KUKA EtherNet-IP 2.0.pdf

发布时间：2022-05-31 发布人：admin 分类：说明书资料大小：1.32M 资料格式：pdf 举报版权申诉

weixin_42240139-10537315-4744300845383142116.pdf-第1页.png

第1页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第2页.png

第2页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第3页.png

第3页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第4页.png

第4页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第5页.png

第5页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第6页.png

第6页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第7页.png

第7页 / 共57页

weixin_42240139-10537315-4744300845383142116.pdf-第8页.png

第8页 / 共57页

KR C4 EtherNet/IP 2.0

1 Introduction

1.1 Target group

1.2 Industrial robot documentation

1.3 Representation of warnings and notes

1.4 Trademarks

1.5 Terms used

2 Product description

3 Safety

4 Installation

4.1 System requirements

4.2 Routing the data cables

4.3 Installing or updating EtherNet/IP

4.4 Uninstalling EtherNet/IP

5 Configuration

5.1 Overview

5.2 Making EDS files available

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

5.4 Configuring the bus with WorkVisual

5.4.1 Configuring Ethernet/IP scanners

5.4.1.1 Address setting

5.4.1.2 Device properties

5.4.1.3 Chassis/Modules

5.4.1.4 Setting parameters

5.4.1.5 Module configuration

5.4.1.6 Changing the connection type

5.4.2 Configuring Ethernet/IP adapters

5.4.2.1 “Communication settings” tab

5.4.2.2 “Local Slave” tab

5.4.2.3 “Local Safety Slave” tab

5.5 Mapping inputs/outputs in WorkVisual

5.6 Configuring bus device ports

5.7 Exporting EDS files

5.8 Acyclic communication

5.8.1 Configuring the robot controller

5.8.2 Configuring the PLC (example)

5.8.3 Example of acyclic communication

5.9 Safety interface via CIP Safety (optional)

5.9.1 Instructions for use of CIP Safety

5.9.2 Safety functions via CIP Safety (KR C4)

5.9.3 SafeOperation via CIP Safety (optional)

6 Operation

6.1 Coupling/decoupling devices

6.1.1 Coupling/decoupling devices via the HMI

6.1.2 Coupling/decoupling devices via KRL

6.2 Enabling/disabling Quick Connect

6.2.1 Enabling/disabling Quick Connect via HMI

6.2.2 Enabling/disabling Quick Connect via KRL

6.3 Resetting the EtherNet/IP driver

7 Diagnosis

7.1 Displaying diagnostic data

7.1.1 EtherNet/IP scanner (EIP-SCANNER)

7.1.2 EtherNet/IP adapter (EIP-ADAPTER)

7.1.3 EtherNet/IP device

7.1.4 Ethernet/IP local slave

7.1.5 Ethernet/IP local safety slave

7.1.6 EtherNet/IP I/O driver (EIPIODRIVER)

7.2 Advanced device diagnosis

8 Messages

9 KUKA Service

9.1 Requesting support

9.2 KUKA Customer Support

Index

Controller Option KUKA Roboter GmbH KR C4 EtherNet/IP 2.0 For KUKA System Software 8.3 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF)

KR C4 EtherNet/IP 2.0 © Copyright 2013 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, 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 documentation KIM-PS5-DOC Publication: Bookstructure: Version: Pub KR C4 EtherNet/IP 2.0 (PDF) en KR C4 EtherNet/IP 2.0 V2.1 KR C4 EtherNet/IP 2.0 V2 en (PDF) 2 / 57 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF)

Contents Contents 1 Introduction .................................................................................................. 5 5 Target group .............................................................................................................. 1.1 5 Industrial robot documentation ................................................................................... 1.2 5 Representation of warnings and notes ...................................................................... 1.3 6 Trademarks ................................................................................................................ 1.4 6 Terms used ................................................................................................................ 1.5 Product description ..................................................................................... 2 7 Safety ............................................................................................................ 3 9 Installation ................................................................................................... 4 11 11 System requirements ................................................................................................. 4.1 11 Routing the data cables ............................................................................................. 4.2 11 Installing or updating EtherNet/IP .............................................................................. 4.3 12 Uninstalling EtherNet/IP ............................................................................................. 4.4 Configuration ............................................................................................... 5 13 13 5.1 Overview .................................................................................................................... 5.2 Making EDS files available ........................................................................................ 13 5.3 Making EDS files available for configuration of the PLC with third-party engineering software 14 Configuring the bus with WorkVisual ......................................................................... 5.4 5.4.1 Configuring Ethernet/IP scanners ......................................................................... 5.4.1.1 Address setting ..................................................................................................... 5.4.1.2 Device properties .................................................................................................. 5.4.1.3 Chassis/Modules .................................................................................................. 5.4.1.4 Setting parameters ............................................................................................... 5.4.1.5 Module configuration ............................................................................................ 5.4.1.6 Changing the connection type .............................................................................. Configuring Ethernet/IP adapters ......................................................................... 5.4.2 “Communication settings” tab ............................................................................... 5.4.2.1 5.4.2.2 “Local Slave” tab ................................................................................................... 5.4.2.3 “Local Safety Slave” tab ........................................................................................ 5.5 Mapping inputs/outputs in WorkVisual ....................................................................... 5.6 Configuring bus device ports ..................................................................................... Exporting EDS files .................................................................................................... 5.7 Acyclic communication ............................................................................................... 5.8 5.8.1 Configuring the robot controller ............................................................................ Configuring the PLC (example) ............................................................................ 5.8.2 Example of acyclic communication ....................................................................... 5.8.3 Safety interface via CIP Safety (optional) .................................................................. 5.9 5.9.1 Instructions for use of CIP Safety ......................................................................... Safety functions via CIP Safety (KR C4) .............................................................. 5.9.2 SafeOperation via CIP Safety (optional) ............................................................... 5.9.3 6 Operation ...................................................................................................... Coupling/decoupling devices ..................................................................................... 6.1 6.1.1 Coupling/decoupling devices via the HMI ............................................................. 14 14 15 16 16 17 17 18 18 19 20 21 22 23 24 25 25 26 26 29 29 29 34 35 35 35 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF) 3 / 57

