPTION 'B0000'} and DECL EXT_MOD_T
$EXT_MOD_2={O_FILE[]" " ,OPTION 'B0000'} as follows:
• Channel 1: DECL EXT_MOD_T $EXT_MOD_1={O_FILE[]"drivers
\AsyncDataToKrl.o",OPTION 'B0010'}
• Channel 2: DECL EXT_MOD_T $EXT_MOD_2={O_FILE[]"drivers
\AsyncDataToKrl.o",OPTION 'B0010'}
7. Save and close the file.
8. Reboot the robot controller. For this, select Shutdown in the main
menu and select the option Reload files.
8.8.2
Acyclic data to the devices (controller ring)
Commands for acyclic transfer of data:
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Command
Description
MASTER_READ
Command ID: 1
The controller stack requests data
from a lower-level device.
MASTER_WRITE
Command ID: 2
The controller stack writes data to
a lower-level device.
MASTER_RD_CONFIRMATION
Command ID: 1
The device responds to the read
command from the controller stack.
MASTER_WR_CONFIRMATION
Command ID: 2
The device responds to the write
command from the controller stack.
All commands are structure types. They consist of the following components:
Component
Description
CommandID
Command ID
CommandLen
Command length. The length of all parameters from
“TransactionNum” (in bytes)
User ID
Unambiguous ID for the device
ErrorCode
Error code
Note: Only for MASTER_RD_CONFIRMATION and
MASTER_WR_CONFIRMATION.
SlotNumber
Slot number
Note: Not for MASTER_RD_CONFIRMATION and
MASTER_WR_CONFIRMATION.
SubSlotNumber
Subslot number
Note: Not for MASTER_RD_CONFIRMATION and
MASTER_WR_CONFIRMATION.
Index
Index for data exchange (0x0000 - 0x7FFF)
TransactionNum
Unique designation for the data exchange (e.g. “packet counter”)
UserDataLen
Length of user data (in bytes)
Note: Not for MASTER_WR_CONFIRMATION.
UserData[4096]
User data
Note: Only for MASTER_WRITE and MASTER_RD_CONFIRMATION.
All components except UserData[4096] are of the data type INT and have
a length of 4 bytes.
The component UserData[4096] is of data type BYTE and has the length
specified in the component UserDataLen.
It is advisable to take the values for the components SlotNumber, SubSlotNumber, Index, UserDataLen and UserData[4096] from the device
manufacturer’s data sheet or the PROFINET specification.
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Programming
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
8.8.3
Acyclic data to the higher-level controller (device ring)
Commands for acyclic transfer of data:
Command
Description
SPS_READ
Command ID: 3
The higher-level controller requests
data from the robot controller via a
read command.
SPS_WRITE
Command ID: 4
The higher-level controller writes
data to the robot controller via a
write command.
SPS_RD_CONFIRMATION
Command ID: 3
The robot controller responds to
the read command from the higher-level controller.
SPS_WR_CONFIRMATION
Command ID: 4
The robot controller responds to
the write command from the higher-level controller.
All commands are structure types. They consist of the following components:
Component
Description
CommandID
Command ID
CommandLen
Command length. The length of all parameters from
“TransactionNum” (in bytes)
TransactionNum
Unique designation for the data exchange (e.g. “packet counter”)
ARID
Unique designation for “Application Relation”
SlotNumber
Slot number
SubSlotNumber
Subslot number
Index
Index for data exchange (0x0000 - 0x7FFF)
ErrorCode
Error code
Note: Only for SPS_RD_CONFIRMATION and
SPS_WR_CONFIRMATION.
UserDataLen
Length of user data (in bytes)
Note: Not for SPS_WR_CONFIRMATION.
UserData[4096]
User data
Note: Only for SPS_WRITE and SPS_RD_CONFIRMATION.
All components except UserData[4096] are of the data type INT and have
a length of 4 bytes.
The component UserData[4096] is of data type BYTE and has the length
specified in the component UserDataLen.
It is advisable to take the values for the components CommandID,
TransactionNum, ARID, SlotNumber, SubSlotNumber and Index from the
PLC command.
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8.8.3.1
Configuring the record index
If acyclic communication is used, the following must be observed when
configuring the higher-level controller:
The record index range that is not already reserved for PROFINET must,
in part, be reserved for KUKA. The user must reserve this range when
configuring the record index.
The record index has 16 bits.
Range
Description
0x0000 to 0x7FFF
For adaptation by the user
0x[..]00 to 0x[..]FF
The range [..] is freely available to the
user for adaptation.
0x00[..] to 0x7F[..]
Range used by KUKA.
In the range [..], the user must enter
“00”. Note: Do not enter “80”.
00 = acyclic data of the KUKA robot
controller (KR C)
80 = PROFIsafe F parameter
0x8000 to 0xFFFF
8.9
Reserved by PROFINET. It cannot be influenced by the user.
Example of acyclic communication
Example of acyclic communication in the program SPS.SUB:
...
1 COPEN (:LD_EXT_OBJ1, nHandle)
2 Wait for (nHandle>0)
3 WMode=#SYNC
4 RMode=#ABS
5 TimeOut=1
6
7
WAIT FOR NOT($POWER_FAIL)
8
TORQUE_MONITORING()
9
10
;FOLD USER PLC
11
;Make your modifications here
12;-------------------------------------------13 Offset=0
14
15 CRead (nHandle, Stat, RMode, TimeOut, Offset,
"%r",Buffer[]);
16 If ( Stat.Ret1==#DATA_END ) then
17
18 Offset=0
19 CAST_FROM(Buffer[],Offset, CmdID)
20 CAST_FROM(Buffer[],Offset, CmdLen)
21
22 if (CmdID == 3) then
23
CAST_FROM(Buffer[],Offset, Transaction)
24
CAST_FROM(Buffer[],Offset, ARID)
25
CAST_FROM(Buffer[],Offset, Slot)
26
CAST_FROM(Buffer[],Offset, SubSlot)
27
CAST_FROM(Buffer[],Offset, Index)
28
CAST_FROM(Buffer[],Offset, DataLen)
29
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30
31
32
TNum=%d
CmdID,
Offset=0
wait for strClear(TMPSTR[])
SWRITE(TMPSTR[],STAT,Offset,"CmdId=%d CmdLen=%d
ARID=%d Slot=%d SubSlot=%d Index=%d DataLen=%d",
CmdLen, Transaction, ARID, Slot, SubSlot,
Index, DataLen)
33
$loop_msg[]=TMPSTR[]
34
35
wait sec 1
36
37
CmdLen = 32 ;-- User Data has 4 Bytes + 7*4 = 32
38
ErrCode=0
39
DataLen=4
40
UserData=255
41
Offset=0
42
43
CAST_TO(Buffer[],Offset,CmdID)
44
CAST_TO(Buffer[],Offset,CmdLen)
45
CAST_TO(Buffer[],Offset,Transaction)
46
CAST_TO(Buffer[],Offset,ARID)
47
CAST_TO(Buffer[],Offset,Slot)
48
CAST_TO(Buffer[],Offset,SubSlot)
49
CAST_TO(Buffer[],Offset,Index)
50
CAST_TO(Buffer[],Offset,ErrCode)
51
CAST_TO(Buffer[],Offset,DataLen)
52
CAST_TO(Buffer[],Offset,UserData)
53
54
CWrite (nHandle,Stat,WMode,"%1.40r",Buffer[])
55
Wait for (Stat.Ret1==#DATA_OK)
56
57 endif
...
Line
Description
15
The robot controller waits for a command from the higherlevel controller.
22
CmdID == 3: The higher-level controller requests data
from the robot controller via a read command.
23 … 28
The robot controller reads the request.
37 … 55
The robot controller replies to the higher-level controller.
Detailed information about the following commands is contained in the
documentation CREAD/CWRITE.
• CHANNEL
• CIOCTL
• CAST_FROM; CAST_TO
• COPEN; CCLOSE
• CREAD; CWRITE
• SREAD; SWRITE
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9
Diagnosis
9.1
Displaying diagnostic data
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
The diagnostic data can also be displayed in WorkVisual. Information
about procedures in WorkVisual is contained in the WorkVisual documentation.
Procedure
1. Select Diagnosis > Diagnostic monitor in the main menu.
2. Select the desired module in the Module box.
Diagnostic data are displayed for the selected module.
Description
Diagnostic data can be displayed for the following modules:
•
•
•
•
•
9.1.1
Profinet Controller Stack (PNIO-CTRL)
Profinet Device Stack (PNIO-DEV)
Profinet Device (device name)
Profinet IO Driver (PNIODriver)
PROFIenergy (PROFIenergy)
Profinet Controller Stack (PNIO-CTRL)
Name
Description
Bus cycle error
Number of non-compliant cycles
Applications logged on for acyclic
data
Names of the applications logged on for the service “acyclic data”
Read request counter
The robot controller sends Read or Write commands to
the devices. The counter indicates the number of packets.
Write request counter
Read request transaction number
Transaction number
Write request transaction number
Read request AR User ID
Application Relation User ID of PROFINET device
Write request AR User ID
The user is to issue this ID at the following point in WorkVisual: in the device settings on the Network tab, in the
User ID: box.
Read request index
Record index for the acyclic data
Write request index
Read request slot number
Write request slot number
Read request subslot number
Write request subslot number
Read response counter
Write response counter
Number of the slot from which data are read (Read) or to
which they are written (Write)
Number of the subslot from which data are read (Read)
or to which they are written (Write)
The robot controller receives Read or Write commands
from the devices. The counter indicates the number of
packets.
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Name
Description
Read response transaction number
Transaction number
Write response transaction number
Read response ARID
Application Relation ID of PROFINET device
Write response ARID
ID issued by the master on booting
Read response AR User ID
Application Relation User ID of PROFINET device
Write response AR User ID
The user is to issue this ID at the following point in WorkVisual: in the device settings on the Network tab, in the
User ID: box.
