KR C4 Interbus 11 en

Controller Option KUKA Roboter GmbH
Interbus 1.1
For KUKA System Software 8.2

For VW System Software 8.2
Issued: 29.11.2012
Version: KR C4 Interbus 1.1 V2 en (PDF)

Interbus 1.1
© Copyright 2012
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 KR C4 Interbus 1.1 (PDF) en

Bookstructure: KR C4 Interbus 1.1 V2.1
Version: KR C4 Interbus 1.1 V2 en (PDF)
2 / 65 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)

Contents
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Trademarks ................................................................................................................ 6
1.5 Terms used ................................................................................................................ 6
2 Product description ..................................................................................... 9

2.1 Overview .................................................................................................................... 9
2.2 IBS PCI SC controller board ...................................................................................... 10
2.3 PCP functionality ........................................................................................................ 10
3 Safety ............................................................................................................ 11
4 Installation ................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.1.1 PCI slot assignment .............................................................................................. 13
4.2 Installing or updating INTERBUS (KSS) .................................................................... 13
4.3 Installing INTERBUS (VSS) ....................................................................................... 14
4.4 Uninstalling INTERBUS (KSS) ................................................................................... 14
5 Start-up and recommissioning ................................................................... 15

5.1 IBS PCI SC/RI-LK ...................................................................................................... 15
5.2 Connecting fiber-optic cables ..................................................................................... 16
5.3 CMD interface ............................................................................................................ 16
5.4 IBS PCI SC/RI/I-T ...................................................................................................... 18
5.5 External power supply to slave .................................................................................. 18
6 Configuration ............................................................................................... 21
6.1 Overview .................................................................................................................... 21
6.2 DIP switches on the master module .......................................................................... 21
6.3 DIP switches on the slave module ............................................................................. 22
6.4 Configuring the file IBSPCI.XML ................................................................................ 24
6.5 Configuring the bus with WorkVisual ......................................................................... 28
6.5.1 Inserting segments in the DTM Catalog (Catalog Scan) ...................................... 28
6.5.2 Configuring the INTERBUS master ...................................................................... 29
6.5.3 Configuring the INTERBUS slave ......................................................................... 30
6.5.4 Configuring the INTERBUS master and slave ...................................................... 32
6.5.5 Setting an offset .................................................................................................... 33
6.5.6 Entering the IP address of the line interface ......................................................... 34
7 Operation ...................................................................................................... 35
7.1 Coupling/decoupling segments .................................................................................. 35
7.1.1 Coupling/decoupling segments via HMI ............................................................... 35
7.1.2 Coupling/decoupling segments via KRL ............................................................... 35
7.2 Activating/deactivating the Interbus driver ................................................................. 36
8 Diagnosis ..................................................................................................... 37
8.1 Displaying diagnostic data ......................................................................................... 37
Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF) 3 / 65

Interbus 1.1
8.2 Status information of the driver .................................................................................. 38

8.3 LEDs on the master module ...................................................................................... 39
8.4 LEDs on the slave module ......................................................................................... 40
8.5 IOCTL commands ..................................................................................................... 41
8.5.1 Generating a dump file ......................................................................................... 42
8.5.2 Restart .................................................................................................................. 42
8.5.3 Switching segments on and off ............................................................................. 43
8.5.4 Extended state polling of slave ............................................................................. 43
8.5.5 Polling the state of a module ................................................................................ 43
8.6 PCP functionality of the slave .................................................................................... 44
8.6.1 PCP hardware settings ......................................................................................... 44
8.6.2 Establishing the connection .................................................................................. 44
8.6.3 Reading data ........................................................................................................ 44
8.6.4 Writing data .......................................................................................................... 47
8.6.5 Terminating the connection .................................................................................. 48
8.6.6 PCP connection settings ...................................................................................... 48
8.6.7 PCP server response to a fault in the master ring ................................................ 48
9 Messages ...................................................................................................... 49
9.1 KUKA.HMI error messages ....................................................................................... 49
10 KUKA Service ............................................................................................... 55

10.1 Requesting support ................................................................................................... 55
10.2 KUKA Customer Support ........................................................................................... 55
Index ............................................................................................................. 63

1 Introduction
1 Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills:
 Advanced KRL programming skills
 Advanced knowledge of the robot controller system
 Advanced knowledge of bus systems
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.
Notes These hints serve to make your work easier or contain references to further
information.

Interbus 1.1
Tip to make your work easier or reference to further information.
1.4 Trademarks
Windows is a trademark of Microsoft Corporation.
1.5 Terms used
Term Description
CMD Configuration, Monitoring, Diagnostic: software
for configuration, monitoring and troubleshooting
in Interbus interfaces.
CR Communication reference.
DTM Device Type Manager
Device description file
I/O Inputs/outputs, e.g. at terminals and on
machines.
Remote bus Designation for the main ring of an Interbus sys-
tem
FSMA Field-installable SubMiniature Assembly: Fiber-
optic connector with screw lock, outwardly simi-
lar to the electrical SMA connector.
FW Firmware: normally unchangeable operating
software of a device which is automatically
loaded when the device is activated.
HCS fiber HCS fiber (Hard Cladded Silica): a FOC variant
consisting of a glass fiber core with a plastic
cladding.
HW Hardware: physical, electronic components and
modules.
IBS Interbus
Interbus A field bus introduced by Phoenix Contact. It is
defined as a ring system in which every device
regenerates and forwards the incoming signal.
The Interbus offers high data throughput at a low
cycle rate and is particularly immune to interfer-
ence. It is defined for normal copper cables and
also for fiber-optic cables. Up to 512 slaves can
be connected to an Interbus (master-slave struc-
ture) and up to 4096 I/Os can be served. The
main ring (remote bus) can contain up to 256
devices; local buses or loop segments can be
coupled, e.g. in a machine, by means of bus
couplers.
ISA Industry Standard Architecture: commonly-used
PC bus before PCI.

1 Introduction
Term Description
KCP The KCP (KUKA Control Panel) teach pendant
has all the operator control and display functions
required for operating and programming the
industrial robot.
The KCP variant for the KR C4 is called KUKA
smartPAD. The general term “KCP”, however, is
generally used in this documentation.
Configuration file Text files with specifications for parameters and
settings.
KR C KUKA Robot Controller.
KRL KUKA Robot Language: KUKA robot program-
ming language.
KUKA.HMI The KUKA user interface on the screen of the
robot controller.
Local bus Designation for the sub-rings of an Interbus sys-
tem.
FOC Fiber-optic cables: made of glass or plastic
fibers. Greater immunity to interference than
copper cables; electrical potential differences
have no effect.
MAU Medium Attachment Unit: connection unit for a
bus device.
MAU warning Warning of decreasing transmission quality/
weakening reception level on the optic transmis-
sion link, in order to be able to isolate and elimi-
nate the cause (maladjustment, dirt, etc.) before
it leads to a malfunction.
MPM Multi-Port Memory: Interbus component that
communicates between the bus and the proces-
sors.
PCI Peripheral Component Interconnect: PC bus for
coupling plug-in cards to the processor.
PCP Peripherals Communication Protocol: protocol
for sending info telegrams (e.g. message texts to
be displayed) via an Interbus. It is not actively
used by robot controllers, but forwarded.
PDU Protocol Data Units: data packets on the Inter-
bus
Polymer fiber cable Plastic cable. Cheaper than glass fiber or HCS
fiber, but with a shorter range.
PLC Programmable Logic Controller: is used in sys-
tems as a higher-level master module in the bus
system.
SW Software
Telnet Simple terminal communications protocol. It is
used, for example, to configure individual hard-
ware units.

Interbus 1.1

2 Product description
2 Product description
2.1 Overview
The Interbus PCI interface is a combined master/slave controller board. Mas-

ter and slave are housed on two separate PCI plug-in cards and equipped with
their own processors.
The factory-installed firmware can be updated via the serial diagnostic inter-
face. The parameterization can be saved in a non-volatile memory on the
module. Process data channels and parameter channels (PCP) are support-
ed.
Configuration, mapping and diagnosis can be carried out using the Config+
tool from Phoenix Contact or WorkVisual from KUKA Roboter GmbH.
The range of functions of the G4 firmware (= 4th generation) is re-

stricted by the driver as follows: the driver does not support the distri-
bution of process data from the slave to multiple address blocks. The
slave process data range must thus be located in a single block starting at a
freely selected address in the MPM.
The Interbus enables communication between the robot controller and the var-
ious I/O units.
The Interbus PCI controller board is available in two versions: one for connec-
tion via copper cables and one for fiber-optic cables.
Interbus is a field bus system that works with a ring structure and active cou-
pling between the devices. The bus access procedure is a master/slave sys-
tem. The data are passed from the master to the slaves as if through a shift
register.
Properties  Data transmission via ring system

