KR_C4_PROFINET_22_en1.pdf

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1、Controller OptionKR C4 PROFINET 2.2For KUKA System Software 8.2For VW System Software 8.2KUKA Roboter GmbHIssued:08.05.2012Version:KR C4 PROFINET 2.2 V5 en KR C4 PROFINET 2.22/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 en Copyright 2012KUKA Roboter GmbHZugspitzstrae 140D-86165 AugsburgGermany

2、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 re

3、placement 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 regu

4、lar basis,how-ever,and necessary corrections will be incorporated in the subsequent edition.Subject to technical alterations without an effect on the function.Translation of the original documentationKIM-PS5-DOCPublication:Pub KR C4 PROFINET 2.2 enBookstructure:KR C4 PROFINET 2.2 V3.1Version:KR C4 P

5、ROFINET 2.2 V5 en3/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 enContents1Introduction.51.1Target group.51.2Industrial robot documentation.51.3Representation of warnings and notes.51.4Trademarks.51.5Terms used.62Product description.73Safety.94Installation .114.1System requirements.114.2Routing

6、 the data cables.114.3Installing or updating PROFINET(KSS).114.4Installing PROFINET(VSS).124.5Uninstalling PROFINET(KSS).125Configuration.135.1Overview.135.2Configuring the record index.135.3Making GSDML files available for configuration with WorkVisual.145.4Making GSDML files available for configur

7、ation with Step 7/PC WORX.145.5Naming the device.155.5.1Identifying the device.155.5.2Resetting the device configuration to factory settings.165.6Configuring the bus with WorkVisual.165.6.1Configuring PROFINET Controller.165.6.1.1Device settings.175.6.1.2Activating fast startup.195.6.1.3Reducing the

8、 amount of configuration work.205.6.2Configuring a PROFINET device.215.6.2.1“Communication settings”tab.225.6.2.2Device Diagnostic tab.235.6.2.3“PROFIenergy”tab.245.7Configuring the bus with Step 7 or PC WORX.255.8Mapping inputs/outputs in WorkVisual.265.9Safety interface via PROFIsafe(optional).275

9、.9.1Safety functions via PROFIsafe(KR C4).275.9.2Safety functions via PROFIsafe(VKR C4).325.9.3Schematic circuit diagram of PROFIsafe enabling switch.365.9.4SafeOperation via PROFIsafe(optional).375.9.5Power management via PROFINET.375.9.6Logging off the higher-level safety controller.376Operation.4

10、16.1Coupling/decoupling devices.416.1.1Coupling/decoupling devices via the HMI.416.1.2Coupling/decoupling devices via KRL.41Contents4/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 enKR C4 PROFINET 2.26.2PROFIenergy commands.427Programming.457.1Acyclic communication.457.1.1Acyclic data to the dev

11、ices(controller ring).457.1.2Acyclic data to the higher-level controller(device ring).467.2Example of acyclic communication.478Diagnosis.498.1Displaying diagnostic data.498.1.1Profinet Controller Stack(PNIO-CTRL).498.1.2Profinet Device Stack(PNIO-DEV).508.1.3Profinet Device.528.1.4Profinet IO Driver

12、(PNIODriver).528.1.5PROFIenergy(PROFIenergy).538.2Diagnostic signals via PROFINET.549Messages.5510KUKA Service.5710.1Requesting support.5710.2KUKA Customer Support.57Index.655/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 en1 Introduction1Introduction1.1Target groupThis documentation is aimed at

13、 users with the following knowledge and skills:Advanced KRL programming skillsAdvanced knowledge of the robot controller systemAdvanced knowledge of field busesKnowledge of WorkVisualKnowledge of the software Step 7 from Siemens or PC WORX from Phoe-nix Contact1.2Industrial robot documentationThe in

14、dustrial robot documentation consists of the following parts:Documentation for the manipulatorDocumentation for the robot controllerOperating and programming instructions for the KUKA System SoftwareDocumentation relating to options and accessoriesParts catalog on storage mediumEach of these sets of

15、 instructions is a separate document.1.3Representation of warnings and notesSafetyThese warnings are relevant to safety and must be observed.NotesThese hints serve to make your work easier or contain references to further information.1.4TrademarksWindows is a trademark of Microsoft Corporation.These

16、 warnings mean that it is certain or highly probable that death or severe physical injury will occur,if no pre-cautions are taken.These warnings mean that death or severe physical inju-ry may occur,if no precautions are taken.These warnings mean that minor physical injuries may occur,if no precautio

17、ns are taken.These warnings mean that damage to property may oc-cur,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.Tip to make your work eas

