BA DeviceNet

Issued: 16.06.2009

Version: BA DeviceNet 2.1 V1 en

KUKA Roboter GmbHController Option

KUKA.DeviceNet 2.1

For KUKA System Software 5.4, 5.5 and 5.6

Copyright 2009

KUKA Roboter GmbHZugspitzstrae 140D-86165 AugsburgGermany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the KUKA Roboter GmbH.

Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, how-ever, and necessary corrections will be incorporated in the subsequent edition.

Subject to technical alterations without an effect on the function.

Translation of the original operating instructions

KIM-PS5-DOC

KUKA.DeviceNet 2.1

2 / 51 Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

Publication: Pub BA DeviceNet 2.1 enBook structure: BA DeviceNet 2.1 V1.1Label: BA DeviceNet 2.1 V1

Contents

Contents

1 Introduction .................................................................................................. 5

1.1 Target group .............................................................................................................. 51.2 Representation of warnings and notes ...................................................................... 51.3 Terms used ................................................................................................................ 5

2 Product description ..................................................................................... 7

2.1 Overview .................................................................................................................... 72.2 Data transmission ...................................................................................................... 72.3 Multi-power tap option ................................................................................................ 72.4 DeviceNet card .......................................................................................................... 82.5 EDS file ...................................................................................................................... 92.6 DN-DIO 1620 module ................................................................................................ 102.7 Bus modules .............................................................................................................. 11

3 Installation ................................................................................................... 13

3.1 Installing the drivers and files ..................................................................................... 133.2 Connection ................................................................................................................. 133.3 Connectors ................................................................................................................. 143.4 Cables ........................................................................................................................ 153.5 Grounding .................................................................................................................. 163.6 Cable length ............................................................................................................... 163.7 Bus terminator ............................................................................................................ 17

4 DeviceNet connection ................................................................................. 19

4.1 Connection via DeviceNet card .................................................................................. 19

5 Configuration ............................................................................................... 21

5.1 Configuring the DeviceNet card ................................................................................. 215.2 Configuring the file DNSC_xCO.INI ........................................................................... 215.3 Configuring the file DNSC_xSL.INI ............................................................................ 235.4 Setting QuickConnect ................................................................................................ 245.5 Configuring the file IOSYS.INI ................................................................................... 245.6 Configuration via Telnet commands .......................................................................... 255.6.1 Opening Telnet ..................................................................................................... 255.6.2 Changing the MACID ............................................................................................ 255.7 Coupling/decoupling modules .................................................................................... 265.7.1 Coupling/decoupling modules via the HMI ........................................................... 275.7.2 Coupling/decoupling modules via KRL ................................................................. 27

6 I/O assignment ............................................................................................. 29

6.1 Assigning digital inputs and outputs ........................................................................... 296.2 Assigning analog inputs and outputs ......................................................................... 306.3 Offset table ................................................................................................................ 32

7 Example ........................................................................................................ 35

7.1 DeviceNet connection via the DeviceNet card ........................................................... 35

8 Diagnosis ..................................................................................................... 37

8.1 Error display ............................................................................................................... 373 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.18.2 Checking the hardware .............................................................................................. 388.3 Telnet diagnosis ........................................................................................................ 398.3.1 Opening Telnet ..................................................................................................... 398.3.2 Polling the device status ....................................................................................... 398.3.3 Polling the DeviceNet status ................................................................................. 408.3.4 Reading I/O data .................................................................................................. 418.3.5 Status code .......................................................................................................... 41

9 KUKA Service ............................................................................................... 43

9.1 Requesting support ................................................................................................... 439.2 KUKA Customer Support ........................................................................................... 43

Index ............................................................................................................. 49Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

1. Introduction1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and skills:

Advanced KRL programming skillsAdvanced knowledge of the robot controller systemAdvanced knowledge of field buses

1.2 Representation of warnings and notes

Safety Warnings marked with this pictogram are relevant to safety and must be ob-served.

Notes Notes marked with this pictogram contain tips to make your work easier or ref-erences to further information.

1.3 Terms used

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 pro-gram can be found at www.kuka.com or can be obtained directly from our subsidiaries.

Danger!This warning means that death, severe physical injury or substantial material damage will occur, if no precautions are taken.

Warning!This warning means that death, severe physical injury or substantial material damage may occur, if no precautions are taken.

Caution!This warning means that minor physical injuries or minor material damage may occur, if no precautions are taken.

Tips to make your work easier or references to further information.

Term DescriptionCAN bus The CAN bus or (Controller Area Network) is a

field bus. It is an asynchronous, serial bus sys-tem for network control devices.

DeviceNet DeviceNet is a CAN-based field bus that is pri-marily used in automation technology.

Trunk line Main line for networking the bus system. The maximum cable length is dependent on the transmission rate.

Drop line Drop line to external bus devices. A drop line may not be more than 6 m long.

Modules DeviceNet modules, DeviceNet devicesConfiguration file The configuration file is a text file. It contains the

values of the parameters and settings.5 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

www.kuka.com

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KUKA.DeviceNet 2.1IOSYS.INI The file IOSYS.INI is the configuration file of the I/O system. This is where the bus drivers are activated and the inputs and outputs of the indi-vidual bus devices are assigned.

EDS file The functionality of the modules is defined in the EDS file (Electronic Data Sheet).

MACID The MACID is the module address in the bus system. It may only be issued once.

Multi-power tap Option for the KR C2 edition2005 robot control-ler. It provides the power supply for the CAN bus of the robot controller. In exceptional cases, it also supplies the PFO with power.

Scan list The MACIDs of the individual bus devices are entered in the scan list.

Telnet Telnet is a communications software package. Telnet commands can be used to modify the baud rate for each channel of the DeviceNet card and the MACIDs of the individual DeviceNet devices.

DeviceNet card The DeviceNet card is a 16-bit PCI-CAN card with 2 independently active DeviceNet channels.

KUKA.HMI KUKA.HMI is the KUKA user interface.KCP The KCP (KUKA Control Panel) teach pendant

has all the functions required for operating and programming the robot system.

PLC A PLC (programmable logic controller) is used in systems as a higher-level master module in the bus system.

Term DescriptionIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

2. Product description2 Product description

2.1 Overview

Description DeviceNet enables the communication between the robot controller and the external periphery.

Properties Fast transmission of small amounts of dataConfigurable and parameterizable across the networkUp to 64 devices in the networkDiagnostic facilitiesMaster, multimasterTransmission speed of 125, 250 and 500 kBaud (baud rate)Maximum 128 bytes of inputs and 128 bytes of outputs per DeviceNet de-viceMaximum cable length 500 m (dependent on the transmission rate)

2.2 Data transmission

Description The field bus system consists of:

Bus for transmission tasks (CAN bus)Bus protocol

The CAN bus is a serial bus system which allows all connected devices to transmit and receive. DeviceNet is a bus protocol variant.

With DeviceNet, all devices are connected in parallel (line structure), with the data cable and power supply for the bus interface in the I/O module integrated into a single cable.

2.3 Multi-power tap option

Description The multi-power tap is an optional board for the KR C2 edition2005 robot con-troller with 2 functions:

Central feed connection point for the 24 V DC voltage for DeviceNetStar hub, e.g. for bus cable

The module is supplied with power via a power supply unit (24 V) and protect-ed by the additional miniature circuit-breaker F22 (2 A).

Advantage:

Simple connection option for bus devices (3x CAN bus, 2x 24 V DC)Expanded bus connection (different applications, additional devices)

Fig. 2-1: Multi-power tap7 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.12.4 DeviceNet card

The DeviceNet card is a 16-bit PCI-CAN card with 2 independently active De-viceNet channels. The DeviceNet card is optional.

