Interbus PCI 11.05.01 en

CONTROL CABINET

KR C2 edition2005

Interbus PCI Interface

Option 00--137--575

Customer Documentation

Issued: 26.03.2009

Version: 01

Interbus PCI 11.05.01 en

e

Copyright

2005

KUKA Roboter GmbH

Zugspitzstrasse 140

D--86165 Augsburg

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the

publishers.

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, however, and necessary corrections will be incorporated in subsequent editions.

Subject to technical alterations without an effect on the function.

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Interbus PCI 11.05.01 en

Contents

1

Introduction

5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1

Use

5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2

Configuration

6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

Safety

7

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1

Fundamentals

7

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Additional safety instructions for the “Interbus PCI Interface”

7

. . . . . . . . . . . . . . . . . . . . . . . . .

2.3

Liability

8

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4

Designated use

8

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3

Product description

9

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1

Control cabinet, overview

9

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

Connection panel

10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1

Safety

10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2

Overview

10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4

Connector pin allocation

11

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1

Additional information regarding peripheral connector X11 and X111

11

. . . . . . . . . . . . . . . . . .

4.2

X12A and X12B Interbus SLAVE

12

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3

X14 Interbus MASTER

13

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5

Interface signals X11/X111 (supplement)

14

. . . . . . . . . . . . . . . . . . . . . .

Interbus PCI Interface

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1

Introduction

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Interbus PCI 11.05.01 en

1

Introduction

The option “Interbus PCI Interface” makes it possible to connect user--specific
input and output signals to the KR C2 edition2005 control cabinet.

1.1

Use

The option “Interbus PCI Interface” is a field bus interface and can be used either
with the standard X11 interface (C13 boards) or with interface X111 (SafetyBUS
with I/Os). The load voltages US1 (24 V DC / 4 A) and US2 (24 V DC / 6 A) are
available at field bus connector X14. Load voltage US2 is connected to X14 via
contactors K9 and K10. Voltages 24 V DC / 4 A and 6 A are still available to the
customer, non--switched, at peripheral interface X11/X111.

The option “Interbus PCI Interface” provides the following functions:

G

Interbus

G

Peripheral interface X11/X111

G

Control voltage 24 V DC / 4 A

G

Control voltage 24 V DC / 6 A

G

Switched load voltage US2

Interbus PCI Interface

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Interbus PCI 11.05.01 en

1.2

Configuration

The basic cabinet is the KR C2 edition2005. Therefore this documentation only
describes the differences from the standard cabinet.

The option “Interbus PCI Interface” includes the following hardware components:

G

Peripheral connector X11/X111

G

Connectors X12A and X12B Interbus SLAVE

G

Connector X14 Interbus MASTER

G

Switched load voltage US2

G

Contactors K9 and K10

G

Terminal block X6

G

Connector bypack X12A, X12B and X14

2

Safety

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2

Safety

2.1

Fundamentals

Warning!

Failure to observe these safety instructions could result in injury or a fatal
accident and/or damage to the robot system or other property!

G

All pertinent safety regulations as well as the booklet [Safety and Installation
Instructions] are to be observed when working on the system.

G

The KUKA safety chapter [KRC Safety, General] is supplied with the robot
system and must be read and understood before commencing work.

G

The safety instructions in the KR C2 edition2005 Operating Handbook must
be observed.

G

Before connection, testing and installation work, always refer to the
accompanying circuit diagram.

2.2

Additional safety instructions for the “Interbus PCI Interface”

G

Installation, exchange and service work on this option or individual
components thereof may be performed only by qualified personnel specially
trained for this purpose and acquainted with the risks involved.

Interbus PCI Interface

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Interbus PCI 11.05.01 en

2.3

Liability

This option is designed and built using state--of--the--art technology and in
accordance with the recognized safety rules. Nevertheless, improper installation
of this option or its employment for a purpose other than the intended one may
constitute a risk to life and limb of operating personnel or of third parties, or cause
damage to or failure of the control cabinet, resulting in damage to or failure of the
entire robot system and other material property.

The option “Interbus PCI Interface” may only be used in technically perfect
condition in accordance with its designated use and only by safety--conscious
persons who are fully aware of the risks involved in its operation. Connection and
use must be carried out in compliance with this documentation.

2.4

Designated use

Using this option for any purpose other than or additional to that described in
Section 1.1 is considered contrary to its designated use. The manufacturer cannot
be held liable for any damage resulting from such use.
The risk lies entirely with the user.

No liability can be accepted if these directions are disregarded.

