Controller Option
KUKA.EtherNet/IP™ M/S 5.1
For KUKA System Software 8.7
For VW System Software 8.7
Issued: 01.04.2021
KUKA.EtherNet/IP M/S 5.1 V1
KUKA Deutschland GmbH
KUKA.EtherNet/IP™ M/S 5.1
© Copyright 2021
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.EtherNet/IP M/S 5.1 (PDF) en
PB17145
Book structure:
KUKA.EtherNet/IP M/S 5.1 V1.1
BS15491
Version:
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
KUKA.EtherNet/IP™ M/S 5.1
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
2.2
2.3
Product description................................................................................................
Overview of EtherNet/IP........................................................................................
Intended use and misuse......................................................................................
11
11
12
3
Safety.........................................................................................................
13
4
Installation................................................................................................
15
4.1
4.2
4.3
4.3.1
4.3.2
4.4
4.4.1
4.4.2
System requirements.............................................................................................
Routing the data cables........................................................................................
Installation via smartHMI.......................................................................................
Installing or updating EtherNet/IP.........................................................................
Uninstalling EtherNet/IP........................................................................................
Installation via WorkVisual....................................................................................
Installing or updating EtherNet/IP.........................................................................
Uninstalling EtherNet/IP........................................................................................
15
15
15
15
16
17
17
18
5
Configuration............................................................................................
19
5.1
5.2
5.3
Overview................................................................................................................
Making EDS files available...................................................................................
Making EDS files available for configuration of the PLC with third-party engineering software....................................................................................................
Configuring the robot controller as EtherNet/IP adapter on the PLC..................
Configuring the robot controller as EtherNet/IP adapter and CIP Safety with a
generic add-on profile...........................................................................................
Configuring the bus with WorkVisual....................................................................
Configuring Ethernet/IP scanners.........................................................................
Address setting......................................................................................................
Device properties...................................................................................................
Chassis/Modules....................................................................................................
Setting parameters................................................................................................
Module configuration.............................................................................................
Changing the connection type..............................................................................
Configuring Ethernet/IP adapters..........................................................................
“Communication settings” tab...............................................................................
“Local Slave” tab...................................................................................................
“Local safety slave” tab.........................................................................................
Mapping inputs/outputs in WorkVisual..................................................................
Configuring ports of bus devices..........................................................................
Exporting EDS files...............................................................................................
19
19
5.3.1
5.3.2
5.4
5.4.1
5.4.1.1
5.4.1.2
5.4.1.3
5.4.1.4
5.4.1.5
5.4.1.6
5.4.2
5.4.2.1
5.4.2.2
5.4.2.3
5.5
5.6
5.7
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20
21
23
25
25
26
27
27
28
29
29
30
30
32
33
34
36
37
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5.8
5.8.1
5.8.2
5.8.3
5.8.4
Safety interface via CIP Safety (optional)............................................................
Instructions for use of CIP Safety........................................................................
Safety functions via CIP Safety (KSS).................................................................
Safety functions via CIP Safety (VSS).................................................................
SafeOperation via CIP Safety (optional)..............................................................
38
38
39
44
49
6
Operation..................................................................................................
51
6.1
6.1.1
6.1.2
6.2
6.2.1
6.2.2
6.3
6.4
6.5
6.6
Coupling/decoupling devices.................................................................................
Coupling/decoupling devices via the HMI............................................................
Coupling/decoupling devices via KRL..................................................................
Enabling/disabling Quick Connect........................................................................
Enabling/disabling Quick Connect via HMI..........................................................
Enabling/disabling Quick Connect via KRL..........................................................
Requesting the device status................................................................................
Activating/deactivating bus errors.........................................................................
Reading data of the EtherNet/IP driver online.....................................................
Reading and modifying data from a device online..............................................
51
51
52
52
53
53
54
54
55
56
7
Programming............................................................................................
57
7.1
7.1.1
7.1.2
7.1.3
7.2
7.2.1
7.3
7.3.1
7.3.2
Receiving acyclic data from a PLC......................................................................
Configuring the robot controller for acyclic communication.................................
Configuring the PLC for acyclic communication (example).................................
Example of acyclic communication.......................................................................
Sending acyclic data.............................................................................................
Example program..................................................................................................
CIP Energy commands.........................................................................................
Energy Base Object..............................................................................................
Power Management Object...................................................................................
57
57
58
59
60
62
63
63
64
8
Diagnosis..................................................................................................
67
8.1
8.1.1
8.1.2
8.1.3
8.1.4
8.1.5
8.1.6
8.2
8.3
Displaying diagnostic data for EtherNet/IP...........................................................
EtherNet/IP scanner (EIP-SCANNER)..................................................................
EtherNet/IP adapter (EIP-ADAPTER)...................................................................
EtherNet/IP device.................................................................................................
Ethernet/IP local slave..........................................................................................
Ethernet/IP local safety slave...............................................................................
EtherNet/IP I/O driver (EIPIODRIVER).................................................................
Displaying diagnostic data relating to the safety configuration............................
Advanced device diagnosis...................................................................................
67
67
67
68
69
70
70
71
72
9
Messages..................................................................................................
75
9.1
9.2
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
9.2.7
Information about the messages..........................................................................
System messages from module: CrossMeld (KSS).............................................
KSS15147..............................................................................................................
KSS15148..............................................................................................................
KSS15149..............................................................................................................
KSS15150..............................................................................................................
KSS15151..............................................................................................................
KSS15152..............................................................................................................
KSS15153..............................................................................................................
75
75
75
76
78
80
81
84
86
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9.2.8
9.2.9
9.2.10
9.2.11
9.2.12
9.2.13
9.2.14
9.2.15
9.2.16
9.2.17
9.2.18
9.2.19
9.2.20
9.2.21
9.2.22
9.2.23
KSS15154..............................................................................................................
KSS15155..............................................................................................................
KSS19000..............................................................................................................
KSS19001..............................................................................................................
KSS19002..............................................................................................................
KSS19004..............................................................................................................
KSS19005..............................................................................................................
KSS19006..............................................................................................................
KSS19008..............................................................................................................
KSS19009..............................................................................................................
KSS19010..............................................................................................................
KSS19011..............................................................................................................
KSS19012..............................................................................................................
KSS19013..............................................................................................................
KSS19014..............................................................................................................
KSS19015..............................................................................................................
87
88
94
95
96
97
99
100
101
102
103
104
105
106
106
108
10
KUKA Service...........................................................................................
111
10.1
10.2
Requesting support...............................................................................................
KUKA Customer Support......................................................................................
111
111
Index
113
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1
Introduction
1.1
Target group
Introduction
KUKA.EtherNet/IP™ M/S 5.1
This documentation is aimed at users with the following knowledge and
skills:
•
•
•
•
Advanced KRL programming skills
Advanced knowledge of the robot controller system
Advanced knowledge of field buses
Knowledge of WorkVisual
For optimal use of KUKA products, we recommend the training courses
offered by KUKA College. Information about the training program can be
found at www.kuka.com or can be obtained directly from our subsidiaries.
1.2
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.
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These warnings contain references to safety-relevant information or general safety measures.
These warnings do not refer to individual hazards or individual precautionary measures.
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
•
CIP EnergyTM is a trademark of ODVA, Inc.
•
CIP SafetyTM is a trademark of ODVA, Inc.
EtherNet/IPTM is a trademark of ODVA, Inc.
•
• RSLogix is a trademark of Rockwell Automation Inc.
• STUDIO 5000 is a trademark of Rockwell Automation Inc.
• Windows is a trademark of Microsoft Corporation.
1.5
Terms used
Term
Description
CIP Energy
Common Industrial Protocol Energy
Protocol for the optimization of energy consumption in production
systems
CIP Safety
Common Industrial Protocol Safety
CIP Safety is an Ethernet/IP-based safety interface for connecting a
safety PLC to the robot controller (PLC = master, robot controller =
slave).
EDS file
Electronic Data Sheet
Device description file for EtherNet/IP
Ethernet
Data network technology for local data networks
Ethernet allows data to be exchanged between the connected devices in the form of data frames.
KSS
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PLC
Programmable Logic Controller
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.
VSS
VW System Software
WoL
Wake on LAN
Standard that can be used to switch a computer that has been
switched off back on again via the installed network card
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
• On the KUKA smartHMI, in the main menu under Help > Info, tab Licenses
• Under D:\KUKA_OPT\Option package name\LICENSE on the robot
controller
• In the license folder under the name of the option package in the Options catalog 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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Introduction
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2
Product description
2.1
Product description
Product description
KUKA.EtherNet/IP™ M/S 5.1
Description
KUKA.EtherNet/IP M/S is an option package for communication of the robot controller with an EtherNet/IP PLC and/or EtherNet/IP devices that are
connected to the robot (e.g. grippers or weld guns).
Safe or non-safe inputs and outputs can be used for the communication
with the PLC. Only non-safe inputs and outputs can be used for the communication with the devices.
Using KUKA.EtherNet/IP M/S, the robot controller can be configured as
EtherNet/IP scanner and/or as EtherNet/IP adapter.
Functions
•
•
•
•
•
2.2
EtherNet/IP IO (cyclical communication)
Explicit Messaging (acyclic communication)
QuickConnect
CIP Safety
CIP Energy
Overview of EtherNet/IP
Description
EtherNet/IP is an EtherNet-based field bus. Data exchange is carried out
on a client-server basis.
A detailed description of the EtherNet/IP technology and a current list of
EtherNet/IP-capable devices can be found on the website of the Open DeviceNet Vendor Association (ODVA).
Device types
The following device types are used with EtherNet/IP:
• Scanner: A higher-level controller that controls all the components of a
system.
• Adapter: A field device subordinated to a scanner.
The 2 device types have relationships for transferring configuration data
and process data.
A physical device, e.g. the robot controller, can be a scanner and/or an
adapter. The configuration of communication relationships is carried out
solely in the scanner.
EtherNet/IP IO
The cyclical communication is used for time-critical applications. This generally refers to the communication between a controller and distributed I/O
modules. The cyclical communication is more efficient than the acyclic
communication, as the server and client are preconfigured accordingly.
Explicit Messaging
In the case of acyclic communication, a server (e.g. the robot controller)
sends information to a client (e.g. PLC) in response to a specific request.
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Product description
KUKA.EtherNet/IP™ M/S 5.1
Since the client requests the information from the server via TCP/IP services, the request contains all information required for responding explicitly
to the message.
Limitation
The Explicit Messaging function can only be used in conjunction with the
EtherNet/IP IO function.
QuickConnect
The QuickConnect function can be used, for example, to exchange devices (e.g. a tool on the robot flange) quickly while the network is running.
Fast tool change with changing times of approx. 500 ms is supported.
CIP Safety
CIP Safety is the expansion of the Common Industrial Protocol (CIP) for
functional safety applications. CIP Safety offers fail-safe communication
between nodes such as safety I/O modules, safety interlock switches,
safety light curtains and safety controllers in safety applications of both
machine automation and process automation up to Safety Integrity Level
(SIL) 3 in accordance with the IEC 61508 standards.
CIP Energy
CIP Energy makes it possible to monitor the energy consumption and set
the robot controller to a pause or sleep mode in order to save energy.
2.3
Intended use and misuse
Use
The KUKA.EtherNet/IP M/S option package is used for safe and/or nonsafe communication with a higher-level EtherNet/IP scanner (PLC) and for
non-safe communication with subordinate EtherNet/IP adapters.
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.
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3
Safety
KUKA.EtherNet/IP™ M/S 5.1
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
Installation
The option package can either be installed on the robot controller via the
smartHMI or via WorkVisual.
4.1
System requirements
Hardware
• KR C5 robot controller
• Laptop/PC
Software
Robot controller:
• KUKA System Software 8.7
• Or VW System Software 8.7
Laptop/PC:
• WorkVisual 6.0
• For configuration of the higher-level controller (if using the robot controller as EtherNet/IP adapter):
‒ Corresponding configuration software provided by the manufacturer
of the higher-level controller
4.2
Routing the data cables
Description
The adapters can be connected to the scanner either directly or via a
switch.
Procedure
• Route the Industrial Ethernet cables to the adapters from the scanner
or from the switch using a star topology.
4.3
Installation via smartHMI
4.3.1
Installing or updating EtherNet/IP
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
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Installation
KUKA.EtherNet/IP™ M/S 5.1
• No program is selected.
• USB stick with the option package (KOP file)
NOTICE
Data loss due to USB sticks from third-party manufacturers
Data may be lost if USB sticks from manufacturers other than KUKA
are used for activities on the robot controller.
• For activities on the robot controller requiring a USB stick, use a
KUKA stick.
The KUKA sticks are validated for use with the robot controller.
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.EtherNetIP MS 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.
Activate the check box next to KUKA.EtherNetIP MS 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.
4.3.2
Uninstalling EtherNet/IP
It is advisable to archive all relevant data before uninstalling a software
package.
Precondition
• User rights:
‒ KSS: function group General configuration
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KUKA.EtherNet/IP™ M/S 5.1
Installation
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. Activate the check box next to KUKA.EtherNetIP MS 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.
4.4
Installation via WorkVisual
4.4.1
Installing or updating EtherNet/IP
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 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.EtherNetIP MS option package in WorkVisual.
2. Install the KUKA.EtherNetIP MS option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the KUKA.EtherNetIP MS option package into the project.