Read request index
Record index for the acyclic data
Write request index
Read response error code
0 = no error
Write response error code
Read response error decode
Write response error decode
Read response error code 1
Write response error code 1
Read response error code 2
Write response error code 2
9.1.2
Profinet Device Stack (PNIO-DEV)
Name
Description
AR ID
PROFINET Application Relation ID
Input length in bytes
Input length of the I/O image of the configured PROFINET device in bytes
Output length in bytes
Output length of the I/O image of the configured PROFINET device in bytes
Ready
Indication message number
• YES: Communication between the PLC and device instance is working.
• NO: No communication between the PLC and device
instance.
HMI message number of the displayed indication message
Read status
• 0: Status OK
• 1: No new data are present for reading.
• All other values: Internal error
Write status
• 0: Status OK
• ≠0: Internal error
Abort indication counter
Internal error counter
Data status
PROFINET data status byte; see PROFINET specifications
AR Status
PROFINET Application Relation Status
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Name
Description
Bus cycle error
Number of non-compliant cycles
Controller bus error bit active
• YES: Bus errors are signaled to the PLC.
• NO: Bus errors are not signaled to the PLC.
Controller bus error bit inverted
• YES: The device is OK.
• NO: Bus error.
Controller Maintenance Request
bit active
• YES: Maintenance request is signaled to the PLC.
• NO: Maintenance request is not signaled to the PLC.
Controller Maintenance Request
bit inverted
• YES: The device is OK.
• NO: There is a maintenance request.
Controller Maintenance Demand
bit active
• YES: Need for maintenance is signaled to the PLC.
• NO: Need for maintenance is not signaled to the PLC.
Controller Maintenance Demand
bit inverted
• YES: The device is OK.
• NO: Maintenance must be carried out on the device.
Controller Diagnosis bit active
• YES: Diagnostic alarms are signaled to the PLC.
• NO: Diagnostic alarms are not signaled to the PLC.
Controller Diagnosis bit inverted
• YES: The device is OK.
• NO: A diagnostic alarm is active.
Trigger application
• [blank]: The driver accesses the PROFINET devices
cyclically.
• [ApplicationName]: Access by the driver to the PROFINET devices is controlled by ApplicationName.
Applications logged on for acyclic
data
Names of the applications logged on for the service “acyclic data”
Read request counter
The robot controller receives Read or Write commands
from the PLC. The counter indicates the number of packets.
Write request counter
Read request transaction number
Transaction number
Write request transaction number
Read request ARID
Application Relation ID of PROFINET device
Write request ARID
ID issued by the master on booting
Read request index
Record index for the acyclic data
Write request index
Read request slot
Write request slot
Read request subslot number
Write request subslot number
Read response counter
Write response counter
Read response timeout counter
Write response timeout counter
Number of the slot from which data are read (Read) or to
which they are written (Write)
Number of the subslot from which data are read (Read)
or to which they are written (Write)
The robot controller sends Read or Write commands to
the PLC. The counter indicates the number of packets.
A timeout occurs if the KUKA PROFINET device has not
yet sent the Read or Write packet to the PLC after 5 seconds. After the timeout, the robot controller sends a default response meaning “feature not supported” to the
PLC.
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Name
Description
Read response transaction number
Transaction number
Write response transaction number
Read response ARID
Application Relation ID of PROFINET device
Write response ARID
ID issued by the master on booting
Read response index
Record index for the acyclic data
Write response index
Read response slot
Write response slot
Read response subslot
Write response subslot number
Read response error code
Number of the slot from which data are read (Read) or to
which they are written (Write)
Number of the subslot from which data are read (Read)
or to which they are written (Write)
0 = no error
Write response error code
Read response error decode
Write response error decode
Read response error code 1
Write response error code 1
Read response error code 2
Write response error code 2
9.1.3
Profinet Device
Name
Description
Name
Profinet name of the device
AR User ID
Profinet Application Relation User ID (User ID in WorkVisual)
ARID
Profinet Application Relation ID
Input length in bytes
Input length of the I/O image of the configured PROFINET device in bytes
Output length in bytes
Output length of the I/O image of the configured PROFINET device in bytes
AR State
Profinet Application Relation status
Should be connected
• YES: The setting was made during configuration that
the device should be coupled during start-up.
• NO: The setting was made during configuration that
the device should not be coupled during start-up.
Ready
• YES: Communication with the device is working.
• NO: No communication with the device.
Read status
• 0: Status OK
• 1: No new data are present for reading.
• All other values: Internal error
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Name
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Description
Write status
• 0: Status OK
• ≠0: Internal error
Alarm message number
HMI message number of the displayed alarm message
Indication message number
HMI message number of the displayed indication message
Abort counter
Internal error counter
Data status byte
Profinet data status byte
Minimum time for coupling [ms]
Minimum time for coupling a device
Maximum time for coupling [ms]
Maximum time for coupling a device
Mean time for coupling [ms]
Mean time for coupling a device
9.1.4
Profinet IO Driver (PNIODriver)
Name
Description
IP address
Data that are assigned to the robot controller during device naming.
Profinet Subnetmask
Profinet Standard Gateway
Profinet MAC Address
Address of the network adapter via which the Profinet
communicates with controllers, devices, etc.
Device Stack Name
PROFINET name of the device instance
Profinet Device Stack Vendor ID
Manufacturer ID of the PROFINET device stack
Profinet Device Stack ID
Internal ID of the PROFINET device stack
Profinet Flashing
• ON: Flashing is active if ON and OFF are displayed
alternately.
• OFF: Flashing is not active.
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
9.1.5
PROFIenergy (PROFIenergy)
Name
Description
PE state
Internal PROFIenergy state
• Not initialized/present: PROFIenergy has not been
initialized or is not present.
• No active commands: No PROFIenergy commands
are active.
• Command being executed: A PROFIenergy command is being executed.
• Error state: An error has occurred.
• Start_Pause done: The command Start_Pause has
been executed.
• Start_Pause_Time_Info done: The command
Start_Pause_Time_Info has been executed.
• End_Pause done: The command End_Pause has
been executed.
• Info_Sleep_WOL done: The command Info_Sleep_WOL has been executed.
• Go_WOL done: The command Go_WOL has been
executed.
• Query_Version done: The command Query_Version
has been executed.
• List_Modes done: The command List-Modes has
been executed.
• Get_Mode done: The command Get_Mode has been
executed.
• PEM_Status done: The command PEM_Status has
been executed.
• PE_Identity done: The command PE_Identity has
been executed.
Current PE mode
PROFIenergy mode to which the controller is currently
set.
Start PE mode
PROFIenergy mode to which the controller is set before a
change of mode.
Target PE mode
PROFIenergy mode to which the controller is set after a
change of mode.
PE mode name
Name of the PROFIenergy mode
PE mode ID
ID of the PROFIenergy mode
PE mode attribute
Attribute of the PROFIenergy mode
Note: Information about the attributes can be found in the
PROFIenergy specifications.
Minimum pause time
Minimum time required by the controller to switch to a different mode.
Minimum time in this mode
Minimum time the controller stays in one mode.
Maximum time in this mode
Maximum time the controller stays in one mode.
Power consumption
Power consumption of the controller in a specific mode
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9.2
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Performing device diagnosis via the topology view
Description
The topology view can also be used for the diagnosis of devices. The topology view consists of a tabular view (Topology table tab) and a graphical view (Topology diagram tab).
In the tabular view, the devices and their connections to other devices are
displayed. In the graphical view, the alarms and properties are additionally
displayed for each device. The web interface of the device can also be
opened.
The topology view can only be used for subordinate devices. If the
robot controller is used as a PROFINET device, topology detection must
be configured on the higher-level controller. With this configuration, the
PROFINET alarms are also sent to the higher-level controller.
Precondition
• The laptop/PC with WorkVisual is connected to the PROFINET network with a valid IP address.
• The WorkVisual project is open.
• The network card in the PROFINET network has been selected on the
Communication settings tab.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
• The devices to be diagnosed are connected and active.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
button. A window opens.
3. Click on the
4. Select the Topology table or Topology diagram tab.
(>>> 9.2.1 "“Topology table” tab" Page 101)
(>>> 9.2.2 "“Topology diagram” tab" Page 103)
9.2.1
“Topology table” tab
Fig. 9-1: “Topology table” tab
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Column
Description
Device / port
Displays the configured or detected devices and their
ports. When a connection to the devices has been
established, the state of the devices is also displayed
(>>> "State of devices" Page 102).
Changing devices are shown in bold and italic text.
These devices are configured as follows: on the Networktab, the check mark for Is Active is not set.
Click on
states.
to update the list of devices and their
Slot
Displays the designation of the slot where the port of
a device is located. Other slots of the devices are not
displayed. The designation cannot be changed.
Partner port
(offline)
Indicates the ports via which two devices are connected to each other.
If Any partner is set here, no check will be carried
out to determine whether the devices are connected
to each other.
If one of the devices is a changing device, a port can
also be assigned multiple partner ports.
Partner port
(online)
Indicates the differences between the configured connection and the actual connection between the two
devices. The text color indicates the status of the
connection:
• Black: the configured connection corresponds to
the actual connection.
• Light green: the devices are connected, but the
connection has not been configured.
• Red: the configured connection is not available;
the devices may, however, be connected to one
another via different ports.
Apply
• Check box active: the connection detected by
WorkVisual is adopted by clicking on Apply online data.
• Check box not active: the connection set by the
user is retained by clicking on Apply online data.
Button
Description
Apply online data
Applies the connections determined by WorkVisual.
Export to CSV
Saves the information about the devices in a
CSV file.
State of devices
Icon
Description
The device is currently present in the network.
A search for the device is being carried out in the network.
The device was found in the network but it is not configured.
The device is configured but was not found in the network.