Properties 2 independent DeviceNet channelsEach channel can be master, slave or bothEach channel has its own processor (386EX), memory and CAN interfaceThe card is suitable for high bus utilizationOnline configuration possibleMultimaster system possibleCoupling/decoupling of modules possibleAll bus access types possibleEDS file present on KUKA CD

Connections The card has 2 DeviceNet connections. DeviceNet channel 1 is at connection X835, channel 2 at connection X836. The pin assignment of both connectors is identical.

A30 Designation for multi-power tap boardX941 24 V DC power supplyX942 24 V for diagnostic connectorX943.1 Connection for MFC DeviceNet or LPDN scannerX943.2 Branch 1 (connection of an external device)X943.3 Branch 2 (connection of an external device)

Further information is contained in the multi-power tap documentation.

Fig. 2-2: DeviceNet card, KR C2 edition2005

1 DeviceNet connection, channel 1 (X835: COMBICON, 5-con-tact)

2 DeviceNet connection, channel 2 (X836: COMBICON, 5-con-tact)Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

2. Product descriptionLEDs The status of the card or network is indicated by means of LEDs (red/green). LEDs 1 and 2 are assigned to channel 1 and LEDs 3 and 4 to channel 2.

2.5 EDS file

For each DeviceNet module there is an EDS file (Electronic Data Sheet) in which the configuration and functionality of the module are defined. The EDS file is provided by the manufacturer of the DeviceNet module.

Description Certain values from the EDS file are required for diagnosis:

Vendor code (manufacturer code)Product type (module-specific data)Product code (module-specific data)

Example EDS file of the KUKA DeviceNet card:

Fig. 2-3: DeviceNet card connections

Pin num-

ber on X835, X836

Designation Description

1 Ground Supply voltage ground2 CAN Low CAN Low3 Shield Shield4 CAN High CAN High5 +24 V Supply voltage, +24 V9 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.12.6 DN-DIO 1620 module

The DN-DIO 1620 module is a Group 2 Only DeviceNet slave module. It has 16 digital inputs and 20 digital outputs. Each input and output has its own sta-tus LED. Outputs 0 to 15 have a maximum load rating of 0.5 A, and outputs 16 to 19 have a maximum load rating of 2 A.

Overview

Use Potential applications:

I/O module in conjunction with the KCP2 and the CAN interfaceOnly one module can be used.Slave module of the DeviceNet cardThis does not restrict its DeviceNet module functionalities in any way.

MACID The MACID is set by means of two rotary switches. Valid values are 0 to 63. If a setting from 64 to 99 is made, the value of the most recent setting will be retained. The default value on delivery is 63.

For operation in conjunction with the CAN interface of the KCP2, the MACID must be set to 1.

Baud rate The module supports baud rates of 125 kBaud, 250 kBaud and 500 kBaud. It automatically detects the baud rate which is being used (auto baud).

Device]VendCode = 418; VendName = "LP-Elektronik";ProdType = 12; ProdTypeStr = "Communications Adapter";ProdCode = 14;MajRev = 2;MinRev = 52;ProdName = "DeviceNet";Catalog = " ";

Fig. 2-4: DN-DIO 1620

1 DeviceNet connection2 MACID setting (units position)3 MACID setting (tens position)4 Inputs, outputs, power supply

If the software is configured via IOSYS.INI, the mechanical settings are over-written.Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

2. Product descriptionLEDs The status of the card or network is indicated by means of bicolor LEDs (red/green).

2.7 Bus modules

Digital and/or analog input/output modules are used as slave devices in the DeviceNet system.

Properties Input/output modulesAll devices must have their own address, and this address must exist only once in the bus system.MACID and baud rate settings via rotary switches or DIP switches (ad-dress 0 to 63)Structure and setting mode are manufacturer-specific

Observe the manufacturers information before connection, configuration and start-up.11 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.1Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

3. Installation3 Installation

3.1 Installing the drivers and files

Procedure 1. Run Setup.exe on the options CD.The drivers and associated files are installed.

2. Reboot the robot controller.

3.2 Connection

DeviceNet cables are routed from one device to the next.

The maximum power consumption of the DeviceNet master is 25 mA.The power consumption of the DeviceNet modules depends on the specif-ic modules.The negative potential of the supply voltage must always be grounded.

Fig. 3-1: DeviceNet, connection example

1 24 V DC power supply2 DeviceNet master connection3 DeviceNet cable4 DeviceNet cable (data)5 DeviceNet cable (power supply)6 DeviceNet connector7 DeviceNet device

Many slave modules have only a single DeviceNet connection. These em-ploy connectors which can be connected to two DeviceNet cables. The bus is not interrupted when they are disconnected.13 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.13.3 Connectors

CombiCon

Micro style

Fig. 3-2: CombiCon

Connector Pin ConnectionCombiCon 1

2

3

4

5

0 V power supply

CAN Low signal

Shield

CAN High signal

+24 V power supply

Fig. 3-3: Micro Style: Top view

Connector Pin ConnectionMicro style 1

2

3

4

5

Shield

+24 V power supply

0 V power supply

CAN High signal

CAN Low signalIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

3. InstallationMini style

3.4 Cables

DeviceNet requires two strand pairs and a shield.

Thick cables are mainly used as main lines (trunk lines), while thin cables are used as drop lines.

Fig. 3-4: Mini Style: Top view

Connector Pin ConnectionMini style 1

2

3

4

5

Shield

+24 V power supply

0 V power supply

CAN High signal

CAN Low signal

Fig. 3-5: DeviceNet cable example

1 Thick cable2 Thin cable

Wire color MeaningBlack

Red

Bare

Blue

White

0 V power supply

+24 V power supply

Shield

CAN Low signal

CAN High signal

The power supply in the DeviceNet cable may only be used for the bus inter-face in the I/O module. The outputs must be supplied with power separately. 15 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.13.5 Grounding

The shield of the DeviceNet cable must be grounded once. For preference, the shield is grounded in the robot controller.

3.6 Cable length

The maximum cable length is dependent on the transmission rate. The follow-ing applies here:

125 kbit/s max. cable length: 500 m250 kbit/s max. cable length: 200 m500 kbit/s max. cable length: 100 m

Fig. 3-6: DeviceNet cable grounding

1 DeviceNet master connection (robot controller)2 Shield (grounded)3 DeviceNet device

Fig. 3-7: Cable connection example

1 Trunk line2 Drop line3 T tap4 Multiport tapIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

3. InstallationTo determine the maximum cable length, the longest communication distance between connections must be taken into consideration.

Since the cable length from A to the first distributor is only 4 m, only the 5 m drop line from B to the first distributor is is taken into consideration. This gives a cable length of 61 m.

3.7 Bus terminator

The trunk lines at each of the two furthest points in the DeviceNet must each have a terminating resistor. Terminators are not connected to drop lines.

The terminating resistors used with DeviceNet vary according to the supplier:

Terminating resistor (resistance 121 )Bus coupler with terminator

Fig. 3-8: Cable length example

Distance Calculation TotalFrom A to C 1 + 3 + 50 + 6 60 mFrom B to C 5 + 50 + 6 61 m

Fig. 3-9: DeviceNet terminator examples

1 DeviceNet cable2 DeviceNet terminating resistor (robot controller)3 Bus coupler4 Terminator 121 , +/- 1%5 Terminator on bus coupler17 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.1Modules connected with hybrid Multibus cables do not require terminators. These modules automatically activate the terminator.Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

4. DeviceNet connection4 DeviceNet connection

4.1 Connection via DeviceNet card

In the DeviceNet structure, the DeviceNet card can be master, slave or both. A maximum of 64 devices (MACID 0 to MACID 63) can be connected, with the DeviceNet card also counting as a device.