5. Configure the option package in WorkVisual as required.
(>>> 5.1 "Overview" Page 19)
6. Deploy the project from WorkVisual to the robot controller and activate
it.
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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.
4.4.2
Uninstalling EtherNet/IP
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.
2. Remove the KUKA.EtherNetIP MS option package and the
EtherNet/IP node on the Hardware tab from the project. A window
with modifications is displayed.
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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5
Configuration
5.1
Overview
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Step
Description
1
Configure the higher-level controller with the configuration
software provided by the manufacturer of the higher-level
controller.
Note: This step only needs to be carried out if a higher-level controller is being used.
2
Make EDS files available (optional).
(>>> 5.2 "Making EDS files available" Page 19)
(>>> 5.3 "Making EDS files available for configuration of the
PLC with third-party engineering software" Page 20)
3
Configure EtherNet/IP.
(>>> 5.4 "Configuring the bus with WorkVisual" Page 25)
4
Map the inputs and outputs in WorkVisual.
(>>> 5.5 "Mapping inputs/outputs in WorkVisual" Page 34)
5
Transfer the bus configuration from WorkVisual to the robot
controller.
6
Reboot the robot controller.
7
Configure bus device ports (optional).
(>>> 5.6 "Configuring ports of bus devices" Page 36)
8
Export EDS files (optional).
(>>> 5.7 "Exporting EDS files" Page 37)
9
Configure acyclic communication (optional).
(>>> 7.1 "Receiving acyclic data from a PLC" Page 57)
(>>> 7.2 "Sending acyclic data" Page 60)
10
Safety interface via CIP Safety (optional)
(>>> 5.8 "Safety interface via CIP Safety (optional)"
Page 38)
Information about procedures in WorkVisual is contained in the WorkVisual documentation. Information about procedures in the configuration
software of the higher-level controller can be found in the
documentation for this software.
5.2
Making EDS files available
An EDS file can be used for the configuration of a device. It is also possible to configure a device without an EDS file. In the case of modular devices, an EDS file is required for each module. EDS files must be obtained from the manufacturer of the device.
Precondition
• A robot controller has been added and set as active.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
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 EtherNet/IP and confirm with OK.
The entry is inserted in the tree structure.
4. Right-click on the entry EtherNet/IP and select the menu sequence
Functions > Add EDS to library.
5. A wizard is opened. Click on Next >.
6. Click on Browse… and specify a directory.
7. Confirm with Next >.
A list of the EDS files to be added to the library is displayed.
8. Confirm with Next >.
9. Click on Finish.
The EDS files are added to the library.
10. Close and save the project with File > Close.
11. Select the menu sequence Extras > DTM Catalog Management....
12. Click on Search for installed DTMs. The catalog scan is started
13. Under Known DTMs, select the required files and click on the Right
arrow button. The selected files are displayed under Current DTM
Catalog.
14. Click on OK to end the catalog scan.
If there is already a different version of an EDS file present on the hard
drive, the user is asked to confirm whether the file on the hard drive
should be overwritten. If the file to be added is required for a project,
overwriting the file on the hard drive with this file is recommended. Otherwise, the project may be impossible to open.
5.3
Making EDS files available for configuration of the PLC with third-party
engineering software
Description
If a KUKA robot controller is added as a device on the PLC with third-party engineering software, this software requires the EDS file for the KUKA
robot controller.
The following EDS files exist for the KR C5 robot controller:
• KRC5EtherNetIP.eds: EDS file for robot controllers with CIP Safety
deactivated, non-safe communication via local slaves 1 to 5
• KRC5CipSafety.eds: EDS file for robot controllers with CIP Safety activated, safe communication via CIP Safety. Non-safe communication
via local slaves 1 to 5 is also possible.
The EDS files can only be used with STUDIO 5000 Logix Designer V32
or higher. This is not possible with RSLogix 5000 or a version lower
than STUDIO 5000 V32. In this case, configuration can be performed
using the generic add-on profile:
(>>> 5.3.2 "Configuring the robot controller as EtherNet/IP adapter and
CIP Safety with a generic add-on profile" Page 23)
Procedure
1. Copy the required EDS file of the KUKA robot controller.
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The file can be found on the WorkVisual CD-ROM, in the following directory: DeviceDescriptions\EDS
2. Add the file in the third-party engineering software.
5.3.1
Configuring the robot controller as EtherNet/IP adapter on the PLC
Description
Configuration of the robot controller as EtherNet/IP adapter is described
taking the PLC software Studio 5000 Logix Designer V32 from Rockwell
as an example.
Precondition
• EDS file of the KUKA robot controller has been added to the PLC
software.
Procedure
KRC5EtherNetIP.eds:
1. Enter the name and IP address of the robot controller in the general
settings.
Fig. 5-1: Module settings (standard)
2. In the Module Definition area, click on Change... to add local slaves.
The Module Definition window opens.
Fig. 5-2: Module definition (standard)
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
3. Local slave 1 is present by default in the Name column. If a different
local slave is to be used, click on Local Slave 1 and select the desired local slave instead. Local slaves 2 to 5 are available for selection.
4. If another local slave is to be added: Click on the next empty row in
the Name column and select the desired local slave. The local slaves
that have not yet been used are available for selection.
5. Enter the number of bytes for the inputs and outputs in the Size column.
The settings in this window must match the settings in WorkVisual.
6. To delete a local slave, right-click on the local slave in the Name column and select Delete from the context menu.
7. Save the settings with OK.
KRC5CipSafety.eds
1. Enter the name and IP address of the robot controller and the number
of the safety network in the general settings.
Fig. 5-3: Module settings (CIP Safety)
2. In the Module Definition area, click on Change... to add local slaves.
The Module Definition window opens.
Fig. 5-4: Module definition (CIP Safety)
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3. Click on the Safety Input Assembly row in the Name column and select the safe inputs with the desired size. The sizes 2 or 8 bytes are
available for selection.
4. Click on the Safety Output Assembly row in the Name column and
select the safe outputs with the desired size. The sizes 2 or 8 bytes
are available for selection.
The safe inputs and outputs must be the same size. If, for example,
the size 8 bytes is selected for the safe inputs, the safe outputs
must also have the size 8 bytes.
5. Optional: Add local slaves:
a. Local slave 1 is present by default in the Name column. If a different local slave is to be used, click on Local Slave 1 and select
the desired local slave. Local slaves 2 to 5 are available for selection.
b. Enter the number of bytes for the inputs and outputs in the Size
column.
The settings in this window must match the settings in WorkVisual.
6. To delete a local slave, right-click on the local slave in the Name column and select Delete from the context menu.
7. Save the settings with OK.
5.3.2
Configuring the robot controller as EtherNet/IP adapter and CIP Safety
with a generic add-on profile
Description
The robot controller can be configured as an EtherNet/IP adapter using a
generic add-on profile. Configuration is only possible with the STUDIO
5000 software from Rockwell. If a different software package is used, the
EDS files for the KR C5 robot controller must be used.
With the generic add-on profile Safety and Standard EtherNet/IP Generic from Rockwell, only an EtherNet/IP scanner is required. It also enables
safe and non-safe communication in an EtherNet/IP adapter.
Precondition
• EtherNet/IP scanner is configured.
Procedure
1. Download the add-on profile from the Rockwell website and install it.
2. Add a new generic module to the EtherNet/IP scanner in STUDIO
5000: ETHERNET-SAFETY-STANDARD-MODULE.
3. Enter a name for the module. This will be used for the safe and nonsafe outputs.
4. Enter the IP address of the robot controller (“virtual5”).
5. Set the number of the safety network (“Safety Network Number”).
6. Click on the Change button. A window for the module settings opens.
7. Under General, enter the following data from the file KRC5CipSafety.eds:
• Vendor: 121
• Product Type: 140
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
• Product Code: 4
• Revision:
‒ Major Revision: 5
‒ Minor Revision: 1
• Connection: Safety and Standard
• Input Data: Safety and Standard
• Output Data: Safety and Standard
• Data Format: SINT
8. Make the following settings under Connections:
Fig. 5-5: Module settings
The assembly instances must match the configuration in WorkVisual.
Bear in mind that an input on the PLC is an output on the robot controller and vice versa.
Fig. 5-6: Settings in WorkVisual (“Local Safety Slave” tab)
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Fig. 5-7: Settings in WorkVisual (“Local slave” tab)
9. Save settings with OK.
10. Under Connection in the column for the Requested Packet Interval
(RPI), set the times for the safe inputs (“Safety Input”) and the nonsafe inputs and outputs (“Standard”). The time for the safe outputs
(“Safety Output”) is set via the safety task (see next step).
A value of at least 12 ms must be set for the safe inputs and outputs, otherwise communication may not work.
11. Open the Task Properties window in the safety task and select the
Configuration tab.
12. Enter the RPI for the safe outputs in the Period box.
13. Under Safety in the column for the Requested Packet Interval (RPI),
check the following setting and change it if required:
• Safety Input
• Safety Outputs
14. Optional: Change the settings under Internet Protocol.
15. Optional: Change the settings under Port Configuration.
16. Save the settings with OK.
5.4
Configuring the bus with WorkVisual
With certain EtherNet/IP devices, the full range of functions can only be
used if the manufacturer’s software (e.g. Web Server or RSPLogix) is
used for configuration.
5.4.1
Configuring Ethernet/IP scanners
Precondition
• A robot controller has been added and set as active.
• The EtherNet/IP node is inserted into the bus structure.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project Structure window.
2. Right-click on EtherNet/IP and select Add… from the context menu.
3. 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
Material damage due to addition of incorrect device
If a device is added which is does not match the real device used,
substantial material damage can result.
‒ Adding real device used
4. Right-click on the device in the tree structure and select Settings…
from the context menu. A window with the device data is opened.
5. Enter the IP address of the device on the Address Setting tab.
(>>> 5.4.1.1 "Address setting" Page 26)
6. On the Device Properties tab, fill out the following boxes:
• Number; Is Active; Device name
(>>> 5.4.1.2 "Device properties" Page 27)
Steps 7 and 8 are only relevant for modular devices. In the case of
non-modular devices or configuration without an EDS file, the Chassis/Modules tab is not available.
7. Select the chassis type used on the Chassis/Modules tab and assign
the modules used to the slots.
(>>> 5.4.1.3 "Chassis/Modules" Page 27)
8. Configure the modules.
(>>> 5.4.1.4 "Setting parameters" Page 28)
9. Save the device data with OK.
10. If necessary, repeat steps 4 to 9 for further devices.
5.4.1.1
Address setting
Fig. 5-8: “Address Setting” tab
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Box
Description
IP address
Enter the IP address of the device.
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KUKA.EtherNet/IP™ M/S 5.1
Device properties
Configuration
5.4.1.2
Fig. 5-9: “Device Properties” tab
Box
Description
Number
Select the number of the device.
Is Active
• Enabled: 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.
• Disabled: The robot controller does not
check whether the device is active when
the controller boots up.
Device name
Enter the name of the device (optional).
Note: If a name is entered, it is displayed in
the diagnostic monitor of smartHMI. If nothing
is entered, the default name is displayed.
5.4.1.3
Chassis/Modules
Fig. 5-10: “Chassis/Modules” tab
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Box
Description
Chassis type available in device library
Select the type of chassis used.
Module
5.4.1.4
Example: A bus coupler with 6 slots has 7
chassis.
Assign the modules used to the slots by means
of the right arrow.
Setting parameters
Precondition
• A robot controller has been added and set as active.
• The EtherNet/IP node is inserted into the bus structure.
• A device is added to the bus and the modules of the device are assigned to the slots.
Procedure
1. Right-click on the device in the tree structure and select Settings…
from the context menu. A window with the device data is opened. The
modules are displayed in the box to the left of the tabs.
(>>> 5.4.1.5 "Module configuration" Page 29)
2. Click on the connection type under the module, e.g. Rack Optimization. The tabs General, Identity Check and Configuration Settings
are displayed.
Information about the parameters that can be set in these tabs is
displayed in the Description box by clicking on the parameter.
The connection type can be changed.
(>>> 5.4.1.6 "Changing the connection type" Page 29)
3. Make the desired settings and save them by pressing OK.
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KUKA.EtherNet/IP™ M/S 5.1
Module configuration
Configuration
5.4.1.5
Fig. 5-11: Module configuration, example
Description
Item
Description
1
Device
2
Bus coupler
3
Module
4
Connection type
• Rack Optimization: Connection type for digital input and
output modules
This connection type can be used to group several modules
together.
• Direct Input Only: Connection type for analog and digital
input modules
• Direct Exclusive Owner: Connection type for analog and
digital output modules
5.4.1.6
Changing the connection type
Precondition
• A robot controller has been added and set as active.
• The EtherNet/IP node is inserted into the bus structure.
• A device is added to the bus and the modules of the device are assigned to the slots.
Procedure
1. Right-click on the device in the tree structure and select Settings…
from the context menu. A window with the device data is opened. The
modules are displayed in the box to the left of the tabs.
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KUKA.EtherNet/IP™ M/S 5.1
Configuration
(>>> 5.4.1.5 "Module configuration" Page 29)
2. Select the module and click on Remove Connection.
3. Click on Add Connection.
4. Select the connection type and confirm with OK.
5.4.2
Configuring Ethernet/IP adapters
Precondition
• A robot controller has been added and set as active.