 Master/slave system
 Connected devices are automatically loaded by means of an identification
cycle
 Supports PCP functionality
 Configurable and parameterizable across the network
 No terminating resistors
 No device address settings have to be made on-site
 Can be expanded simply
 Flexible adaptation to system topology
 Diagnostic options
 Transmission speed of 500 or 2000* kBaud (baud rate). Transmission at
2000 kBaud must be supported by all devices.
 I/O units can be switched on/off
 Branches are easy to implement using remote bus branch terminals
 Branches can be cascaded freely
 Maximum of 512 devices, of which max. 254 remote bus devices
 Maximum of 62 PCP devices
 Maximum cable length between the slave devices: 400 m
 Maximum cable length with copper cables: 13 km
 Maximum cable length with polymer fibers: 70 m
 Maximum cable length with HCS (hard-clad silica): 400 m
 Maximum cable length with fiberglass cable: 3500 m
 Optional operation of master and slave at 500 kBaud or 2 MBaud

Interbus 1.1
 Up to 4096 I/Os (FW version 4.49)

 Up to 64 PCP devices (FW version 4.49)
 The slave part is supplied independently via an external 24 V power supply
Compatibility KR C4 Interbus 1.1 is compatible with the following field buses:

 KR C4 PROFINET 2.0, 2.1 and 2.2
 KR C4 EtherCAT
2.2 IBS PCI SC controller board
The IBS PCI SC controller board, the Interbus PCI interface for the KR C4 ro-
bot controller, is available in two versions:
 IBS PCI SC/RI-LK for connection of fiber-optic cables
 IBS PCI SC/RI/I-T for connection of copper cables
(>>> 4.1.1 "PCI slot assignment" Page 13)
The controller board consists either of both master and slave cards or just a
master card. The master card can also be installed and operated without a
slave part. The slave card, however, can only be installed and operated in
combination with a master card.
The master card is installed in PCI slot 1 and the slave card is installed in PCI
slot 2.
2.3 PCP functionality
The slave part of the Interbus PCI interface supports the Peripherals Commu-
nication Protocol. PCP makes it possible to access the lower-level Interbus
from a higher-level Interbus via the MPM (I/O range). By reading from or writ-
ing to the MPM from the higher-level Interbus, it is possible to read inputs and
outputs in the lower-level Interbus and to set outputs there.
No PCP data are sent to the robot controller. The PCP functionality is restrict-
ed to the Interbus driver and to reading and writing I/O data in the MPM from
the higher-level controller. When making the parameter channel and process
data channel settings for the PCP functionality, the DIP switch settings on the
slave module (>>> 6.3 "DIP switches on the slave module" Page 22) must be
observed.

3 Safety
3 Safety
This documentation contains safety instructions which refer specifically to the
product described here. The fundamental safety information for the industrial
robot can be found in the “Safety” chapter of the operating or assembly 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 injuries or considerable damage to
property may otherwise result.

Interbus 1.1

4 Installation
4 Installation
4.1 System requirements
Robot controller Hardware:

 KR C4
Software:
 KUKA System Software 8.2
 Or VW System Software 8.2
Laptop/PC  The system requirements for installation of WorkVisual are contained in

the WorkVisual documentation.
4.1.1 PCI slot assignment
Description The IBS PCI SC controller board, the Interbus PCI interface for the KR C4 ro-
bot controller, is installed as follows:
Fig. 4-1: Installing the master and slave cards
Slot Designation Plug-in card

1 PCI1 Interbus master card
2 PCI2 Interbus slave card
3 to 7 - Field bus, slots 3 to 7
The controller board consists either of both master and slave cards or just a
master card. The master card can also be installed and operated without a
slave part. The slave card, however, can only be installed and operated in
combination with a master card.
The KR C4 cannot be operated with multiple master or slave cards.
4.2 Installing or updating INTERBUS (KSS)
Description There is an option CD for INTERBUS:

 KR C4 Interbus 1.0

Interbus 1.1
If a version of INTERBUS is already installed, its configuration is carried over

automatically. If this is not desired, the existing version must first be unin-
stalled.
It is advisable to archive all relevant data before updating a software

package.
Precondition  Software on KUKA.USBData stick

 No program is selected.
 T1 or T2 operating mode
 “Expert” user group
Only the KUKA.USB data stick may be used. Data may

be lost or modified if any other USB stick is used.
Procedure 1. Plug in USB stick.

2. Select Start-up > Install additional software in the main menu.
3. Press New software. If a software package that is on the USB stick is not
displayed, press Refresh.
4. Select the entry KRC4 Interbus and press Install. Reply to the request for
confirmation with Yes. The files are copied onto the hard drive.
5. Repeat step 4 if another software package is to be installed from this stick.
6. Remove USB stick.
7. It may be necessary to reboot the controller, depending on the additional
software. In this case, a corresponding prompt is displayed. Confirm with
OK and reboot the robot controller. Installation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.
4.3 Installing INTERBUS (VSS)
The KR C4 Interbus 1.0 option CD is included in VSS 8.2. KR C4 Interbus 1.0

is automatically installed together with VSS 8.2.
4.4 Uninstalling INTERBUS (KSS)
It is advisable to archive all relevant data before uninstalling a soft-

ware package.
Precondition  “Expert” user group
Procedure 1. In the main menu, select Start-up > Additional software. All additional
programs installed are displayed.
2. Select the entry KRC4 Interbus and press Uninstall. Reply to the request
for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

5 Start-up and recommissioning
5.1 IBS PCI SC/RI-LK
Fig. 5-1: Configuration of the IBS PCI SC/RI-LK controller board
1 Reset button (slave)

2 Master interface (Remote Out, outgoing remote bus)
3 External 24 V supply voltage (slave)
4 Slave interface (Remote Out, outgoing remote bus)
5 Slave interface (Remote In, incoming remote bus)
6 Indicator elements (LEDs)
7 DIP switches for the slave configuration
8 DIP switches for the master configuration

Interbus 1.1
5.2 Connecting fiber-optic cables
Fig. 5-2: Connecting the fiber-optic cables
1 Remote IN, incoming remote bus

2 Slave
3 Remote OUT, outgoing remote bus of the slave card
4 Master
5 Remote OUT, outgoing remote bus of the master card
The IBS PCI SC/RI-LK can work with HCS and polymer fiber cables with
FSMA connectors. The connectors must be secured with union nuts.
5.3 CMD interface
The CMD configuration and diagnostic software or Config+ from Phoenix Con-
tact can access the IBS PCI SC controller board via the RS232 serial interface.
Using CMD, the user can configure, parameterize and diagnose the Interbus.
The parameterization and configuration can be stored in a non-volatile mem-
ory on the controller board using CMD. It is also possible to update the firm-
ware of the IBS PCI SC controller board via the RS232 interface.

Fig. 5-3: CMD interface: 6-pin mini-DIN socket (PS/2)
The CMD interface is designed as a 6-contact mini-DIN socket (PS/2) on the

front plate.
Fig. 5-4: RS232 cable for connection to diagnostic PC
It is connected to the diagnostic PC via a special RS232 cable that is available

from Phoenix Contact.

Interbus 1.1
5.4 IBS PCI SC/RI/I-T
Fig. 5-5: Configuration of the IBS PCI SC/RI/I-T controller board
1 RS232 interface (CMD connection)

2 Master interface (Remote Out, outgoing remote bus)
3 External 24 V supply voltage (slave)
4 Slave interface (Remote Out, outgoing remote bus)
5 Slave interface (Remote In, incoming remote bus)
6 Indicator elements (LEDs)
7 DIP switches for the slave configuration
8 DIP switches for the master configuration
5.5 External power supply to slave
An external 24 V DC power supply is required for operation of the slave mod-

ule. This is connected via a 2-pin MINI-COMBICON connector.

Fig. 5-6: Connection of the external 24 V power supply to the slave mod-
ule

Interbus 1.1

6 Configuration
6 Configuration
6.1 Overview
Step Description
1 DIP switches of master module
(>>> 6.2 "DIP switches on the master module" Page 21)
2 Only if INTERBUS slave present.
DIP switches of slave module
(>>> 6.3 "DIP switches on the slave module" Page 22)
3 Configure the configuration file IBSPCI.XML.
(>>> 6.4 "Configuring the file IBSPCI.XML" Page 24)
4 Configure INTERBUS with WorkVisual.
(>>> 6.5 "Configuring the bus with WorkVisual" Page 28)
5 Map the inputs and outputs in WorkVisual.
6 Transfer the bus configuration from WorkVisual to the robot
controller.
Additional information about procedures in WorkVisual is contained in

the WorkVisual documentation.
6.2 DIP switches on the master module
The DIP switches are on the top left-hand side of the master module.
KUKA default: DIP 1 … 3 OFF
Fig. 6-1: DIP switches on the master module
1 ... 3: Card DIP switches 1 to 3 are used for setting the card number. If multiple Interbus
number cards are used, a card number must be assigned to each one. This number is
used to identify the different cards in the system. The card number can be set

Interbus 1.1
to any value between 1 and 8. The default value is 1. It is not necessary to

change the card number if only one Interbus card is used.
The card number must be specified when the driver is installed. It is

advisable to make a note of it after making the setting.
Card number DIP switch 1 DIP switch 2 DIP switch 3