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9.2.2
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
“Topology diagram” tab
Fig. 9-2: “Topology diagram” tab
Item
1
Description
Configured device
In the case of changing devices, the name is shown in bold
and italic text. Changing devices are configured as follows: on
the Networktab, the check mark for Is Active is not set.
To open the web interface of the device, right-click on the device and select Connect to the web server of the device.
from the context menu. On the web interface, device diagnosis
can be carried out or the device configuration can be modified.
Double-clicking on the device opens the settings of this device.
2
Status of the device
(>>> "State of devices" Page 104)
3
Device is sending one or more PROFINET alarms
4
Port of the device
5
Connecting cable
The color of the connecting cable indicates the status of the
connection:
• Dark green: the configured connection corresponds to the
actual connection.
• Light green: the devices are connected, but the connection
has not been configured.
• Red: the configured connection is not available; the devices
may, however, be connected to one another via different
ports.
• Broken line: connection to a changing device
6
Virtual device
These are devices that are not configured in WorkVisual, e.g.
because they belong to the PLC.
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Item
7
Description
PROFINET alarms
The color indicates the status of the device:
•
•
•
•
Red: device fault
Orange: maintenance demand
Yellow: maintenance request
Green: normal state
Click on the
button to update the display.
Note: In order for a device to send PROFINET alarms, it must
be configured as follows: the check box next to Display diagnostic alarm as message on the Communication settingstab
is activated.
Button
Description
Apply online data
Applies the connections determined by WorkVisual.
Print
Prints the topology diagram.
If one or more devices are selected, only those
devices are printed.
State of devices
Icon
Description
The device is currently present in the network.
A search for the device is being carried out in the network.
The device was found in the network but it is not configured.
The device is configured but was not found in the network.
9.3
Advanced device diagnosis
Precondition
• The device to be diagnosed is connected and active.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on PROFINET in the tree structure and select Connect
from the context menu.
3. Right-click on the device and select Connect from the context menu.
4. Right-click on the device and select Diagnosis... from the context
menu. A window with the Process data tab is displayed.
Description
The inputs and outputs visualized over time are displayed on the Process
data tab. A scaling factor and a color can be selected for each device.
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 9-3: “Process data” tab
1 Scaling factor
9.4
2 Color
Displaying the port list
Precondition
• The device to be diagnosed is connected and active.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Select the PROFINET node.
3. Click on the
button. The Port list tab is displayed.
Description
The following information is displayed for each connected device:
•
•
•
•
•
•
•
•
•
•
•
•
Name
IP address
MAC address
Order number
Serial number:
Firmware version
Port
Port type
State
Attenuation reserve (only in the case of fiber-optic cable ports)
Connected to
Signal propagation delay
Click on the Update button to update the list.
9.5
Diagnostic signals via PROFINET
Description
Some signal states are extended to ensure that they can be detected reliably. In the case of extended signal states, the minimum duration of the
extension is specified in square brackets. Values are specified in milliseconds, e.g. [200].
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Output byte 0
Bit
Signal
Description
0
DG
Validity for non-safety-oriented signals and data on this interface
0 = data are not valid
1 = data are valid
1
IFS
Internal error in safety controller
0 = no error
1 = error [200]
2
FF
Motion enable
0 = motion enable not active [200]
1 = motion enable active
3
AF
Drives enable
0 = drives enable not active [200]
1 = drives enable active
4
IBN
Start-up mode
Start-up mode enables jogging of the manipulator without a higher-level controller.
0 = Start-up mode is not active.
1 = Start-up mode is active.
5
US2
Peripheral voltage
0 = US2 switched off
1 = US2 switched on
6 … 7
RES
Reserved
Bit
Signal
Description
0
SO
Activation status of the safety option
Output byte 1
0 = safety option is not active
1 = safety option is active
1
JF
Mastering error (optional)
0 = no error
1 = mastering error, space monitoring deactivated.
2
VRED
Reduced velocity (optional)
0 = reduced velocity monitoring is not active.
1 = reduced velocity monitoring is active.
3
VKUE
At least one Cartesian velocity limit exceeded
(optional)
0 = no error
1 = velocity exceeded [200]
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Bit
Signal
Description
4
VAUE
At least one axis velocity limit exceeded (optional)
0 = no error
1 = velocity exceeded [200]
5
ZBUE
Cell area exceeded (optional)
0 = no error
1 = cell area exceeded [200]
6 … 7
RES
Reserved
Bit
Signal
Description
0
SHS1
Safety stop (all axes) STOP 0 or STOP 1
Output byte 2
0 = safety stop is not active.
1 = safety stop is active.
1
ESV
External stop request violated
Safe operational stop SBH1, SBH2 or safety
stop SHS1, SHS2 violated
Braking ramp was not maintained or a monitored axis has moved.
0 = no error
1 = violated
2
SHS2
Safety stop 2
0 = safety stop is not active.
1 = safety stop is active.
3
SBH1
Safe operational stop (axis group 1) (optional)
0 = safe operational stop is not active.
1 = safe operational stop is active.
4
SBH2
Safe operational stop (axis group 2) (optional)
0 = safe operational stop is not active.
1 = safe operational stop is active.
5
WFK
Tool error (no tool) (optional)
0 = no error
1 = no tool selected.
6
WFME
Tool error (more than one tool) (optional)
0 = no error
1 = more than one tool selected.
7
RES
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Reserved
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Output byte 3
Bit
Signal
Description
0
JR
Mastering test (optional)
0 = mastering test is not active
1 = mastering test is active
1
RSF
Reference switch error (optional)
0 = reference switch OK
1 = reference switch defective [200]
2
JRA
Mastering test request (optional)
0 = mastering test not requested
1 = mastering test requested
3
JRF
Mastering test failed (optional)
0 = mastering test OK
1 = mastering test failed
4
RS
Reference stop (optional)
Reference run is only possible in T1 mode.
0 = no error
1 = reference stop due to impermissible operating mode
5
RIA
Referencing interval (optional)
0 = no reminder
1 = reminder interval expired [200]
6 … 7
RES
Reserved
Bit
Signal
Description
0 … 7
WZNR
Tool number (8-bit word) (optional)
Output byte 4
0 = error (see WFK and WFME)
1 = tool 1
2 = tool 2, etc.
Output byte 5
Bit
Signal
Description
0 … 7
UER1 … 8
Monitoring spaces 1 … 8 (optional)
Assignment: Bit 0 = monitoring space 1 … bit
7 = monitoring space 8
0 = monitoring space is not active.
1 = monitoring space is active.
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Output byte 6
Bit
Signal
Description
0 … 7
UER9 … 16
Monitoring spaces 9 … 16 (optional)
Assignment: Bit 0 = monitoring space 9 … bit
7 = monitoring space 16
0 = monitoring space is not active.
1 = monitoring space is active.
Output byte 7
Bit
Signal
Description
0 … 7
UERV1 … 8
Stop in the event of a violation of monitoring
spaces 1 … 8 (optional)
Assignment: Bit 0 = monitoring space 1 … bit
7 = monitoring space 8
0 = monitoring space is not violated, or monitoring space is violated but “Stop at boundaries” has not been configured.
1 = monitoring space is violated and robot
stops with a safety stop [200]. Precondition:
“Stop at boundaries” has been configured.
Output byte 8
Bit
Signal
Description
0 … 7
UERV9 … 16
Stop in the event of a violation of monitoring
spaces 9 … 16 (optional)
Assignment: Bit 0 = monitoring space 9 … bit
7 = monitoring space 16
0 = monitoring space is not violated, or monitoring space is violated but “Stop at boundaries” has not been configured.
1 = monitoring space is violated and robot
stops with a safety stop [200]. Precondition:
“Stop at boundaries” has been configured.
9.6
I&M data sets
During installation of PROFINET, the I&M data sets 0 to 4 are created.
The I&M data sets are used for unambiguous identification of a device.
The data sets are saved remanently and can only be read or written with
a higher-level controller or configuration software, e.g. STEP 7.
In data set I&M 0 the parameters OrderID and SerialNumber are defined
as follows:
• OrderID: DeviceID for slot0/subslot1, interface and port
The DeviceID is read from the file PNIODriver.xml. The corresponding
OrderID for slot1/subslot1 and slot2/subslot1 must be taken from the
GSDML file. The character string has a maximum length of 20 bytes.
• SerialNumber: Serial number of the robot controller
The serial number of the robot controller is read from the file EDF.ecf.
The character string has a maximum length of 16 bytes.
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Diagnosis
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Diagnosis
Only read access is possible for the data sets I&M 0 and I&M 4.
Read access and write access are possible for I&M 1 to 3. These data
sets are saved in a non-volatile memory on the hard drive.
Data set I&M 4 contains the activation code of the safety configuration.
The activation code from the safety configuration can be read by the PLC
from data set I&M 4. If the activation code has been stored on the PLC, it
can be compared with the activation code in data set I&M 4. This comparison can be used to check whether the local safety configuration has been
modified.
Further information on the I&M data sets can be found in the PROFINET specification.
9.7
Access to network devices via SNMP
With PROFINET it is possible to access network devices (e.g. a system)
via SNMP. The following parameters from the MIB-2 table can be read
and written via an SNMP client:
• sysName: Name of the network device
• sysLocation: Location of the network device
• sysContact: Contact person for the network device
The default password for write access is KUKA. The password can be
changed with WorkVisual: (>>> 6.5.1.1 "“Communication settings” tab"
Page 29).
9.8
PROFINET alarms
The following alarms are generated by the robot controller if it is configured as a PROFINET device:
Name
Channel
Error Type
Extended
Channel
Error Type
Bus error
0x100
0x1
Additional
Value
Description
Corresponds to
ARUserID
Alarms of the subordinate devices that
are forwarded to the higher-level devices
The alarm serves as a substitute for
the quality bit “Bus error”.
Maintenance request
0x100
0x2
Corresponds to
ARUserID
Alarms of the subordinate devices that
are forwarded to the higher-level devices
The alarm serves as a substitute for
the quality bit “Maintenance request”.