• The EtherNet/IP 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. Right-click on EtherNet/IP in the tree structure and select Settings
from the context menu.
3. A window opens. Fill out the following boxes on the Communication
settings tab:
• Begin detection range address; End detection range address;
Bus timeout; Scanner IP address
4.
5.
6.
7.
5.4.2.1
(>>> 5.4.2.1 "“Communication settings” tab" Page 30)
Save the setting with Apply.
The local slaves can be configured in the tabs Local Slave 1 to Local
Slave 5.
(>>> 5.4.2.2 "“Local Slave” tab" Page 32)
Only if the safety interface via CIP Safety is used: Configure the local
safety slave on the Local Safety Slave tab.
(>>> 5.4.2.3 "“Local safety slave” tab" Page 33)
Save the settings by selecting OK.
“Communication settings” tab
The settings on this tab are only required for online functions. The connection to the PLC or adapters is configured elsewhere.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Fig. 5-12: “Communication settings” tab
Box
Description
EtherNet/IP network detection
Begin detection
range address:
If a start address is entered, the system only
looks for IP addresses that are greater than or
equal to the entered IP address.
End detection range
address:
If an end address is entered, the system only
looks for IP addresses that are less than or
equal to the entered IP address.
Adapter
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
Scanner
Scanner IP address:
Enter the IP address of the EtherNet/IP scanner.
If the robot controller is the EtherNet/IP scanner, enter the IP address of the robot controller
(“virtual 5”).
Note: The IP address of the scanner is only required for diagnosis.
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
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
5.4.2.2
“Local Slave” tab
Fig. 5-13: “Local Slave” tab
Box
Description
Properties
Active configuration:
• Activated: Local slave is used.
• Deactivated: Local slave is not used.
Default setting: Deactivated
Note: This function is not the same as the Is
Active function. If the Activated setting is selected, the local slave is saved in the configuration. Until then, it is not available in the configuration.
Device name:
Enter the name of the local slave (optional).
Note: If a name is entered, it is displayed in
the diagnostic monitor of the smartHMI. If nothing is entered, the default name is displayed.
Bus error bit
Enable bus error bit
• Check box active: In the case of a bus error, a status bit is sent to the PLC.
• Check box not active: No status bit is
sent to the PLC.
Default setting: check box not active
Bus error bit number:
Enter the number of the status bit in the address range of the local slave.
0 … 4071 bits
Default value: 1 bit
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Box
Description
Assembly
The values in the Assembly area must match the settings in the PLC.
Bear in mind that an input on the PLC is an output on the robot controller and vice versa.
Note: Modification of the default values in the Assembly area has the
result that the EDS file no longer works, as the values are permanently
stored in the EDS file. If other values are to be used, a generic EDS file
must be used, for example.
Outputs (T -> O):
Instance number of the outputs of the local
slave
Default value: 101
Inputs (O -> T):
Instance number of the inputs of the local slave
Default value: 102
Configuration:
Instance number of the configuration of the local slave
Default value: 103
Outputs (T -> O) Size:
Number of outputs of the local slave
1 … 509 bytes
Default value: 256 bytes
Inputs (O -> T) Size:
Number of inputs of the local slave
1 … 505 bytes
Default value: 256 bytes
5.4.2.3
“Local safety slave” tab
Fig. 5-14: “Local Safety Slave” tab
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Box
Description
Properties
Active configuration:
• Activated: Local safety slave is used.
• Deactivated: Local safety slave is not
used.
Default setting: Deactivated
Note: This function is not the same as the Is
Active function. If the Activated setting is selected, the local slave is saved in the configuration. Until then, it is not available in the configuration.
Device name:
Enter the name of the local safety slave (optional).
Note: If a name is entered, it is displayed in
the diagnostic monitor of the smartHMI. If nothing is entered, the default name is displayed.
Assembly
The values in the Assembly area must match the settings in the PLC.
Bear in mind that an input on the PLC is an output on the robot controller and vice versa.
Outputs (T -> O):
Instance number of the outputs of the local
safety slave
Inputs (O -> T):
Instance number of the inputs of the local safety slave
Configuration:
Instance number of the configuration of the local safety slave
Outputs (T -> O) / Inputs (O -> T) - Size:
Number of inputs and outputs of the local safety slave
• 2 bytes: For standard safety functions without SafeOperation, SafeRangeMonitoring
and SafeSingleBrake
• 8 bytes: For standard safety functions with
SafeOperation, SafeRangeMonitoring and
SafeSingleBrake
Default value: 2 bytes
The Requested Packet Interval (RPI) for the local safety slave must be
at least 12 ms. A smaller value can result in communication not working.
5.5
Mapping inputs/outputs in WorkVisual
Procedure
• Map the inputs/outputs in WorkVisual.
Signal names
of local slaves
The EtherNet/IP signal names of the local slaves have the following structure in WorkVisual:
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Fig. 5-15: EtherNet/IP signal names of the local slaves in WorkVisual
Example: 001:0001 Input
Name
Meaning
In the example
1st value from left
Number of the device
001
2nd value from left
Index number (consecutive ascending numbering of the individual inputs/outputs)
0001
Input/Output
Direction of processing
Input
Signal names
of devices
The EtherNet/IP signal names of the EtherNet/IP devices have the following structure in WorkVisual:
Fig. 5-16: EtherNet/IP signal names of the devices in WorkVisual
Example: 000:0001:0005 Input (Slot01_Data_BIT_1)
Name
Meaning
In the example
1st value from left
Number of the module
000
Note: If the connection type
Rack Optimization is used,
multiple modules can be grouped together as a single module.
2nd value from left
Index for every connection in
the module (in the case of
modular devices) or in the device (in the case of non-modular devices).
0001
3rd value from left
Index number (consecutive ascending numbering of the individual inputs/outputs)
0005
Input/Output
Direction of processing
Input
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Configuration
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In the example
Name
Meaning
Text in brackets
Comment by the manufacturer
The comment indicates which
inputs/outputs belong to a
module.
5.6
(Slot01_Data_BIT_1)
Configuring ports of bus devices
Description
For error-free operation of EtherNet/IP, it is recommended that all Ethernet
connections between the bus devices have the configuration 100 MB Full
Duplex. For this, 2 ports that are connected to one another must have the
same configuration: either 100 MB Full Duplex or Autonegotiation. In the
following figure, for example, these are the KLI on the robot controller and
port 1 on the switch.
As standard, the KLI has the configuration Autonegotiation. The port connected to it should thus have the same configuration.
Configuration of the ports can be carried out in WorkVisual by means of
explicit messaging.
If Quick Connect is used, the configuration 100 Mbits/s Full Duplex is
recommended for the connected ports.
Fig. 5-17: Example of a bus structure
1
Robot controller
4
Connecting cable
2
Switch
5
Device 2
3
Port
6
Device 1
Precondition
• The robot controller has been set as the active controller.
• The bus devices to be configured are connected and can be accessed
via the network.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on EtherNet/IP in the tree structure and select Connect
from the context menu.
3. Right-click on EtherNet/IP and select Functions > Extended mode.
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4. Right-click on EtherNet/IP and select Functions > Explicit
Ethernet/IP messaging.
5. Fill out the following boxes:
• IP address: IP address of the device
• Class: 0xF6
• Instance: Port number
• Attribute: 6
• Service: Set_Attribute_Single
• Data: Settings in hexadecimal notation, Intel format
6. Save the settings with Close.
Example
Example for configuration of 100 Mbits/s Full Duplex for port 1 of a device:
•
•
•
•
•
5.7
Class: 0xF6
Instance: 1
Attribute: 6
Service: Set_Attribute_Single
Data: 02 00 64 00
Exporting EDS files
In order, for example, to be able to use a project on a different computer,
the EDS files used must be exported.
In the case of modular devices, multiple EDS files must be exported. For
non-modular devices, a single EDS file is exported.
Precondition
• A robot controller has been added and set as active.
• The EtherNet/IP node is inserted into the bus structure.
• A device is added to the bus.
Procedure for
modular device
1. Right-click on the device in the tree structure and select Functions >
Export EDS in the context menu.
2. A window opens. Select the directory to which the EDS files are to be
exported.
3. Confirm the selection with OK.
The files are exported to the specified directory.
Procedure for
non-modular device
1. Right-click on the device in the tree structure and select Functions >
Export EDS in the context menu.
2. A window opens. Select the directory to which the EDS file is to be
exported. The name of the EDS file can be changed.
3. Click on Save.
The file is exported to the specified directory.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
5.8
Safety interface via CIP Safety (optional)
5.8.1
Instructions for use of CIP Safety
• For each safety network or safety subnet, SNN numbers that only occur once in the entire system should be defined (FRS154).
• Safety configuration (SCID):
‒ The correctness of the safety configuration of the robot controller
must be checked (SRS204).
Information about checking the safety configuration can be found
in the “Configuration” chapter of the Operating and Programming
Instructions for System Integrators.
SCID comparison: the current SCID of the robot controller can be
displayed in the diagnostic monitor (>>> 8.2 "Displaying diagnostic
data relating to the safety configuration" Page 71). These values
(CRC checksum SCCRC and the date and time SCTS) can be
compared with the SCID in the safety configuration (main menu
Configuration > Safety configuration or in WorkVisual) (SRS38).
‒ The SCID can be set to 0 on the PLC if the safety configuration is
not to be confirmed. In this case, the user is responsible for ensuring that the PLC and robot controller are correctly configured
(FRS103).
Comparison deactivated is displayed in the diagnostic monitor in
this case after the PLC has attempted to establish a connection,
either successfully or otherwise.
‒ In order for the robot controller to be able to confirm the safety
configuration, the SCID on the PLC must be set to the values that
are displayed in the safety configuration or in the diagnostic monitor.
The time zone used in WorkVisual must match that in the configuration software of the PLC, otherwise there will be differences
in the time stamp. Summer and winter time must also be taken
into consideration.
•
•
•
•
•
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The correct setting of the SCID must be verified by means of a
successful attempt by the PLC to connect to the robot controller in
a trial run (SRS44).
Comparison successful or Comparison failed is displayed in the
diagnostic monitor after the PLC has attempted to establish a connection, either successfully or otherwise.
The configuration of the safe connection between the PLC and the robot controller must be tested by the user to make sure that it is functioning correctly (SRS92).
Before setting a lock, the functional capability of the system must be
tested by the user (SRS50).
A precondition for the exchange of safety devices is that the replacement device is correctly configured and that the function of the replacement device has been checked by the user (FRS112).
Correct configuration of the robot controller and the communication parameters can only be regarded as “validated” after a user test
(SRS42).
The signature should only be regarded as “verified” after a user test
(SRS43).
KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
• The display of the LED state ( (>>> 8.1.5 "Ethernet/IP local safety
slave" Page 70)) must not be used as an operating state indicator
(SRS105).
The references to the requirements for CIP Safety (FRS and SRS) refer
to the specification CIP Vol5 - CIP Safety v2.20.
5.8.2
Safety functions via CIP Safety (KSS)
Description
The exchange of safety-relevant signals between the controller and the
system is carried out via CIP Safety. The assignment of the input and output states within the CIP Safety protocol are listed below. In addition, nonsafety-oriented information from the safety controller is sent to the nonsafe section of the higher-level controller for the purpose of diagnosis and
control.
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 0
Bit
Signal
Description
0
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
0 = operator safety is not active, e.g. safety gate
open
1 = operator safety is active
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Bit
Signal
Description
3
QBS
Acknowledgement of operator safety
Precondition for acknowledgement 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 configured
braking time (default: 1.5 s) minus the brake
closing time
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.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Input byte 1
Bit
Signal
Description
0
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.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Output byte 0
Bit
Signal
Description
0
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 may
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).
• 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 43)
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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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Output byte 1
Bit
Signal
Description
0
NHE
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
SHS1EXT
External safety STOP 1 (all axes)
0 = external safety STOP 1 is not active
1 = external safety STOP 1 is active (input SHS1
= 0, safe state reached)
3
SHS2EXT
External safety STOP 2 (all axes)
0 = external safety STOP 2 is not active
1 = external safety STOP 2 is active (input SHS2
= 0, safe state reached)
4
RES
Reserved 13
5
RES
Reserved 14
6
PSA
Safety interface active
Precondition: The Ethernet interface EtherNet/IP
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.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
• 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.
‒ 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”:
‒
‒
‒
‒
‒
‒
‒
‒
5.8.3
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 CIP Safety (VSS)
Description
The exchange of safety-relevant signals between the controller and the
system is carried out via CIP Safety. The assignment of the input and output states within the CIP Safety protocol are listed below. In addition, nonsafety-oriented information from the safety controller is sent to the nonsafe section of the higher-level controller for the purpose of diagnosis and
control.
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 0
Bit
Signal
Description
0
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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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Bit
Signal
Description
2
BS
Operator safety
Input for access to the safeguarded 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 acknowledgement 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 the configured braking time (default 1.5 s) minus the
brake closing time.
Cancellation 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.
Cancellation 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
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Bit
Signal
Description
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
Signal
Description
0
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.
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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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Output byte 0
Bit
Signal
Description
0
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 may
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).