1 (default) OFF OFF OFF
2 ON OFF OFF
3 OFF ON OFF
4 ON ON OFF
5 OFF OFF ON
6 ON OFF ON
7 OFF ON ON
8 ON ON ON
4 ... 6: Additions DIP switches 4 to 6 are reserved for expansions and must not be changed.
7: Baud rate DIP switch 7 is used to set the baud rate. The DIP switch is set to OFF by de-
fault, i.e. the baud rate is detected automatically. This setting must not be
changed.
8: Test mode DIP switch 8 is used to activate the test mode. If the system is rebooted with
test mode active, the controller board starts up the Interbus with physical ad-
dressing and activates it. During test mode, the controller board does not re-
spond to instructions from the host system (PC). The controller board
initializes the Interbus system and then starts it up automatically. Outputs are
not set.
In normal operation of the controller board, test mode must be deac-

tivated by setting switch 8 to OFF.
6.3 DIP switches on the slave module
The DIP switches are on the top left-hand side of the slave module.
KUKA default: DIP 1 … 4 OFF, DIP 5 ON, DIP 6 … 9 OFF, DIP 10 ON

6 Configuration
Fig. 6-2: DIP switches on the slave module
1, 2: Parameter DIP switches 1 and 2 are used for setting the parameter channel (PCP). This
channel setting also defines the ID code of the remote interface. The parameter chan-
nel and the process data channel can have a maximum width of 16 words.
DIP 1 DIP 2 Parameter channel ID code (decimal)

OFF OFF 0 words 3
ON OFF 1 word 235
OFF ON 2 words 232
ON ON 4 words 233
3 ... 6: Process DIP switches 3 to 6 are used for setting the process data length. The length of
data length the process data also defines the length code.
DIP 3 DIP 4 DIP 5 DIP 6 Process data Length code

(decimal)
OFF OFF OFF OFF 0 words 0
ON OFF OFF OFF 1 word 1
OFF ON OFF OFF 2 words 2
ON ON OFF OFF 3 words 3
OFF OFF ON OFF 4 words 4
ON OFF ON OFF 5 words 5
OFF ON ON OFF 6 words 6
ON ON ON OFF 7 words 7
OFF OFF OFF ON 8 words 8
ON OFF OFF ON 9 words 9
OFF ON OFF ON 10 words 10
ON ON OFF ON 11 words 11
OFF OFF ON ON 12 words 12
ON OFF ON ON 13 words 13
OFF ON ON ON 14 words 14
ON ON ON ON 16 words 16

Interbus 1.1
The module can be adapted to special requirements by setting the width of the
parameter channel and the process data length. The following combinations
are possible:
Parameter Process data length (in words)

channel
0 1 2 3 4 5 6 7 8 9 1 11 1 1 1 16
0 2 3 4
0 words X X X X X X X X X X X X X
1 word X X X X X X X X X X X X
2 words X X X X X X X X X X X
4 words X X X X X X X X X X
7: Reset response DIP switch 7 determines whether a reset of the lower-level master system trig-
gers a periphery fault in the higher-level system so that it can respond:
 OFF: no fault signaled in the higher-level system
 ON: fault signaled in the higher-level system
8: Reconfigure DIP switch 8 determines whether a Reconfigure request can be triggered via
request the OPC bus terminal:
 OFF: no Reconfigure request possible via the OPC bus terminal
 ON: Reconfigure request possible via the OPC bus terminal
9: Baud rate DIP switch 9 determines the baud rate of the slave part of the controller board:
 OFF: 500 kbaud
 ON: 2 Mbaud
10: Configuration DIP switch 10 determines whether DIP switches 1 to 9 are activated:
selection  OFF: DIP switches 1 to 9 ineffective; parameterization from stored resi-
dent configuration or from configuration received by lower-level master
 ON: DIP switches 1 to 9 determine parameterization
6.4 Configuring the file IBSPCI.XML
Description The configuration file IBSPCI.XML contains all the settings which affect the In-
terbus connection.
Precondition  Windows interface
Procedure 1. Open the file C:\KRC\ROBOTER\Config\User\Common\IBSPCI.XML.

2. Check the settings stored in the individual segments and adapt them if re-
quired.
3. Save the changes and close the file.
Changes must always be made via the main menu Configuration >
Inputs/outputs > I/O drivers.
The file IBSPCI.XML is divided into different sections.

<INTERBUS> section:
Entry Value Function

BOARDNUMBER 1 ... 8 Assigns a unique identifier to the controller board for
the data channel. This identifier must match the card
Default: 1
number selected by means of the DIP switches on the
master module.

6 Configuration
<CMD_CONFIGURATION> section:

CMD_FILE - Name of the SVC file. The path is predefined:
KRC\Roboter\Config\User\Common directory.
MSGDELAY Default: 10 Length of time in milliseconds that the system waits for
a confirmation message after transmitting messages.
If this time elapses, the message is considered not to
have been confirmed.
USEBLOCKID False This flag can be used to deactivate the use of the
Block ID and the Block Offset. It should not normally
True
be changed.
Default:
False: Block ID and Block Offset are not evaluated.
True
True: Block ID and Block Offset are evaluated.
BRK_IB_ERR False If this flag is set, the loading of the SVC configuration
file is aborted in the absence of a confirmation.
True
False: Loading of the SVC configuration file is not
Default:
aborted in the absence of a confirmation.
True
True: Loading of the SVC configuration file is aborted
in the absence of a confirmation.
TIMEOUT 50 ... Maximum length of time in milliseconds used for vari-
65000 ous tasks, e.g. transmitting and receiving messages,
during loading of the SVC configuration file.
Default:
60000
BAUDRATE Default: Baud rate of the CMD serial interface.
9600
EXTERN_START False False: Interbus is configured and started by the driver.
True True: Interbus is configured and started by an external
tool, such as CMD, or a boot project. CMD_FILE entry
Default:
is ignored.
False
COM_DLL_PORT Default: Port number for communication between the configu-
15001 ration tools and the Interbus driver.
<CONFIGURATION> section:

SWAP_MASTER_BYTE False This entry can be used to specify that the bytes of the
S modules in the master are to be swapped automati-
True
cally by the driver. The driver only carries out this
Default: swapping, however, in the case of digital modules;
True analog modules are not swapped.
False: The bytes are not swapped.
True: The bytes are swapped.
RESET 0 ... 1 In order to set the controller board to a defined state
when the driver is run up, a reset can be carried out
Default: 0
before it is initialized.
0: No reset is carried out when the driver is run up.
1: A reset is carried out when the driver is run up; the
system waits for a maximum of 7 s for the controller
board to become operational once again. If it is not
possible to address the controller board within these
7 s, the loading of the driver is aborted.

Interbus 1.1

ERR_AUTO_OUIT_PF False False: No acknowledgement of periphery faults.
True True: Automatic acknowledgement of periphery faults.
Default:
False
WATCHDOG 0 ... 7 The watchdog on the card is triggered every time data
are read. If the watchdog is not triggered within the
Default: 0
time specified, the controller board stops and displays
a corresponding error message on the KUKA.HMI.
The specified value sets the watchdog monitoring
times according to the following list:
7: 16.4 ms
6: 32.8 ms
5: 65.5 ms
4: 131.1 ms
3: 262.1 ms
2: 524.3 ms
1: 1048.6 ms
0: Watchdog deactivated
DUMPFILE - Specification of a file name activates the ibsPciDump
function. The name can be specified along with its
path relative to the KRC/Roboter directory.
CONTINUE_WITH False False: In the case of a periphery fault, the application
_WARN is notified that an error has occurred while reading and
True
writing the I/Os (like in the case of a bus error). As
Default: soon as the periphery fault has been rectified, this
True information is retracted.
True: In the case of a periphery fault, the application is
not notified that an error has occurred while reading
and writing the I/Os.
MASTER_USED False False: The master of the controller board is not initial-
ized.
True
True: The master of the controller board is initialized
Default:
and started.
True
ERR_CLEAR_MPM_OU False This can prevent the outputs in the MPM from being
T set to 0 as soon as a bus error occurs in the master
True
ring.
Default:
False: Bus errors do not affect MPM outputs.
False
True: Outputs in the MPM are set to 0 in the event of
bus errors.
<DIAGNOSTIC_REGISTERS> section:
This section is not evaluated when the controller board is started via the SVC
file or externally.

STATUS Default: -1 I/O address for status register
PARAMETER1 Default: -1 I/O address for 1st parameter register
PARAMETER2 Default: -1 I/O address for 2nd parameter register

6 Configuration

SLAVE_STATUS Default: -1 I/O address for slave status register
SLAVE_PARAMETER Default: -1 I/O address for slave parameter register
<TASK> section:

AUTORESTART 0 ... n 0: Bus is not automatically restarted.
Default: 0 8 ... 20: An attempt is made, at the specified repeat
rate in s, to restart the Interbus.
n < 8 or n > 20: An attempt is made every 8 s to restart
the Interbus.
<SLAVE> section:

SLAVE_ID Default: The slave ID consists of two parts: the length of the
0x0403 slave process data in the High byte and the actual
slave ID in the Low byte. Slave ID 3 thus designates a
digital input and output module.
If no slave ID has been specified, the slave is initial-
ized with the ID 0x0403. This entry is not evaluated
when the controller board is started via the SVC file or
externally.
If the slave ID has been changed, the slave module
must be disconnected briefly from the external 24 V
supply in order for the new data to be accepted.
SWAP_SLAVE_BYTES False This entry can be used to specify that the bytes of the
modules in the slave are to be swapped automatically
True
by the driver. The driver only carries out this swapping
Default: in the case of digital modules; analog modules are not
True swapped.
False: The bytes are not swapped.
True: The bytes are swapped.
SLAVE_USED False False: Slave is not initialized and no error messages
are generated.
True
True: Slave is initialized and error messages are gen-
Default:
erated.
False
CONTINUE_BY_ERR False False: In the case of a fault in the slave ring, the appli-
cation is notified that an error has occurred while read-
True
ing and writing the I/Os (like in the case of a bus
Default: error). As soon as the fault in the slave ring has been
True rectified, this information is retracted.
True: In the case of a fault, the application is not noti-
fied that an error has occurred while reading and writ-
ing the I/Os.