Example In this connection example, the DeviceNet master connection is illustrated with a higher-level PLC. The robot controller is DeviceNet slave and Device-Net master.

Fig. 4-1: Connection example: robot controller - DeviceNet

1 PLC DeviceNet master connection2 24 V DC power supply3 Robot controller4 DeviceNet deviceChannel 1 SlaveChannel 2 Master19 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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5. Configuration5 Configuration

5.1 Configuring the DeviceNet card

The DeviceNet configuration files are in the directory C:\KRC\Roboter\INIT\.

Overview

Description

5.2 Configuring the file DNSC_xCO.INI

Description The file DNSC_xCO.INI is the master configuration file of the corresponding DeviceNet channel (x=channel number).

Precondition User group ExpertWindows interface (CTRL+ESC)

Procedure 1. Open the file DNSC_xCO.INI in the directory C:\KRC\ROBOTER\INIT.2. Make the relevant settings.3. Select the menu sequence Configure > I/O Driver > Reconfigure I/O

Driver.

Step Description1 Configure the file DNSC_XCO.INI.

(>>> 5.3 "Configuring the file DNSC_xSL.INI" page 23)2 Configure the file DNSC_XSL.INI.

(>>> 5.2 "Configuring the file DNSC_xCO.INI" page 21)3 Configure the file IOSYS.INI.

(>>> 5.5 "Configuring the file IOSYS.INI" page 24)4 Configure the baud rate via Telnet.

(>>> 5.6 "Configuration via Telnet commands" page 25)

Directory MeaningC:\KRC\Roboter\INIT\ Directory of the configuration filesC:\KRC\Roboter\LOG Directory of the log filesC:\KRC\Roboter\DRIVERS

Directory of the driver programs

File MeaningINIT\IOSYS.INI Configuration file of the I/O systemINIT\DNSC_XCO.INI Master configuration file of the corresponding

DeviceNet channel (X=channel number: 1 or 2)INIT\DNSC_XSL.INI Configuration file of the corresponding Device-

Net channel (X=channel number: 1 or 2)

For the connected bus modulesIf channel X is used as a slave

DRIV-ERS\DNSCXDRV.O

Driver for the corresponding DeviceNet channel (X=channel number: 1 or 2)

DRIVERS\DNSCB-DRV.O

Driver of the firmware file

DRIV-ERS\DNSCFDRV.O

Firmware file21 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.1The settings are saved.

Description

The menu item Reset restarts the bus. Changes are not saved.

[CONFIG]MAC_ID=1BAUDRATE=500LOGFILE=log/dnsc1.logDEBUG=1; USE_ERROR_DB= ; use default value; SCANLIST_COMMENT= ; use default value; OPTIONS= ; use default value[FAST_OUT]; MAC_ID=10 ; not activated

DNSC_xCO.INI Description[CONFIG] Channel configurationMAC_ID MACID of the DeviceNet channel

Permissible values: 0...63BAUDRATE Transmission rate (baud rate) setting in

kBaud

Permissible values: 125, 250, 500Default setting: 500

LOGFILE Entry (name and path) after generation of a log file (optional)

log/dnsc1.log for channel 1log/dnsc2.log for channel 2

DEBUG Advanced diagnostic information (optional)

0 = off1 = onDefault setting: 1

SCANLIST_COMMENT Comments are generated in the scan list dur-ing configuration with RSNetworx (optional)


OPTIONS Customer-specific options that may only be entered if expressly instructed to do so by the KUKA Robot Group (optional)


[FAST_OUT] Fastwrite MACID (fast outputs)MAC_ID Permissible values: 0...63

Deactivation is possible by specification of an invalid value or deletion of the entryDefault setting: deactivatedIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

5. Configuration5.3 Configuring the file DNSC_xSL.INI

Description The file DNSC_xSL.INI is the configuration file of the corresponding Device-Net channel (x=channel number).

Precondition User group ExpertWindows interface (CTRL+ESC)

Procedure 1. Open the file DNSC_xSL.INI in the directory C:\KRC\ROBOTER\INIT.2. Make the relevant settings.3. Select the menu sequence Configure > I/O Driver > Reconfigure I/O

Driver.The settings are saved.

Description


[MODULE_STARTUP]INACTIV= ; Example: 1,5,6CONTINUE_WITH_WARNING=; Example: 8,25[SCANNERCFG]NET_EPR=75NET_ISD=2NET_BACKGROUND_POLL_RATE=1NET_TX_RETRY_COUNT=1[1] ;Slave numberMAC_ID=1 ;0-63VENDOR_ID=418 ;device keying infoPRODUCT_TYP=12 ;device keying infoPRODUCT_CODE=14 ;device keying infoPOLL_RESPL=8 ;number of inputbytesPOLL_CMDL=8 ;number of outputbytes[2]...

DNSC_xSL.INI Description[MODULE_STARTUP] Start settingsINACTIV Display, e.g. in the case of a tool change

Permissible values: 0...63Default setting: deactivated

CONTINUE_WITH_WARNING

The active program is not stopped, although one of the listed devices is faulty

Permissible values: 0...63Default setting: deactivated

[SCANNERCFG] Scanner configurationsNET_EPR Expected packet rate (EPR)

Permissible values: 10...32000The value must be multiplied by 4 to ob-tain the time value in ms. Example 4x75=300 ms. If there is no communica-tion between the scanner and the Device-Net device in this time, this module is no longer addressed. The scanner addition-ally attempts to reinitialize the module.Default setting: 7523 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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KUKA.DeviceNet 2.15.4 Setting QuickConnect

5.5 Configuring the file IOSYS.INI

Description The file IOSYS.INI is the configuration file of the I/O system.

Precondition User group Expert

Procedure 1. Select the menu sequence Configure > I/O Driver > Edit I/O Config..The file IOSYS.INI is opened.

2. In [DRIVERS]:Activate DNSC1=12,dnsc1Init,dnsc1drv.o for DeviceNet card chan-nel 1.Activate DNSC2=13,dnsc2Init,dnsc2drv.o for DeviceNet card chan-nel 2.

3. In [DNSC1]: assign inputs and outputs (channel 1) of the individual bus de-vices.

4. In [DNSC2]: assign inputs and outputs (channel 2) of the individual bus de-vices.

5. Select the menu sequence Configure > I/O Driver > Reconfigure I/O Driver.

NET_ISD Wait time in ms between 2 scan cycles

Permissible values: 2...9000Default setting: 2

NET_BACKGROUND_POLL_RATE

Polling rate: foreground, background

0 = background1 = foregroundDefault setting: 1

NET_TX_RETRY_COUNT

Counting pulse repetition

Default setting: 1[1]...[63] The MACIDs are specified in ascending order

in this scan list.MACID Module address

Permissible values: 0...63VENDOR_ID ID number (specific to the module manufac-

turer)PRODUCT_TYPE Manufacturer-specific valuePRODUCT_CODE Manufacturer-specific valuePOLL_RESPL Number of module input bytesPOLL_CMDL Number of module output bytesOPTIONS Activate the QuickConnect functionality for

the device.

For this, bit 3 (e.g. OPTIONS = 4) must be set.