• 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 48)
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
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
Output byte 1
Bit
Signal
Description
0
NHE
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
SHS1EXT
External safety STOP 1 (all axes)
0 = external safety STOP 1 is not active
1 = external safety STOP 1 is active (input SHS1
= 0, safe state reached)
3
SHS2EXT
External safety STOP 2 (all axes)
0 = external safety STOP 2 is not active
1 = external safety STOP 2 is active (input SHS2
= 0, safe state reached)
4
RES
Reserved 13
5
RES
Reserved 14
6
PSA
Safety interface active
Precondition: The Ethernet interface EtherNet/IP
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.
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
• 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.
‒ 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”:
‒
‒
‒
‒
‒
‒
‒
‒
5.8.4
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.
SafeOperation via CIP Safety (optional)
Information on this topic is contained in the KUKA.SafeOperation documentation.
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Configuration
KUKA.EtherNet/IP™ M/S 5.1
Configuration
KUKA.EtherNet/IP™ M/S 5.1
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6
Operation
6.1
Coupling/decoupling devices
Operation
KUKA.EtherNet/IP™ M/S 5.1
For certain applications, e.g. tool change, it is necessary to couple and
decouple devices. Coupling and decoupling can be carried out via the
HMI or in KRL.
Decoupling
Properties of decoupled devices:
• If decoupled devices are disconnected from EtherNet/IP 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.
Coupling
The IOCTL function is executed synchronously. It only returns when 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 timeout
of 10 s.
Is Active
The Is Active option affects the way the robot controller reacts to a decoupled device in the event of a cold start or I/O reconfiguration. The Is
Active option can be set in the device properties in WorkVisual.
(>>> 5.4.1.2 "Device properties" Page 27)
6.1.1
Is Active:
Enabled
Is Active:
Disabled
Device coupled
No error message
No error message
Device decoupled
Error message
No error message
Coupling/decoupling devices via the HMI
Procedure
1. Select the menu sequence Display > Variable > Single.
2. In the Name box, enter:
• To decouple: =IOCTL("EIP-SCANNER",60,[Device number])
• To couple: =IOCTL("EIP-SCANNER",50,[Device number])
3. Confirm by pressing the Enter key. The device is coupled or decoupled.
60 and 50 are IOCTL functions.
Description
[Device number]: The device number is displayed in WorkVisual in the
Number box in the device properties.
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Operation
KUKA.EtherNet/IP™ M/S 5.1
(>>> 5.4.1.2 "Device properties" Page 27)
6.1.2
Coupling/decoupling devices via KRL
KRL syntax
Decoupling:
RET =IOCTL("EIP-SCANNER",60,[Device number])
Coupling:
RET =IOCTL("EIP-SCANNER",50,[Device number])
60 and 50 are IOCTL functions.
Description
[Device number]: The device number is displayed in WorkVisual in the
Number box in the device properties.
(>>> 5.4.1.2 "Device properties" Page 27)
Return values for RET:
Value
Meaning
0
IOCTL function has been executed successfully.
1
Timeout
2
IOCTL function contains an incorrect parameter.
Examples
Here the device with the number 003 is decoupled, depending on the tool
used.
...
IF (NEXT_TOOL == GRIPPER_1) THEN
RET = IOCTL("EIP-SCANNER",60,3)
ENDIF
...
As standard, the timeout for coupling/decoupling is set to 10 s. This value
can be changed. Here the value is set to 5000 ms:
RET = IOCTL("EIP-SCANNER",1001,5000)
6.2
Enabling/disabling Quick Connect
When a device is coupled or run up, it must reach its operational state as
quickly as possible. A normal device can require up to 10 seconds for
this. With Quick Connect, the devices reach their operational state in less
than a second. This allows tools to be changed more quickly. Quick Connect can be enabled/disabled via the HMI or KRL.
Quick Connect can only be enabled for devices that support Quick Connect.
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Operation
KUKA.EtherNet/IP™ M/S 5.1
Fig. 6-1: Coupling a device with Quick Connect
Item
Description
1
Switch on device via KRL.
2
Wait time until the device has booted (e.g. 350 ms).
Note: The time a device requires for booting is specified in the
data sheet of the device.
6.2.1
3
Once the wait time has elapsed, send the coupling command to
the device.
4
The device sends a message (Coupling successful/Error during
coupling).
Enabling/disabling Quick Connect via HMI
Procedure
1. Select the menu sequence Display > Variable > Single.
2. In the Name box, enter:
• To enable: =IOCTL("EIP-SCANNER",1002,[Device number])
• To disable: =IOCTL("EIP-SCANNER",1003,[Device number])
3. Confirm by pressing the Enter key. Quick Connect is enabled or disabled.
1002 and 1003 are IOCTL functions.
Description
[Device number]: The device number is displayed in WorkVisual in the
Number box in the device properties.
(>>> 5.4.1.2 "Device properties" Page 27)
6.2.2
Enabling/disabling Quick Connect via KRL
KRL syntax
Enable:
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KUKA.EtherNet/IP™ M/S 5.1
Operation
RET =IOCTL("EIP-SCANNER",1002,[Device number])
Disable:
RET =IOCTL("EIP-SCANNER",1003,[Device number])
1002 and 1003 are IOCTL functions.
Description
[Device number]: The device number is displayed in WorkVisual in the
Number box in the device properties.
(>>> 5.4.1.2 "Device properties" Page 27)
Return values for RET:
6.3
Value
Meaning
0
IOCTL function has been executed successfully.
1
Timeout
2
IOCTL function contains an incorrect parameter.
Requesting the device status
Description
IOCTL function 70 can be used to request the state of a subordinate device.
KRL syntax
RET = IOCTL("EIP-SCANNER",70,[Device number])
The device number is displayed in WorkVisual in the Number box in the
device properties (>>> 5.4.1.2 "Device properties" Page 27).
Return values for RET:
6.4
Value
Meaning
4
The device is decoupled.
5
The device is coupled, but errors have occurred.
6
The device is decoupled and functioning correctly.
Activating/deactivating bus errors
Description
Bus errors can be disabled and re-enabled using the KRL function IOCTL.
As standard, bus errors are enabled. This leads to a stop and/or inhibits
active commands if a bus error occurs.
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.
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Whether or not a bus error has occurred can be read in this case via the
system variable $IOBUS_INFO.
Enabling or disabling can be carried out either in a program via KRL during the runtime or independently of a program via the smartHMI.
Procedure
On the smartHMI:
1. Select the menu sequence Display > Variable > Single.
2. In the Name box, enter:
• To disable: =IOCTL("KRC->Bus name", 1, 1)
• To enable: =IOCTL("KRC->Bus name", 1, 0)
3. Confirm by pressing the Enter key.
In the KRL program:
• Enter the following:
‒ To disable: RET=IOCTL("KRC->Bus name", 1, 1)
‒ To enable: RET=IOCTL("KRC->Bus name", 1, 0)
Return values for RET:
Value
6.5
Meaning
0
IOCTL function executed successfully
-4
Enabling not permissible because a bus error has occurred
-3
IOCTL function contains an incorrect parameter
-1
The specified bus driver or bus name was not found
Reading data of the EtherNet/IP driver online
The data of the EtherNet/IP driver can be read online in WorkVisual,
Precondition
•
•
•
•
A project is open.
The robot controller has been set as the active controller.
The EtherNet/IP node is inserted into the bus structure.
A network card located in the same subnet as the robot controller has
been selected on the Communication settings tab.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Only if the extended mode is to be used: right-click on EtherNet/IP in
the tree structure and select Functions > Extended mode.
3. Right-click on EtherNet/IP in the tree structure and select Connect
from the context menu. The connection to the EtherNet/IP driver is established.
4. Right-click on EtherNet/IP and select Functions > Online action. A
window opens.
5. Select the node EtherNet/IP in the tree structure. The EtherNet/IP objects and Ping tabs are displayed. In extended mode, the EtherNet/IP
objects tab has the name Module information.
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Operation
KUKA.EtherNet/IP™ M/S 5.1
Operation
KUKA.EtherNet/IP™ M/S 5.1
Description
The data of the EtherNet/IP driver are displayed on the EtherNet/IP objects tab. The data can be refreshed by clicking on Refresh.
In extended mode, filters can be set; moreover, the driver can also be restarted by clicking on Reset device.
On the Ping tab, a ping can be sent to the EtherNet/IP driver.
6.6
Reading and modifying data from a device online
The data from devices can be read and modified online in WorkVisual,
Precondition
•
•
•
•
A project is open.
The robot controller has been set as the active controller.
The EtherNet/IP node is inserted into the bus structure.
A network card located in the same subnet as the robot controller has
been selected on the Communication settings tab.
Procedure
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Only if the extended mode is to be used: right-click on EtherNet/IP in
the tree structure and select Functions > Extended mode.
3. Right-click on EtherNet/IP in the tree structure and select Connect
from the context menu. The connection to the EtherNet/IP driver and
the devices is established.
4. Right-click on EtherNet/IP and select Functions > Online action. A
window opens.
5. Select the device in the tree structure. The EtherNet/IP objects, Port
configuration and Ping tabs are displayed. In extended mode, the
EtherNet/IP objects tab has the name Module information.
6. Modify the values as desired on the Port configuration tab and click
on Set values for device. The modified values are written to the device.
7. Displaying and modifying further device data:
a. Double-click on the device on the Hardware tab in the Project
structure window. The Online parameter window opens.
b. Modify the device data as desired and click on Synchronize. The
modified data are written to the device.
Description
The device data are displayed on the EtherNet/IP objects and Port configuration tabs. The data are refreshed by clicking on Refresh. The values on the Port configuration tab can be modified and written to the device.
On the Ping tab, a ping can be sent to the device.
In the Online parameter window, device data can be read and modified.
By clicking on Get values from EDS, the values are called from the EDS
file and displayed.
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7
Programming
7.1
Receiving acyclic data from a PLC
Programming
KUKA.EtherNet/IP™ M/S 5.1
In order to be able to receive acyclic data from a PLC, at least one cyclical communication must be active. This means that at least one local
slave must be configured for the PLC.
Description
A PLC can exchange acyclic data with the applications on the robot controller (e.g. KRL). For this, various parameters must be configured in the
corresponding PLC module and in the KRL program. Furthermore, the robot controller must be configured for the acyclic communication:
(>>> 7.1.1 "Configuring the robot controller for acyclic communication"
Page 57).
The maximum length of the data that can be received by the PLC is 1406
bytes. The maximum length of the data that can be sent to the PLC is
1410 bytes. The communication device with the lowest maximum length is
decisive, however.
The data format is not predefined. The interpretation of the data is the
responsibility of the PLC and KRL programmers.
PLC program
The following parameters must be configured in the corresponding PLC
module:
•
•
•
•
•
Class ID = 0x64
Instance Number = 1
Attribute Number = 1
Service Read = 0x32
Service Write = 0x33
The PLC configuration is described in the following section, taking a Rockwell PLC by way of example:
(>>> 7.1.2 "Configuring the PLC for acyclic communication (example)"
Page 58)
KRL program
The following parameters must be configured in the KRL program:
Parameter
Description
CmdID
Command ID
• 1: Read data
• 2: Write data
CmdLen
Length of command
UserData
User data
• 0 … 255
7.1.1
Configuring the robot controller for acyclic communication
In order to enable acyclic communication, the robot controller must be
configured accordingly.
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KUKA.EtherNet/IP™ M/S 5.1
Precondition
• The EtherNet/IP adapter has been mapped to KRL inputs and outputs
in WorkVisual.
• User group “Expert”
Procedure
1. Open the file AsyncDataToKrl.xml in the directory C:\KRC\ROBOTER
\Config\User\Common.
2. Adapt the entry <IODriver IODrvName="PNIO-DEV" /> as follows: <IODriver IODrvName="EIP-ADAPTER" />.
3. Save and close the file.
4. Open the file $custom.dat in the directory KRC:\STEU\Mada.
5. 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'}
6. Save and close the file.
7. Reboot the robot controller. For this, select Shutdown in the main
menu and select the option Reload files.
7.1.2
Configuring the PLC for acyclic communication (example)
The PLC configuration is described below, taking a Rockwell PLC by way
of example.
Procedure
• Make the following settings on the Configuration tab in the Message
Configuration window:
Box
Value
Message Type
CIP Generic
Service Type
Custom
Service Code
32
Class
64
Instance
1
Attribute
1
Example
PLC program
// read cmd 1, cmd len 8
IF KUKA:I.Data[0].0 THEN
ReqDataBufRead[0] := 1;
ReqDataBufRead[1] := 8;
MSG( MsgCtrlRead);
END_IF;
// write cmd 2, cmd len 8, Data = 0x1 0x2 0x3 0x4 0x1 0x2
0x3 0x4
IF KUKA:I.Data[0].1 THEN
ReqDataBufWrite[0] := 2;
ReqDataBufWrite[1] := 8;
ReqDataBufWrite[2] := 16909060;
ReqDataBufWrite[3] := 16909060;
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Programming
KUKA.EtherNet/IP™ M/S 5.1
MSG( MsgCtrlWrite);
END_IF;
7.1.3
Example of acyclic communication
Example of acyclic communication in the program SPS.SUB:
...
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
...