Maintenance demand
0x100
0x3
Corresponds to
ARUserID
Alarms of the subordinate devices that
are forwarded to the higher-level devices
The alarm serves as a substitute for
the quality bit “Maintenance demand”.
Diagnostics
0x100
0x4
Corresponds to
ARUserID
Alarms of the subordinate devices that
are forwarded to the higher-level devices
The alarm serves as a substitute for
the quality bit “Diagnostics”.
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10
Messages
10.1
Information about the messages
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
The “Messages” chapter contains selected messages. It does not cover all
the messages displayed in the message window.
10.2
System messages from module: CrossMeld (KSS)
10.2.1
KSS11000
Message code
KSS11000
Message text
Device {Name} could not be started within {Timeout} ms
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: PROFINET communication failed (>>> Page 111)
Solution: Increase timeout setting (>>> Page 112)
Cause: PROFINET communication failed (>>> Page 112)
Solution: Establish correct connection (>>> Page 112)
Cause: PROFINET communication failed (>>> Page 112)
Solution: Reconfigure the device (>>> Page 113)
Cause: PROFINET communication failed (>>> Page 113)
Solution: Check connecting cable and device (>>> Page 114)
Cause: PROFINET communication failed
Description
The PROFINET communication with the device has failed.
If a coupled device is not functional, e.g. because it is disconnected from
the bus or supply voltage, a message is displayed after a default timeout
of 10 s.
Checking instructions
1. The error occurs during start-up:
• Check the configuration with WorkVisual (GSDML file, PROFINET
name, device module, etc.)
2. The error occurs sporadically:
• Check power supply of the device
• Check PROFINET cables and connectors
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Solution: Increase timeout setting
Description
Increase the timeout to the required value.
Cause: PROFINET communication failed
Description
The PROFINET communication with the device has failed.
If a coupled device is not functional, e.g. because it is disconnected from
the bus or supply voltage, a message is displayed after a default timeout
of 10 s.
Checking instructions
1. The error occurs during start-up:
• Check the configuration with WorkVisual (GSDML file, PROFINET
name, device module, etc.)
2. The error occurs sporadically:
• Check power supply of the device
• Check PROFINET cables and connectors
Solution: Establish correct connection
Precondition
• The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
• The controller has been shut down.
• The power cable is de-energized.
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, severe injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.
• Observe the ESD guidelines.
Procedure
• Exchange the defective cable or rectify contact problem.
Cause: PROFINET communication failed
Description
The PROFINET communication with the device has failed.
If a coupled device is not functional, e.g. because it is disconnected from
the bus or supply voltage, a message is displayed after a default timeout
of 10 s.
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Checking instructions
1. The error occurs during start-up:
• Check the configuration with WorkVisual (GSDML file, PROFINET
name, device module, etc.)
Information about device naming can be found in the PROFINET
documentation.
Information about configuration with WorkVisual is contained in the
WorkVisual documentation.
2. The error occurs sporadically:
• Check power supply of the device
• Check PROFINET cables and connectors
Solution: Reconfigure the device
Procedure
• Reconfigure the device via WorkVisual.
Information about device naming can be found in the PROFINET documentation.
Information about configuration with WorkVisual is contained in the
WorkVisual documentation.
Cause: PROFINET communication failed
Description
The PROFINET communication with the device has failed.
If a coupled device is not functional, e.g. because it is disconnected from
the bus or supply voltage, a message is displayed after a default timeout
of 10 s.
Checking instructions
1. The error occurs during start-up:
• Check the configuration with WorkVisual (GSDML file, PROFINET
name, device module, etc.)
Information about device naming can be found in the PROFINET
documentation.
Information about configuration with WorkVisual is contained in the
WorkVisual documentation.
2. The error occurs sporadically:
• Check power supply of the device
• Check PROFINET cables and connectors
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Solution: Check connecting cable and device
Procedure
• Check the connecting cable and device and exchange if necessary.
10.2.2
KSS11001
Message code
KSS11001
Message text
Connection to device {Name} terminated.
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: No connection to the PROFINET device (>>> Page 114)
Solution: Establish correct connection (>>> Page 115)
Cause: Supply voltage interrupted (>>> Page 115)
Solution: Exchange connectors and cables (>>> Page 116)
Cause: No connection to the PROFINET device
Description
The PROFINET connection from the robot controller to the device module
(e.g. gripper) is defective or incorrectly plugged in.
Depending on the system configuration, the cabling may be carried out as
follows:
•
•
•
•
•
•
KLI
Switch (optional)
Connector panel X66, X67 (optional)
KUKA linear unit (optional)
Robot axes A1 - A3 (optional)
Robot axes A4 - A6 (optional)
The procedure for checking whether the connecting cable is defective is as follows:
Checking instructions
1. Check whether the connectors are correctly connected. Particular attention must be paid to:
• Pins pushed in
• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed cables or wires can include the following:
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• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram
Solution: Establish correct connection
Precondition
• The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
• The controller has been shut down.
• The power cable is de-energized.
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, severe injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.
• Observe the ESD guidelines.
Procedure
• Exchange the defective cable or rectify contact problem.
Cause: Supply voltage interrupted
Description
If the connection to the device has gone down, this may be due to the following:
• Supply voltage was interrupted.
• Network connection was interrupted.
• Connectors and cables are defective.
Checking instructions
1. Check supply voltage.
2. Check network voltage:
In WorkVisual, check whether a link is available on the device by selecting PROFINET > Functions > Device list and PROFINET
names....
3. Check the connectors and cables and exchange if necessary.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Solution: Exchange connectors and cables
Description
If connectors or cables are damaged, they must be exchanged.
10.2.3
KSS11006
Message code
KSS11006
Message text
Connection between PLC and {Name} could not be established in
{Timeout} ms
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: The device is defective. (>>> Page 116)
Solution: Contact KUKA Service (>>> Page 116)
Cause: Configuration of the PROFINET device section does not
match PLC (>>> Page 116)
Solution: Check and correct configuration of the PROFINET device
(>>> Page 116)
Cause: The device is defective.
Description
The device is defective and can no longer be used.
Solution: Contact KUKA Service
Cause: Configuration of the PROFINET device section does not match PLC
Description
The configuration of the PROFINET device on the robot controller does
not match the configuration on the PLC.
Checking instructions
• Check the configuration of the PROFINET device on the robot controller and on the PLC.
Solution: Check and correct configuration of the PROFINET device
Procedure
• Adapt the configuration of the PROFINET device on the robot controller and on the PLC.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
10.2.4
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11007
Message code
KSS11007
Message text
The configured device differs from the real device {Name}, Slot
{Slot}, Subslot {Subslot}
Message type
Notification message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Configured device differs from real device (>>> Page 117)
Solution: Correct the configuration with WorkVisual. (>>> Page 117)
Cause: Configured device differs from real device
Description
The configuration of the device does not match the connected module.
Inspection instructions
• Check configuration
Solution: Correct the configuration with WorkVisual.
Procedure
• Correct the configuration with WorkVisual.
More detailed information can be found in the WorkVisual documentation, in the chapter "Configuration".
10.2.5
KSS11008
Message code
KSS11008
Message text
Connection between PLC and {Name} terminated.
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Network cable defective or not correctly connected
(>>> Page 118)
Solution: Exchange network cable or connect it correctly
(>>> Page 118)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: Network cable defective or not correctly connected
Description
The network cable is defective or not connected correctly.
Inspection instructions
• Check that the network cable is correctly connected.
Solution: Exchange network cable or connect it correctly
Procedure
• Exchange network cable or connect it correctly.
10.2.6
KSS11015
Message code
KSS11015
Message text
PROFIenergy cannot connect to Cabinet Control.
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Cabinet control not working (>>> Page 118)
Solution: Restart or reinstall the system (>>> Page 118)
Cause: Cabinet control not working
Description
Cabinet control has not been loaded or is not working.
Checking instructions
• Check system for errors.
Solution: Restart or reinstall the system
Description
The system must be restarted.
Procedure
1. Check system for faults.
2. Reboot the system.
3. If the message remains displayed, the system must be reinstalled.
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10.2.7
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11016
Message code
KSS11016
Message text
PROFIenergy cannot log onto Cabinet Control.
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Cabinet control not working (>>> Page 119)
Solution: Restart or reinstall the system (>>> Page 119)
Cause: Cabinet control not working
Description
Cabinet control has not been loaded or is not working.
Checking instructions
• Check system for errors.
Solution: Restart or reinstall the system
Description
The system must be restarted.
Procedure
1. Check system for faults.
2. Reboot the system.
3. If the message remains displayed, the system must be reinstalled.
10.2.8
KSS11021
Message code
KSS11021
Message text
Short circuit at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 120)
Solution: Contact Support department (>>> Page 120)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.9
KSS11022
Message code
KSS11022
Message text
Undervoltage at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 120)
Solution: Contact Support department (>>> Page 120)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
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10.2.10
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11023
Message code
KSS11023
Message text
Overvoltage at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 121)
Solution: Contact Support department (>>> Page 121)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.11
KSS11024
Message code
KSS11024
Message text
Overload at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 122)
Solution: Contact Support department (>>> Page 122)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.12
KSS11025
Message code
KSS11025
Message text
Overtemperature at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 122)
Solution: Contact Support department (>>> Page 122)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
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10.2.13
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11026
Message code
KSS11026
Message text
Open circuit at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 123)
Solution: Contact Support department (>>> Page 123)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.14
KSS11027
Message code
KSS11027
Message text
Upper limit exceeded at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 124)
Solution: Contact Support department (>>> Page 124)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.15
KSS11028
Message code
KSS11028
Message text
Lower limit exceeded at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 124)
Solution: Contact Support department (>>> Page 124)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
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10.2.16
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11029
Message code
KSS11029
Message text
Unknown error at device {Name}, channel {Slot} {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Device fault (>>> Page 125)
Solution: Contact Support department (>>> Page 125)
Cause: Device fault
Description
The device is no longer functioning correctly.