DNSC_xSL.INI Description

With RSNetWorx for DeviceNet 4.0 from Rockwell Software, the QuickCon-nect functionality of the device and of the LPDN scanner card can be config-ured. Further information about QuickConnect and configuration with RSNetWorx can be found in the documentation from RSNetWorx.Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

5. ConfigurationThe settings are saved.

Description

5.6 Configuration via Telnet commands

Telnet commands can be used to modify the baud rate for each channel of the DeviceNet card and the MACIDs of the individual DeviceNet devices.

5.6.1 Opening Telnet

Procedure 1. Click on the Windows Start button.2. Select the menu option Run....3. Enter the following in the Open box:

Windows 95: Telnet 192.0.1.1Windows XP Security Patch 2 or higher: Telnetk 192.0.1.1

4. Click on OK.The Telnet window is opened.

5.6.2 Changing the MACID

The MACID can be changed using the Telnet command dnscxSetMacId (x=channel number).

Procedure 1. Open Telnet window.2. For channel 1: Enter dnsc1SetMacId (old MACID), (new MACID).


[CONFIG]VERSION=2.00[DRIVERS]...DNSC1=12,dnsc1Init,dnsc1drv.o DNSC2=13,dnsc2Init,dnsc2drv.o ......[DNSC1];E/A-Zuordungen DeviceNet Kanal 1[DNSC2];E/A-Zuordungen DeviceNet Kanal 2

IOSYS.INI Description[CONFIG] Indication of the version number[DRIVERS] Lines for activation of the bus driversDNSC1=12,dnsc1Init,dnsc1drv.o

DeviceNet driver channel 1

DNSC2=13,dnsc2Init,dnsc2drv.o

DeviceNet driver channel 2

[DNSC1] Lines for assignment of the inputs and out-puts of the selected bus devices, channel 1

[DNSC2] Lines for assignment of the inputs and out-puts of the selected bus devices, channel 2

In all Telnet entries: observe upper/lower case!25 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

26 / 51

KUKA.DeviceNet 2.13. Press Enter.4. For channel 2: Enter dnsc2SetMacId (old MACID), (new MACID).5. Press Enter.

Example

5.7 Coupling/decoupling modules

Description The coupling/decoupling of modules is necessary e.g. for tool change. Cou-pling/decoupling can be carried out via the HMI (>>> 5.7.1 "Coupling/decou-pling modules via the HMI" page 27) or in KRL (>>> 5.7.2 "Coupling/decoupling modules via KRL" page 27).

Procedure The following preconditions apply for coupling/decoupling:

1. Open the IOSYS.INI file and configure the bus structure as if all the tools were connected at the same time.

2. Open the DNSC_XSL.INI file and configure the bus structure as if all the tools were connected at the same time.The tool MacIDs must be listed under INACTIVE.After the robot controller is switched on and off or I/O reconfiguration is performed, these modules are no longer addressed.The modules are coupled and decoupled by calling the system function IOCTL.

-> dnsc1SetMacId 4,14

Entry Descriptiondnsc1SetMacId MACID change text (channel 1)4 Old MACID14 New MACID

1 [DNSC1]2 ...3 INB0=5, 0, x1 ;$IN [1-8]4 INB1=5, 1, x1 ;$IN [9-16]5 OUTB0=5, 0, x1 ;$OUT[1-8]6 OUTB1=5, 0, x1 ;$OUT [9-16]7 ...8 INB2=7, 0, x1 ;$IN [17-24]9 INB3=7, 0, x1 ;$IN [25-32]10 OUTB2=7, 0, x1 ;$OUT [17-24]11 ...12 INB4=9, 0, x1 ;$IN [32-40]13 OUTB3=9, 0, x1 ;$OUT [24-32]14 ...

Line Description2 Tool 1, e.g. large weld gun, MacID57 Tool 2, e.g. medium-sized weld gun, MacID711 Tool 3, e.g. small weld gun, MacID9

1 DNSC_1SL.INI2 [MODULE_STARTUP]3 INACTIVE=5, 7, 94 CONTINUE_WITH_WARNING=;5 ...

Line Description2 The tool MacIDs are no longer addressed when the robot

controller is booted. They are inactive.Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

5. Configuration5.7.1 Coupling/decoupling modules via the HMI

Description Modules can be coupled/decoupled manually via the HMI.

Procedure 1. Select the menu sequence Monitor > Variable > Single.The option window Variable Overview - Single is opened.

2. Enter the couple or decouple command in the Name box.Decoupling: Result=IOCTL(12,110,5)

Coupling: Result=IOCTL(12,111,5)

5.7.2 Coupling/decoupling modules via KRL

Procedure 1. Open a program.2. Enter the command for coupling/decoupling.

If a decoupled module is to be coupled, this information must be given to the DeviceNet scanner (master). Otherwise, no data can be exchanged with the module.If a coupled module is to be decoupled again, this information must also be given to the DeviceNet scanner (master). If this is not done, a program stop will occur and an error message will appear.

Command DescriptionResult Integer variable (0 = command executed)IOCTL KRL system function12 Driver identification number for DeviceNet110 Code number for decoupling5 MacID

Command DescriptionResult Integer variable (0 = command executed)IOCTL KRL system function12 Driver identification number for DeviceNet110 Code number for coupling5 MacID

Fig. 5-1: Variable Overview - Single27 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

28 / 51

KUKA.DeviceNet 2.1Decoupling: Result=IOCTL(12,110,5)

Coupling: Result=IOCTL(12,111,5)

Example

Command DescriptionResult Integer variable (0 = command executed)IOCTL KRL system function12 Driver identification number for DeviceNet110 Code number for decoupling5 MacID

Command DescriptionResult Integer variable (0 = command executed)IOCTL KRL system function12 Driver identification number for DeviceNet110 Code number for coupling5 MacID

1 DEF Devicenet ()2 DECL INT Return_1, Return_23 ...4 PTP P2 Vel= 100% PDAT1 Tool[1] Base[0]5 LIN P3 Vel= 0.1 m/s CPDAT1 Tool[1] Base[0]6 WAIT Time = 0.1 sec7 Return_1=IOCTL(12,111,5)8 ...9 ...10 REPEAT11 Return_2=IOCTL (12,514,5)12 UNTIL Return_2==013 Return_1=IOCTL (12,110,5)14 ...15 PTP HOME Vel= 100% DEFAULT

Line Description7 Decouple module11 Status polling13 Couple moduleIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

6. I/O assignment6 I/O assignment

6.1 Assigning digital inputs and outputs

Procedure 1. Open the file IOSYS.INI.2. Assign inputs and outputs in [DEVNET].

Description

Example Device 1: I/O module with MACID 3:16 digital inputs, 16 digital inputs, 16 digital outputs

The first inputs of device 1 should have a data width of 2 bytes (1 word) and be assigned to input address 0 of the robot controller. The MACID of device 1 is 3. Address range 0 is defined and the range width remains unchanged (x1):

The next inputs should have a data width of 8 bits (1 byte) and be assigned to input address 2 of the robot controller. The MACID of device 1 is 3. Address range 2 is defined and the range width is doubled (x2):

The outputs should have a data width of 2 bytes (1 word) and be assigned to output address 0 of the robot controller. The MACID of device 1 is 3. Address range 0 is defined and the range width remains unchanged (x1):

Fig. 6-1: Overview: assignment of digital I/Os

I/O position specifications in robot controllerIN Robot controller inputOUT Robot controller outputB Byte = 8 bits (signals)W Word = 2 bytes = 16 bits (signals)DW Double word = 2 words = 4 bytes = 32 bits (signals)Byte offset The byte offset values (0 to 1023) are counted once for the

digital inputs and once for the digital outputs. Multiple assignment is not possible for any memory position in the I/O system.