Interbus 1.1

MASTER2SLAVE_OK_B 0 ... n This signals, in the higher-level ring, that the Interbus
IT driver on the robot controller is still in the RUNNING
Default: -1
state. This bit is not visible from the subordinate ring.
This bit is reset as soon as the driver is in the RUN-
NING state. It is withdrawn if it is in a fault state or has
not been started, and is not set, following a restart or a
warm start, until the output data have been written.
This bit cannot be be set or deleted manually from the
robot controller.
0: Bit is not set.
1 ... n: Bit position in the I/O output memory after the
start address of the slave.
SLAVE_CR Default: 0 Communication reference of the slave if it is PCP-
capable.
6.5 Configuring the bus with WorkVisual
Step Description
1 Insert segments in the DTM catalog.
(>>> 6.5.1 "Inserting segments in the DTM Catalog (Cata-
log Scan)" Page 28)
2  Configure the INTERBUS master.
(>>> 6.5.2 "Configuring the INTERBUS master"
Page 29)
or
 Configure the INTERBUS slave.
(>>> 6.5.3 "Configuring the INTERBUS slave"
Page 30)
or
 Configure the INTERBUS master and slave.
(>>> 6.5.4 "Configuring the INTERBUS master and
slave" Page 32)
3 Enter the IP address of the line interface (optional)
(>>> 6.5.6 "Entering the IP address of the line interface"
Page 34)
6.5.1 Inserting segments in the DTM Catalog (Catalog Scan)
Procedure 1. Open WorkVisual. DTM Catalog Management is opened.

2. Click on Search for installed DTMs. WorkVisual searches the PC for DT-
Ms. The DTMs found are displayed.
3. Under Known DTMs, select the required DTMs and click on the Right ar-
row button.
If all DTMs are to be accepted, click on the Double right arrow button.
4. The selected DTMs are displayed under Current DTM Catalog. Click on
OK.

6 Configuration
Fig. 6-3: DTM Catalog Management
6.5.2 Configuring the INTERBUS master
Description The master bus configuration can be created directly with WorkVisual if no
SVC file is being used. This means that, on booting, the master card detects
the devices in sequence and determines the bus configuration automatically
in this way. This procedure can only be applied if the devices are always avail-
able (no coupling and decoupling). Otherwise, the bus configuration must be
created using Config+ (SVC file).
In both cases, the image (structure and sequence) of the Interbus must be rep-
licated in WorkVisual. In the case of master configuration without the SVC file,
it is sufficient to create the image with the device description files of the con-
nected devices. In the case of master configuration with the SVC file, an offset
must be entered, so that the precise addresses of the inputs and outputs are
located at the right place in the image. Alternatively, placeholders can be in-
serted.
Precondition  A robot controller has been added and set as active.
Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on Bus structure and select Add… from the context menu.
3. A window opens. Depending on which card is used, select the entry IBS
PCI SC/RI-I-T or IBS PCI SC/RI-LK and confirm with OK. The entry is in-
serted in the tree structure.
4. Open the tree structure as far as possible. Right-click on INTERBUS and
select Add… from the context menu. The DTM Selection window is
opened.
5. Select the device used and confirm with OK. The device is inserted in the
tree structure.
6. If necessary, repeat steps 4 and 5 for further devices.
The device description files from the manufacturers or the generic de-
vice description files “KUKA Proxy” from KUKA can be used for the
master configuration.
The generic device description files “KUKA Slave Proxy” must not be used
for the master configuration.

Interbus 1.1
The smallest possible memory unit is 2 bytes. A memory of 2 bytes is

created in the image for 8 inputs and/or outputs.
Example INTERBUS master configuration with SVC file:

A bus device has 32 inputs and outputs. The inputs and outputs are found at
a specific address in the SVC file:
 32 inputs at byte 10 (master ring)
 32 outputs at byte 8 (master ring)
The master card creates the following image:
IN OUT
Empty 32 inputs Empty 32 outputs
10 byte 8 byte
The image must be replicated in WorkVisual (>>> Fig. 6-4 ).

To ensure that the structure of the Interbus is read correctly, an offset must be
entered so that the precise addresses of the inputs and outputs are located at
the right place in the image (>>> 6.5.5 "Setting an offset" Page 33).
Alternatively, placeholders can be inserted, as shown in the example. All de-
vice description files except “KUKA Slave Proxy” can be used as placeholders
in the master ring.
Fig. 6-4: Example of an INTERBUS master image
1 32 inputs 3 Placeholders (marked green)

2 32 outputs
6.5.3 Configuring the INTERBUS slave
Description The start address and the length of the image of the slave must be set in the
Interbus communication DTM for configuration of the Interbus slave
(>>> 6.4 "Configuring the file IBSPCI.XML" Page 24). Alternatively, the slave
can also be configured with Config+ (SVC file) and the generated SVC file im-
ported in the Interbus communication DTM. The image (bus configuration)
must then be replicated in WorkVisual. The controller is inserted into the bus
just like any other Interbus device.

6 Configuration
opened.
5. Select the device used and confirm with OK. The device is inserted in the
tree structure.
The generic DTMs “KUKA Slave Proxy” from KUKA must be used for
the slave configuration.

Example INTERBUS slave configuration with SVC file:

One bus device has 16 inputs and outputs, another has 48 inputs and outputs.
These inputs and outputs are found at a specific address:
 16 inputs at byte 896 (slave ring)
 16 outputs at byte 896 (slave ring)
The slave card creates the following image:
IN OUT
Empty 16 inputs Empty 16 outputs
896 byte 896 byte
Creation of the image for the slave ring always starts at 896 bytes.

To ensure that the structure of the Interbus is read correctly, an offset of 896
must be entered so that the precise addresses of the inputs and outputs are
located at the right place in the image (>>> 6.5.5 "Setting an offset" Page 33).
Alternatively, placeholders can be inserted. Since the creation of the image for
the slave ring only starts at 896 bytes, a corresponding number of placehold-
ers must be inserted. In this case, the following message placeholders have
been inserted:
 160 inputs and outputs (44x)
 128 inputs and outputs (1x)
Only the device description files “KUKA Proxy” can be used as placeholders
in the slave ring.

Interbus 1.1
Fig. 6-5: Example of an INTERBUS slave image
1 Placeholders (marked green) 2 16 inputs and outputs
6.5.4 Configuring the INTERBUS master and slave
Description In order to be able to configure the master and slave rings together, an SVC
file must be created with Config+. The image (bus configuration) must then be
replicated in WorkVisual.
opened.
5. Select the desired device and confirm with OK. The device is inserted in
the tree structure.
The device description files from the manufacturers or the generic de-
vice description files “KUKA Proxy” from KUKA can be used for the
master configuration.
The generic device description files “KUKA Slave Proxy” from KUKA must be
used for the slave configuration.

Example INTERBUS master and slave configuration with SVC file:

A bus device has a master ring with 32 inputs and outputs and a slave ring with
16 inputs and outputs. These are found at a specific address:
 32 inputs at byte 12 (master ring)
 32 outputs at byte 8 (master ring)
 16 inputs from byte 896 (slave ring)

6 Configuration
 16 outputs from byte 896 (slave ring)

The master and slave cards create the following image:
IN
Empty 32 inputs Empty 16 inputs
12 byte Master ring 880 byte Slave ring
OUT
Empty 32 outputs Empty 16 outputs
8 byte Master ring 884 byte Slave ring
Creation of the image for the slave ring always starts at 896 bytes.

To ensure that the structure of the Interbus is read correctly, an offset of 896
must be entered so that the precise addresses of the inputs and outputs are
located at the right place in the image (>>> 6.5.5 "Setting an offset" Page 33).
Alternatively, placeholders can be inserted. Since the creation of the image for
the slave ring only starts at 896 bytes, a corresponding number of placehold-
ers must be inserted. In this case, the placeholder with the 160 inputs/outputs
has been inserted 44 times. Only the device description files “KUKA Proxy”
can be used as placeholders in the master and slave ring.
Fig. 6-6: Example of an INTERBUS master and slave image
1 32 inputs on master 3 16 inputs and outputs on slave

2 32 outputs on master 4 Placeholders (marked green)
6.5.5 Setting an offset
Precondition  The image is replicated in WorkVisual.
Procedure 1. Expand the tree structure of the robot controller as far as possible on the
Hardware tab in the Project structure window.
2. Right-click on the device used and select Settings… from the context
menu. The Device settings tab is displayed.