KR C4 EtherNet/IP 2.0 6.1.2 6.2 6.2.1 6.2.2 6.3 7 7.1 7.1.1 7.1.2 7.1.3 7.1.4 7.1.5 7.1.6 7.2 8 9 9.1 9.2 Coupling/decoupling devices via KRL .................................................................. Enabling/disabling Quick Connect ............................................................................. Enabling/disabling Quick Connect via HMI ........................................................... Enabling/disabling Quick Connect via KRL .......................................................... Resetting the EtherNet/IP driver ................................................................................ Diagnosis ...................................................................................................... Displaying diagnostic data ......................................................................................... EtherNet/IP scanner (EIP-SCANNER) ................................................................. EtherNet/IP adapter (EIP-ADAPTER) .................................................................. EtherNet/IP device ............................................................................................... Ethernet/IP local slave .......................................................................................... Ethernet/IP local safety slave ............................................................................... EtherNet/IP I/O driver (EIPIODRIVER) ................................................................. Advanced device diagnosis ....................................................................................... Messages ...................................................................................................... KUKA Service ............................................................................................... Requesting support ................................................................................................... KUKA Customer Support ........................................................................................... Index ............................................................................................................. 35 36 37 37 37 39 39 39 39 39 40 41 43 43 45 47 47 47 55 4 / 57 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF)

1 Introduction 1 1.1 Introduction 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 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 ob- tained 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 KUKA System Software  Documentation relating to options and accessories  Parts catalog on storage medium Each of these sets of instructions is a separate document. 1.3 Representation of warnings and notes Safety 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 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 pre- cautionary measures. This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions: Procedures marked with this warning must be followed exactly. Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF) 5 / 57

KR C4 EtherNet/IP 2.0 Notes These hints serve to make your work easier or contain references to further information. Tip to make your work easier or reference to further information. 1.4 Trademarks Windows is a trademark of Microsoft Corporation. RSLogix is a trademark of Rockwell Automation Inc. 1.5 Terms used Term EDS file Industrial Ethernet PLC Subnet Subnet mask Description Device description file for EtherNet/IP 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. Programmable logic controller Subnetwork in the Internet Protocol (IP) Defines which IP addresses a device looks for in its own network and which addresses can be reached in other networks. 6 / 57 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF)

2 Product description 2 Product description Compatibility Functions Limitations Configuration software Device types EtherNet/IP is an Ethernet-based field bus. Data exchange is carried out on a client-server basis. EtherNet/IP is installed on the robot controller. KR C4 EtherNet/IP 2.0 is compatible with the following field buses:  KR C4 DeviceNet  KR C4 EtherCAT The following functions are supported:  EtherNet/IP IO (cyclical communication)  Explicit Messaging (acyclic communication)  Quick Connect  CIP Safety The Explicit Messaging function can only be used in conjunction with the Eth- erNet/IP IO function. EtherNet/IP is configured on a laptop or PC. The following software is required for configuration:  WorkVisual 3.0 or higher  Depending on the selected procedure, additional configuration software may be required:  RSLogix 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 from Rockwell Automation. 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 re- ferred 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 adapt- er. The configuration of communication relationships is carried out solely in the scanner. Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF) 7 / 57

KR C4 EtherNet/IP 2.0 8 / 57 Issued: 11.03.2013 Version: KR C4 EtherNet/IP 2.0 V2 en (PDF)

分享到：

赞收藏

资料库

KUKA EtherNet-IP 2.0.pdf

相关推荐

人工智能

热门标签

最新资料