Checking instructions
• It is possible to narrow down the potential location of the fault via slot/
subslot using the WorkVisual configuration.
• Check the additional information on the topology display and in the
topology diagnosis in WorkVisual.
Solution: Contact Support department
Description
To rectify errors that you cannot remedy yourself, contact the relevant
Support team.
10.2.17
KSS11030
Message code
KSS11030
Message text
Device {Name} requests immediate maintenance work soon
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Transmission quality is greatly reduced (>>> Page 126)
Solution: Perform maintenance work (>>> Page 126)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: Transmission quality is greatly reduced
Solution: Perform maintenance work
Description
It is recommended that the necessary maintenance work be performed
promptly. Otherwise the device may fail.
Information about the maintenance work can be found in the manufacturer documentation.
10.2.18
KSS11031
Message code
KSS11031
Message text
Device {Name} requires maintenance work soon
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Transmission quality is greatly reduced (>>> Page 126)
Solution: Perform maintenance work (>>> Page 126)
Cause: Transmission quality is greatly reduced
Solution: Perform maintenance work
Description
It is recommended that the necessary maintenance work be performed
promptly. Otherwise the device may fail.
Information about the maintenance work can be found in the manufacturer documentation.
10.2.19
KSS11032
Message code
KSS11032
Message text
PROFIenergy cannot connect to KRC
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
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Cause: System error (>>> Page 127)
Solution: Install PROFINET (via WorkVisual) (>>> Page 127)
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Cause: System error (>>> Page 128)
Solution: Install PROFINET (on smartHMI) (>>> Page 128)
Cause: System error
Solution: Install PROFINET (via WorkVisual)
Description
The option package is installed in WorkVisual and added to the project.
When the project is transferred to the robot controller, the option package
is automatically installed there.
In the case of an update, the previous version of the option package in
WorkVisual must first be uninstalled.
It is advisable to archive all relevant data before updating a software
package.
Precondition
•
•
•
•
•
User group “Expert”
T1 or T2 mode
No program is selected.
Network connection to the robot controller
The option package is available as a KOP file.
Procedure
1. Only for an update: Uninstall the previous version of the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
2. Install the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the KUKA.PROFINET MS or KUKA.PROFINET S option package in the project.
5. Configure the option package.
(>>> 6.1 "Configuration – overview" Page 23)
6. Deploy the project from WorkVisual to the robot controller and activate
it.
7. The request for confirmation Do you want to activate the project […]?
is displayed on the smartHMI. The active project is overwritten during
activation. If no relevant project will be overwritten: Answer the query
with Yes.
8. An overview with the changes and a request for confirmation are displayed on the smartHMI. Answer this with Yes. The option package is
installed and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVisual documentation.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: System error
Solution: Install PROFINET (on smartHMI)
It is advisable to archive all relevant data before updating a software
package.
On updating, the existing configuration is automatically adopted. If this
is not desired, the existing version must first be uninstalled.
Precondition
•
•
•
•
User group “Expert”
T1 or T2 mode
No program is selected.
USB stick with the option package (KOP file)
NOTICE
We recommend using a KUKA USB stick. Data may be lost if a stick
from a different manufacturer is used.
Procedure
1. Connect the USB stick to the robot controller or smartPAD.
2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry KUKA.PROFINET MS or KUKA.PROFINET S must be displayed in the Name column and drive E:\ or K:\
in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be
configured first:
5.
6.
7.
8.
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
Set the check mark next to KUKA.PROFINET MS or KUKA.PROFINET S and press Install. Confirm the installation query with OK.
The request for confirmation Do you want to activate the project […]?
is displayed. The active project is overwritten during activation. If no
relevant project will be overwritten: Answer the query with Yes.
An overview of the changes and a request for confirmation are displayed. Answer this with Yes. The option package is installed and the
robot controller carries out a reboot.
Remove the stick.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
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10.2.20
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11033
Message code
KSS11033
Message text
PLC connected to device {Name} is in the "STOP" state
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Higher-level PLC stopped (>>> Page 129)
Solution: Start the higher-level PLC (>>> Page 129)
Cause: Higher-level PLC stopped
Description
The higher-level PLC has stopped and no data exchange is being carried
out.
Checking instructions
• Check the status of the higher-level PLC.
Detailed information about operator control can be found in the manufacturer documentation.
Solution: Start the higher-level PLC
Procedure
• Start the higher-level PLC.
The procedure to follow depends on the specific higher-level controller
(PLC).
This activity must be carried out in accordance with the procedure
described in the operating and programming instructions.
10.2.21
KSS11034
Message code
KSS11034
Message text
PLC sends invalid data to device {Name}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: No connection to the PROFINET device (>>> Page 130)
Solution: Establish correct connection (>>> Page 130)
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Cause: No connection to the PROFINET device
Description
The PROFINET connection from the robot controller to the device module
(e.g. gripper) is defective or incorrectly plugged in.
Depending on the system configuration, the cabling may be carried out as
follows:
•
•
•
•
•
•
KLI
Switch (optional)
Connector panel X66, X67 (optional)
KUKA linear unit (optional)
Robot axes A1 - A3 (optional)
Robot axes A4 - A6 (optional)
The procedure for checking whether the connecting cable is defective is as follows:
Checking instructions
1. Check whether the connectors are correctly connected. Particular attention must be paid to:
• Pins pushed in
• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed cables or wires can include the following:
• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram
Solution: Establish correct connection
Precondition
• The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
• The controller has been shut down.
• The power cable is de-energized.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, severe injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.
• Observe the ESD guidelines.
Procedure
• Exchange the defective cable or rectify contact problem.
10.2.22
KSS11035
Message code
KSS11035
Message text
PLC sends invalid input data for device {Name}, Slot {Slot}, Subslot
{Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Higher-level PLC stopped (>>> Page 131)
Solution: Start the higher-level PLC (>>> Page 132)
Cause: Number of standard I/Os is configured differently
(>>> Page 132)
Solution: Adapting the number of standard I/Os in WorkVisual
(>>> Page 133)
Cause: Number of standard I/Os is configured differently
(>>> Page 134)
Solution: Adapting the number of standard I/Os in the TIA Portal
(>>> Page 135)
Cause: No connection to the PROFINET device (>>> Page 136)
Solution: Establish correct connection (>>> Page 137)
Cause: Higher-level PLC stopped
Description
The higher-level PLC has stopped and no data exchange is being carried
out.
Checking instructions
• Check the status of the higher-level PLC.
Detailed information about operator control can be found in the manufacturer documentation.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Solution: Start the higher-level PLC
Procedure
• Start the higher-level PLC.
The procedure to follow depends on the specific higher-level controller
(PLC).
This activity must be carried out in accordance with the procedure
described in the operating and programming instructions.
Cause: Number of standard I/Os is configured differently
Description
The configured number of standard I/Os differs in the online and offline
configurations.
The procedure for checking whether the length of the standard I/Os
is different in the online and offline configuration is as follows:
Precondition
• PLC project is open in TIA Portal.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
Checking instructions
1. Check whether the following messages appear together:
• KSS11035 PLC sends invalid input data for device {Name}, Slot
{Slot}, Subslot {Subslot}
• KSS11036 PLC cannot work with the output data from device
{Name}, slot {Slot}, subslot {Subslot}
• KSS11012 The configured device differs from the real device
{Name}, Slot {Slot}, Subslot {Subslot}
2. In the Project tree window, expand the tree structure of the robot controller (PROFINET device) and double-click on Online & diagnostics.
A window opens.
3. Open the Diagnostic status tab.
4. Check if the following messages are displayed in the Status area:
• Input/output data not available.
• Differences were found between the loaded configuration and
the offline project.
5. Check whether the number of I/Os for the device matches in Online article number: and Offline article number:.
Example:
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 10-1: Diagnostic status in TIA Portal
• KUKA Device IO256: 256 inputs/outputs
• KUKA Device IO2032: 2032 inputs/outputs
The number of standard I/Os does not match in the example.
Solution: Adapting the number of standard I/Os in WorkVisual
Description
The number of standard I/Os must be configured identically in WorkVisual
and the TIA Portal. To do so, the configuration in WorkVisual can be
adapted, for example.
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on PROFINET and select Settings... from the context
menu.
3. A window opens. Select the Communication settings tab.
Fig. 10-2: Communication settings tab
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Messages
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4. In the Number of I/Os: box, select the number of standard I/Os such
that the value matches the setting in the PLC project (TIA Portal).
5. Save the settings by selecting OK.
6. Transfer the project to the controller.
Cause: Number of standard I/Os is configured differently
Description
The configured number of standard I/Os differs in the online and offline
configurations.
The procedure for checking whether the length of the standard I/Os
is different in the online and offline configuration is as follows:
Precondition
• PLC project is open in TIA Portal.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
Checking instructions
1. Check whether the following messages appear together:
• KSS11035 PLC sends invalid input data for device {Name}, Slot
{Slot}, Subslot {Subslot}
• KSS11036 PLC cannot work with the output data from device
{Name}, slot {Slot}, subslot {Subslot}
• KSS11012 The configured device differs from the real device
{Name}, Slot {Slot}, Subslot {Subslot}
2. In the Project tree window, expand the tree structure of the robot controller (PROFINET device) and double-click on Online & diagnostics.
A window opens.
3. Open the Diagnostic status tab.
4. Check if the following messages are displayed in the Status area:
• Input/output data not available.
• Differences were found between the loaded configuration and
the offline project.
5. Check whether the number of I/Os for the device matches in Online article number: and Offline article number:.
Example:
Fig. 10-3: Diagnostic status in TIA Portal
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• KUKA Device IO256: 256 inputs/outputs
• KUKA Device IO2032: 2032 inputs/outputs
The number of standard I/Os does not match in the example.