Interbus 1.1
3. Enter the desired offset and confirm it by pressing OK. The device is as-
signed to the specified address.
Entering “0” as the address allows the devices to be concatenated in

the image. This means that the devices can also be offset as a block
by changing only the address of the 1st device.
Fig. 6-7: Device settings tab
6.5.6 Entering the IP address of the line interface
Description In order to be able to perform online functions, e.g. a bus scan, the IP address
of the line interface must be entered.

 IBS PCI SC/RI-I-T or IBS PCI SC/RI-LK is added.
the Project Structure window.
2. Depending on which card is used, right-click on IBS PCI SC/RI-I-T or IBS
PCI SC/RI-LK and select Settings... in the pop-up menu. The Master Set-
tings window opens.
3. Enter the IP address of the line interface and confirm with OK.

7 Operation
7 Operation
7.1 Coupling/decoupling segments
Description For certain applications, e.g. tool change, it is necessary to couple and decou-
ple segments. Coupling and decoupling can be carried out via the HMI.
Decoupling Properties of decoupled segments:

 If decoupled segments are disconnected from INTERBUS or the power
supply, no error is triggered.
 All I/O operations on decoupled segments remain without effect.
 Decoupled segments cannot carry out error treatment in the case of read/
write errors.
Coupling The IOCTL function has a blocking effect. It only returns when the coupling op-
eration has been executed and the response from the firmware can be re-
turned. In the case of a positive response, the segment can be used at once.
If a negative response is returned, an error has occurred during coupling.
If a coupled device is not functional, e.g. because it is disconnected from the
bus or supply voltage, a message is displayed.
7.1.1 Coupling/decoupling segments via HMI
Procedure 1. Select the menu sequence Display > Variable > Single.
2. In the Name box, enter:
 To decouple: =IOCTL("IBS1",60,[Segment number])
 To couple: =IOCTL("IBS1",50,[Segment number])
3. Confirm by pressing the Enter key. The segment is coupled or decoupled.
Only segments that are present in the network configuration can be

coupled or decoupled.
If a segment cannot be coupled or decoupled, the IOCTL command returns a

negative value.
If a segment is successfully coupled or decoupled, the IOCTL command re-
turns the number of the segment.
Further information about this IOCTL command can be found here:

(>>> 8.5.3 "Switching segments on and off" Page 43).
7.1.2 Coupling/decoupling segments via KRL
Syntax Decoupling:
RET =IOCTL("IBS1",60,Segment number)
Coupling:
RET =IOCTL("IBS1",50,Segment number)
Example Here, segment 512 is decoupled, depending on the tool used.

...
IF (NEXT_TOOL == GRIPPER_1) THEN
RET = IOCTL("IBS1",60,512)
ENDIF
...

Interbus 1.1
7.2 Activating/deactivating the Interbus driver
Description The Interbus driver can be activated and deactivated via the HMI.
The Interbus driver is active once it has been installed.
Precondition  “Expert” user group
Procedure 1. In the main menu, select Configuration > Inputs/outputs > I/O driver.
2. Activate/deactivate the Interbus driver:
 Activate:
Set the check mark in the “Installed” column after the Interbus name.
 Deactivate:
Remove the check mark in the “Installed” column after the Interbus
name.
3. Press the Close icon. Answer the request for confirmation with Yes. Re-
configuration is carried out.
Fig. 7-1: Activating/deactivating the Interbus driver
1 Interbus name
2 “Installed” column

8 Diagnosis
8 Diagnosis
8.1 Displaying diagnostic data
Procedure 1. Select the menu sequence Diagnosis > Diagnostic Monitor.

2. In the Module box, select the entry Interbus driver (IBusDrv).
Diagnostic data are displayed.
Description “Name” column Description

version of driver Version of the driver
name of bus instance Name of the bus instance
state of interbus Status of the Interbus master
master
State Interbus Slave Status of the Interbus slave
Only displayed if the slave is active.
Parameter from  0: Parameters from IBSPCI.XML have not
ibspci.xml used been read.
 1: Parameters from IBSPCI.XML have been
read.
Bus error by device Indicates which device has a bus error.
number
Error code from the Displays the error code and the corresponding
bus error bus error.
Bus failure by device Indicates which device has a bus fault.
number
Last segment acti- The number indicates the most recently acti-
vated vated segment.
last segment deacti- The number indicates the most recently deacti-
vated vated segment.
Error code from Displays the error code of the last switched seg-
switching on/off last ment.
segment
State register Value of the status register
Parameter register Value of the parameter register
Extended parameter Value of the extended parameter register
register
Current PD cycle Current PD cycle time
time
Permitted PD cycle Specified PD cycle time
time
Transfer frequency  0: Transfer quality bit has been activated.
quality bit is set  1: Transfer quality bit has not been activated.
Diagnostic register  0: Diagnostic register displays no faulty data
shows faulty data cycle bit.
cycle bit  1: Diagnostic register displays faulty data cy-
cle bit.
state of state Status information of the driver
machine from driver
(>>> 8.2 "Status information of the driver"
Page 38)

Interbus 1.1
“Name” column Description

IP address of config- IP address of a connected configuration tool (1)
uration tool (1)
IP address of config- IP address of a connected configuration tool (2)
uration tool (2)
8.2 Status information of the driver
The “State of status machine of driver” can be read in the diagnostic monitor.
Designation Value Description

INST_NOT_AVAILABLE 0x0001 Initial state if the instance has not yet been ini-
tialized.
INST_RUNNING 0x0002 This status bit indicates that the Interbus was
started successfully and that I/O data
exchange can take place.
INST_STOP_USER 0x0004 This status bit is set if the Interbus has been
stopped by the driver or by a user action.
INST_STOP_ERR 0x0008 This status bit is set if an error has occurred in
the Interbus master ring, preventing an update
of all I/Os, e.g. in the case of a bus error.
INST_CLEAR_MPM_OUT 0x0010 This status bit is set if the outputs are set to 0 in
the event of an error.
INST_WAITING_FOR_EX_STA 0x0020 This status bit is set if the Interbus is to be
RT started by means of a boot project or “exter-
nally” and is waiting for this start.
INST_STOP_WARN 0x0040 This status bit is set if the driver is to signal an
error in the case of a periphery fault when writ-
ing and reading I/Os.
INST_RUN_WATCHDOG_STA 0x0080 This status bit is set if the Interbus has already
RT been started, but the watchdog is still to be trig-
gered. The watchdog is not triggered until the
cyclical read and write function is executed.
The start of the watchdog must be delayed until
the cyclical read and write function has been
activated.
INST_STOP_FREEZE 0x0100 This state is set once the driver has been set to
the Freeze state.
INST_STOP_RESET 0x0200 This status bit is set if the driver attempts to
restart the Interbus.
INST_STOP_WATCHDOG 0x0400 This status bit is set if the watchdog has
expired.
INST_STOP_HW_ERR 0x0800 This status bit is set if a hardware error has
been detected or signaled by the firmware.
INST_STOP_SLV_ERR 0x1000 This status bit is set if the driver is no longer to
update I/O data once the slave ring has sig-
naled an error.
INST_ERR_DETECTING 0x2000 This status bit indicates that the firmware has
started searching for an error in the Interbus
master ring.

8 Diagnosis
Designation Value Description

INST_AUTO_RESTART 0x4000 This status bit indicates that the driver should
cyclically attempt to restart the bus in the case
of a bus error. The bus is thus automatically
restarted once the error has been rectified.
INST_DOING_SHUTDOWN 0x8000 This status bit indicates that the driver is being
shut down. This bit is only set in addition to all
the others and serves to provide information for
other functions (e.g. IOCTL) that must be ter-
minated.
8.3 LEDs on the master module
The diagnostic LEDs on the master module are all accommodated on the front
plate. The basic functions of the module are checked when it is switched on.
If no faults are detected, “SC” flashes green after approx. 5 seconds. “HF”
goes out when the drivers are activated.
Fig. 8-1: LEDs on the master module
The state of the Interbus is indicated by other LEDs:
Designation Color Meaning

FC Green Reserved
SC RDY/RUN Green Interbus Ready
The controller board has the state READY or
ACTIVE
SC RDY/RUN Flash- Interbus Running
ing
The controller board has the state RUN
HF Yellow Host Failure
System fault of the host
FAIL Red Failure
A fault has occurred in the Interbus system

Interbus 1.1

PF Yellow Peripheral Failure
Periphery fault of a device
BSA Yellow Bus Segment Aborted
One or more bus segments are switched off
The CMD interface is designed as a 6-contact mini-DIN socket (PS/2) on the

front plate .
The master module also has an LED FO3 (Fiber Optic 3) for diagnosis of the
outgoing fiber-optic cable.
Fig. 8-2: LED for diagnosis of the outgoing fiber-optic cable interface

FO3 Yellow Fiber Optic 3
Lights up when the initialization of the outgo-
ing interface is not OK, or a MAU warning is
present due to poor transmission quality on
the path. This applies to the outgoing data
path/transmitter to the following module; the
state of the return data path/receiver is diag-
nosed by the following module.
8.4 LEDs on the slave module
The diagnostic LEDs of the slave module indicate its state and that of the high-
er-level Interbus system:

UL Green U Logic
Operating voltage present
RC Green Remote bus Check
The connection to the higher-level controller
board has been established
BA Flash- Bus Active
ing
Bus is in the ACTIVE state

8 Diagnosis

BA Green Bus Running
Bus is in the RUN state
RD Red Remote bus Disabled
The outgoing remote bus interface is deacti-
vated
Fig. 8-3: LEDs on the slave module
The slave module also has two other LEDs for diagnosis of the fiber-optic ca-
ble:

FO1, FO2 Yellow Fiber Optic 1, Fiber Optic 2
Light up when the initialization of the outgoing
interface is not OK, or a MAU warning is
present due to poor transmission quality on
the path. This applies to the outgoing data
path/transmitter to the following module; the
state of the return data path/receiver is diag-
nosed by the following module.
8.5 IOCTL commands
Description The IOCTL commands are also used for advanced troubleshooting.
Precondition  All communications cables have been installed.