18、ier or reference to further information.6/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 enKR C4 PROFINET 2.2Step 7 are trademarks of Siemens AG.PC WORX is a trademark of Phoenix Contact.1.5Terms usedTermDescriptionGSDMLDevice description file for PROFINETIndustrial EthernetEthernet is a data net

19、work technology for local area networks(LANs).It allows data to be exchanged between the connected devices in the form of data frames.PC WORXConfiguration software from Phoenix ContactPLCProgrammable logic controllerStep 7Configuration software from SiemensIRTIsochronous Real TimeCycle-synchronous c

20、ommunicationCBAComponent Based AutomationComponent-based automationSubnetSubnetwork in the Internet Protocol(IP)Subnet maskDefines which IP addresses a device looks for in its own network and which addresses can be reached in other networks.7/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 en2 Pro

21、duct description2Product descriptionPROFINET is an Ethernet-based field bus.Data exchange is carried out on a client-server basis.PROFINET is installed on the robot controller.CompatibilityKR C4 PROFINET 2.2 is compatible with the following field buses:KR C4 PROFIBUSKR C4 PROFIBUS CP 5614 1.0KR C4 I

22、nterbus 1.0KR C4 EtherCATRestrictionsOnly PROFINET IO Class A,Fast Startup and PROFIsafe Device are support-ed.The following device classes/functions are not supported,for example:PROFINET IO Class BPROFINET IO Class C(includes the function IRT)PROFINET CBAPROFIsafe ControllerProfiles,e.g.PROFIdrive

23、Gateway devices(for converting PROFIBUS to other field buses)Configuration softwarePROFINET is configured on a laptop or PC.The following software is required for configuration:WorkVisual 2.3 or higherDepending on the selected procedure,additional configuration software may be required:Step 7 from S

24、iemensOr PC WORX from Phoenix ContactThe following software is required for configuring the higher-level controller:Step 7 from SiemensDevice typesThe following device types are used with PROFINET:Controller:A higher-level controller that controls all the components of a system.Device:A field device

25、 subordinated to a controller.A device consists of a number of modules and submodules.Supervisor:Can be a programming device or industrial PC.Parallel to the controller,this has access to all process and parameter files.The 3 device types have relationships for transferring configuration data and pr

26、ocess data.A physical device,e.g.the robot controller,can be a controller and/or a device.The configuration of communication relationships is carried out solely in the controller.PROFIenergyPROFIenergy enables control of the energy consumption via a PROFINET network.For this,commands are used by mea

27、ns of which the energy-consum-ing devices react to planned and unplanned interruptions.The PROFINET device supports PROFIenergy.If PROFIenergy is used,the robot controller comunicates with the higher-level controller via the PROFIen-ergy protocol.8/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 e

28、nKR C4 PROFINET 2.29/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 en3 Safety3SafetyThis 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 operati

29、ng or assembly instruc-tions for the robot controller.The“Safety”chapter in the operating instructions or as-sembly instructions of the robot controller must be ob-served.Death to persons,severe physical injuries or considerable damage to property may otherwise result.10/67Issued:08.05.2012 Version:

30、KR C4 PROFINET 2.2 V5 enKR C4 PROFINET 2.211/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 en4 Installation4Installation 4.1System requirementsRobot controllerHardware:KR C4Software:KUKA System Software 8.2Or VW System Software 8.2Laptop/PCThe requirements for installation of WorkVisual are cont

31、ained in the WorkVisual documentation.The requirements for installation of Step 7 or PC WORX are contained in the documentation for this software.4.2Routing the data cables The Industrial Ethernet cables are routed to the devices from the controller or from the switch using a star or ring topology.4

32、.3Installing or updating PROFINET(KSS)DescriptionThere are two option CDs for PROFINET:KUKA.ProfiNet Controller/Device:includes PROFINET IO Controller,PROFINET IO Device and ProfiSafe Device.KUKA.ProfiNet Device:includes PROFINET IO Device and ProfiSafe Device.PreparationCopy software from CD to KUK

33、A USB stick.The software must be copied onto the stick with the file Setup.exe at the highest level(i.e.not in a folder).Precondition“Expert”user groupProcedure1.Connect the USB stick to the robot controller or smartPAD.2.In the main menu,select Start-up Install additional software.3.Press New softw

34、are.The entry Profinet KRC-Nexxt 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.If not,the drive from which the software is being installed must be config-ured first:Click on the Configur

35、ation button.A new window opens.If a version of PROFINET is already installed,its configuration is car-ried over automatically.If this is not desired,the existing version must first be uninstalled.It is advisable to archive all relevant data before updating a software package.Recommendation:Use a KU