Solution: Adapting the number of standard I/Os in the TIA Portal
Description
The number of standard I/Os must be configured identically in WorkVisual
and the TIA Portal. To do so, the configuration in the TIA Portal can be
adapted, for example.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
Precondition
• PLC project is open in TIA Portal.
Procedure
1. In the Project tree window, expand the tree structure of the robot controller (by default under Ungrouped devices).
2. Double-click on Device configuration. The Device view tab opens.
Fig. 10-4: Device configuration call
1 I/O module
2 Device configuration
3. Right-click on the I/O module in the Device overview tab and select
Delete from the context menu.
4. In the Hardware catalog, select the desired I/O module and drag it into the empty slot on the robot controller in Device overview.
Limitations:
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
• Slot 1 may only be occupied by the I/O module 64 safe digital inand outputs or by no module at all.
• Standard I/O modules can only be assigned to slot 2.
Fig. 10-5: Adding and configuring an I/O module
1 Robot controller in the selected state in Device view
2 Overview of I/O modules that have already been added
3 Available I/O modules
4 Settings for selected I/O module (optional)
The number of inputs and outputs must be configured identically in
WorkVisual and the TIA Portal.
Cause: No connection to the PROFINET device
Description
The PROFINET connection from the robot controller to the device module
(e.g. gripper) is defective or incorrectly plugged in.
Depending on the system configuration, the cabling may be carried out as
follows:
•
•
•
•
•
•
KLI
Switch (optional)
Connector panel X66, X67 (optional)
KUKA linear unit (optional)
Robot axes A1 - A3 (optional)
Robot axes A4 - A6 (optional)
The procedure for checking whether the connecting cable is defective is as follows:
Checking instructions
1. Check whether the connectors are correctly connected. Particular attention must be paid to:
• Pins pushed in
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• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed cables or wires can include the following:
• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram
Solution: Establish correct connection
Precondition
• The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
• The controller has been shut down.
• The power cable is de-energized.
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, severe injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.
• Observe the ESD guidelines.
Procedure
• Exchange the defective cable or rectify contact problem.
10.2.23
KSS11036
Message code
KSS11036
Message text
PLC cannot work with the output data from device {Name}, slot
{Slot}, subslot {Subslot}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Possible cause(s)
Cause: Higher-level PLC stopped (>>> Page 138)
Solution: Start the higher-level PLC (>>> Page 138)
Cause: Number of standard I/Os is configured differently
(>>> Page 138)
Solution: Adapting the number of standard I/Os in WorkVisual
(>>> Page 139)
Cause: Number of standard I/Os is configured differently
(>>> Page 140)
Solution: Adapting the number of standard I/Os in the TIA Portal
(>>> Page 141)
Cause: No connection to the PROFINET device (>>> Page 143)
Solution: Establish correct connection (>>> Page 144)
Cause: Higher-level PLC stopped
Description
The higher-level PLC has stopped and no data exchange is being carried
out.
Checking instructions
• Check the status of the higher-level PLC.
Detailed information about operator control can be found in the manufacturer documentation.
Solution: Start the higher-level PLC
Procedure
• Start the higher-level PLC.
The procedure to follow depends on the specific higher-level controller
(PLC).
This activity must be carried out in accordance with the procedure
described in the operating and programming instructions.
Cause: Number of standard I/Os is configured differently
Description
The configured number of standard I/Os differs in the online and offline
configurations.
The procedure for checking whether the length of the standard I/Os
is different in the online and offline configuration is as follows:
Precondition
• PLC project is open in TIA Portal.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
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Checking instructions
1. Check whether the following messages appear together:
• KSS11035 PLC sends invalid input data for device {Name}, Slot
{Slot}, Subslot {Subslot}
• KSS11036 PLC cannot work with the output data from device
{Name}, slot {Slot}, subslot {Subslot}
• KSS11012 The configured device differs from the real device
{Name}, Slot {Slot}, Subslot {Subslot}
2. In the Project tree window, expand the tree structure of the robot controller (PROFINET device) and double-click on Online & diagnostics.
A window opens.
3. Open the Diagnostic status tab.
4. Check if the following messages are displayed in the Status area:
• Input/output data not available.
• Differences were found between the loaded configuration and
the offline project.
5. Check whether the number of I/Os for the device matches in Online article number: and Offline article number:.
Example:
Fig. 10-6: Diagnostic status in TIA Portal
• KUKA Device IO256: 256 inputs/outputs
• KUKA Device IO2032: 2032 inputs/outputs
The number of standard I/Os does not match in the example.
Solution: Adapting the number of standard I/Os in WorkVisual
Description
The number of standard I/Os must be configured identically in WorkVisual
and the TIA Portal. To do so, the configuration in WorkVisual can be
adapted, for example.
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on PROFINET and select Settings... from the context
menu.
3. A window opens. Select the Communication settings tab.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 10-7: Communication settings tab
4. In the Number of I/Os: box, select the number of standard I/Os such
that the value matches the setting in the PLC project (TIA Portal).
5. Save the settings by selecting OK.
6. Transfer the project to the controller.
Cause: Number of standard I/Os is configured differently
Description
The configured number of standard I/Os differs in the online and offline
configurations.
The procedure for checking whether the length of the standard I/Os
is different in the online and offline configuration is as follows:
Precondition
• PLC project is open in TIA Portal.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
Checking instructions
1. Check whether the following messages appear together:
• KSS11035 PLC sends invalid input data for device {Name}, Slot
{Slot}, Subslot {Subslot}
• KSS11036 PLC cannot work with the output data from device
{Name}, slot {Slot}, subslot {Subslot}
• KSS11012 The configured device differs from the real device
{Name}, Slot {Slot}, Subslot {Subslot}
2. In the Project tree window, expand the tree structure of the robot controller (PROFINET device) and double-click on Online & diagnostics.
A window opens.
3. Open the Diagnostic status tab.
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4. Check if the following messages are displayed in the Status area:
• Input/output data not available.
• Differences were found between the loaded configuration and
the offline project.
5. Check whether the number of I/Os for the device matches in Online article number: and Offline article number:.
Example:
Fig. 10-8: Diagnostic status in TIA Portal
• KUKA Device IO256: 256 inputs/outputs
• KUKA Device IO2032: 2032 inputs/outputs
The number of standard I/Os does not match in the example.
Solution: Adapting the number of standard I/Os in the TIA Portal
Description
The number of standard I/Os must be configured identically in WorkVisual
and the TIA Portal. To do so, the configuration in the TIA Portal can be
adapted, for example.
The procedure described including the screenshots is based on the software version Siemens TIA Portal V15. The procedures and appearance
of the user interface can differ slightly from other versions of the Siemens TIA Portal.
Precondition
• PLC project is open in TIA Portal.
Procedure
1. In the Project tree window, expand the tree structure of the robot controller (by default under Ungrouped devices).
2. Double-click on Device configuration. The Device view tab opens.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Fig. 10-9: Device configuration call
1 I/O module
2 Device configuration
3. Right-click on the I/O module in the Device overview tab and select
Delete from the context menu.
4. In the Hardware catalog, select the desired I/O module and drag it into the empty slot on the robot controller in Device overview.
Limitations:
• Slot 1 may only be occupied by the I/O module 64 safe digital inand outputs or by no module at all.
• Standard I/O modules can only be assigned to slot 2.
Fig. 10-10: Adding and configuring an I/O module
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1 Robot controller in the selected state in Device view
2 Overview of I/O modules that have already been added
3 Available I/O modules
4 Settings for selected I/O module (optional)
The number of inputs and outputs must be configured identically in
WorkVisual and the TIA Portal.
Cause: No connection to the PROFINET device
Description
The PROFINET connection from the robot controller to the device module
(e.g. gripper) is defective or incorrectly plugged in.
Depending on the system configuration, the cabling may be carried out as
follows:
•
•
•
•
•
•
KLI
Switch (optional)
Connector panel X66, X67 (optional)
KUKA linear unit (optional)
Robot axes A1 - A3 (optional)
Robot axes A4 - A6 (optional)
The procedure for checking whether the connecting cable is defective is as follows:
Checking instructions
1. Check whether the connectors are correctly connected. Particular attention must be paid to:
• Pins pushed in
• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed cables or wires can include the following:
• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Solution: Establish correct connection
Precondition
• The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
• The controller has been shut down.
• The power cable is de-energized.
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, severe injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.
• Observe the ESD guidelines.
Procedure
• Exchange the defective cable or rectify contact problem.
10.2.24
KSS11037
Message code
KSS11037
Message text
IP {IP} for the device {Name} is present more than once in the network
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: IP address conflict in network with PROFINET
(>>> Page 144)
Solution: Perform cold start with “Reload files” (>>> Page 145)
Cause: IP address conflict in network with PROFINET
Description
Two devices in the network have the same IP address. This results in an
IP address conflict.
Example
A device that is only temporarily connected to the network has the same
IP address as the robot.
The procedure for checking whether there is an IP address conflict is
as follows:
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Checking instructions
1. Check the IP address of each network device in the network. For Windows devices, for example, by means of Run... > cmd > ipconfig.
2. Localize duplicated IP addresses.
Solution: Perform cold start with “Reload files”
Description
Change the IP address and reinitialize the network connection with Cold
start with “Reload files”.
Precondition
• “Expert” user group
• Administrator privileges on the Windows user interface
Procedure
1. For one of the affected devices, change the IP address that is duplicated in the network.
2. In the main menu, select Shutdown.
3. Select the type Cold start in the window “Shutdown” > “Default settings for switching off the controller via main switch”.
4. Select Reload files in the window “Shutdown” > “Settings valid next
time the system is switched off using the main switch”.
5. Select Reboot control PC.
10.2.25
KSS11038
Message code
KSS11038
Message text
The device name {Name} is present more than once in the network
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Name conflict in network with PROFINET (>>> Page 145)
Solution: Rename the device (>>> Page 146)
Cause: Name conflict in network with PROFINET
Description
A PROFINET device is delivered without a name. In order to be able to
use the device, it must first be assigned a unique name. This procedure is
referred to as “Device naming”.