 Expert user group

Interbus 1.1
Procedure IOCTL commands can be entered via TELNET or KRL.

 TelNet shell:
RETURN VALUE = iosysIoctl (Instance name, REQUEST, Parameter)
 KRL interface:
RETURN VALUE = IOCTL (Instance name, REQUEST, Parameter)
Parameter
Return value Depends on the function (REQUEST number)
called.
Instance name The name of the instance can be found in the Inter-
bus.XML file (parameter busInstanceName).
Overview of
functions
Entry Request Parameter Function

CP_IB_DUMP 1012 - Creation of a dump file (MPM log file)
IODRV_IOCTL_RESTAR 12 - Interbus is stopped, reconfigured and
T restarted.
IODRV_IOCTL_ACTIVAT 50 Segment Activation of alternative groups
E_DEVICE
IODRV_IOCTL_DEACTI 60 Segment Deactivation of alternative groups
VATE_DEVICE
IODRV_IOCTL_PRINT_I 100 - The diagnosis and the parameter regis-
NFO ter of the master and slave are output to
the telnet.
CP_IB_SEND_QUIT_PF 1017 - Sends the message “Acknowledge
periphery faults of all devices” to the
firmware. The system does not wait for
a response from the firmware indicating
whether the command could be exe-
cuted successfully.
CP_IB_GET_SLAVE_ST 1011 - Contents of the status register of the
ATE slave module
CP_IB_GET_DEVICE_S 1013 Segment, Current state of a module
TATE position
8.5.1 Generating a dump file
CP_IB_DUMP
The name of the dump file can be specified in the entry DUMPFILE in the
[CONFIGURATION] section of IBSPCI.XML. In this case, all write access op-
erations are recorded on the MPM. The ibsPciDump function can be executed
by means of the IOCTL command CP_IB_DUMP.
8.5.2 Restart
IODRV_IOCTL_RESTART
The Restart command attempts to restart the controller board by means of the
firmware command Start_Data_Transfer_Request. No restart is carried
out if the controller board is still active (even in the event of a periphery fault).
An error message to this effect is sent to the KUKA.HMI and the function is
exited with an error code (ERROR). This informs the user that the controller
board is active, but that there is still a periphery fault.

8 Diagnosis
If an error occurs during the restart, the corresponding error treatment is car-
ried out.
8.5.3 Switching segments on and off
IODRV_IOCTL_ACTIVATE_DEVICE,
IODRV_IOCTL_DEACTIVATE_DEVICE
These IOCTL commands can be used to activate and deactivate alternative
groups (segments). In the event of a warm start, the Interbus driver saves the
last active segment during the shut-down procedure and automatically acti-
vates it again on rebooting. In the case of a cold start, the segment to be acti-
vated (if any) must be communicated to the Interbus by means of an IOCTL
command from the kernel system. In the event of an error, the IOCTL com-
mand returns the following values:
Message Value Description

ERROR -1 Unable to send message
IBS_PCI_SWITCH_WRONG_MODULE -2 Invalid segment number
IBS_PCI_TRY_SWITCH_ON_SECOND_SEG -3 Attempt to switch on a second alter-
M native segment
IBS_PCI_TRY_SWITCH_OFF_FIRST_SEGM -4 Attempt to switch off the first device
IBS_PCI_NO_EXCLUSIVE_RIGHTS -5 No exclusive rights for the service
IBS_PCI_SWITCH_GROUP_ERR -6 Group conflict when devices
switched on or off
IBS_PCI_SWITCH_MODULE_ERR -7 Device conflict when devices
switched on or off
IBS_PCI_BLOCKING_COMMANDO -8 A service that is already active is
blocking execution of this service.
IBS_PCI_UNKNOWN_ERR -100 Unknown error
If the segment was switched correctly, the command returns the number of the
switched segment.
8.5.4 Extended state polling of slave
CP_IB_GET_SLAVE_STATE
As the slave can be operated independently of the master, the slave also has
its own states. The read and write functions are the same for the master and
slave.
The slave can have the following states:
 Slave Data Transfer (bit 1)
 Fail (bit 2)
 Slave Initialized (bit 3)
 Power On (bit 4)
 Ready (bit 5)
8.5.5 Polling the state of a module
CP_IB_GET_DEVICE_STATE
This IOCTL command can be used to poll the state of a module. The return
value given by this command is the state of the module. This command must
be sent to the driver along with the number of the module in the form of the
segment and position number.

Interbus 1.1
A device (module) can have the following states:

 Alarm Output (bit 0)
 Error Output (bit 1)
 MAU detection of the incoming remote bus interface (towards data ring)
(bit 9)
 MAU detection of the incoming remote bus interface (away from data ring)
(bit 10)
 Periphery Fail (bit 11)
All other bits in the word are reserved.
A detailed description of the state information can be found in the Interbus doc-
umentation from Phoenix Contact under the firmware command
Read_Device_State_Request.
8.6 PCP functionality of the slave
Unambiguous remote addresses are determined for each PCP device in the
higher-level ring for the purpose of managing the services PCP (parameter
data channel) and PNM7 (remote management utility). Unlike the local com-
munication reference (CR) of the lower-level ring (master ring), the remote ad-
dress issued is unambiguous in the network. Each PCP-capable device is
referenced in the higher-level ring by means of the position of the data in the
summation frame protocol. The CRs in the master ring are issued in ascending
order, as a continuous series starting with 2. 2 CRs can be issued for an Inter-
bus controller board: one each for PCP and PNM7.
Name Abbreviation Function

REQUEST REQ Request for a 0xxxhex
service
INDICATION IND Receipt of the 4xxxhex
service request
RESPONSE RES Response to the Cxxxhex
service request
CONFIRMA- CON Confirmation of 8xxxhex
TION the service
PCP messages that are evaluated by the driver have the identifier 40xxhex.
Before further processing, the received CR is compared with the preset CR in
the driver to check that they match.
8.6.1 PCP hardware settings
See (>>> 6.3 "DIP switches on the slave module" Page 22).
8.6.2 Establishing the connection
PCP_INITIATE_IND_CODE
If the driver receives a message with the command
PCP_INITIATE_IND_CODE, a positive response message is returned. The
parameters Access_Group and Password are ignored and set to 0 in the re-
sponse message.
8.6.3 Reading data
PCP_READ_IND_CODE

8 Diagnosis
If a message is received with the command PCP_READ_IND_CODE, a check

is made to see if the PCP object 0x5FFF is involved. If the message contains
a different PCP object, a negative response message is returned with the error
code 0x0607 (Index not supported). If the message contains a PCP object with
the index 0x5FFF, the subindex is evaluated according to the two following ta-
bles.
 If the subindex is between 1 and 32, then 128-byte data are read from the
input range of the MPM and these data are returned in a positive re-
sponse.
 If the subindex is between 34 and 66, then 128-byte data are read from the
output range of the MPM and these data are returned in a positive re-
sponse.
 If the subindex is 0, data are read from the input range of the MPM, using
the write service with subindex 1 according to the settings that have been
made, and these data are returned with a positive response.
 Subindex 33 functions in the same way as subindex 0, except that in this
case the data are read from the output range of the MPM.
Index Subindex MPM range Length Access
0x5FFF 0 Can be set Variable, Read-only
using object max. 240
5FFE subin- bytes
dex 1
0x5FFF 1 0 ... 127 128 bytes Read-only
0x5FFF 9 1024 ... 128 bytes Read-only
1151
1279
1407
1535
1663
1791
1919
2047
2175
2303
2431

Interbus 1.1

2559
2687
2815
2943
3071
3199
3327
3455
3583
3711
3839
3967
4095
MPM input data range from address 1000hex

0x5FFF 33 Can be set Variable, Read-only
using object max. 240
5FFE subin- bytes
dex 1
1151
1279
1407
1535
1663