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
DECL
DECL
DECL
DECL
DECL
DECL
INT nHandle, tmpInt, retVal
STATE_T Stat
MODUS_T WMode
MODUS_T RMode
REAL TimeOut
INT Offset
; Header
DECL INT CmdID
INT CmdLen
; Command structure
; User data
DECL INT UserData
DECL CHAR Buffer[1000]
DECL CHAR TmpStr[150]
CRead (nHandle, Stat, RMode, TimeOut, Offset, "%r",Buffer[]);
If ( Stat.Ret1==#DATA_END ) then
Offset=0
CAST_FROM(Buffer[],Offset, CmdID)
CAST_FROM(Buffer[],Offset, CmdLen)
if (CmdID == 1) then
;--- SPS READ
Offset=0
wait for strClear(TMPSTR[])
SWRITE(TMPSTR[],STAT,Offset,"CmdId=%d CmdLen=%d", CmdID, CmdLen)
$loop_msg[]=TMPSTR[]
wait sec 1
; --- Prepare Read Response
CmdID = 1
CmdLen = 8
UserData = 255;
Offset=0
CAST_TO(Buffer[],Offset,CmdID)
CAST_TO(Buffer[],Offset,CmdLen)
CAST_TO(Buffer[],Offset,UserData)
CAST_TO(Buffer[],Offset,UserData)
CWrite (nHandle,Stat,WMode,"%1.16r",Buffer[])
Wait for (Stat.Ret1==#DATA_OK)
else
if (CmdID == 2) then
;--- SPS WRITE
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97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
CAST_FROM(Buffer[],Offset, UserData);
Offset=0
wait for strClear(TMPSTR[])
SWRITE(TMPSTR[],STAT,Offset,"CmdID=%d CmdLen=%d
UserData=%d", CmdID, CmdLen, UserData)
$loop_msg[]=TMPSTR[]
wait sec 1
; --- Prepare Write Response
CmdLen = 8
Offset=0
CAST_TO(Buffer[],Offset,CmdID)
CAST_TO(Buffer[],Offset,CmdLen)
CWrite (nHandle,Stat,WMode,"%1.8r",Buffer[])
Wait for (Stat.Ret1==#DATA_OK)
endif
endif
7.2
Line
Description
3 … 17
Declaration section
68
CmdID == 1: The higher-level controller requests data
from the robot controller via a read command.
79 … 90
The robot controller reads the request.
107 … 115
The robot controller replies to the higher-level controller.
Sending acyclic data
Description
Using the function krl_EipEM, the robot controller can send acyclic data
to a PLC or EtherNet/IP device.
Syntax
CWRITE($FCT_CALL, State, Mode, "krl_EipEM", EM-Params,
Device-Identifier, Send-Data, Send-Length, Recv-Data,
Recv-Length)
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Explanation of the syntax
Element
Description
EM-Params [IN]
Type: INT array (contains at least 7 elements)
• El[1]: Parameter type (1 = device number, 2 = IP
address)
• El[2]: Device number or IP address (depending
on parameter type in El[1])
•
•
•
•
•
‒ The IP address must be specified in hexadecimal format.
Example: "192.186.0.1" => ‘HC0A80001’
(0xC0 0xA8 0x00 0x01)
‒ The device number is the number that was
configured in WorkVisual.
El[3]: EM Service Identifier
Example: 14 = Get_Attribute_Single, 16 = Set_Attribute_Single
El[4]: Object class
Example: 1 = Identity Object
El[5]: Object instance
El[6]: Attribute
If the attribute is not required, 0 can be entered
here.
El[7]: Timeout in ms
Recommendation: 1 s
If timeout = 0:
‒ No response is expected.
‒ The parameter Recv-Data is not validated or
modified.
Send-Data [IN]
Type: CHAR array
Byte buffer for data to be sent
Send-Length
[IN]
Type: INT
Defines the size of the data that are sent via the element Send-Data.
Maximum possible size: 1400 bytes
Recv-Data
[OUT]
Recv-Length
[OUT]
Type: CHAR array
Response buffer in which the received data are
saved
Type: INT
Size of the received data in bytes
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Programming
KUKA.EtherNet/IP™ M/S 5.1
Return values
Value
Description
0
Request successful
-1
Request failed (CIP Response Error)
The general status code is displayed in the 1st byte of the
Recv-Data element (if available).
Example: Recv-Data[1] = 8 ("unimplemented service")
Note: Further information about the status codes can be
found in the CIP specification.
7.2.1
-2
Invalid parameter
-3
Sending failed
-4
Timeout
-5
Internal error
-6
Response buffer is too small
Example program
1 DEF ExplicitMessageExample( )
2
DECL STATE_T State
3
DECL MODUS_T Mode
4
DECL CHAR Send[20]
5
DECL CHAR Recv[20]
6
DECL INT SendLen
7
DECL INT RecvLen
8
DECL INT EmParams[7]
9
SendLen = 0 ; (no send data needed for Get_Attribute_Single)
10
RecvLen = 0
11
Send[] = " "
12
Recv[] = " "
13
EmParams[1] = 2 ; use IP (1 = use devideID, 2 = use IP)
14
EmParams[2] = 'HC064640A' ; IP = "192.100.100.10"
15
EmParams[3] = 14 ; Service (14 = Get_Attribute_Single)
16
EmParams[4] = 1 ; Class (1 = Identity Object)
17
EmParams[5] = 1 ; Instance
18
EmParams[6] = 7 ; Attribute (7 = Product Name (for class = 1))
19
EmParams[7] = 1000 ; Timeout in ms
20
21
CWRITE($FCT_CALL, State, Mode, "krl_EipEM", EmParams[], Send[],
22
SendLen, Recv[], RecvLen)
23
; ... validate State.Ret1 == #DATA_OK
24
; ... validate State.MSG_NO == 0 (see Return Value table)
25
; if successful => answer in Recv[]
26 END
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Line
Description
2 … 8
Declaration section
9 … 20
The arguments are initialized with the desired command
parameters.
22
The function krl_EipEM is called in order to send acyclic
data.
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7.3
CIP Energy commands
Description
Using CIP Energy 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). Furthermore, a cyclical communication with the PLC must be
active in order to be able to use acyclic communication (Explicit Messaging). The CIP Energy commands can be transferred from the PLC to the
robot controller via the acyclic communication.
CIP objects
The following CIP objects are available:
• Energy Base Object (Class Code: 0x4E)
(>>> 7.3.1 "Energy Base Object" Page 63)
• Power Management Object (Class Code: 0x53)
(>>> 7.3.2 "Power Management Object" Page 64)
7.3.1
Energy Base Object
Description
The Energy Base Object can be used with attributes to request the following values:
Attribute
Description
7
Consumed Energy Odometer
This attribute can be used to request the energy consumption in kW/h since the last cold restart.
Data type: ODOMETER
10
Energy Transfer Rate
This attribute can be used to request the current energy
consumption in kW averaged over 100 ms.
Data type: REAL
Parameters
The following parameters must be used for the request:
•
•
•
•
•
Service: 14 (0x0E) (= Get_Attribute_Single)
Class: 0x4E
Instance: 1
Attribute: 7 or 10
Data: empty
Further information about using the CIP objects is provided in the specification Volume 1: Common Industrial Protocol (CIP) Specification.
We recommend requesting a function block from the PLC manufacturer
for use of the CIP objects.
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KUKA.EtherNet/IP™ M/S 5.1
Programming
KUKA.EtherNet/IP™ M/S 5.1
7.3.2
Power Management Object
Description
The Power Management Object can be used to set the robot controller to
the following states:
State
Description
Pause mode
In this mode, the brakes are closed. Pause mode is
suitable for pauses of ≥ 2 s.
Sleep mode
In this mode, the robot controller switches to the Hibernate state. Sleep mode is suitable for pauses of ≥
5 minutes.
Note: A WoL (Magic Packet) is required to reboot the
robot controller.
Parameters
The following parameters must be used to request a command from the
Power Management Object:
•
•
•
•
•
Class: 0x53
Instance: 1
Attribute: 0
Service Code: 0x4D, 0x4E or 0x4F
Data: Pass_Code or Power Management Command and Pass_Code
The parameter Pass_Code must be set (Pass_Code ≠ 0) in order to
start Pause mode with the Power Management Object.
Service Codes
The Power Management Object provides 3 Service Codes to control the
behavior:
Service
Code
Name
Description
0x4D
Power_Management
Request of Power Management to
an instance
0x4E
Set_Pass_Code
Set ownership for the Power Management command
0x4F
Clear_Pass_Code
Enable ownership for the Power
Management command
Service Code 0x4D (Power_Management)
If this service is used, the following parameters must be entered under
Data:
Parameter
Data type
Description
Power Management Command
DWORD
Power Management command
Pass_Code
DWORD
32-bit value
Service Code 0x4E (Set_Pass_Code)
If this service is used, the following parameter must be entered under Data:
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Parameter
Data type
Description
Pass_Code
DWORD
32-bit value
If the device is already in the “owned” state, the Pass_Code used internally is not equal to 0. The request of the Explicit Message Service is unsuccessful in this case and the following error codes are returned:
Error code
Description
0x0B
The device is already in the requested state
0x0C
Conflict with the object state
Service Code 0x4F (Clear_Pass_Code)
If this service is used, the following parameter must be entered under Data:
Parameter
Data type
Description
Pass_Code
DWORD
32-bit value
Example
• Pause mode: If the resume time from Pause mode is approx. 1 s, a
minimum pause time of 2 s is meaningful.
• Sleep mode: If the resume time from Pause mode is 1 minute, a minimum sleep time of 5 minutes is meaningful.
It is simplest to use an indefinite time (time = 0) for each request:
Request
Power Management Command
(DWORD)
Indefinite pause time (time = 0)
0x80000000
Indefinite sleep time (time = 0)
0xC0000000
Resume
0x40000000
Further information about using the CIP objects is provided in the specification Volume 1: Common Industrial Protocol (CIP) Specification.
We recommend requesting a function block from the PLC manufacturer
for use of the CIP objects.
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Programming
KUKA.EtherNet/IP™ M/S 5.1
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8
Diagnosis
8.1
Displaying diagnostic data for EtherNet/IP
Diagnosis
KUKA.EtherNet/IP™ M/S 5.1
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:
•
•
•
•
•
•
8.1.1
EtherNet/IP scanner (EIP-SCANNER)
EtherNet/IP adapter (EIP-ADAPTER)
EtherNet/IP device (scanner device (device name))
EtherNet/IP local slave (local slave (name))
EtherNet/IP local safety slave (CIP Safety)
EtherNet/IP I/O driver (EIPIODRIVER)
EtherNet/IP scanner (EIP-SCANNER)
Name
Description
Input size [Bytes]
Input size of the I/O map of the scanner in bytes
Output size [Bytes]
Output size of the I/O map of the scanner in bytes
Scanner bus error counter
Number of bus errors of the scanner
Asynchronous data
Applications that can exchange asynchronous data with
the EtherNet/IP driver
8.1.2
EtherNet/IP adapter (EIP-ADAPTER)
Name
Description
Input size [Bytes]
Input size of the I/O map of the adapter in bytes
Output size [Bytes]
Output size of the I/O map of the adapter in bytes
Adapter bus error counter
Number of bus errors of the adapter
Asynchronous data
Applications that can exchange asynchronous data with
the EtherNet/IP driver
Scanner bus error bit
Status bit that is sent to the PLC in the event of a bus error
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Diagnosis
KUKA.EtherNet/IP™ M/S 5.1
8.1.3
EtherNet/IP device
Name
Description
Device name
Name of the device
Device ID
ID of the device
IP
IP address of the device
Device activated
• TRUE: The setting was made during configuration that
the device should be coupled during start-up.
• FALSE: The setting was made during configuration
that the device should not be coupled during start-up.
HMI Message number
Internal HMI message number of the displayed message
Diagnose connection active
• 1: Diagnosis is active.
• 0: Diagnosis is not active.
Connection error counter
Number of connection errors
Connection-ID
EtherNet/IP connection number
Connection type
• IO_CONNECTION: Cyclical connection (Rack Optimized, Direct Input Only or Exclusive Owner)
• CONFIGURATION_CONNECTION: Only for
EtherNet/IP management tasks
Input size [Bytes]
Input size of the I/O map of the connection in bytes
Output size [Bytes]
Output size of the I/O map of the connection in bytes
Connection activated
• 1: Connection has been activated.
• 0: Connection has not been activated.
Connection state (Health-Bit)
• 1: Connection OK
• 0: Connection terminated
Input state
•
•
•
•
•
•
•
•
•
Output state
0: Connection OK
33: Timeout receiving data
53: Connection active, but no data evaluated.
54: Connecting, but no I/O data received yet.
58: No connection (TCP)
65: No connection (CIP)
68: Connecting
70: No connection (EPIC)
77: Connection terminated
Note: Further information about the causes of status 54,
65, 68 and 70 can be found in the specifications of the
Common Industrial Protocol.
EIP Production packet counter
Number of data packets sent via this connection.
EIP Consumption packet counter
Number of data packets received via this connection.
CIP Status
• 0: No error
Extended Status
Note: The description of the other values can be found in
the specifications of the Common Industrial Protocol.
CCO Status General
CCO Status Reserved
CCO Status Extended
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Name
Description
Production Connection ID
Internal connection IDs
Diagnosis
KUKA.EtherNet/IP™ M/S 5.1
Consumption Connection ID
Originator-Target API [µs]
Real refresh rate of the Originator-Target connection
Target-Originator API [µs]
Real refresh rate of the Target-Originator connection
Originator-Target RPI [µs]
Configured refresh rate of the Originator-Target connection
Target-Originator RPI [µs]
Configured refresh rate of the Target-Originator connection
8.1.4
Ethernet/IP local slave
Name
Description
Name of local slave
Name of the local slave
Local slave ID
ID of the local slave
Connection-ID
EtherNet/IP connection number
Scanner bus error bit active
• 1: The local slave monitors the errors in the
EtherNet/IP scanner and signals them to the PLC.
