Kuka Interbus 1.1 User Manual

45 / 65Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
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
using object
5FFE subin-
dex 1
Variable,
max. 240
bytes
Read-only
0x5FFF 1 0 ... 127 128 bytes Read-only
0x5FFF 2 128 ... 255 128 bytes Read-only
0x5FFF 3 256 ... 383 128 bytes Read-only
0x5FFF 4 384 ... 511 128 bytes Read-only
0x5FFF 5 512 ... 639 128 bytes Read-only
0x5FFF 6 640 ... 767 128 bytes Read-only
0x5FFF 7 768 ... 895 128 bytes Read-only
0x5FFF 8 896 ... 1023 128 bytes Read-only
0x5FFF 9 1024 ...
1151
128 bytes Read-only
0x5FFF 10 1152 ...
1279
128 bytes Read-only
0x5FFF 11 1280 ...
1407
128 bytes Read-only
0x5FFF 12 1408 ...
1535
128 bytes Read-only
0x5FFF 13 1536 ...
1663
128 bytes Read-only
0x5FFF 14 1664 ...
1791
128 bytes Read-only
0x5FFF 15 1792 ...
1919
128 bytes Read-only
0x5FFF 16 1920 ...
2047
128 bytes Read-only
0x5FFF 17 2048 ...
2175
128 bytes Read-only
0x5FFF 18 2176 ...
2303
128 bytes Read-only
0x5FFF 19 2304 ...
2431
128 bytes Read-only

Kuka Interbus 1.1 Specifications

General

Brand	Kuka
Model	Interbus 1.1
Category	Industrial Equipment
Language	English

Summary

Introduction to Interbus 1.1

Target Group and Prerequisites

Identifies the intended audience and necessary knowledge for users of the documentation.

Documentation Overview

Lists the various documents comprising the industrial robot documentation.

Warnings and Notes Conventions

Explains the meaning of different warning symbols and notes used in the manual.

Trademarks

Lists the trademarks mentioned in the document, such as Windows.

Glossary of Terms

Defines key terms and abbreviations used throughout the manual.

Product Description of Interbus Interface

Interbus PCI Interface Overview

Introduces the Interbus PCI interface, its components, and communication capabilities.

IBS PCI SC Controller Board Details

Describes the IBS PCI SC controller board, its versions, and card placement.

PCP Functionality Explained

Details the Peripherals Communication Protocol (PCP) capabilities of the Interbus slave.

Installation Guide for Interbus

System Requirements for Installation

Outlines the necessary hardware and software for installing the Interbus option.

PCI Slot Assignment Guidelines

Specifies the correct PCI slots for master and slave cards.

Installing or Updating INTERBUS (KSS)

Provides instructions for installing or updating the Interbus software package (KSS).

Installing INTERBUS (VSS)

Explains the installation process for INTERBUS when included with VSS.

Uninstalling INTERBUS (KSS)

Details the steps for removing the Interbus software package (KSS).

Start-up and Recommissioning Procedures

IBS PCI SC/RI-LK Controller Configuration

Details the configuration of the IBS PCI SC/RI-LK controller board, including its components.

Connecting Fiber-Optic Cables

Guides on how to connect fiber-optic cables to the controller board.

CMD Interface Usage

Explains how to use the CMD interface for configuration and diagnostics.

IBS PCI SC/RI/I-T Controller Configuration

Details the configuration of the IBS PCI SC/RI/I-T controller board.

External Power Supply for Slave

Describes the requirement and connection for the external 24V power supply for the slave module.

Interbus Configuration Guide

Configuration Overview

Provides a step-by-step overview of the Interbus configuration process.

Master Module DIP Switch Settings

Explains the DIP switch settings on the Interbus master module.

Slave Module DIP Switch Settings

Details the DIP switch configurations for the Interbus slave module.

Configuring the IBSPCI.XML File

Guides on how to configure the IBSPCI.XML file for Interbus settings.

Configuring the Bus with WorkVisual

Instructions for configuring the Interbus bus using WorkVisual software.

Interbus Operation

Coupling and Decoupling Segments

Explains how to couple and decouple segments for applications like tool changes.

Segment Operations via HMI

Details the procedure for coupling/decoupling segments using the HMI.

Segment Operations via KRL

Provides the syntax for coupling/decoupling segments using KUKA Robot Language (KRL).

Activating/Deactivating Interbus Driver

Describes how to activate or deactivate the Interbus driver via the HMI.

Interbus Diagnosis and Troubleshooting

Displaying Diagnostic Data

Instructions on how to access and view diagnostic information for the Interbus driver.

Driver Status Information

Explains the various status bits indicating the driver's state.

Master Module LED Indicators

Describes the meaning of diagnostic LEDs on the Interbus master module.

Slave Module LED Indicators

Explains the diagnostic LEDs on the Interbus slave module.

IOCTL Commands for Troubleshooting

Introduces IOCTL commands used for advanced troubleshooting and diagnosis.

Interbus Error Messages

KUKA.HMI Error Message Reference

Lists KUKA.HMI error messages, their reasons, effects, and remedies.

KUKA Service and Support

Requesting Support from KUKA

Provides information on how to contact KUKA for support and required details.

KUKA Customer Support Contacts

Lists KUKA customer support contacts by country for various regions.