8 Diagnosis

1791
1919
2047
2175
2303
2431
2559
2687
2815
2943
3071
3199
3327
3455
3583
3711
3839
3967
4095
MPM output data range from address 0000hex
8.6.4 Writing data
PCP_WRITE_IND_CODE
If a message is received with the command PCP_WRITE_IND_CODE, a check
is made to see if the PCP object 0x5FFE is involved. If the message contains
a different PCP object, a negative response message is returned with the error
code 0x0607 (Index not supported). If the message contains a PCP object with
the index 0x5FFE, the subindex is evaluated according to the above tables. If
the subindex is 1 or 2, a check is made to see if the specified range is valid.
In the MPM, 4096 bytes are saved for the input data and 4096 bytes for the
output data. The start address can thus be selected between 0 and 4096. Here
also, a check is made to see if the start address plus the length of the data to

Interbus 1.1
be read is less than 4096. If the check of the start address and length fails, a
negative response is returned with the error code 0x0605 (Application error).
If the specified data are correct, they are accepted and a positive response is
returned.
Index Subindex Meaning of user data Length Default Access

0x5FFF 1 Byte 0: MPM In start address 3 bytes 0 Read/
(high) Write
0
Byte 1: MPM In start address
240
(low)
Byte 2: Length of the MPM
range
0x5FFF 2 Byte 0: MPM Out start address 3 bytes 0 Read/
(high) Write
0
Byte 1: MPM Out start address
240
(low)
Byte 2: Length of the MPM
range
Configuration objects for variable access

If the subindex of the PCP message is 10, user data are to be written to the
MPM output range. Before the data are written to the MPM, the specified ad-
dress range is checked. If the limit of 4096 bytes is to be exceeded, the data
are not accepted and a negative response is returned with the error code
0x0605 (Application error). If the address range is OK, the data are written to
the MPM accordingly and a positive response is returned.
Index Subindex Meaning of user data Length Access

0x5FFF 10 Byte 0: MPM Out start address (high) Variable, Read/Write
max. 240
Byte 1: MPM Out start address (low)
bytes
Byte 2: User data 1
...
Byte n: User data n-1
Writing objects for user data
8.6.5 Terminating the connection
The PCP messages PCP_ABORT_IND_CODE and

PCP_REJECT_IND_CODE are received, but the driver does not react to
these messages.
8.6.6 PCP connection settings
When the Interbus is started, the driver checks whether the controller board
slave supports PCP. If so, the PDU size of PCP objects 0x5FFF and 0x5FFE
is changed to 246 bytes.
8.6.7 PCP server response to a fault in the master ring
If the Interbus driver is switched to the inactive state as the result of a fault on
the Interbus, all incoming PCP messages receive a negative response. The
Error_Class and Error_Code word are set to 0x0902.

9 Messages
9 Messages
9.1 KUKA.HMI error messages
Bus error and periphery fault messages are implemented as “status messag-
es” in the KUKA.HMI. In this way, messages are withdrawn by the driver when
the faults have been eliminated or a different error message is present. Error
codes and additional information generated with the messages come from the
firmware.
Further information about the meaning of these codes can be found

in chapter 5.2 of the Phoenix Contact documentation “Interbus User
Manual – Firmware Services and Error Messages – IBS SYS FW G4
UM”.
In the case of an error, the Interbus driver signals the error to the ap-
plication in accordance with the settings in the file IBSPCI.XML. It
now depends on the application how it reacts to the error, e.g. the KU-
KA.HMI can generate a read/write error and interrupt the execution of KRL
programs.
%1, %2 and %3 are individual variables of the error messages. %1 is always

the instance name of the driver.
Message Reason Effect Remedy

%1 Bus error %2 seg- Bus error with specifi- No input and outputs Eliminate bus error
ment %3 cation of the device in data are exchanged and restart the driver.
which the error was with the controller
localized. The error board.
code (%2) is saved by
the firmware.
Further information
can be found in the
Phoenix Contact doc-
umentation.
%1 user error: %2 An operator error has The effect depends Information about
additional info: %3 been made by the on the specific error. remedial action can
user, e.g. incorrect be found in the
Further information
parameter when call- description of the
can be found in the
ing a firmware ser- error code.
description of the
vice. The error code
error code.
(%2) is saved by the
firmware.
Further information
can be found in the
umentation.
%1 System error: %2 A system error has No input and outputs Information about
additional info: %3 occurred, probably in data are exchanged remedial action can
the hardware. The with the controller be found in the
error code (%2) is board. description of the
saved by the firm- error code.
ware.
It may be necessary
Further information to exchange the con-
can be found in the troller board.
umentation.

Interbus 1.1

%1 Current configura- The BSA_BIT in the The current configura- Adapt current configu-
tion is not identical to diagnostic register tion cannot be loaded. ration or delete active
active configuration has been set, i.e. the configuration and
current configuration then start the current
does not match the configuration.
active configuration.
%1 Bus error. Error The firmware has dis- No input and outputs Wait until the firmware
location in progress. covered a bus error data are exchanged has found the cause
and is now searching with the controller of the error.
for the cause. board.
%1 diagnostic register The “faulty data Information about the Information about the
shows faulty data cycles” bit in the diag- effect can be found in effect can be found in
cycle bit. nostic status register the description of the the description of the
has been set. This is diagnostic status reg- diagnostic status reg-
only used in synchro- ister of the controller ister of the controller
nous mode. board. board.
%1 Error opening file An error occurred The driver cannot be Check whether the
%2. when opening the started. file is present in the
specified file. correct directory or
whether it has an
incorrect format.
%1 No restart carried The restart is not exe- Restart is not carried If the driver is to be
out, as no error pres- cuted, as the Interbus out. restarted, carry out an
ent. is running or has not I/O reconfiguration.
yet ben started.
%1 Periphery failure, A periphery fault has If the Eliminate periphery
device number %2. occurred in the CONTINUE_WITH_ fault.
device. WARNING flag has
been set to 0, the
exchange of input and
output data is
stopped.
%1 Bus error in slave There is a bus error in No data are Eliminate bus error in
circuit. the slave ring or the exchanged with the slave ring or start
slave ring has not yet slave ring. If slave ring.
been started. CONTINUE_BY_ERR
has been set to 0 in
the INI file of the
driver, no more input
and output data are
exchanged with the
master ring.
%1 error in slave cir- There is an error in There is an error in Eliminate bus error in
cuit %2, additional the slave part of the the slave part of the slave ring or start
info %3. controller board. The controller board. The slave ring.
error code (%2) and error code and addi-
additional information tional information
come from the firm- come from the firm-
ware and describe the ware and describe the
error. error.

9 Messages

%1 Error %2 switch- An error occurred The effect depends Information about
ing off segment %3. when switching a seg- on the specific error. remedial action can
ment off. The error be found in the
Further information
code (%2) is saved by description of the
can be found in the
the firmware. error code.
description of the
Further information error code.
can be found in the
umentation.
%1 Error %2 switch- An error occurred The effect depends Information about
ing on segment %3. when switching a seg- on the specific error. remedial action can
ment on. The error See description of the be found in the
code (%2) is saved by error codes. description of the
the firmware. error code.
Further information
can be found in the
umentation.
%1 Synchronization A synchronization No input and outputs Check the system or
error. error has occurred in data are exchanged set the PD cycle time
“bus synchronous” with the controller to a higher value
mode. board. using the “Set_Value”
service (0750hex).
%1 bus error %2, A bus error has No input and outputs Eliminate bus error
additional info %3. occurred. The error data are exchanged and reset the driver.
code (%2) and addi- with the controller
tional information are board.
saved by the firm-
ware.
Further information
can be found in the
umentation.
%1 transfer quality bit The “specified error Not all data cycles are Check bus structure.
has been activated. density exceeded” bit correctly executed.
in the diagnostic sta-
tus register has been
set.
%1 Error in status Indicates an error The effect depends See description of the
register %2, parame- about which the driver on the specific error. registers.
ter register %3. has no further infor- See description of the
mation. registers. No input
and outputs data are
A description of the
exchanged with the
status and parameter
controller board.
registers can be
found in the Phoenix
Contact documenta-
tion.
%1 The watchdog The SYS_FAIL bit in The effect depends Carry out I/O recon-
has expired. the diagnostic status on the application figuration, reboot con-
register has been set. (see note above troller, exchange
table). controller board.

Interbus 1.1

%1 Restart already in A restart is being car- No input and outputs If the automatic
progress. ried out (possibly data are exchanged restart has been acti-
automatically). with the controller vated in the XML file
board. of the driver, deacti-
vate it again.
%1 Error accessing Possible causes: The driver cannot ini- Depending on the
controller board. tialize the controller cause, either the con-
 Controller board is
board. Communica- troller board must be
defective and
tion with the controller exchanged or the
must be ex-
board is not possible. board number in the
changed.
XML file must be
or adapted.
 The board number
in the XML file
does not match
the board number
set on the control-
ler board.
%1 waiting for exter- The Interbus driver No I/O data are exe- Either set
nal start of Interbus. has been set to true cuted with the Inter- “EXTERN_START”
with the bus. flag to false, start the
“EXTERN_START” Interbus via a tool or
flag and is now wait- use a boot project.
ing for the Interbus to
be started externally,
e.g. using the CMD
tool.
%1 Caution! Bus Notification message Correct functioning of Switch the bus mode
mode is not 'Asyn- that the Interbus is not the Interbus driver is back to “Asynchro-
chronous with syn- in “Asynchronous with only assured in nous with synchroni-
chronization pulse'. synchronization “Asynchronous with zation pulse”.
pulse” mode. synchronization
pulse” mode. In the
other modes, it is pos-
sible, for example,
that data may not be
written to the outputs.
%1 slave address The driver was unable The driver is not Configure the address
unknown. to determine the started, as it is not of the slave, e.g. in
address of the con- possible to access the the CMD tool.
troller board slave. I/O data of the slave.
Either it has not been
configured, or the
slave could not be
started.
%1 slave ID on card The slave ID on the If the higher-level Either the ID in the
(%2) is different from card is configured dif- master expects a dif- XML file is incorrect,
that in XML file (%3). ferently from that ferent slave ID, a bus or the slave has been
specified in the XML error will be gener- incorrectly configured
file of the driver. ated in the higher- (e.g. via the DIP
level ring. switches).
%1 Version mis- The file that has been The data from the file Use the correspond-
match in the file %2, read has a different cannot be used. ing version of the file
required version is identifier from that and adapt the data in
%3. required by the cur- the new file if neces-
rent software. sary.