• 0: No monitoring/signaling by the local slave.
Input size [Bytes]
Input size of the I/O map of the local slave in bytes
Output size [Bytes]
Output size of the I/O map of the local slave in bytes
Input state
•
•
•
•
Output state
0: Connection OK
33: No connection
53: Connection active, but no data evaluated.
54: Connecting, but no I/O data received yet.
Note: Further information about the causes of status 33
can be found in the specifications of the Common Industrial Protocol.
Connection state (Health-Bit)
• 1: Connection OK
• 0: Connection terminated
HMI Message number
Internal HMI message number of the displayed message
EIP Production packet counter
Number of data packets sent via this connection.
EIP Consumption packet counter
Number of data packets received via this connection.
CIP Status
• 0: No error
Extended Status
Note: The description of the other values can be found in
the specifications of the Common Industrial Protocol.
ASM Status General
ASM Status Reserved
ASM Status Extended
Production Connection ID
Internal connection IDs
Consumption Connection ID
Originator-Target API [µs]
Real refresh rate of the Originator-Target connection.
Target-Originator API [µs]
Real refresh rate of the Target-Originator connection.
Originator-Target RPI [µs]
Configured refresh rate of the Originator-Target connection.
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KUKA.EtherNet/IP™ M/S 5.1
Name
Description
Target-Originator RPI [µs]
Configured refresh rate of the Target-Originator connection.
Diagnose connection active
• 1: Diagnosis is active.
• 0: Diagnosis is not active.
8.1.5
Ethernet/IP local safety slave
Name
Description
CIP Safety Slave-ID
ID of the local safety slave
Input data length
Input size of the I/O map of the local safety slave in bytes
Output data length
Output size of the I/O map of the local safety slave in
bytes
IO-Consumption packet counter
Number of data packets received via this connection.
IO-Production packet counter
Number of data packets sent via this connection.
CIP Safety Supervisor State
The description of the states can be found in the specification “THE CIP NETWORKS LIBRARY, Volume 5 CIP
Safety”.
SNN Date
Date of the Safety Network Numbers
Further information can be found in the specification “THE
CIP NETWORKS LIBRARY, Volume 5 CIP Safety”.
SNN Time
Time of the Safety Network Numbers
Further information can be found in the specification “THE
CIP NETWORKS LIBRARY, Volume 5 CIP Safety”.
Module LED State
Network LED State
The description of the states can be found in the specification “THE CIP NETWORKS LIBRARY, Volume 5 CIP
Safety”.
Note: The display of the diagnostic data relating to the
LED state is not reliable and it cannot be guaranteed that
accurate information is provided. It is advisable to use it
only for general diagnosis during start-up or failed attempts. The display of the LED state must not be used
as an operating state indicator.
8.1.6
EtherNet/IP I/O driver (EIPIODRIVER)
Name
Description
EIPIODriver
Name of the driver
IP
Data from the network configuration of EtherNet/IP
Subnet mask
Gateway
MAC address
Address of the network adapter via which the EtherNet/IP
communicates with scanners, devices, etc.
Network interface name
Name of the network interface
Network interface number
Number of the network interface
Stack version
Version of the software stack
User version
Version of the KUKA driver
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Name
Description
Stack state
• NON_EXISTENT, IDLE: Ethernet/IP stack has not
been initialized.
• OFFLINE, IDLE: Ethernet/IP stack has been initialized
and configured.
• ONLINE, IDLE: Ethernet/IP stack has opened all communication channels.
• IO_RUNNING, IDLE: Ethernet/IP stack has been started; outputs are not being set.
• IO_RUNNING, RUN: Ethernet/IP stack has been started; inputs and outputs are being set.
IO Production packet counter
Number of data packets that have been sent.
IO Consumption packet counter
Number of data packets that have been received.
IO Production packet errors
Number of faulty data packets that have been sent.
IO Consumption packet errors
Number of faulty data packets that have been received.
Explicit message transmission
counter
Number of messages sent with the existing connection.
Explicit message receive counter
Number of messages received with the existing connection.
UCMM transmission counter
Number of messages sent without an existing connection.
UCMM receive counter
Number of messages received without an existing connection.
Diagnostic flag
• 1: Diagnosis is active.
• 0: Diagnosis is not active.
8.2
Displaying diagnostic data relating to the safety configuration
Description
Diagnostic data relating to the safety configuration can be displayed in the
diagnostic monitor. These include the safety configuration ID (SCID) and
the current state of the SCID comparison. The SCID consists of a checksum (CRC) and a time stamp (date and time).
Precondition
• The robot controller and the KUKA smartHMI are running.
Procedure
1. In the main menu, select Diagnosis > Diagnostic monitor.
2. Select the Safety controller module in the Module box. The corresponding diagnostic data are displayed.
Diagnostic data
Name
Description
SCID CRC
Checksum of the safety configuration
SCID date
Date on which the safety configuration was created
SCID time
Time at which the safety configuration was created
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Diagnosis
KUKA.EtherNet/IP™ M/S 5.1
Diagnosis
KUKA.EtherNet/IP™ M/S 5.1
8.3
Name
Description
State of SCID
comparison
State of the SCID comparison
• Waiting for SCID: No check of the SCID has yet
been carried out.
• Comparison deactivated: The SCID on the PLC
has been set to 0.
• Comparison successful: The SCID on the robot
controller matches the setting on the PLC.
• Comparison failed: The SCID on the robot controller differs from the setting on the PLC.
Note: If the comparison has failed, we recommend checking the SCID on the robot controller
and on the PLC. In particular, one should check
whether the time zone used and summer or winter time match.
Advanced device diagnosis
There is an additional option for diagnosis of EtherNet/IP devices in WorkVisual.
Precondition
• A project is open.
• A network card located in the same subnet as the robot controller has
been selected on the Communication settings tab.
• 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 EtherNet/IP in the tree structure and select Connect
from the context menu. The connection to the EtherNet/IP driver is established.
3. Right-click on EtherNet/IP in the tree structure and select Diagnosis...
from the context menu.
Or: click on the
button.
A window opens. Local slaves, devices and the connection type are
displayed in the tree structure.
Description
Every element in the tree structure has an icon that indicates the status of
the connection:
• Green icon: connection OK
• Red icon: an error has occurred.
Clicking on an element in the tree structure displays the following tabs:
• Device: Ethernet Diagnostic
• Local slave: Diagnosis of the local slave; I/O values
• Connection type: EIP connection diagnosis; I/O values
Diagnostic and process data of the current configuration are displayed on
the Ethernet Diagnostic, Diagnosis of the local slave and EIP connec-
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tion diagnosis tabs. Information on the data is displayed in the Description box by clicking on them.
The I/O data are shown in hexadecimal notation on the I/O values tab.
This allows errors in the I/O mapping to be detected. The length and status of the I/O data are also displayed.
If the Refresh every 500 ms check box is activated, the data are refreshed at intervals of 500 ms.
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Diagnosis
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Diagnosis
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9
Messages
9.1
Information about the messages
Messages
KUKA.EtherNet/IP™ M/S 5.1
The “Messages” chapter contains selected messages. It does not cover all
the messages displayed in the message window.
9.2
System messages from module: CrossMeld (KSS)
9.2.1
KSS15147
Message code
KSS15147
Message text
CIPS: TUNID not set.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: No configuration for TUNID in the safety controller
(>>> Page 75)
Solution: Set TUNID via WorkVisual (>>> Page 75)
Cause: No configuration for TUNID in the safety controller
(>>> Page 76)
Solution: Set TUNID via PLC (>>> Page 76)
Cause: No configuration for TUNID in the safety controller
Description
There is no configuration for the TUNID (= CIP Safety target UNID) in the
safety controller of the robot controller.
If there is no configuration available for the TUNID, the PLC cannot establish a connection to the robot controller.
Solution: Set TUNID via WorkVisual
Description
The TUNID (= CIP Safety target UNID) can be set via WorkVisual. The
TUNID consists of the SNN (= Safety Network Number) and the NodeID
(= IP address) of the robot controller.
The current SNN of the robot controller is set in the safety configuration,
the current NodeID in the Properties window.
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Procedure
1. Select the robot controller on the Hardware tab in the Project structure window.
2. Enter the NodeID of the robot controller in the BaseAddress box in
the Properties window.
If the Properties window is not displayed: Display the window by selecting the menu sequence Window > Properties.
3. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
4. Double-click on the Safety controller node. The Local safety configuration window is opened.
5. Select the Communication parameters area on the General tab. The
communication parameters are displayed.
6. Enter the date and time in the parameter SNN.
Cause: No configuration for TUNID in the safety controller
Description
There is no configuration for the TUNID (= CIP Safety target UNID) in the
safety controller of the robot controller.
If there is no configuration available for the TUNID, the PLC cannot establish a connection to the robot controller.
Solution: Set TUNID via PLC
Description
The TUNID (= CIP Safety target UNID) can be set via the PLC. The TUNID consists of the SNN (= Safety Network Number) and the NodeID (=
IP address) of the robot controller.
Procedure
• Set the TUNID via the PLC. The propose/apply TUNID service of the
PLC can be used for this purpose.
Detailed information about operator control can be found in the manufacturer documentation.
9.2.2
KSS15148
Message code
KSS15148
Message text
CIPS: Invalid TUNID.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
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Cause: Errors on the robot controller (>>> Page 77)
Solution: Restore most recently used configuration (>>> Page 77)
KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Cause: Errors on the robot controller (>>> Page 77)
Solution: Set TUNID via WorkVisual (>>> Page 77)
Cause: Errors on the robot controller (>>> Page 78)
Solution: Set TUNID via PLC (>>> Page 78)
Cause: Errors on the robot controller
Description
Errors have occurred on the robot controller. Possible causes include:
• Restoration of an incorrect archive
• A corrupt or unreadable file
Solution: Restore most recently used configuration
Description
Restore the most recently used configuration using the most recently created archive.
Further information about archiving is contained in the operating and
programming instructions for the KUKA System Software (KSS).
Cause: Errors on the robot controller
Description
Errors have occurred on the robot controller. Possible causes include:
• Restoration of an incorrect archive
• A corrupt or unreadable file
Solution: Set TUNID via WorkVisual
Description
The TUNID (= CIP Safety target UNID) can be set via WorkVisual. The
TUNID consists of the SNN (= Safety Network Number) and the NodeID
(= IP address) of the robot controller.
The current SNN of the robot controller is set in the safety configuration,
the current NodeID in the Properties window.
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Procedure
1. Select the robot controller on the Hardware tab in the Project structure window.
2. Enter the NodeID of the robot controller in the BaseAddress box in
the Properties window.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
3.
4.
5.
6.
If the Properties window is not displayed: Display the window by selecting the menu sequence Window > Properties.
Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
Double-click on the Safety controller node. The Local safety configuration window is opened.
Select the Communication parameters area on the General tab. The
communication parameters are displayed.
Enter the date and time in the parameter SNN.
Cause: Errors on the robot controller
Description
Errors have occurred on the robot controller. Possible causes include:
• Restoration of an incorrect archive
• A corrupt or unreadable file
Solution: Set TUNID via PLC
Description
The TUNID (= CIP Safety target UNID) can be set via the PLC. The TUNID consists of the SNN (= Safety Network Number) and the NodeID (=
IP address) of the robot controller.
Procedure
• Set the TUNID via the PLC. The propose/apply TUNID service of the
PLC can be used for this purpose.
Detailed information about operator control can be found in the manufacturer documentation.
9.2.3
KSS15149
Message code
KSS15149
Message text
CIPS: Wrong NodeID (IP address), configured NodeID {Configured
NodeID} != NodeID received from PLC {Received NodeID}.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: Dynamic IP address configured (>>> Page 79)
Solution: Correct the configuration on the controller (>>> Page 79)
Cause: Incorrect NodeID configured in WorkVisual (>>> Page 79)
Solution: Correct the configuration with WorkVisual. (>>> Page 80)
Cause: KLI configuration is faulty (>>> Page 80)
Solution: Correct the configuration on the controller (>>> Page 80)
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KUKA.EtherNet/IP™ M/S 5.1
Messages
Cause: Dynamic IP address configured
Description
A dynamic IP address has been configured on the robot controller. If
EtherNet/IP is used as a field bus, a fixed IP address must be configured.
The procedure for checking whether a dynamic IP address is configured on the robot controller is as follows:
Precondition
• User rights: Function group General configuration
• T1 or T2 mode
• No program is selected.
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check the Address type: box to see if the Dynamic IP address type
has been selected.
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.
Cause: Incorrect NodeID configured in WorkVisual
Description
An incorrect NodeID (= IP address of the robot controller) has been configured in WorkVisual. If the NodeID is incorrect, the PLC cannot establish
a connection to the robot controller.
The procedure for checking which NodeID is configured in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
Checking instructions
1. Select the robot controller on the Hardware tab in the Project structure window.
2. The configured NodeID of the robot controller is displayed in the
BaseAddress box in the Properties window.
If the Properties window is not displayed: Display the window by selecting the menu sequence Window > Properties.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Solution: Correct the configuration with WorkVisual.
Procedure
• Correct the configuration with WorkVisual.
