Kuka Interbus 1.1 - Product Description of Interbus Interface; Interbus PCI Interface Overview

9 / 65Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
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 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
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.