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KR C2

edition2005

DeviceNet Interface

Option -- 00--130--697

Customer Documentation

Issued: 11 Mar 2005

Version: 00

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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 claim 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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Contents

1

Introduction

5

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

1.1

Use

5

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

1.2

Structure

5

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

2

Safety

6

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

2.1

Fundamentals

6

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

2.2

Additional safety instructions for the “DeviceNet interface”

6

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

2.3

Liability

7

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

2.4

Designated use

7

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

3

Product description

8

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

3.1

Control cabinet

8

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

3.2

Connection panel

9

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

3.2.1

Safety

9

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

3.2.2

Overview

9

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

4

Connector pin allocation

10

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

4.1

DeviceNet X12A and X12B SLAVE

10

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

4.2

DeviceNet X14 MASTER

11

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

DeviceNet Interface

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1

Introduction

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1

Introduction

The option “DeviceNet interface” makes it possible to connect user--specific input and

output signals to the KR C2 edition2005 control cabinet.

1.1

Use

A DeviceNet slave is made available on interface connectors X12A and X12B, and a

DeviceNet master connection is made available on connector X14.

The option “DeviceNet interface” provides the following function:

G

DeviceNet

1.2

Structure

The DeviceNet interface includes the following hardware components:

G

DeviceNet card

G

DeviceNet connector X12A SLAVE IN

G

DeviceNet connector X12B SLAVE OUT

G

DeviceNet connector X14 MASTER

DeviceNet Interface

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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 “DeviceNet 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.

2

Safety (continued)

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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 unit 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 “DeviceNet 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.

DeviceNet Interface

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3

Product description

3.1

Control cabinet

A

B

1

2

3

C

A

Front view

C

Inside of door

B

Inside right

1

Connection panel

3

DeviceNet card

2

CI3 Extended board

Fig. 1 Control cabinet, overview

3

Product description (continued)

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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

controller and the cables concerned must be deenergized.

3.2.2

Overview

2

4

1

3

1

X11

Customer interface

3

X12B DeviceNet connector SLAVE OUT

2

X12A DeviceNet connector SLAVE IN

4

X14

DeviceNet connector MASTER

Fig. 2 Connection panel overview

The installation positions of the connectors may vary from those illustrated here

depending on the cabinet equipment.

Info
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).

DeviceNet Interface

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4

Connector pin allocation

4.1

DeviceNet X12A and X12B SLAVE

CAN H

1

2

3

4

5

6

7

8

9 to 16

0 V

1

Not connected

2

Not connected

3

+24 V

4

PE

5

Not connected

6

CAN L

7

CAN H

8

Not connected

9 to 16

D

eviceN

et

2

X835

4

In

ter

face

X

11

18

36

3

1

5

X836 1

5

C

h

anne

l2

C

h

anne

l1

S

L

A

V

E

X14.2

3

4

2

1

0 V ext.

+24 V ext.

X12B

SLAVE OUT

Not connected

CAN L

Not connected

PE

+24 V

Not connected

Not connected

0 V

X12A

SLAVE IN

M

A

ST

ER

4

Connector pin allocation (continued)

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4.2

DeviceNet X14 MASTER

CAN L
CAN H

X14

4

3

1

2

5

6

7

8

9

10

11

+24 V

PE

0 V

0 V

+24 V

X14.1

4

2

3

1

D

eviceN

et

ch

an

n

el

2

M

A

ST

ER

2

4

1

5

X836

12

C

I3

E

xt

ende

d

boa

rd

1

2

3

4

X12

In

ter

face

X

11

90

72

In

ter

face

X

11

36

18

X14.2

3

4

3

0 V ext.

+24 V ext.

0 V int.

+24 V int.

Not connected

Not connected

Not connected

Not connected

Not connected

1

Index

Index -- i

Aufstell 11.9500 de

C

CI3 Extended board, 8

D

DeviceNet card, 8

I

Icons, Info, 9
Installation positions of the connectors, 9

P

Plug--and--socket connections, 9

S

Safety regulations, 6
Safety symbols, Warning, 6, 9

U

Use, 5

X

X11, 9
X12A, 9
X12B, 9
X14, 9