Controller Option
KUKA.ProfiNet Controller/Device 3.2
KUKA.ProfiNet Device 3.2
For KUKA System Software 8.3 and 8.4
For VW System Software 8.3
KUKA Roboter GmbH
Issued: 12.03.2015
Version: KUKA.ProfiNet 3.2 V4
KUKA.Profi-
Net Controller/
Device 3.2
K...
KUKA.ProfiNet Controller/Device 3.2 K...
2 / 89 Issued: 12.03.2015 Version: KUKA.ProfiNet 3.2 V4
© Copyright 2015
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: Pub KUKA.ProfiNet 3.2 (PDF) en
Book structure: KUKA.ProfiNet 3.2 V4.1
Version: KUKA.ProfiNet 3.2 V4
3 / 89Issued: 12.03.2015 Version: KUKA.ProfiNet 3.2 V4
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Trademarks ................................................................................................................ 6
1.5 Terms used ................................................................................................................ 6
2 Product description ..................................................................................... 7
2.1 Overview of PROFINET ............................................................................................. 7
3 Safety ............................................................................................................ 9
4 Installation .................................................................................................... 11
4.1 System requirements ................................................................................................. 11
4.2 Routing the data cables ............................................................................................. 11
4.3 Installing or updating PROFINET (KSS) .................................................................... 11
4.4 Installing PROFINET (VSS) ....................................................................................... 12
4.5 Uninstalling PROFINET (KSS) ................................................................................... 12
5 Configuration ............................................................................................... 13
5.1 Overview ....................................................................................................................13
5.2 Making GSDML files available for configuration with WorkVisual .............................. 13
5.3 Making GSDML files available for configuration with Step 7 / PC WORX ................. 14
5.4 Naming the device ..................................................................................................... 15
5.4.1 Identifying the device ............................................................................................ 17
5.4.2 Resetting the device configuration to factory settings .......................................... 17
5.4.3 Updating the device list ......................................................................................... 17
5.5 Configuring the bus with WorkVisual ......................................................................... 18
5.5.1 Configuring a PROFINET device .......................................................................... 18
5.5.1.1 “Communication settings” tab ...................................................................... 19
5.5.1.2 “Device Diagnostic” tab ................................................................................. 21
5.5.1.3 “PROFIenergy” tab .......................................................................................... 24
5.5.2 Configuring PROFINET Controller ........................................................................ 26
5.5.2.1 Device settings ................................................................................................ 27
5.5.2.2 Using a shared device ..................................................................................... 30
5.5.2.3 Activating Fast Startup (FSU) .......................................................................... 31
5.5.2.4 Reducing the amount of configuration work .................................................... 32
5.6 Configuring the bus with Step 7 or PC WORX ........................................................... 33
5.7 PROFIBUS signal names in WorkVisual ................................................................... 34
5.8 Safety interface via PROFIsafe (optional) .................................................................. 34
5.8.1 Safety functions via PROFIsafe (KR C4) .............................................................. 34
5.8.2 Safety functions via PROFIsafe (VKR C4) ........................................................... 39
5.8.3 SafeOperation via PROFIsafe (optional) .............................................................. 43
5.8.4 Schematic circuit diagram of PROFIsafe enabling switch .................................... 47
5.8.5 Logging off the higher-level safety controller ........................................................ 47
5.9 Exporting a PROFINET configuration ........................................................................ 49
5.9.1 Exporting the configuration of the PROFINET node ............................................. 50
5.9.2 Exporting the configuration of a PROFINET device ............................................. 50
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5.9.3 Exporting the entire PROFINET configuration ...................................................... 50
5.10 Importing a PROFINET configuration ........................................................................ 51
6 Operation ...................................................................................................... 53
6.1 Coupling/decoupling devices ..................................................................................... 53
6.1.1 Coupling/decoupling devices via the HMI ............................................................. 54
6.1.2 Coupling/decoupling devices via KRL .................................................................. 54
6.2 PROFIenergy commands .......................................................................................... 55
6.3 Querying the power save mode of the robot controller .............................................. 56
6.4 Power management via PROFINET .......................................................................... 56
7 Programming ............................................................................................... 59
7.1 Acyclic communication .............................................................................................. 59
7.1.1 Configuring the robot controller ............................................................................ 59
7.1.2 Acyclic data to the devices (controller ring) .......................................................... 60
7.1.3 Acyclic data to the higher-level controller (device ring) ........................................ 61
7.1.3.1 Configuring the record index ........................................................................... 62
7.2 Example of acyclic communication ............................................................................ 62
8 Diagnosis ...................................................................................................... 65
8.1 Displaying diagnostic data ......................................................................................... 65
8.1.1 Profinet Controller Stack (PNIO-CTRL) ................................................................ 65
8.1.2 Profinet Device Stack (PNIO-DEV) ...................................................................... 66
8.1.3 Profinet Device ..................................................................................................... 68
8.1.4 Profinet IO Driver (PNIODriver) ............................................................................ 68
8.1.5 PROFIenergy (PROFIenergy) .............................................................................. 69
8.2 Topology diagnosis .................................................................................................... 70
8.3 Advanced device diagnosis ....................................................................................... 71
8.4 Displaying the connection list .................................................................................... 72
8.5 Diagnostic signals via PROFINET ............................................................................. 72
8.6 I&M data sets ............................................................................................................. 76
9 Messages ...................................................................................................... 77
10 KUKA Service ............................................................................................... 79
10.1 Requesting support ................................................................................................... 79
10.2 KUKA Customer Support ........................................................................................... 79
Index ............................................................................................................. 87
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1 Introduction
1Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills:
Advanced KRL programming skills
Advanced knowledge of the robot controller system
Advanced knowledge of field buses
Knowledge of WorkVisual
Knowledge of the software Step 7 from Siemens or PC WORX from Phoe-
nix Contact
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:
Documentation for the manipulator
Documentation for the robot controller
Operating and programming instructions for the System Software
Instructions for options and accessories
Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
This warning draws attention to procedures which serve to prevent or remedy
emergencies or malfunctions:
Hints These notices serve to make your work easier or contain references to further
information.
t
t
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.
Procedures marked with this warning must be followed
exactly.