36、KA stick.Data may be lost if any other stick is used.12/67Issued:08.05.2012 Version:KR C4 PROFINET 2.2 V5 enKR C4 PROFINET 2.2Select a line in the Installation paths for options area.Note:If the line already contains a path,this path will be overwritten.Press Path selection.The available drives are

37、displayed.Select E:.(If stick connected to the robot controller.)Or select K:.(If stick connected to the smartPAD.)Press Save.The window closes again.The drive only needs to be configured once and then remains saved for further installations.5.Select the entry Profinet KRC-Nexxt and press Install.An

38、swer the re-quest for confirmation with Yes.6.Confirm the reboot prompt with OK.7.Remove the stick.8.Reboot the robot controller.LOG fileA LOG file is created under C:KRCROBOTERLOG.4.4Installing PROFINET(VSS)PROFINET is included in VSS 8.2.It includes PROFINET IO Controller,PROFINET IO Device and Pr

39、ofiSafe Device.To install PROFINET,the relevant check box must be activated during the set-up for VSS 8.2.4.5Uninstalling PROFINET(KSS)Precondition“Expert”user groupProcedure1.In the main menu,select Start-up Install additional software.2.Select the entry Profinet KRC-Nexxt and press Uninstall.Reply

40、 to the re-quest for confirmation with Yes.Uninstallation is prepared.3.Reboot the robot controller.Uninstallation is resumed and completed.LOG fileA LOG file is created under C:KRCROBOTERLOG.It is advisable to archive all relevant data before uninstalling a soft-ware package.13/67Issued:08.05.2012

41、Version:KR C4 PROFINET 2.2 V5 en5 Configuration5Configuration5.1Overview5.2Configuring the record indexThe following must be observed when configuring the higher-level controller:The record index range that is not already reserved for PROFINET must,in part,be reserved for KUKA.The user must reserve

42、this range when configur-ing the record index.The record index has 16 bits.StepDescription1Configure the higher-level controller with Step 7.(5.2 Configuring the record index Page 13)Note:This step only needs to be carried out if a higher-level controller is being used.2Make GSDML files available.Fo

43、r configuration with WorkVisual(5.3 Making GSDML files available for configuration with WorkVisual Page 14)For configuration with Step 7 or PC WORX(5.4 Making GSDML files available for configuration with Step 7/PC WORX Page 14)3Name the devices.(5.5 Naming the device Page 15)4Configure PROFINET.Conf

44、igure the bus with WorkVisual.(5.6 Configuring the bus with WorkVisual Page 16)Or:Configure the bus with Step 7 or PC WORX.(5.7 Configuring the bus with Step 7 or PC WORX Page 25)5Map the inputs and outputs in WorkVisual.(5.8 Mapping inputs/outputs in WorkVisual Page 26)6Transfer the bus configurati

45、on from WorkVisual to the robot controller.7Reboot the robot controller.Note:If a change has been made in the Profinet version box on the Communication settings tab,the robot controller must be rebooted with the following settings:With a cold startWith the option Reload files8Safety interface via PR

46、OFIsafe(optional)(5.9 Safety interface via PROFIsafe(optional)Page 27)Information about procedures in WorkVisual is contained in the WorkVisual documentation.Information about procedures in Step 7 or PC WORX can be found in the documentation for this software.14/67Issued:08.05.2012 Version:KR C4 PRO

47、FINET 2.2 V5 enKR C4 PROFINET 2.25.3Making GSDML files available for configuration with WorkVisualIf a device is to be configured with WorkVisual,WorkVisual requires the GSD-ML file for this device.The GSDML file must be obtained from the manufactur-er of the device.PreconditionThere is no project o

48、pen.Procedure1.Select the menu sequence File Import/Export.The Import/Export Wizard window is opened.2.Select Import device description file and click on Next.3.Click on Browse and specify a directory.4.Confirm with Next.A list is displayed of the devices that are to be imported.5.Click on Finish.Th

49、e devices are imported.6.Close the Import/Export Wizard window.5.4Making GSDML files available for configuration with Step 7/PC WORXDescriptionIf a KUKA robot controller is added as a device in Step 7 or PC WORX,this software requires the GSDML file for the KUKA robot controller.A distinction must b

50、e made between whether the robot controller is running KSS 8.2 or VSS 8.2.Procedure1.Copy the GSDML file of the KUKA robot controller.The file can be found on the WorkVisual CD-ROM,in the following direc-tory:DeviceDescriptionsGSDMLFor KSS 8.2:KUKA-Roboter-GmbH-KRC-nexxt-DeviceFor VSS 8.2:KUKA-Robot