MFC card input memoryMACID The DeviceNet address (1 to 63) is set on each module.Byte offset The byte offset designates the position of the I/Os in the

memory of the DeviceNet device and is counted once for all inputs and once for all outputs (0 to 127).

Multiplier The multiplier is used to define the address range width of the connected devices (multiplier value 1, 2, 3, ...) to allow a possible subsequent address expansion.

INW0=3,0,x1

INB2=3,2,x229 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

30 / 51

KUKA.DeviceNet 2.1Entry for device 1 in IOSYS.INI:

6.2 Assigning analog inputs and outputs

Procedure 1. Open the file IOSYS.INI.2. Assign inputs and outputs in [DEVNET].

Description

OUTW0=3,0,x1

[DNSC1]; Devicenet MACID 3INW0=3,0,x1 ; $IN[1-16]INB2=3,2,x2 ; $IN[17-32]OUTW0=3,0,x1 ; $OUT[1-16]

Fig. 6-2: Overview: assignment of analog I/Os

Robot controllerANIN Robot controller inputANOUT Robot controller outputIndex 1 to 16 for inputs

1 to 32 for outputs

Multiple assignment is not possible for any memory position in the I/O sys-tem.

DeviceNetDeviceNet address

The DeviceNet address (1 to 63) is set on each DeviceNet module.

Byte offset The byte offset designates the position of the I/Os in the memory of the DeviceNet device and is counted once for all inputs and once for all outputs (0 to 127).

Exponent 2 This parameter specifies the number of bits used to repre-sent the numeric value of an analog value (8 to 16).Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

6. I/O assignmentExample Device 2: I/O module with MACID 4:2 analog inputs, 2 analog outputs

Input 1 of device 2 is to be assigned to input address 1 of the robot controller. The MACID of device 2 is 4. The defined address range (position of the I/Os in the memory of the DeviceNet device) is 1 and the defined representation width of the individual bits is 16. Alignment 3 (left-justified with sign) is speci-fied and the value defined by the manufacturer (Cal factor) is entered:

Input 2 of device 2 is to be assigned to input address 2 of the robot controller. Address range 3 is defined. MACID, representation width, alignment and Cal factor remain unchanged:

Output 1 of device 2 is to be assigned to output address 1 of the robot control-ler. Address range 0 is defined. MACID, representation width, alignment and Cal factor remain unchanged:

Output 2 of device 2 is to be assigned to output address 2 of the robot control-ler. Address range 2 is defined. MACID, representation width, alignment and Cal factor remain unchanged:

Entry for device 2 in IOSYS.INI:

Type This parameter specifies how the bits in the parameter Ex-ponent 2 are arranged and whether or not the leading bit should be interpreted as a plus/minus sign before the nu-meric value.

The possible parameter values have the following mean-ings:

0 : right-justified without sign1 : right-justified with sign2 : left-justified without sign3 : left-justified with sign

Cal factor The Cal factor specifies the value at which an analog output generates its nominal value (e.g. 10 V). For an analog input, the value of the Cal factor corresponds to the nominal input value.

DeviceNet

The Cal factor is a value defined by the manufacturer for identifying the mod-ule. There is no need to enter it in the scan list.

ANIN1=4,1,16,3,CAL32768

ANIN2=4,3,16,3,CAL32768

ANOUT1=4,0,16,3,CAL32768

ANOUT2=4,2,16,3,CAL32768

[DEVNET]; Devicenet MACID 4ANIN1=4,1,16,3,CAL32768 ; $ANIN[1]ANIN2=4,3,16,3,CAL32768 ; $ANIN[2]ANOUT1=4,0,16,3,CAL32768 ; $ANOUT[1]ANOUT2=4,2,16,3,CAL32768 ; $ANOUT[2]31 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

32 / 51

KUKA.DeviceNet 2.16.3 Offset table

The offset byte and the related input and output addreses are specified in this table.

Formula for start address: Offset x 8 + 1

ByteAddress from

Address to

ByteAddress from

Address to

0 1 8 64 513 5201 9 16 65 521 5282 17 24 66 529 5363 25 32 67 537 5444 33 40 68 545 5525 41 48 69 553 5606 49 56 70 561 5687 57 64 71 569 5768 65 72 72 577 5849 73 80 73 585 59210 81 88 74 593 60011 89 96 75 601 60812 97 104 76 609 61613 105 112 77 617 62414 113 120 78 625 63215 121 128 79 633 64016 129 136 80 641 64817 137 144 81 649 65618 145 152 82 657 66419 153 160 83 665 67220 161 168 84 673 68021 169 176 85 681 68822 177 184 86 689 69623 185 192 87 697 70424 193 200 88 705 71225 201 208 89 713 72026 209 216 90 721 72827 217 224 91 729 73628 225 232 92 737 74429 233 240 93 745 75230 241 248 94 753 76031 249 256 95 761 76832 257 264 96 769 77633 265 272 97 777 78434 273 280 98 785 79235 281 288 99 793 80036 289 296 100 801 808Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

6. I/O assignment37 297 304 101 809 81638 305 312 102 817 82439 313 320 103 825 83240 321 328 104 833 84041 329 336 105 841 84842 337 344 106 849 85643 345 352 107 857 86444 353 360 108 865 87245 361 368 109 873 88046 369 376 110 881 88847 377 384 111 889 89648 385 392 112 897 90449 393 400 113 905 91250 401 408 114 913 92051 409 416 115 921 92852 417 424 116 929 93653 425 432 117 937 94454 433 440 118 945 95255 441 448 119 953 96056 449 456 120 961 96857 457 464 121 969 97658 465 472 122 977 98459 473 480 123 985 99260 481 488 124 993 100061 489 496 125 1001 100862 497 504 126 1009 101663 505 512 127 1017 1024

ByteAddress from

Address to

ByteAddress from

Address to33 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

34 / 51


7. Example7 Example

7.1 DeviceNet connection via the DeviceNet card

Channel 1 of the DeviceNet card is simultaneously the slave of the PLC and the master of 2 I/O modules.

Bus structure with:

Master moduleRobot controller with MACID 1: 32 inputs, 32 outputsI/O module with MACID 7: 16 inputs, 16 outputsI/O module with MACID 5: 8 inputs, 8 outputs

DNSC_1SL.INI

Fig. 7-1: Example: channel 1 as master and slave

1 PLC (master)2 Robot controller (slave, master)3 Flex I/O (slave)4 Block I/O (slave)

[MODULE_STARTUP]INACTIV=; CONTINUE_WITH_WARNING=;[SCANNERCFG]NET_EPR=75NET_ISD=2NET_BACKGROUND_POLL_RATE=1NET_TX_RETRY_COUNT=1

[1]MAC_ID=1VENDOR_ID=418PRODUCT_TYP=12PRODUCT_CODE=14POLL_RESPL=4POLL_CMDL=4[2]MAC_ID=5VENDOR_ID=1PRODUCT_TYP=7PRODUCT_CODE=1102POLL_RESPL=4POLL_CMDL=2

[3]MAC_ID=7VENDOR_ID=1PRODUCT_TYP=12PRODUCT_CODE=1POLL_RESPL=1POLL_CMDL=135 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

36 / 51

KUKA.DeviceNet 2.1DNSC_1CO.INI

IOSYS.INI

[CONFIG]MAC_ID=1BAUDRATE=500DEBUG=1

[FAST_OUT]

[DNSC1];FLexI/OINB0=7,0,x2 ;Statuswort INB2=7,2,x2 ;$IN[17..32]OUTB0=7,0,x2;$OUT[1..16];CompactblockI/OINB4=5,0,x1 ;$IN[32..40] OUTB2=5,0,x1 ;$OUT[17..24];from/to PLCINB10=1,0,x4 ;$IN[41..72]OUTB10=1,0,x4 ;$OUT[25..56]Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

8. Diagnosis8 Diagnosis

8.1 Error display

Log file (DeviceNet)

Error message in channel 1

C:\KRC\ROBOTER\LOG\DNSC1.LOG

Error message in channel 1 cleared

LED indicators The status of the card or network is indicated by means of bicolor LEDs (red/green). LEDs 1 and 2 are assigned to channel 1, LEDs 3 and 4 to channel 2.