Cause: KLI configuration is faulty
Description
The KLI configuration is faulty.
Checking instructions
• Check the KLI configuration.
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.
9.2.4
KSS15150
Message code
KSS15150
Message text
CIPS: SCID not set.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: SCID not set on the PLC (>>> Page 80)
Solution: Enter the SCID of the robot controller on the PLC
(>>> Page 81)
Cause: SCID not set on the PLC
Description
No SCID has been set on the PLC. This ID serves to check whether the
safety configuration of the robot controller has changed.
This check can also be deactivated by entering the SCID “0” on the PLC.
In this case, the user himself must check whether the safety configuration
of the robot controller is correct
If no SCID is set on the PLC, the PLC cannot establish a connection to
the robot controller.
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KUKA.EtherNet/IP™ M/S 5.1
Messages
Solution: Enter the SCID of the robot controller on the PLC
Description
If the system is to check automatically whether the safety configuration of
the robot controller has been modified, the current SCID must be read
from the robot controller and entered on the PLC.
The current SCID of the robot controller can be displayed in the
diagnostic monitor. It consists of a checksum (CRC) and a time stamp
(date and time).
Precondition
• The robot controller and the KUKA smartHMI are running.
Procedure
1. In the main menu, select Diagnosis > Diagnostic monitor.
2. Select the Safety controller module in the Module box. The corresponding diagnostic data are displayed:
• SCID CRC: Checksum of the safety configuration
• SCID date: Date on which the safety configuration was created
• SCID time: Time at which the safety configuration was created
3. Enter the read SCID on the PLC.
9.2.5
KSS15151
Message code
KSS15151
Message text
CIPS: Invalid SCID.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: Safety configuration and SCID differ from one another
(>>> Page 81)
Solution: Change the safety configuration (>>> Page 82)
Cause: Safety configuration and SCID differ from one another
(>>> Page 82)
Solution: Restore most recently used configuration (>>> Page 82)
Cause: Safety configuration and SCID differ from one another
(>>> Page 83)
Solution: Activate the safety configuration (>>> Page 83)
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
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Messages
KUKA.EtherNet/IP™ M/S 5.1
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Change the safety configuration
Precondition
• User group Safety Maintenance Technician or higher
• T1 or T2 mode
Procedure
1. In the main menu, select Configuration > Safety configuration. The
safety configuration is opened.
2. Select the appropriate tab and modify the configuration as required.
3. Save safety configuration.
Following a change to the safety configuration, safety acceptance must
be carried out and documented by means of checklists.
Further information on safety acceptance is contained in the assembly
and operating instructions of the safety option.
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Restore most recently used configuration
Description
Restore the most recently used configuration using the most recently created archive.
Further information about archiving is contained in the operating and
programming instructions for the KUKA System Software (KSS).
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KUKA.EtherNet/IP™ M/S 5.1
Messages
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Activate the safety configuration
Description
Following a modification, the safety configuration must be activated again.
If the safety configuration on the robot controller has been modified, the
safety controller signals that the activation code of the safety configuration
is incorrect.
The safety maintenance technician is responsible for ensuring that the
correct configuration is activated. The displayed activation code must
match the expected activation code from the checklist for safety functions.
The administrator is also authorized to activate the safety configuration
following a prior check. They may only do so, however, if they have
been specially trained for the safety configuration.
The safety recovery technician requires the 8-digit activation code of the
safety configuration in order to activate it. The correct activation code
must be communicated by the safety maintenance technician or administrator.
Precondition
• User group “Safety recovery” or higher
Procedure
1. In the main menu, select Configuration > Safety configuration.
The safety configuration checks whether there are any relevant deviations between the robot controller and the safety controller. The Troubleshooting wizard window opens.
2. A description of the problem and a list of possible causes is displayed.
Select the cause from the list, e.g. restoration of an archive.
3. Press Activate to activate the updated safety configuration on the robot controller.
4. Only for the “Administrator” user group: Confirm the safety message
with OK.
5. Only for user group “Safety recovery”: Enter the activation code and
press Activate again.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
9.2.6
KSS15152
Message code
KSS15152
Message text
CIPS: Invalid SCID, inconsistent CRC.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: Safety configuration and SCID differ from one another
(>>> Page 84)
Solution: Change the safety configuration (>>> Page 84)
Cause: Safety configuration and SCID differ from one another
(>>> Page 85)
Solution: Restore most recently used configuration (>>> Page 85)
Cause: Safety configuration and SCID differ from one another
(>>> Page 85)
Solution: Activate the safety configuration (>>> Page 85)
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Change the safety configuration
Precondition
• User group Safety Maintenance Technician or higher
• T1 or T2 mode
Procedure
1. In the main menu, select Configuration > Safety configuration. The
safety configuration is opened.
2. Select the appropriate tab and modify the configuration as required.
3. Save safety configuration.
Following a change to the safety configuration, safety acceptance must
be carried out and documented by means of checklists.
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Further information on safety acceptance is contained in the assembly
and operating instructions of the safety option.
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Restore most recently used configuration
Description
Restore the most recently used configuration using the most recently created archive.
Further information about archiving is contained in the operating and
programming instructions for the KUKA System Software (KSS).
Cause: Safety configuration and SCID differ from one another
Description
The safety configuration of the robot controller and the SCID differ from
one another. Possible causes include:
• Errors in the programming with WorkVisual
• Restoration of an incorrect archive
• A corrupt or unreadable file
The safety configuration of the robot controller must be checked in all cases and modified if required.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
Solution: Activate the safety configuration
Description
Following a modification, the safety configuration must be activated again.
If the safety configuration on the robot controller has been modified, the
safety controller signals that the activation code of the safety configuration
is incorrect.
The safety maintenance technician is responsible for ensuring that the
correct configuration is activated. The displayed activation code must
match the expected activation code from the checklist for safety functions.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
The administrator is also authorized to activate the safety configuration
following a prior check. They may only do so, however, if they have
been specially trained for the safety configuration.
The safety recovery technician requires the 8-digit activation code of the
safety configuration in order to activate it. The correct activation code
must be communicated by the safety maintenance technician or administrator.
Precondition
• User group “Safety recovery” or higher
Procedure
1. In the main menu, select Configuration > Safety configuration.
The safety configuration checks whether there are any relevant deviations between the robot controller and the safety controller. The Troubleshooting wizard window opens.
2. A description of the problem and a list of possible causes is displayed.
Select the cause from the list, e.g. restoration of an archive.
3. Press Activate to activate the updated safety configuration on the robot controller.
4. Only for the “Administrator” user group: Confirm the safety message
with OK.
5. Only for user group “Safety recovery”: Enter the activation code and
press Activate again.
9.2.7
KSS15153
Message code
KSS15153
Message text
CIPS: Invalid OCPUNID.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: UNID of PLC has changed (>>> Page 86)
Solution: Contact KUKA Customer Support (>>> Page 87)
Cause: UNID of PLC has changed
Description
The UNID of the PLC has changed. If the PLC has a different UNID from
that stored on the robot controller, the PLC cannot establish a connection
to the robot controller.
If the modification of the UNID was intentional, the robot controller must
be reset to the factory settings via the PLC. This resets the OPCUNID on
the robot controller and sets it again when the next connection is established.
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If the modification of the UNID was not intentional, it is necessary to
check whether another PLC has attempted to establish a connection to
the robot controller. If it is the same PLC, it is necessary to check why its
UNID has changed.
Solution: Contact KUKA Customer Support
Description
Contact the relevant KUKA Customer Support department to rectify the error.
Procedure
• Send support request by e-mail to local subsidiary.
9.2.8
KSS15154
Message code
KSS15154
Message text
CIPS: Invalid alarm enable and warning enable.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: Errors on the robot controller (>>> Page 87)
Solution: Restore most recently used configuration (>>> Page 87)
Cause: Errors on the robot controller (>>> Page 88)
Solution: Reset configuration of alarms and warnings on PLC
(>>> Page 88)
Cause: Errors on the robot controller
Description
Errors have occurred on the robot controller. Possible causes include:
• Restoration of an incorrect archive
• A corrupt or unreadable file
Solution: Restore most recently used configuration
Description
Restore the most recently used configuration using the most recently created archive.
Further information about archiving is contained in the operating and
programming instructions for the KUKA System Software (KSS).
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
Cause: Errors on the robot controller
Description
Errors have occurred on the robot controller. Possible causes include:
• Restoration of an incorrect archive
• A corrupt or unreadable file
Solution: Reset configuration of alarms and warnings on PLC
Description
The configuration of the alarms and warnings via the PLC must be reset
on the PLC.
Detailed information about operator control can be found in the manufacturer documentation.
The robot controller does not currently send alarms and warnings to the
PLC.
9.2.9
KSS15155
Message code
KSS15155
Message text
CIPS: Received SCID is invalid.
Message type
Status message
Effect
Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s)
Cause: Safety configuration of the robot controller has been modified (>>> Page 89)
Solution: Change the safety configuration (>>> Page 89)
Cause: SCID entered incorrectly on PLC (>>> Page 90)
Solution: Correct the CSCID on the PLC (>>> Page 90)
Cause: Different time settings in WorkVisual and on PLC
(>>> Page 90)
Solution: Use the same time settings (>>> Page 91)
Cause: Safety configuration of the robot controller has been modified (>>> Page 91)
Solution: Correct the CSCID on the PLC (>>> Page 91)
Cause: Safety configuration of the robot controller has been modified (>>> Page 92)
Solution: Restore most recently used configuration (>>> Page 92)
Cause: Safety configuration of the robot controller has been modified (>>> Page 92)
Solution: Activate the safety configuration (>>> Page 93)
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Cause: Safety configuration of the robot controller has been modified
Description
The SCID on the PLC differs from the SCID on the robot controller because the safety configuration of the robot controller has been modified.
If the modification of the safety configuration was intentional, the safety
configuration must be checked and the SCID on the PLC corrected.
If the modification of the safety configuration was not intentional, there are
two possibilities:
• Restore the most recently used configuration using an archive.
• Check and modify the safety configuration. The modification generates
a new SCID which must then be entered on the PLC.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
The procedure for checking the SCID of the robot controller in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
checksum is displayed in the parameter SCCRC, the time stamp in
the parameter SCTS.
Solution: Change the safety configuration
Precondition
• User group Safety Maintenance Technician or higher
• T1 or T2 mode
Procedure
1. In the main menu, select Configuration > Safety configuration. The
safety configuration is opened.
2. Select the appropriate tab and modify the configuration as required.
3. Save safety configuration.
Following a change to the safety configuration, safety acceptance must
be carried out and documented by means of checklists.
Further information on safety acceptance is contained in the assembly
and operating instructions of the safety option.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
Cause: SCID entered incorrectly on PLC
Description
The SCID of the robot controller has been entered incorrectly on the PLC
(e.g. due to a typing error). It consists of a checksum and a time stamp
(date and time).
The procedure for checking the SCID of the robot controller in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
checksum is displayed in the parameter SCCRC, the time stamp in
the parameter SCTS.
Solution: Correct the CSCID on the PLC
Description
The SCID of the robot controller on the PLC must be corrected. The
same SCID must be entered on the PLC as in WorkVisual.
Detailed information about operator control can be found in the manufacturer documentation.
Cause: Different time settings in WorkVisual and on PLC
Description
The time stamp of the SCID on the PLC differs from the time stamp of
the SCID on the robot controller because different time settings have been
used in the configuration software of the PLC and in WorkVisual. This
may relate either to the time zone or to the setting for summer or winter
time.
The procedure for checking the time stamp of the SCID in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
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2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
time stamp is displayed in the parameter SCTS.
Solution: Use the same time settings
Description
Ensure that the same time settings are used in the configuration software
of the PLC and in WorkVisual. Ideally, both software packages are used
on the same computer.
Cause: Safety configuration of the robot controller has been modified
Description
The SCID on the PLC differs from the SCID on the robot controller because the safety configuration of the robot controller has been modified.
If the modification of the safety configuration was intentional, the safety
configuration must be checked and the SCID on the PLC corrected.
If the modification of the safety configuration was not intentional, there are
two possibilities:
• Restore the most recently used configuration using an archive.
• Check and modify the safety configuration. The modification generates
a new SCID which must then be entered on the PLC.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
The procedure for checking the SCID of the robot controller in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
checksum is displayed in the parameter SCCRC, the time stamp in
the parameter SCTS.
Solution: Correct the CSCID on the PLC
Description
The SCID of the robot controller on the PLC must be corrected. The
same SCID must be entered on the PLC as in WorkVisual.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
Detailed information about operator control can be found in the manufacturer documentation.
Cause: Safety configuration of the robot controller has been modified
Description
The SCID on the PLC differs from the SCID on the robot controller because the safety configuration of the robot controller has been modified.
If the modification of the safety configuration was intentional, the safety
configuration must be checked and the SCID on the PLC corrected.
If the modification of the safety configuration was not intentional, there are
two possibilities:
• Restore the most recently used configuration using an archive.
• Check and modify the safety configuration. The modification generates
a new SCID which must then be entered on the PLC.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
The procedure for checking the SCID of the robot controller in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
checksum is displayed in the parameter SCCRC, the time stamp in
the parameter SCTS.
Solution: Restore most recently used configuration
Description
Restore the most recently used configuration using the most recently created archive.
Further information about archiving is contained in the operating and
programming instructions for the KUKA System Software (KSS).
