KUKA Ether Net IP MS 31 en PDF

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Summary

Документация по опции робота KUKA с оборудованием через EtherNet/IP...

Description

Controller Option

KUKA.EtherNet/IP™ M/S 3.1 For KUKA System Software 8.5

KUKA.EtherNet/IP™ M/S 3.1

Issued: 21.07.2017

Version: KUKA.EtherNet/IP M/S 3.1 V2

KUKA Roboter GmbH

KUKA.EtherNet/IP™ M/S 3.1

© Copyright 2017 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC

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Publication:

Pub KUKA.EtherNet/IP M/S 3.1 (PDF) en

Book structure:

KUKA.EtherNet/IP M/S 3.1 V2.1

Version:

KUKA.EtherNet/IP M/S 3.1 V2

Issued: 21.07.2017 Version: KUKA.EtherNet/IP M/S 3.1 V2

Contents

Contents 1

Introduction ..................................................................................................

5

1.1

Target group ..............................................................................................................

5

1.2

Industrial robot documentation ...................................................................................

5

1.3

Representation of warnings and notes ......................................................................

5

1.4

Trademarks ................................................................................................................

6

1.5

Terms used ................................................................................................................

6

1.6

Licenses .....................................................................................................................

6

2

Product description .....................................................................................

7

2.1

Intended use ..............................................................................................................

7

3

Safety ............................................................................................................

9

4

Installation ....................................................................................................

11

4.1

System requirements .................................................................................................

11

4.2

Routing the data cables .............................................................................................

11

4.3

Installation via smartHMI ............................................................................................

11

4.3.1

Installing or updating EtherNet/IP .........................................................................

11

4.3.2

Uninstalling EtherNet/IP ........................................................................................

12

4.4

Installation via WorkVisual .........................................................................................

13

4.4.1

Installing or updating EtherNet/IP .........................................................................

13

4.4.2

Uninstalling EtherNet/IP ........................................................................................

13

5

Configuration ...............................................................................................

5.1

Overview ....................................................................................................................

15

5.2

Making EDS files available ........................................................................................

15

5.3 16

Making EDS files available for configuration of the PLC with third-party engineering software

5.3.1

Using add-on profiles ............................................................................................

16

Configuring the generic add-on profile ............................................................. Configuring the KUKA add-on profile ...............................................................

16 19

Configuring the bus with WorkVisual .........................................................................

20

5.3.1.1 5.3.1.2 5.4

15

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

Configuring Ethernet/IP scanners .........................................................................

20

Address setting ................................................................................................ Device properties ............................................................................................. Chassis/Modules ............................................................................................. Setting parameters .......................................................................................... Module configuration ....................................................................................... Changing the connection type .........................................................................

21 21 22 22 23 24

Configuring Ethernet/IP adapters .........................................................................

24

“Communication settings” tab .......................................................................... “Local Slave” tab .............................................................................................. “Local Safety Slave” tab ...................................................................................

25 26 27

5.5

Mapping inputs/outputs in WorkVisual .......................................................................

28

5.6

Configuring bus device ports .....................................................................................

29

5.7

Exporting EDS files ....................................................................................................

31

5.8

Acyclic communication ...............................................................................................

31

5.8.1

Configuring the robot controller ............................................................................

32

5.8.2

Configuring the PLC (example) ............................................................................

32

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5.8.3

Example of acyclic communication .......................................................................

33

Safety interface via CIP Safety (optional) ..................................................................

34

5.9.1

Instructions for use of CIP Safety .........................................................................

34

5.9.2

Safety functions via CIP Safety (KR C4) ..............................................................

35

5.9.3

SafeOperation via CIP Safety (optional) ...............................................................

39

5.9

6

Operation ......................................................................................................

6.1

Coupling/decoupling devices .....................................................................................

41

6.1.1

Coupling/decoupling devices via the HMI .............................................................

41

6.1.2

Coupling/decoupling devices via KRL ..................................................................

41

Enabling/disabling Quick Connect .............................................................................

42

Enabling/disabling Quick Connect via HMI ...........................................................

43

6.2 6.2.1 6.2.2

Enabling/disabling Quick Connect via KRL ..........................................................

43

6.3

Resetting the EtherNet/IP driver ................................................................................

44

6.4

Polling the state of a device .......................................................................................

44

7

Diagnosis ......................................................................................................

7.1

Displaying diagnostic data .........................................................................................