I/O status (LEDs 1 and 3)

1 LPDN_Scanner : Log Date 9/12/ 8 : 14: 3:542 9/12/ 8 : 14: 3:54, DNch(1): >-> Start LPDN-Scanner driver(channel 1)3 9/12/ 8 : 14: 3:54, DNch(1): Debugging : enabled4 9/12/ 8 : 14: 3:54, DNch(1): Use error DB : Off5 9/12/ 8 : 14: 3:54, DNch(1): Serial : 9600 KBaud,8*da-ta,no parity,1*stop,hardware6 9/12/ 8 : 14: 3:54, DNch(1): Scanlist comments : disabled7 9/12/ 8 : 14: 3:54, DNch(1): LPDN MAC_ID : 18 9/12/ 8 : 14: 3:54, DNch(1): Baudrate : 500 KBaud9 9/12/ 8 : 14: 3:54, DNch(1): WatchDog : enabled10 9/12/ 8 : 14: 3:54, DNch(1): PCI memory : 0x1467700011 9/12/ 8 : 14: 3:54, DNch(1): PCI IO : 0x440012 9/12/ 8 : 14: 3:56, DNch(1): SW-ver. drv/fw/PLX : 3.00B1/2.52/213 9/12/ 8 : 14: 3:56, DNch(1): HW-ver. serial/board : 167/014 9/12/ 8 : 14: 3:56, DNch(1): MAC_ID 04 projected15 9/12/ 8 : 14: 3:56, DNch(1): MAC_ID 05 projected16 9/12/ 8 : 14: 3:56, DNch(1): LPDN-Scanner state:running(channel 1)17 9/12/ 8 : 14: 4:51, DNch(1): Device[5]: Slave stopped communication

Line Description17 Write and read errors in device 5

1 LPDN_Scanner : Log Date 9/12/ 8 : 14: 3:542 9/12/ 8 : 14: 3:54, DNch(1): >-> Start LPDN-Scanner driver(channel 1)3 9/12/ 8 : 14: 3:54, DNch(1): Debugging : enabled4 9/12/ 8 : 14: 3:54, DNch(1): Use error DB : Off5 9/12/ 8 : 14: 3:54, DNch(1): Serial : 9600 KBaud, 8*data,no parity, 1*stop, hardware6 9/12/ 8 : 14: 3:54, DNch(1): Scanlist comments : disabled7 9/12/ 8 : 14: 3:54, DNch(1): LPDN MAC_ID : 18 9/12/ 8 : 14: 3:54, DNch(1): Baudrate : 500 KBaud9 9/12/ 8 : 14: 3:54, DNch(1): WatchDog : enabled10 9/12/ 8 : 14: 3:54, DNch(1): PCI memory : 0x1467700011 9/12/ 8 : 14: 3:54, DNch(1): PCI IO : 0x440012 9/12/ 8 : 14: 3:56, DNch(1): SW-ver. drv/fw/PLX : 3.00B1/2.52/213 9/12/ 8 : 14: 3:56, DNch(1): HW-ver. serial/board : 167/014 9/12/ 8 : 14: 3:56, DNch(1): MAC_ID 04 projected15 9/12/ 8 : 14: 3:56, DNch(1): MAC_ID 05 projected16 9/12/ 8 : 14: 3:56, DNch(1): LPDN-Scanner state: running (channel 1)17 9/12/ 8 : 14: 4:51, DNch(1): Device[5]: Slave stopped communication18 9/12/ 8 : 14: 4:55, DNch(1): Device[5]: Error cleared:('Slave stopped communication')

Line Description18 Device 5 active again37 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

38 / 51

KUKA.DeviceNet 2.1Module/network status (LEDs 2 and 4)

8.2 Checking the hardware

In the event of malfunctions, check the following points first:

Power supply presentDIP switches set correctlyA 121 resistor must be connected to each end of the DeviceNetException: modules with hybrid Multibus cablesCable shield must be grounded onceNegative supply voltage must be groundedCheck the power consumption of the devices connectedCheck all the wires in the DeviceNet cable for continuityThe resistance between the CAN high (white) and CAN low (blue) wires must be approx. 60

LED DescriptionOff In the Reset state or if no firmware is loaded on the

card.Off All inputs and outputs are inactive.Green All configured inputs and outputs are active and error-

free.Flashing green No inputs/outputs configured or active.

Inputs/outputs have errors.Flashing red One or more inputs/outputs cannot be read/written.

Cause: incorrect configuration or faulty external device.Red Critical bus error

LED DescriptionRed The module is in the Reset state.Off Module

is not onlinehas not completed the Duplicate MacID testhas no mains voltage on the DeviceNet

Flashing green The module is operating normally and is online, but no connections have been established to other devices.

Cause: configuration is missing, incomplete or incor-rect.

Flashing red Recoverable error and/or one or more I/O connections are in timeout state.

Red The module has an unrecoverable error:

there is another device with the same MacID on the busthe bus is in the Bus Off stateOpen-circuit/short-circuit or incorrect baud rate set-ting on at least one device.

Flashing red and green

The module has detected a network access error and is in the Communication error state. The module has then received and accepted the communication error query message.Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

8. DiagnosisIf the cable is not connected, the resistance between the wires and the shield must be greater than 1 M.

8.3 Telnet diagnosis

Telnet commands can be used to define the overall status of the DeviceNet circuit and the module status of the individual DeviceNet devices.

Overview

8.3.1 Opening Telnet

Procedure 1. Click on the Windows Start button.2. Select the menu option Run....3. Enter the following in the Open box:

Windows 95: Telnet 192.0.1.1Windows XP Security Patch 2 or higher: Telnetk 192.0.1.1

4. Click on OK.The Telnet window is opened.

8.3.2 Polling the device status

The module status of a DeviceNet device can be polled using the Telnet com-mand dnscxGetNodeInfo (MacID) (x=channel number).

Precondition DeviceNet driver is activated in IOSYS.INI Driver is started (I/O reconfiguration)

Procedure 1. Open Telnet window.2. For channel 1: enter dnsc1GetNodeInfo (MacID).3. Press Enter.4. For channel 2: enter dnsc2GetNodeInfo (MacID).5. Press Enter.

Example Device [03] from the example DeviceNet status is called via MACID (3).

Step Description1 Open Telnet.

(>>> 8.3.1 "Opening Telnet" page 39)2 Poll device status.

(>>> 8.3.2 "Polling the device status" page 39)3 Poll DeviceNet status.

(>>> 8.3.3 "Polling the DeviceNet status" page 40)4 Read I/O device data.

(>>> 8.3.4 "Reading I/O data" page 41)

In all Telnet entries: observe upper/lower case!39 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

40 / 51

KUKA.DeviceNet 2.18.3.3 Polling the DeviceNet status

The DeviceNet status of a channel can be polled using the Telnet command dnscxShow (x=channel number).