Cause: Safety configuration of the robot controller has been modified
Description
The SCID on the PLC differs from the SCID on the robot controller because the safety configuration of the robot controller has been modified.
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
If the modification of the safety configuration was intentional, the safety
configuration must be checked and the SCID on the PLC corrected.
If the modification of the safety configuration was not intentional, there are
two possibilities:
• Restore the most recently used configuration using an archive.
• Check and modify the safety configuration. The modification generates
a new SCID which must then be entered on the PLC.
Further information about checking the safety configuration is contained
in the Operating and Programming Instructions for System Integrators.
The procedure for checking the SCID of the robot controller in WorkVisual is as follows:
Precondition
• Project is open in WorkVisual.
• The robot controller has been set as the active controller.
• A robot has been assigned to the robot controller.
Checking instructions
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Double-click on the Safety controller node. The Local safety configuration window is opened.
3. Select the Communication parameters area on the General tab. The
checksum is displayed in the parameter SCCRC, the time stamp in
the parameter SCTS.
Solution: Activate the safety configuration
Description
Following a modification, the safety configuration must be activated again.
If the safety configuration on the robot controller has been modified, the
safety controller signals that the activation code of the safety configuration
is incorrect.
The safety maintenance technician is responsible for ensuring that the
correct configuration is activated. The displayed activation code must
match the expected activation code from the checklist for safety functions.
The administrator is also authorized to activate the safety configuration
following a prior check. They may only do so, however, if they have
been specially trained for the safety configuration.
The safety recovery technician requires the 8-digit activation code of the
safety configuration in order to activate it. The correct activation code
must be communicated by the safety maintenance technician or administrator.
Precondition
• User group “Safety recovery” or higher
Procedure
1. In the main menu, select Configuration > Safety configuration.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
2.
3.
4.
5.
9.2.10
The safety configuration checks whether there are any relevant deviations between the robot controller and the safety controller. The Troubleshooting wizard window opens.
A description of the problem and a list of possible causes is displayed.
Select the cause from the list, e.g. restoration of an archive.
Press Activate to activate the updated safety configuration on the robot controller.
Only for the “Administrator” user group: Confirm the safety message
with OK.
Only for user group “Safety recovery”: Enter the activation code and
press Activate again.
KSS19000
Message code
KSS19000
Message text
EIP I/O driver cannot determine the IP address of the KLI
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 94)
Solution: Enter correct IP address and perform a cold start
(>>> Page 94)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
9.2.11
Messages
KUKA.EtherNet/IP™ M/S 5.1
KSS19001
Message code
KSS19001
Message text
Timeout establishing connection ID {ID} to the EIP device {Name}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Power supply to bus device interrupted (>>> Page 95)
Solution: Restore the power supply to the bus device
(>>> Page 95)
Cause: Network connection to bus device interrupted
(>>> Page 95)
Solution: Exchange the bus cable (>>> Page 96)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
9.2.12
KSS19002
Message code
KSS19002
Message text
Connection ID {ID} of EIP device {Name} broken
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Power supply to bus device interrupted (>>> Page 96)
Solution: Restore the power supply to the bus device
(>>> Page 97)
Cause: Network connection to bus device interrupted
(>>> Page 97)
Solution: Exchange the bus cable (>>> Page 97)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
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KUKA.EtherNet/IP™ M/S 5.1
Messages
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
9.2.13
KSS19004
Message code
KSS19004
Message text
Timeout establishing connection between PLC and {Name}
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Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Power supply to bus device interrupted (>>> Page 98)
Solution: Restore the power supply to the bus device
(>>> Page 98)
Cause: Network connection to bus device interrupted
(>>> Page 98)
Solution: Exchange the bus cable (>>> Page 98)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
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NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
9.2.14
KSS19005
Message code
KSS19005
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: Power supply to bus device interrupted (>>> Page 99)
Solution: Restore the power supply to the bus device
(>>> Page 99)
Cause: Network connection to bus device interrupted
(>>> Page 99)
Solution: Exchange the bus cable (>>> Page 100)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
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KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
9.2.15
KSS19006
Message code
KSS19006
Message text
Error reading {Name}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
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Cause: Error in KUKA.EtherNet IP configuration file (>>> Page 101)
Solution: Eliminating errors in the xml file (>>> Page 101)
KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
KUKA.EtherNet/IP™ M/S 5.1
Messages
Cause: Error in KUKA.EtherNet IP configuration file
Description
The file EIPIODriver.xml or EIPConfig.bin is defective because the configuration is incorrect.
Configuration file
Directory
C:\KRC\ROBOTER\Config\User\Common
File
EIPIODriver.xml
EIPConfig.bin
Precondition
• Windows interface (CTRL+ESC)
• Windows user group “Administrators”
Checking instructions
1. Open file.
2. Check that the file is well-formed.
3. Check that all the required values are present.
Solution: Eliminating errors in the xml file
Description
The errors in the xml file must be eliminated.
Precondition
• “Expert” user group
• T1, T2 or AUT mode
Procedure
1. Modify the xml file as required and save the changes.
2. If the xml file was modified offline, copy it into the intended directory
and overwrite the old xml file.
9.2.16
KSS19008
Message code
KSS19008
Message text
EthernetIP stack cannot be set to Offline state
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 102)
Solution: Enter correct IP address and perform a cold start
(>>> Page 102)
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
9.2.17
KSS19009
Message code
KSS19009
Message text
EIP I/O driver cannot determine the subnet mask of the KLI
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 102)
Solution: Enter correct IP address and perform a cold start
(>>> Page 103)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
9.2.18
KSS19010
Message code
KSS19010
Message text
EIP I/O driver cannot determine the MAC address of the KLI
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 103)
Solution: Enter correct IP address and perform a cold start
(>>> Page 104)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
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Messages
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
9.2.19
KSS19011
Message code
KSS19011
Message text
Error configuring EthernetIP stack with the file {Name}
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: EtherNet/IP configuration file contains errors (>>> Page 104)
Solution: Transfer WorkVisual project again (>>> Page 104)
Cause: EtherNet/IP configuration file contains errors (>>> Page 105)
Solution: Contact KUKA Customer Support (>>> Page 105)
Cause: EtherNet/IP configuration file contains errors
Description
The EtherNet/IP driver signals an error in an EtherNet/IP configuration file.
Solution: Transfer WorkVisual project again
Description
Deploy the WorkVisual project on the robot controller again.
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. Open project in WorkVisual.
2. Transfer the project to the robot controller.
3. Reboot the robot controller.
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KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
KUKA.EtherNet/IP™ M/S 5.1
Messages
Cause: EtherNet/IP configuration file contains errors
Description
The EtherNet/IP driver signals an error in an EtherNet/IP configuration file.
Solution: Contact KUKA Customer Support
Description
Contact the relevant KUKA Customer Support department to rectify the error.
Procedure
• Send support request by e-mail to local subsidiary.
9.2.20
KSS19012
Message code
KSS19012
Message text
EthernetIP stack cannot be set to Online state
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 105)
Solution: Enter correct IP address and perform a cold start
(>>> Page 106)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
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Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
9.2.21
KSS19013
Message code
KSS19013
Message text
EthernetIP stack cannot be set to Running state
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: KLIConfig.xml invalid (>>> Page 106)
Solution: Enter correct IP address and perform a cold start
(>>> Page 106)
Cause: KLIConfig.xml invalid
Description
KLIConfig.xml has been modified manually or contains errors (for example, the IP address of the KLI is configured incorrectly). Possible causes
for this are:
• KLIKonfig.xml was imported from a different software version.
• In response to the query “Inconsistency between RDC memory and
controller. What has been exchanged?” the wrong component was
selected, causing the network configuration to be overwritten.
The procedure for checking whether the IP address of the KLI has
been configured is as follows:
Checking instructions
1. In the main menu, select Start-up > Network configuration. The Network configuration window opens. The active Windows interface is
displayed. (Default: "virtual5")
2. Check if the correct IP address has been entered.
Solution: Enter correct IP address and perform a cold start
Description
Enter the correct IP address and perform a cold start.
9.2.22
KSS19014
Message code
KSS19014
Message text
Timeout establishing connection to EIP device {Name}
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Message type
Status message
Effect
No braking reaction
Messages
KUKA.EtherNet/IP™ M/S 5.1
No interlock of motions or commands
Possible cause(s)
Cause: Power supply to bus device interrupted (>>> Page 107)
Solution: Restore the power supply to the bus device
(>>> Page 107)
Cause: Network connection to bus device interrupted
(>>> Page 107)
Solution: Exchange the bus cable (>>> Page 107)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
9.2.23
KSS19015
Message code
KSS19015
Message text
Connection to EIP device {Name} terminated
Message type
Status message
Effect
No braking reaction
No interlock of motions or commands
Possible cause(s)
Cause: Power supply to bus device interrupted (>>> Page 108)
Solution: Restore the power supply to the bus device
(>>> Page 108)
Cause: Network connection to bus device interrupted
(>>> Page 108)
Solution: Exchange the bus cable (>>> Page 109)
Cause: Power supply to bus device interrupted
Description
The power supply to the bus device has been interrupted. Therefore, it is
not possible to connect to the bus device.
Solution: Restore the power supply to the bus device
Description
Restore the power supply to the bus device.
The exact procedure depends on the bus device.
Cause: Network connection to bus device interrupted
Description
The network connection to the bus device has been interrupted.
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The procedure for checking whether the bus cable is defective is as
follows:
Checking instructions
• Check whether the connectors are correctly connected. Particular attention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot
Solution: Exchange the bus cable
Description
The faulty bus cable must be replaced with a functional one.
Procedure
1. Disconnect and remove the defective cable.
2. Route and connect a new cable correctly.
NOTICE
When routing the cable, avoid mechanical damage and observe the
minimum bending radii.
The following bending radii serve as guide values:
Type of routing
Bending radius
Fixed installation
Min. 5xØ of cable
Installation in cable carrier
Min. 10xØ of cable
3. Start-up of the corresponding part of the system.
This activity must be carried out in accordance with the procedure
described in the operating instructions.
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Messages
KUKA.EtherNet/IP™ M/S 5.1
Messages
KUKA.EtherNet/IP™ M/S 5.1
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10
KUKA Service
10.1
Requesting support
KUKA Service
KUKA.EtherNet/IP™ M/S 5.1
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
10.2
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.EtherNet/IP™ M/S 5.1
Index
“Chassis/Modules” tab....................................27
A
Acyclic communication, configuring the PLC 58
Acyclic communication, configuring the robot
controller......................................................... 57
Acyclic data, receiving....................................57
Acyclic data, sending..................................... 60
Address setting...............................................26
Address Setting, tab.......................................26
via smartHMI............................................. 15
via WorkVisual...........................................17
Installing EtherNet/IP............................... 15, 17
Intended use...................................................12
Introduction....................................................... 7
K
KSS...................................................................8
KUKA Customer Support..............................111
KUKA Service............................................... 111
L
Bus errors, activatingBus errors,
deactivating.....................................................54
Licenses............................................................9
Local Safety Slave, tab..................................33
Local Slave, tab..............................................32
C
M
B
Chassis/Modules.............................................27
CIP Energy....................................................... 8
CIP Energy commands.................................. 63
CIP Safety........................................................ 8
CIP Safety safety interface............................ 38
Communication settings, tab..........................31
Configuration...................................................19
Connection type, changing............................ 29
Coupling, device............................................. 51
D
Data cables, routing....................................... 15
Decoupling, device......................................... 51
Device diagnosis............................................ 72
Device properties............................................27
Device Properties, tab....................................27
Device status, requesting...............................54
Diagnosis........................................................ 67
Diagnostic monitor (menu item).....................67
Documentation, industrial robot....................... 7
E
EDS file.............................................................8
EDS files, exporting........................................37
EDS files, making available........................... 19
Energy Base Object....................................... 63
Ethernet............................................................ 8
EtherNet/IP, displaying diagnostic data......... 67
F
Functions.........................................................11
I
Installation.......................................................15
KUKA.EtherNet/IP M/S 5.1 V1 | Issued: 01.04.2021
Mapping, inputs/outputs................................. 34
Messages........................................................75
Misuse.............................................................12
Module configuration, example...................... 29
O
Open source..................................................... 9
Operation........................................................ 51
Overview, EtherNet/IP.................................... 11
P
Parameters, setting........................................ 28
PLC................................................................... 9
PLC, configuring the robot controller.............21
Ports, configuring............................................36
Product description......................................... 11
Programming.................................................. 57
Q
Quick Connect, disabling............................... 52
Quick Connect, enabling................................ 52
S
SafeOperation via CIP Safety........................49
Safety..............................................................13
Safety configuration, displaying diagnostic
data.................................................................71
Safety instructions............................................ 7
Signal “Peri enabled”............................... 43, 48
Subnet...............................................................9
Subnet mask.....................................................9
Support request............................................ 111
System requirements......................................15
Hardware................................................... 15
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Software.....................................................15
T
Target group..................................................... 7
Terms used....................................................... 8
Timeout, coupling........................................... 52
Timeout, decoupling....................................... 52
Trademarks....................................................... 8
Training............................................................. 7
U
Uninstalling EtherNet/IP........................... 16, 18
Updating EtherNet/IP............................... 15, 17
V
VSS...................................................................9
W
Warnings........................................................... 7
WoL...................................................................9
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