45 45

7.1.1

EtherNet/IP scanner (EIP-SCANNER) .................................................................

45

7.1.2

EtherNet/IP adapter (EIP-ADAPTER) ..................................................................

45

7.1.3

EtherNet/IP device ...............................................................................................

45

7.1.4

Ethernet/IP local slave ..........................................................................................

46

7.1.5

Ethernet/IP local safety slave ...............................................................................

47

7.1.6

EtherNet/IP I/O driver (EIPIODRIVER) .................................................................

49

7.2

Advanced device diagnosis .......................................................................................

49

8

Messages ......................................................................................................

51

9

KUKA Service ...............................................................................................

53

9.1

Requesting support ...................................................................................................

53

9.2

KUKA Customer Support ...........................................................................................

53

Index .............................................................................................................

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1 Introduction

1

Introduction

1.1

Target group 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



Knowledge of the software RSLogix 5000 or STUDIO 5000

For optimal use of our products, we recommend that our customers take part in a course of training at 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 manipulator



Documentation for the robot controller



Operating and programming instructions for the System Software



Instructions for options and accessories



Parts catalog on storage medium

Each of these sets of instructions is a separate document.

1.3 Safety

Representation of warnings and notes These warnings are relevant to safety and must be observed. These warnings mean that it is certain or highly probable that death or severe injuries will occur, if no precautions are taken. These warnings mean that death or severe injuries may occur, if no precautions are taken. These warnings mean that minor injuries may occur, if no precautions are taken. These warnings mean that damage to property may occur, if no precautions are taken. These warnings contain references to safety-relevant information or general safety measures. These warnings do not refer to individual hazards or individual precautionary measures. This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions: The following procedure must be followed exactly!

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Procedures marked with this warning must be followed exactly. These notices serve to make your work easier or contain references to further information.

Notices

Tip to make your work easier or reference to further information.

1.4

Trademarks Windows is a trademark of Microsoft Corporation. RSLogix is a trademark of Rockwell Automation Inc. STUDIO 5000 is a trademark of Rockwell Automation Inc.

1.5

1.6

Terms used Term

Description

EDS file

Device description file for EtherNet/IP

Industrial Ethernet

Ethernet is a data network technology for local area networks (LANs). It allows data to be exchanged between the connected devices in the form of data frames.

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.

Licenses The KUKA license conditions and the license conditions of the open-source software used can be found in the following folders: 

Under .\LICENSE on the data storage medium with the installation files of the KUKA software



Under D:\KUKA_OPT\Option package name\LICENSE after installation on the robot controller



In the license folder under the name of the option package on the Options tab in the Catalogs window after installation in WorkVisual Further information about open-source licenses can be requested from the following address: [email protected]

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2 Product description

2

Product description EtherNet/IP is an Ethernet-based field bus. Data exchange is carried out on a client-server basis. The KUKA.EtherNet/IP M/S 3.1 option package is installed on the robot controller.

Functions

The following functions are supported: 

EtherNet/IP IO (cyclical communication)



Explicit Messaging (acyclic communication)



Quick Connect



CIP Safety

Limitations

The Explicit Messaging function can only be used in conjunction with the EtherNet/IP IO function. Explicit Messaging is only possible to a higher-level EtherNet/IP scanner (e.g. PLC).

Configuration

EtherNet/IP is configured on a laptop or PC. The following software is required for configuration: 

WorkVisual 5.0



Depending on the selected procedure, additional configuration software may be required: 

RSLogix 5000 from Rockwell Automation



or: STUDIO 5000 from Rockwell Automation

For configuration of a higher-level controller, the corresponding configuration software from the manufacturer is also required, e.g. RSLogix 5000 or STUDIO 5000 from Rockwell Automation. 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. Adapters are also referred to as devices in this document.

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.

2.1

Intended use

Use

The KUKA.EtherNet/IP M/S option package is used for connecting a safety PLC to the robot controller and for connecting non-safe signals via EtherNet/IP IO.

Misuse

Any use or application deviating from the intended use is deemed to be misuse and is not allowed. The manufacturer cannot be held liable for any damage resulting from such use. The risk lies entirely with the user.

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3 Safety

3

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. The “Safety” chapter in the operating instructions or assembly instructions of the robot controller must be observed. Death to persons, severe injuries or considerable damage to property may otherwise result.

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4 Installation

4

Installation The option package can either be installed on the robot controller via the smartHMI or via WorkVisual.

4.1