Procedure 1. Open Telnet window.2. For channel 1: enter dnsc1Show.3. Press Enter.4. For channel 2: enter dnsc2Show.5. Press Enter.

Example Channel 1 status called.

-> dnsc1GetNodeInfo 3[3] VendorID: 0001 ProdType: 0007 ProdCode: 0137 Revision: 00.00 SerNum: /------ Produce Consume Poll: 0003 0003 Strobe: 0000 0008 COS: 0000 0000 Cyclic: 0000 0000 Name: value = 23 = 0x17->

Entry DescriptionPoll Number of bytes polled or written in poll modeProduce InputsConsume Outputs

If there is no EDS file present, the module parameters required for configu-ration can be read here.

-> dnsc1ShowSW-ver. drv/fw/PLX : 2.01/2.52/2HW-ver. serial/board : 1292/0MAC_ID : 1Baudrate : 500 KBaudDeviceState Ch 1 : OnlineNodes Active : 3 4Nodes Idle : --Nodes Fault : --Nodes State : [03]=00 [04]=00ScanFlags : 'Interscan delay' + 'Send Strobe'value = 1 = 0x1->

Entry DescriptionNodes Ac-tive

Active modules, channel 1

Nodes State Status of the active modules (value in hex)

(>>> 8.3.5 "Status code" page 41)Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

8. Diagnosis8.3.4 Reading I/O data

The I/O data of a DeviceNet device can be read using the Telnet command dnscxShowDevice (x=channel number).


Procedure 1. Open Telnet window.2. For channel 1: enter dnsc1ShowDevice (MacID).3. Press Enter.4. For channel 2: enter dnsc2ShowDevice (MacID).5. Press Enter.

Example Call device with MACID 3 on channel 1.

8.3.5 Status code

-> dnsc1ShowDevice 3[03] Poll I: 00 00 03 O: 00 00 00value = 2 = 0x2->

Entry DescriptionI: 00 00 03 Input: 3 bytes, bit 0 and bit 1 = TRUEO: 00 00 00 No outputs set

Code Description00 No error in module46 Duplicate MACID test results received: MACID for this

equipment is already assigned!47 Incorrect entries in the scan list (files dnsc_1Sl.ini and/or

dnsc_2Sl.ini)48 Device stopped communication49 Device does not correspond to configuration in the scan list4a DeviceNet port (interface at the bus) has detected data

overflow4b Network communication failed4c Timeout due to missing communication4d Datawidth of the device does not match configuration4e Device not responding, bus interrupted, voltage supply

missing or equipment defective4f Transmission error (DeviceNet card)50 DeviceNet card is in idle mode51 DeviceNet card is in the error state52 I/O fragmentation incorrect (possible interference on the

bus)53 Device does not accept parameterization data from the

master (incorrect configuration in the master)54 Device not yet initialized55 Too many data for fragmentation memory (possible inter-

ference on the bus)56 Device is in idle mode41 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

42 / 51

KUKA.DeviceNet 2.157 Assigned master cannot communicate with the device (bus interrupted, incorrectly configured to master, no supply voltage at the master, etc.)

58 Assigned master is not able to perform the parameteriza-tion

59 Configuration failed5a User has deactivated DeviceNet card5b Bus Off state detected (possible reflection/interference on

the bus)5c No bus power supply at the device60 DeviceNet card is in test mode61 User has stopped DeviceNet card62 Firmware error (incorrect firmware)6f Error occurred repeatedly (message appears along with

another message)

Code DescriptionIssued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

9. KUKA Service9 KUKA Service

9.1 Requesting support

Introduction The KUKA Roboter GmbH documentation offers information on operation and provides assistance with troubleshooting. For further assistance, please con-tact your local KUKA subsidiary.

Information The following information is required for processing a support request:

Model and serial number of the robotModel and serial number of the controllerModel and serial number of the linear unit (if applicable)Version of the KUKA System SoftwareOptional software or modificationsArchive of the softwareApplication usedAny external axes usedDescription of the problem, duration and frequency of the fault

9.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)Luis Angel Huergo 13 20Parque Industrial2400 San Francisco (CBA)ArgentinaTel. +54 3564 421033Fax +54 3564 [email protected]

Australia Marand Precision Engineering Pty. Ltd. (Agency)153 Keys RoadMoorabbinVictoria 31 89AustraliaTel. +61 3 8552-0600Fax +61 3 [email protected]

Faults leading to production downtime should be reported to the local KUKA subsidiary within one hour of their occurrence.43 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

44 / 51

KUKA.DeviceNet 2.1Austria KUKA Roboter Austria GmbHVertriebsbro sterreichRegensburger Strasse 9/14020 LinzAustriaTel. +43 732 784752Fax +43 732 [email protected]

Belgium KUKA Automatisering + Robots N.V.Centrum Zuid 10313530 HouthalenBelgiumTel. +32 11 516160Fax +32 11 [email protected]

Brazil KUKA Roboter do Brasil Ltda.Avenida Franz Liszt, 80Parque Novo MundoJd. GuanCEP 02151 900 So PauloSP BrazilTel. +55 11 69844900Fax +55 11 [email protected]

Chile Robotec S.A. (Agency)Santiago de ChileChileTel. +56 2 331-5951Fax +56 2 [email protected]

China KUKA Flexible Manufacturing Equipment (Shanghai) Co., Ltd.Shanghai Qingpu Industrial ZoneNo. 502 Tianying Rd.201712 ShanghaiP.R. ChinaTel. +86 21 5922-8652Fax +86 21 [email protected]: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

9. KUKA ServiceFrance KUKA Automatisme + Robotique SASTechvalle6, Avenue du Parc91140 Villebon S/YvetteFranceTel. +33 1 6931660-0Fax +33 1 [email protected]

Germany KUKA Roboter GmbHZugspitzstr. 14086165 AugsburgGermanyTel. +49 821 797-4000Fax +49 821 [email protected]

Hungary KUKA Robotics Hungaria Kft.F t 1402335 TaksonyHungaryTel. +36 24 501609Fax +36 24 [email protected]

India KUKA Robotics, Private Limited621 Galleria TowersDLF Phase IV122 002 GurgaonHaryanaIndiaTel. +91 124 [email protected]

Italy KUKA Roboter Italia S.p.A.Via Pavia 9/a - int.610098 Rivoli (TO)ItalyTel. +39 011 959-5013Fax +39 011 [email protected] / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

46 / 51

KUKA.DeviceNet 2.1Japan KUKA Robotics Japan K.K.Daiba Garden City Building 1F2-3-5 Daiba, Minato-kuTokio135-0091JapanTel. +81 3 6380-7311Fax +81 3 [email protected]

Korea KUKA Robot Automation Korea Co. Ltd.4 Ba 806 Sihwa Ind. ComplexSung-Gok Dong, Ansan CityKyunggi Do425-110KoreaTel. +82 31 496-9937 or -9938Fax +82 31 [email protected]

Malaysia KUKA Robot Automation Sdn BhdSouth East Asia Regional OfficeNo. 24, Jalan TPP 1/10Taman Industri Puchong47100 PuchongSelangorMalaysiaTel. +60 3 8061-0613 or -0614Fax +60 3 [email protected]

Mexico KUKA de Mexico S. de R.L. de C.V.Rio San Joaquin #339, Local 5Colonia Pensil SurC.P. 11490 Mexico D.F.MexicoTel. +52 55 5203-8407Fax +52 55 [email protected]