9 Messages

%1 File %2 cannot be The format of the file The data from the file Check the format of
read (formatting is incorrect, resulting cannot be used. The the file. See also the
error). in the parsing of the default values are corresponding XSD
file being canceled. used. file.
%1 no master or Neither the master No connection is Activate either the
slave circuit activated. nor the slave ring of established to the master or the slave or
the Interbus card has Interbus card. Com- both.
been activated in the munication with the
IBSPCI.XML file. Interbus card is not
possible.
%1 Loading of SVC The format of the The loading of the Correct or re-gener-
file aborted due to a command in the SVC command from the ate the SVC file.
formatting error. file is incorrect in at SVC file is aborted.
least one line. Depending on where
this cancellation
occurs, the Interbus
remains in the corre-
sponding state. The
driver continues to
boot, but without I/O
data traffic.
%1 Loading of SVC An error occurred dur- The loading of the Check whether the
file aborted due to an ing transmission of a command from the firmware service is
error in a firmware firmware service from SVC file is aborted. correctly specified.
service the SVC file. Either Depending on where The bus configura-
the firmware service this cancellation tion does not match
is not correctly speci- occurs, the Interbus the configuration that
fied, or it could not be remains in the corre- is to be loaded with
executed, or it gener- sponding state. The the SVC file.
ates an error. driver continues to
boot, but without I/O
data traffic.
%1 Error in connec- No connection can be No message commu- Perform I/O reconfig-
tion to firmware. established to the nication with the firm- uration. Activate reset
message interface of ware. flag in IBSPCI.XML
the firmware. The file if required.
maximum number of
connections has been
reached or the firm-
ware is in an error
state and can no lon-
ger be addressed.
Unable to project %1 A firmware service for The diagnostic regis- Evaluate return val-
diagnostic registers configuring the diag- ters cannot be dis- ues of the firmware
into I/O map. nostic registers into played in the I/O map. services. The I/O
the I/O map has addresses are incor-
failed. rect.
%1 Unable to gener- An error occurred on The Interbus is not Depends on the error
ate and start configu- loading the current started and no I/O code of the firmware
ration frame. configuration and data are exchanged. services.
starting the gener-
ated configuration
frame. To locate the
precise cause, the
error codes of the
firmware services
must be evaluated.

Interbus 1.1

%1 Error on starting An error occurred in a The slave ring is not Depends on the
slave ring without firmware service activated and no I/O return value of the
master ring. when starting the data are exchanged. firmware services.
slave ring without
starting the master.
The cause depends
on the return values
of the firmware ser-
vices.
%1 Negative return A negative return The message has no Activate logging of the
value received from value was received effect on the execu- Interbus driver with
one command in the from the firmware tion of the SVC file. level debug and
SVC file. when executing a Other errors will check the return value
command from the occur, depending on of the firmware ser-
SVC file. which firmware service. The physical bus
vice has failed. configuration does not
match that config-
ured in the SVC file.

10 KUKA Service
10 KUKA Service
10.1 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 robot
 Model and serial number of the controller
 Model and serial number of the linear unit (if applicable)
 Model and serial number of the energy supply system (if applicable)
 Version of the KUKA System Software
 Optional software or modifications
 Archive of the software
For KUKA System Software V8: instead of a conventional archive, gener-
ate the special data package for fault analysis (via KrcDiag).
 Application used
 Any external axes used
 Description of the problem, duration and frequency of the fault
10.2 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 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]
Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
[email protected]
www.headland.com.au

Interbus 1.1
Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be
Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br
Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl
China KUKA Robotics China Co.,Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1888
Fax +86 21 6787-1803
www.kuka-robotics.cn
Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

10 KUKA Service
France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr
India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in
Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it
Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]
Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

Interbus 1.1
Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]
Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
[email protected]
Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico
Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]
Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
[email protected]
www.kuka-roboter.at

10 KUKA Service
Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]
Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]
Russia OOO KUKA Robotics Rus

Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru
Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]
Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

Interbus 1.1
Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
[email protected]
www.kuka-e.com
South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za
Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw
Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de
Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

10 KUKA Service
Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]
USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com
UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]

Interbus 1.1

Index
Index
C KUKA Customer Support 55
Catalog Scan 28 KUKA.HMI 7
CMD 6
CMD interface 16 L
Configuration 21 LEDs, master module 39
Configuration files 7 LEDs, slave module 40
Connecting fiber-optic cables 16 Local bus 7
Coupling/decoupling segments 35
Coupling/decoupling segments via HMI 35 M
Coupling/decoupling segments via KRL 35 MAU 7
CR 6 MAU warning 7
Messages 49
D MPM 7
Diagnosis 37
Diagnostic data, displaying 37 O
Diagnostic Monitor (menu item) 37 Offset, setting 33
DIP switches, master module 21 Operation 35
DIP switches, slave module 22 Overview 9
Documentation, industrial robot 5
DTM 6 P
PCI 7
E PCI slot assignment 13
Error messages 49 PCP 7
External power supply to slave 18 PCP functionality 10
PCP functionality of the slave 44
F PDU 7
FOC 7 PLC 7
FSMA 6 Polymer fiber cable 7
FW 6 Product description 9
Properties 9
H
HCS fiber 6 R
HW 6 Recommissioning 15
Remote bus 6
I
I/O 6 S
IBS 6 Safety 11
IBS PCI SC controller board 10 Safety instructions 5
IBS PCI SC/RI-LK 15 Service, KUKA Roboter 55
IBS SC/RI/I-T 18 Start-up 15
IBSPCI.XML, configuring 24 Status information of the driver 38
Installation 13 Support request 55
Interbus 6 SW 7
Interbus driver, activating/deactivating 36 System requirements 13
INTERBUS master and slave, configuring 32
INTERBUS master, configuring 29 T
INTERBUS slave, configuring 30 Target group 5
INTERBUS, installing (VSS) 14 Telnet 7
INTERBUS, installing or updating (KSS) 13 Trademarks 6
INTERBUS, uninstalling (KSS) 14 Training 5
Introduction 5
IOCTL commands 41 W
ISA 6 Warnings 5
K
KCP 7
KR C 7
KRL 7

Interbus 1.1

Interbus 1.1

KR C4 Interbus 11 en

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Controller Option KUKA Roboter GmbH

For KUKA System Software 8.2

Version: KR C4 Interbus 1.1 V2 en (PDF)

Publication: Pub KR C4 Interbus 1.1 (PDF) en

2 / 65 Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)

2 Product description ..................................................................................... 9

5 Start-up and recommissioning ................................................................... 15

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8.2 Status information of the driver .................................................................................. 38

10 KUKA Service ............................................................................................... 55

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1.1 Target group

For optimal use of our products, we recommend that our customers

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

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

These warnings mean that death or severe injuries may

These warnings mean that minor injuries may occur, if

These warnings mean that damage to property may oc-

These warnings contain references to safety-relevant information or

This warning draws attention to procedures which serve to prevent or remedy

Procedures marked with this warning must be followed

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

Windows is a trademark of Microsoft Corporation.

1.5 Terms used

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The Interbus PCI interface is a combined master/slave controller board. Mas-

The range of functions of the G4 firmware (= 4th generation) is re-

Properties  Data transmission via ring system

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 Up to 4096 I/Os (FW version 4.49)

Compatibility KR C4 Interbus 1.1 is compatible with the following field buses:

2.2 IBS PCI SC controller board

2.3 PCP functionality

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The “Safety” chapter in the operating instructions or as-

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4.1 System requirements

Robot controller Hardware:

Laptop/PC  The system requirements for installation of WorkVisual are contained in

4.1.1 PCI slot assignment

Fig. 4-1: Installing the master and slave cards

Slot Designation Plug-in card

The KR C4 cannot be operated with multiple master or slave cards.

4.2 Installing or updating INTERBUS (KSS)

Description There is an option CD for INTERBUS:

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If a version of INTERBUS is already installed, its configuration is carried over

It is advisable to archive all relevant data before updating a software

Precondition  Software on KUKA.USBData stick

Only the KUKA.USB data stick may be used. Data may

Procedure 1. Plug in USB stick.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.