It is advisable to assign a logical name to the device. For example, if the
device belongs to a certain tool, this should be obvious from the name.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
If the name of the device is present multiple times in the network, a name
conflict results and a connection to the device can no longer be established.
The procedure for checking which device names are present in the
network is as follows:
Precondition
• The robot controller has been set as the active controller.
• The PROFINET node is connected.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on PROFINET and select Functions > Device list and
PROFINET names... from the context menu.
A window opens. The Available devices tab is displayed.
Solution: Rename the device
Description
Change the name of the PROFINET device.
The assigned device name must conform to the naming convention for
PROFINET devices (RFC 5890):
•
•
•
•
•
Length of name: 1 … 240 characters
The name must consist of at least 1 label.
Labels are separated from each other by means of the symbol “.”.
Length of a label: 1 … 63 characters
A label can consist of lower-case letters (a-z), numbers (0-9) and the
symbol “-”.
• A label must not begin or end with the symbol “-”.
• The 1st label must not take on the form “port-xyz-” or “port-xyz-abcde”
(a, b, c, d, e, x, y, z = 0 … 9).
• The name must not have the form “n.n.n.n” (n = 0 … 999).
However, it is also possible to use Unicode characters in the configuration
software. The Unicode characters are converted to ASCII-compatible characters by the configuration software using the Punycode procedure. In
WorkVisual, the converted device name is either displayed under the device name entered or in a tool tip when the mouse pointer is hovered
over the device name.
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The converted device name may contain max. 44 characters. If the
name is longer, it is truncated after the 44th character. This leads to a
situation where the device name is not displayed in full in error messages on the smartHMI.
NOTICE
The following address ranges are used by default by the robot controller
for internal purposes. IP addresses from this range must therefore not
be assigned when naming the device.
This applies to naming of the device with WorkVisual or any other software.
• 192.168.0.0 … 192.168.0.255
• 172.16.0.0 … 172.16.255.255
• 172.17.0.0 … 172.17.255.255
Precondition
• The robot controller has been set as the active controller.
• The device is not in cyclical communication with a controller.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on Bus structure and select Add… from the context
menu.
3. A window opens. Select the entry PROFINET in the Name column
and confirm with OK. The entry is inserted in the tree structure.
4. Right-click on PROFINET in the tree structure and select Settings
from the context menu.
5. A window opens. Select the Communication settings tab.
(>>> 6.5.1.1 "“Communication settings” tab" Page 29)
6. Select the network card used and confirm with OK.
button in the button bar at the top.
7. Click on the
A window opens. The Available devices tab is displayed.
8. Double-click on the name of the desired device and change the name.
9. If required, assign an IP address to the device.
The device will subsequently be assigned an IP address by the robot
controller. This will cause the address assigned here to be overwritten.
It may nonetheless be useful to assign the device an address here,
e.g. for diagnostic purposes, as it is not otherwise possible to communicate with the device.
10. Save the changes with Name devices.
10.2.26
KSS11039
Message code
KSS11039
Message text
PULL alarm from device {Device}, slot {Slot}, subslot {Subslot}
Message type
Status message
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: I/O module unplugged (>>> Page 148)
Solution: Exchange I/O module (>>> Page 148)
Cause: I/O module unplugged
Description
An I/O module has been unplugged from the device.
Checking instructions
• Check if an I/O module has been unplugged.
Solution: Exchange I/O module
Description
The module named has to be exchanged.
10.2.27
KSS11041
Message code
KSS11041
Message text
Data transmission to device {Name}, slot {Slot}, port "{Subslot}" not
possible
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Connecting cable or device is defective (>>> Page 148)
Solution: Check connecting cable and device (>>> Page 148)
Cause: Connecting cable or device is defective
Description
Data transmission is not possible because the connecting cable or the device is defective.
Solution: Check connecting cable and device
Procedure
• Check the connecting cable and device and exchange if necessary.
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10.2.28
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11042
Message code
KSS11042
Message text
The neighborhood of device {Name}, slot {Slot}, port "{Subslot}"
does not match the command topology
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: The device was not connected at the configured point in the
network (>>> Page 149)
Solution: Connect the device at the configured point in the network
(>>> Page 149)
Cause: The device was not connected at the configured point in the network
Solution: Connect the device at the configured point in the network
10.2.29
KSS11043
Message code
KSS11043
Message text
Link down at device {Name}, port "{Port}"
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Connecting cable or device is defective (>>> Page 149)
Solution: Check connecting cable and device (>>> Page 149)
Cause: Connecting cable or device is defective
Description
Data transmission is not possible because the connecting cable or the device is defective.
Solution: Check connecting cable and device
Procedure
• Check the connecting cable and device and exchange if necessary.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
10.2.30
KSS11044
Message code
KSS11044
Message text
Neighbor of device {Name}, port "{Port}" does not match the command topology
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: The device was not connected at the configured point in the
network (>>> Page 150)
Solution: Connect the device at the configured point in the network
(>>> Page 150)
Cause: The device was not connected at the configured point in the network
Solution: Connect the device at the configured point in the network
10.2.31
KSS11045
Message code
KSS11045
Message text
Neighboring port of device {Name}, port "{Port}" does not match the
command topology
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: The device was not connected at the configured point in the
network (>>> Page 150)
Solution: Connect the device at the configured point in the network
(>>> Page 150)
Cause: The device was not connected at the configured point in the network
Solution: Connect the device at the configured point in the network
10.2.32
KSS11046
Message code
KSS11046
Message text
No neighbor detected at device {Name}, port "{Port}"
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Message type
Status message
Effect
No braking reaction
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
No interlock of motions or commands
Possible cause(s)
Cause: The device was not connected at the configured point in the
network (>>> Page 151)
Solution: Connect the device at the configured point in the network
(>>> Page 151)
Cause: The device was not connected at the configured point in the network
Solution: Connect the device at the configured point in the network
10.2.33
KSS11078
Message code
KSS11078
Message text
The safety connection between PLC and {Name} could not be established because the GSDML file on the PLC is outdated
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: GSDML file on the PLC outdated (>>> Page 151)
Solution: Replacing the GSDML file on the PLC (>>> Page 152)
Cause: GSDML file on the PLC outdated
Description
A GSDML file used on the PLC for the KUKA robot controller is outdated.
As a minimum, the following GSDML file must be used:
GSDML-V2.33-KUKA-KRC4-ProfiNet_4.1-20170630.xml
If an older GSDML file is used, it is not possible to establish a PROFIsafe
connection.
It is advisable to use the GSDML file that matches the PROFINET version. Compatibility mode in WorkVisual should only be used if the
GSDML file may not be changed in the configuration of the higher-level
PROFINET controller.
The procedure for checking whether an outdated GSDML file is in
use on the PLC is as follows:
Checking instructions
• Check if one of the following GSDML files is in use on the PLC:
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
‒ GSDML-V2.25-KUKA-Roboter-GmbH-KR C4-DeviceV1.0-20121030.xml
‒ GSDML-V2.25-KUKA-Roboter-GmbH-VKR C4-DeviceV1.0-20121030.xml
‒ GSDML-V2.31-KUKA-KRC4-ProfiNet_2.3-20140704.xml
‒ GSDML-V2.31-KUKA-VKRC4-ProfiNet_2.3-20140704.xml
‒ GSDML-V2.25-KUKARoboterGmbH-KUKARobotController-20130808.xml
‒ GSDML-V2.25-KUKARoboterGmbH-V-KUKARobotController-20130808.xml
‒ GSDML-V2.31-KUKA-KRC4-ProfiNet_3.2-20140908.xml
‒ GSDML-V2.31-KUKA-VKRC4-ProfiNet_3.2-20140908.xml
‒ GSDML-V2.32-KUKA-KRC4-ProfiNet_3.3-20170131.xml
‒ GSDML-V2.32-KUKA-VKRC4-ProfiNet_3.3-20170131.xml
‒ GSDML-V2.32-KUKA-KRC4-ProfiNet_4.0-20170412.xml
Solution: Replacing the GSDML file on the PLC
Procedure
• Replace the GSDML file used on the PLC for the KUKA robot controller with an appropriate, more up-to-date GSDML file.
10.2.34
KSS11081
Message code
KSS11081
Message text
Error reading {Configuration file}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Configuration file error (>>> Page 152)
Solution: Correct the configuration with WorkVisual. (>>> Page 152)
Cause: Configuration file error
Description
A configuration file is faulty (IPPNIO.xml, PNIODriver.xml or
bas_cm_api.xml).
Solution: Correct the configuration with WorkVisual.
Procedure
• Correct the configuration with WorkVisual.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
10.2.35
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
KSS11084
Message code
KSS11084
Message text
Error reading the MAC address from the KLI
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 153)
Solution: Make a change to the network configuration and then undo it (>>> Page 153)
Cause: KLI configuration is faulty (>>> Page 153)
Solution: Correct the configuration on the controller (>>> Page 154)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors. The file
may have been imported from a different software version, for example.
The file KLIConfig.xml is not compatible between the software versions
KSS 8.2 and KSS 8.3.
Solution: Make a change to the network configuration and then undo it
Description
Make a change to the network configuration and then undo it. This causes
the file KLIConfig.xml to be rewritten.
Procedure
1. Select Start-up > Network configuration in the main menu.
2. Make a change at the Windows interface virtual5, e.g. change the
fixed standard IP address.
3. Perform a cold start with Reload data.
4. If the message is no longer displayed after the restart, undo the
change at virtual5.
5. Perform another cold start with Reload data.
Cause: KLI configuration is faulty
Description
The KLI configuration is faulty.
Checking instructions
• Check the KLI configuration.
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Messages
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Solution: Correct the configuration on the controller
Description
Correct the configuration on the controller.