Norway KUKA Sveiseanlegg + RoboterBryggeveien 92821 GjvikNorwayTel. +47 61 133422Fax +47 61 [email protected]: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

9. KUKA ServicePortugal KUKA Sistemas de Automatizacin S.A.Rua do Alto da Guerra n 50Armazm 042910 011 SetbalPortugalTel. +351 265 729780Fax +351 265 [email protected]

Russia OOO KUKA Robotics RusWebnaja ul. 8A107143 MoskauRussiaTel. +7 495 781-31-20Fax +7 495 781-31-19kuka-robotics.ru

South Africa Jendamark Automation LTD (Agency)76a York RoadNorth End6000 Port ElizabethSouth AfricaTel. +27 41 391 4700Fax +27 41 373 3869www.jendamark.co.za

Spain KUKA Sistemas de Automatizacin S.A.Pol. IndustrialTorrent de la PasteraCarrer del Bages s/n08800 Vilanova i la Geltr (Barcelona)SpainTel. +34 93 814-2353Fax +34 93 [email protected]

Sweden KUKA Svetsanlggningar + Robotar ABA. Odhners gata 15421 30 Vstra FrlundaSwedenTel. +46 31 7266-200Fax +46 31 [email protected] / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

48 / 51

KUKA.DeviceNet 2.1Switzerland KUKA Roboter Schweiz AGRiedstr. 78953 DietikonSwitzerlandTel. +41 44 74490-90Fax +41 44 [email protected]

Taiwan KUKA Robot Automation Taiwan Co. Ltd.136, Section 2, Huanjung E. RoadJungli City, TaoyuanTaiwan 320Tel. +886 3 4371902Fax +886 3 [email protected]

Thailand KUKA Robot Automation (M)SdnBhdThailand Officec/o Maccall System Co. Ltd.49/9-10 Soi Kingkaew 30 Kingkaew RoadTt. Rachatheva, A. BangpliSamutprakarn10540 ThailandTel. +66 2 7502737Fax +66 2 [email protected]

UK KUKA Automation + RoboticsHereward RiseHalesowenB62 8ANUKTel. +44 121 585-0800Fax +44 121 [email protected]

USA KUKA Robotics Corp.22500 Key DriveClinton Township48036 MichiganUSATel. +1 866 8735852Fax +1 586 [email protected]: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

IndexIndex

AAnalog inputs and outputs, assigning 30

BBus modules 11Bus terminator 17

CCable length 16Cable, grounding 16Cables 15CAN bus 5Configuration 21Configuration files 5Configuration, DeviceNet card 21Configuring DNSC_xCO.INI, DeviceNet card 21Configuring DNSC_xSL.INI, DeviceNet 23Connection 13Connectors 14

DData transmission 7DeviceNet 5, 19DeviceNet card 6, 8DeviceNet card connection 8DeviceNet card, configuring 21DeviceNet devices 5DeviceNet modules 5DeviceNet, properties 8Diagnosis 37Diagnosis, checking the hardware 38Diagnosis, error display 37Digital inputs and outputs, assigning 29DN-DIO 1620 module 10Drivers and files, installation 13Drop line 5

EEDS file 6, 9Example 35

II/O assignment 29Installation 13Introduction 5IOSYS.INI 6IOSYS.INI, configuring 24

KKCP 6KUKA Customer Support 43KUKA.HMI 6

LLED indicators 37

MMACID 6

Module properties 11Modules 5Modules, coupling/decoupling 26Modules, coupling/decoupling via KRL 27Modules, coupling/decoupling via the HMI 27Multi-power tap 6, 7

OOffset table 32Opening Telnet 25, 39Overview 7

PPLC 6Polling the device status 39Product description 7Properties 7

QQuickConnect, setting 24

SSafety instructions 5Scan list 6Service, KUKA Roboter 43Status code table 41Support request 43

TTarget group 5Telnet 6Telnet command, dnscxGetNodeInfo (MacID) 39Telnet command, dnscxSetMacId 25Telnet command, dnscxShow 40Telnet command, dnscxShowDevice 41Telnet diagnosis 39Telnet, changing the MACID 25Telnet, polling the DeviceNet status 40Telnet, reading I/O data 41Training program 5Trunk line 5

WWarnings 549 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

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51 / 51Issued: 16.06.2009 Version: BA DeviceNet 2.1 V1 en

KUKA.DeviceNet 2.1

KUKA.DeviceNet 2.11 Introduction1.1 Target group1.2 Representation of warnings and notesSafetyDanger!Warning!Caution!Notes

1.3 Terms used

2 Product description2.1 OverviewDescriptionProperties

2.2 Data transmissionDescription

2.3 Multi-power tap optionDescriptionFig. 2-1 : Multi-power tap

2.4 DeviceNet cardFig. 2-2 : DeviceNet card, KR C2 edition2005PropertiesConnectionsFig. 2-3 : DeviceNet card connections

LEDs

2.5 EDS fileDescriptionExample

2.6 DN-DIO 1620 moduleOverviewFig. 2-4 : DN-DIO 1620

UseMACIDBaud rateLEDs

2.7 Bus modulesProperties

3 Installation3.1 Installing the drivers and filesProcedure

3.2 ConnectionFig. 3-1 : DeviceNet, connection example

3.3 ConnectorsCombiConFig. 3-2 : CombiCon

Micro styleFig. 3-3 : Micro Style: Top view

Mini styleFig. 3-4 : Mini Style: Top view

3.4 CablesFig. 3-5 : DeviceNet cable example

3.5 GroundingFig. 3-6 : DeviceNet cable grounding

3.6 Cable lengthFig. 3-7 : Cable connection exampleFig. 3-8 : Cable length example

3.7 Bus terminatorFig. 3-9 : DeviceNet terminator examples

4 DeviceNet connection4.1 Connection via DeviceNet cardExampleDeviceNet

5 Configuration5.1 Configuring the DeviceNet cardOverviewDescription

5.2 Configuring the file DNSC_xCO.INIDescriptionPreconditionProcedureDescription

5.3 Configuring the file DNSC_xSL.INIDescriptionPreconditionProcedureDescription

5.4 Setting QuickConnect5.5 Configuring the file IOSYS.INIDescriptionPreconditionProcedureDescription

5.6 Configuration via Telnet commands5.6.1 Opening TelnetProcedure5.6.2 Changing the MACIDProcedureExample

5.7 Coupling/decoupling modulesDescriptionProcedure5.7.1 Coupling/decoupling modules via the HMIDescriptionProcedureSingle

5.7.2 Coupling/decoupling modules via KRLProcedureExample

6 I/O assignment6.1 Assigning digital inputs and outputsProcedureFig. 6-1 : Overview: assignment of digital I/Os

DescriptionExample

6.2 Assigning analog inputs and outputsProcedureFig. 6-2 : Overview: assignment of analog I/Os

DescriptionExample

6.3 Offset table

7 Example7.1 DeviceNet connection via the DeviceNet cardFig. 7-1 : Example: channel 1 as master and slaveDNSC_1SL.INIDNSC_1CO.INIIOSYS.INI

8 Diagnosis8.1 Error displayLog file (DeviceNet)LED indicators

8.2 Checking the hardware8.3 Telnet diagnosisOverview8.3.1 Opening TelnetProcedure8.3.2 Polling the device statusPreconditionProcedureExample8.3.3 Polling the DeviceNet statusPreconditionProcedureExample8.3.4 Reading I/O dataPreconditionProcedureExample8.3.5 Status code

9 KUKA Service9.1 Requesting supportIntroductionInformation

9.2 KUKA Customer SupportAvailability

Index

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BA DeviceNet

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