3

Product description

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3

Product description

3.1

Control cabinet, overview

1

2

3

1

Connection panel

3

Interbus card

2

Contactors K9 / K10 and terminal block X6

Fig. 1 Control cabinet, overview

Interbus PCI Interface

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Interbus PCI 11.05.01 en

3.2

Connection panel

All the connectors on the connection panel are plug--and--socket connections as
defined by VDE 0627.

Plug--and--socket connections must not be plugged or unplugged while the
controller is operational (i.e. energized).

Requirements:

G

Qualified technical personnel (skilled workers) trained in the handling of
systems and machines.

3.2.1

Safety

Warning!

Before the plug--and--socket connections are plugged or unplugged, the con-
troller and the cables concerned must be deenergized.

3.2.2

Overview

7

1

6

4

2

3

5

8

9

1

XS1

Power supply connection

2

X20

Motor connector

3

X11/X111 Peripheral interface

4

X12A Interbus SLAVE IN

5

X19

KCP connection

6

X21

RDC data cable

7

X12B Interbus SLAVE OUT

8

X14

Interbus MASTER

3

PE

Ground conductor

Fig. 2 Connection panel, overview

The installation positions of the connectors may vary from those illustrated here
depending on the cabinet equipment.

Further information
All contactor, relay and valve coils that are connected to the robot controller

by the user must be equipped with suitable suppressor diodes.

(RC elements and VCR resistors are not suitable.)

4

Connector pin allocation

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4

Connector pin allocation

4.1

Additional information regarding peripheral connector X11 and

X111

C

I3

E

xten

d

ed

X6

90

24 V DC control voltage

36

24 V DC control voltage

72

0 V control voltage

18

0 V control voltage

1

2

3

4

X12

1

3

5

7

P

er

iphe

ra

lc

onne

ct

o

X1

4

2

4

6

8

X11/X111

91

Coil K9/A2

92

Coil K9/A1

93

Coil K10/A2

94

Contact K9/54

95

Contact K9/21

96

Contact K10/22

97

+24 V external field bus

slave

98

0 V external field bus slave

K9

K10

K10

K9

In

te

rbus

--

S

1

2

X966

K9

6 A

4 A

Interbus PCI Interface

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Interbus PCI 11.05.01 en

4.2

X12A and X12B Interbus SLAVE

X12A

9

10

11

8

12

13--17

/DI

DI

COM

/D0

Not connected

Not connected

7

D0

In

te

rbus

--S

X830.2

1

6

X12B

10

11

COM

/DI

9

DI

7

D0

8

/D0

2

7

3

X830.3

1

6

2

7

3

5

6

1 --4

Not connected

PE

Not connected

5

6

Not connected

1 --4

12

14

16

13

15

17

Not connected

PE

Not connected

Not connected

Not connected

RBST
VCCI
Not connected

9

5

SLAVE IN

SLAVE OUT

4

Connector pin allocation (continued)

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Interbus PCI 11.05.01 en

4.3

X14 Interbus MASTER

In

te

rbus

--S

X14

10

11

COM

/DI

9

DI

7

D0

8

/D0

(MASTER)

X830.1

1

6

2

7

3

4

US1 / 24 V /4 A

3

US2 / 24 V /6 A switched

1

0 V US1

2

0 V US2

X6

7

5

1

3

8

6

2

4

P

er

iphe

ra

lc

onne

ct

or

X1

1/

X1

11

1

CI

3

E

xt

en

d

ed

15
16

Not connected

Not connected

14

Not connected

12

Not connected

13

Not connected

6

Not connected

5

PE

K10

K9

17

Not connected

Interbus PCI Interface

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5

Interface signals X11/X111 (supplement)

Interface signal

Pin

Description

Remarks

24 V control voltage
+24 V
0V

36
18

24 V control voltage
for supply to external devices
max. 4 A

This control voltage is available
to the customer.
Caution: max. 4 A

24 V control voltage
+24 V
0 V

90
72

24 V control voltage
for supply to external devices
max. 6 A

This control voltage is available
to the customer.
Caution: max. 6 A

Coil K9

91
92

0 V control voltage
24 V control voltage

Coil K10

93
94

0 V control voltage
24 V control voltage switched
via K9

Contact K9

95

Check--back contact
24 V DC

Contact K10

96

Check--back contact
24 V DC

24 V ext. field bus
+24 V
0 V

97
98

Power supply to IBS/PCI card

1

Index

Index -- i

C

Connection panel, 9
Connection panel, overview, 10
Connectors, 10
Control cabinet, overview, 9

I

Installation positions of the connectors, 10
Interbus card, 9

K

K9 / K10, 9

S

Safety instructions, 7

U

Use, 5

X

X12A, 10
X12B, 10
X14, 10
X6, 9