This activity must be carried out in accordance with the procedure described in the operating and programming instructions.
10.2.36
KSS13037
Message code
KSS13037
Message text
Profinet controller stack cannot be started, error code: {Code}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Incorrect parameterization (>>> Page 154)
Solution: Parameterize correctly (>>> Page 154)
Cause: Incorrect parameterization
Description
The PROFINET firmware has been parameterized incorrectly
(bas_cm_api.xml).
Solution: Parameterize correctly
Description
The PROFINET firmware must be parameterized correctly
(bas_cm_api.xml).
10.2.37
KSS13038
Message code
KSS13038
Message text
Profinet device stack cannot be started, error code: {Code}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
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Cause: File is faulty (>>> Page 155)
Solution: Install PROFINET (on smartHMI) (>>> Page 155)
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
Cause: File is faulty (>>> Page 156)
Solution: Install PROFINET (via WorkVisual) (>>> Page 156)
Cause: File is faulty
Description
The file pndev1.xml is faulty.
Solution: Install PROFINET (on smartHMI)
It is advisable to archive all relevant data before updating a software
package.
On updating, the existing configuration is automatically adopted. If this
is not desired, the existing version must first be uninstalled.
Precondition
•
•
•
•
User group “Expert”
T1 or T2 mode
No program is selected.
USB stick with the option package (KOP file)
NOTICE
We recommend using a KUKA USB stick. Data may be lost if a stick
from a different manufacturer is used.
Procedure
1. Connect the USB stick to the robot controller or smartPAD.
2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry KUKA.PROFINET MS or KUKA.PROFINET S must be displayed in the Name column and drive E:\ or K:\
in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be
configured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Set the check mark next to KUKA.PROFINET MS or KUKA.PROFINET S and press Install. Confirm the installation query with OK.
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
6. The request for confirmation Do you want to activate the project […]?
is displayed. The active project is overwritten during activation. If no
relevant project will be overwritten: Answer the query with Yes.
7. An overview of the changes and a request for confirmation are displayed. Answer this with Yes. The option package is installed and the
robot controller carries out a reboot.
8. Remove the stick.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
Cause: File is faulty
Description
The file pndev1.xml is faulty.
Solution: Install PROFINET (via WorkVisual)
Description
The option package is installed in WorkVisual and added to the project.
When the project is transferred to the robot controller, the option package
is automatically installed there.
In the case of an update, the previous version of the option package in
WorkVisual must first be uninstalled.
It is advisable to archive all relevant data before updating a software
package.
Precondition
•
•
•
•
•
User group “Expert”
T1 or T2 mode
No program is selected.
Network connection to the robot controller
The option package is available as a KOP file.
Procedure
1. Only for an update: Uninstall the previous version of the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
2. Install the KUKA.PROFINET MS or KUKA.PROFINET S option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the KUKA.PROFINET MS or KUKA.PROFINET S option package in the project.
5. Configure the option package.
(>>> 6.1 "Configuration – overview" Page 23)
6. Deploy the project from WorkVisual to the robot controller and activate
it.
7. The request for confirmation Do you want to activate the project […]?
is displayed on the smartHMI. The active project is overwritten during
activation. If no relevant project will be overwritten: Answer the query
with Yes.
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KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
8. An overview with the changes and a request for confirmation are displayed on the smartHMI. Answer this with Yes. The option package is
installed and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVisual documentation.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
10.2.38
KSS13039
Message code
KSS13039
Message text
Error initializing the Profinet firmware
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: IP address conflict in network with PROFINET
(>>> Page 157)
Solution: Perform cold start with “Reload files” (>>> Page 157)
Cause: IP address conflict in network with PROFINET
Description
Two devices in the network have the same IP address. This results in an
IP address conflict.
Example
A device that is only temporarily connected to the network has the same
IP address as the robot.
The procedure for checking whether there is an IP address conflict is
as follows:
Checking instructions
1. Check the IP address of each network device in the network. For Windows devices, for example, by means of Run... > cmd > ipconfig.
2. Localize duplicated IP addresses.
Solution: Perform cold start with “Reload files”
Description
Change the IP address and reinitialize the network connection with Cold
start with “Reload files”.
Precondition
• “Expert” user group
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Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Messages
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
• Administrator privileges on the Windows user interface
Procedure
1. For one of the affected devices, change the IP address that is duplicated in the network.
2. In the main menu, select Shutdown.
3. Select the type Cold start in the window “Shutdown” > “Default settings for switching off the controller via main switch”.
4. Select Reload files in the window “Shutdown” > “Settings valid next
time the system is switched off using the main switch”.
5. Select Reboot control PC.
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11
KUKA Service
11.1
Requesting support
KUKA Service
KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Introduction
This documentation provides information on operation and operator control, and provides assistance with troubleshooting. For further assistance,
please contact your local KUKA subsidiary.
Information
The following information is required for processing a support request:
• Description of the problem, including information about the duration
and frequency of the fault
• As comprehensive information as possible about the hardware and
software components of the overall system
The following list gives an indication of the information which is relevant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manipulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifications
‒ Diagnostic package KRCDiag
Additionally for KUKA Sunrise: existing projects including applications
For versions of KUKA System Software older than V8: archive of
the software (KRCDiag is not yet available here.)
‒ Application used
‒ External axes used
11.2
KUKA Customer Support
The contact details of the local subsidiaries can be found at:
www.kuka.com/customer-service-contacts
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KUKA Service
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KUKA.PROFINET® M/S 5.0, KUKA.PROFINET® -/S 5.0
Index
GSDML............................................................. 8
GSDML files, making available......................23
A
Access, SNMP..............................................110
Acyclic, communication.................................. 89
ARP...................................................................8
B
Bus
Bus
Bus
Bus
Bus
G
errors, activating (via KRL).................... 87
errors, activating (via smartHMI)............78
errors, deactivating (via KRL)................ 87
errors, deactivating (via smartHMI)........78
system, restarting (via KRL)...................89
C
CAST_FROM..................................................94
CAST_TO....................................................... 94
CBA...................................................................8
CCLOSE......................................................... 94
CHANNEL.......................................................94
CIOCTL...........................................................94
Communication, acyclic..................................89
Configuration...................................................23
Controller.......................................................... 8
COPEN........................................................... 94
CREAD........................................................... 94
CSP...................................................................8
CWRITE..........................................................94
D
Data cables, routing....................................... 17
DCP.................................................................. 8
Device............................................................... 8
Device configuration, resetting.......................27
Device diagnosis, via topology view............101
Device list, updating....................................... 28
Device naming................................................25
Device, identification.......................................27
Devices, connecting....................................... 51
Diagnosis........................................................ 95
Diagnostic data, displaying............................ 95
Diagnostic monitor (menu item).....................95
Diagnostic signals via PROFINET...............105
Documentation, industrial robot....................... 7
E
Ethernet............................................................ 8
F
FSU...................................................................8
FSU, activation............................................... 46
Function groups..............................................81
KUKA.PROFINET M/S 5.0 V2 | Issued: 30.01.2020
I
I&M....................................................................8
I&M data sets............................................... 109
Identification, device....................................... 27
Installation.......................................................17
via smartHMI............................................. 18
via WorkVisual...........................................19
Installation, PROFINET............................18, 19
Intended use................................................... 11
Introduction....................................................... 7
IRT.................................................................... 9
K
KSS...................................................................9
KUKA Customer Support............................. 159
KUKA Service...............................................159
L
Licenses............................................................9
LLDP................................................................. 9
Logging off the higher-level safety controller 67
M
Messages...................................................... 111
MIB....................................................................9
Misuse.............................................................11
O
Open source..................................................... 9
Operation........................................................ 75
Overview, PROFINET.....................................12
P
PC WORX........................................................ 9
PLC................................................................... 9
Port list, displaying....................................... 105
Power management via PROFINET..............80
Product description......................................... 11
PROFIBUS signal names...............................50
PROFIenergy commands............................... 79
PROFINET alarms........................................110
PROFINET configuration, exporting........ 72, 73
PROFINET configuration, importing...............73
PROFINET device configuration, exporting...72
PROFINET devices, coupling (via KRL)....... 84
PROFINET devices, coupling (via
smartHMI)....................................................... 76
PROFINET devices, decoupling (via KRL)... 83
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PROFINET devices, decoupling (via
smartHMI)....................................................... 75
PROFINET devices, querying the state (via
KRL)................................................................86
PROFINET node configuration, exporting..... 72
PROFIsafe........................................................ 9
PROFIsafe enabling switch............................67
Programming.................................................. 83
Virtual devices, configuring............................ 52
VSS...................................................................9
W
Wait time for coupling, changing (via KRL).. 86
Warnings........................................................... 7
R
Record index.................................................. 93
RFC...................................................................9
Robot controller, configuring.......................... 89
Robot controller, querying the energy saving
mode (via KRL).............................................. 88
S
SafeOperation via PROFIsafe........................63
Safety..............................................................13
Safety instructions............................................ 7
Safety interface via PROFIsafe (optional).....53
Shared device PROFINET device................. 46
SIB.................................................................... 9
Signal “Peri enabled”......................................57
SNMP................................................................9
SNMP, access...............................................110
SREAD............................................................94
STEP 7............................................................. 9
Subnet...............................................................9
Subnet mask.....................................................9
Support request............................................ 159
SWRITE.......................................................... 94
System requirements......................................17
Compatibility.............................................. 17
Hardware................................................... 17
Software.....................................................17
T
Target group..................................................... 7
Technical data.................................................15
Technical data, robot controller as PROFIsafe
device............................................................. 15
Terms used....................................................... 8
TIA Portal..........................................................9
Topology view, opening.................................. 51
Topology, configuring......................................51
Topology, rearranging..................................... 52
Trademarks....................................................... 8
U
Uninstallation, PROFINET....................... 19, 20
User rights, displaying....................................81
V
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