Controller Option

KR C5 EtherCAT
Configuration
For KUKA System Software 8.7
For VW System Software 8.7

Issued: 31.10.2022
KR C5 EtherCAT V2
KUKA Deutschland GmbH
KR C5 EtherCAT

© Copyright 2022
KUKA Deutschland 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 Deutschland 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 soft-
ware 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 regu-
lar basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation

Publication: Pub KR C5 EtherCAT (PDF) en

PB15734

Book structure: KR C5 EtherCAT V1.1

BS14248

Version: KR C5 EtherCAT V2

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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................................................................................. 7
2.1 Product description................................................................................................ 7
2.2 Intended use and misuse...................................................................................... 8

3 Safety......................................................................................................... 11

4 Configuration............................................................................................ 13
4.1 Overview................................................................................................................ 13
4.2 Preparing device description files......................................................................... 14
4.3 Inserting the KUKA Extension Bus in the project................................................ 14
4.4 Entering the IP address of the KUKA Line Interface........................................... 15
4.5 Modifying bus driver settings................................................................................ 15
4.5.1 “Master settings” tab............................................................................................. 16
4.6 Inserting devices manually.................................................................................... 16
4.7 Automatically inserting devices (bus scan).......................................................... 17
4.7.1 2-stage bus scan................................................................................................... 18
4.8 Configuring devices............................................................................................... 18
4.8.1 “General” tab......................................................................................................... 19
4.8.2 “Process data objects” tab.................................................................................... 20
4.8.3 Modules tab........................................................................................................... 21
4.9 Configuring File Access over EtherCAT............................................................... 22
4.10 Writing the alias address to devices.................................................................... 22
4.11 Checking and modifying the topology.................................................................. 23
4.11.1 Topology tab.......................................................................................................... 24

5 Operation.................................................................................................. 27
5.1 Decoupling/coupling devices................................................................................. 27
5.2 Activating/deactivating bus errors......................................................................... 28
5.3 Restarting the bus system.................................................................................... 28
5.4 Executing queries / changes................................................................................. 29
5.4.1 Querying the bus error status of SYS-X44.......................................................... 29
5.4.2 Querying whether EtherCAT slave is configured as a decouplable device........ 30
5.4.3 Querying whether a decouplable device is enabled or disabled......................... 30
5.4.4 Querying the operating mode of the EtherCAT slave.......................................... 30
5.4.5 Querying the timeout period for the coupling/decoupling of devices.................. 31
5.4.6 Changing the timeout period for the coupling/decoupling of devices.................. 31
5.4.7 Querying the number of configured devices........................................................ 31
5.5 Accessing EtherCAT SDO via KRL...................................................................... 32
5.5.1 Access via CANopen over EtherCAT (CoE)........................................................ 32
5.5.2 Access via File Access over EtherCAT (FoE)...................................................... 37

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5.5.3 Access via vendor-specific protocol over EtherCAT (VoE).................................. 48

5.5.4 Access via ADS over EtherCAT (AoE)................................................................. 51

6 Diagnosis.................................................................................................. 63
6.1 Displaying diagnostic data.................................................................................... 63
6.1.1 KUKA Extension Bus (SYS-X44).......................................................................... 63
6.2 Device diagnosis................................................................................................... 65
6.3 Topology diagnosis................................................................................................ 66

7 Messages.................................................................................................. 69
7.1 Information about the messages.......................................................................... 69
7.2 System messages from module: CrossMeld (KSS)............................................. 69
7.2.1 KSS13008.............................................................................................................. 69
7.2.2 KSS13011.............................................................................................................. 70
7.2.3 KSS13012.............................................................................................................. 74
7.2.4 KSS13013.............................................................................................................. 80
7.2.5 KSS13015.............................................................................................................. 81
7.2.6 KSS13016.............................................................................................................. 84
7.2.7 KSS13018.............................................................................................................. 86
7.2.8 KSS13020.............................................................................................................. 91
7.2.9 KSS13021.............................................................................................................. 92
7.2.10 KSS13068.............................................................................................................. 93
7.2.11 KSS13080.............................................................................................................. 97

8 KUKA Service........................................................................................... 99
8.1 Requesting support............................................................................................... 99
8.2 KUKA Customer Support...................................................................................... 99

Index 101

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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 field buses
• Knowledge of WorkVisual

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm

• Documentation for the robot controller
• Documentation for the smartPAD-2 or smartPAD pro (if used)
• Operating and programming instructions for the System Software
• Instructions for options and accessories
• Spare parts overview in KUKA Xpert
Each set of instructions is a separate document.

1.3 Representation of warnings and notes

Safety

These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur, if no precautions are taken.

WARNING
These warnings mean that death or severe injuries may occur, if no
precautions are taken.

CAUTION
These warnings mean that minor injuries may occur, if no precautions
are taken.

NOTICE
These warnings mean that damage to property may occur, if no precau-
tions are taken.

These warnings contain references to safety-relevant information or gen-

eral safety measures.
These warnings do not refer to individual hazards or individual precau-
tionary measures.

This warning draws attention to procedures which serve to prevent or rem-

edy emergencies or malfunctions:

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Introduction KR C5 EtherCAT

SAFETY INSTRUCTION
The following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices

These notices serve to make your work easier or contain references to

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

1.4 Trademarks

EtherCAT® is a registered trademark and patented technolo-

gy, licensed by Beckhoff Automation GmbH, Germany.

1.5 Terms used

Term Description

ADS Automation Device Specification

Field bus-independent standard from Beckhoff Automation GmbH
for communication between devices

CAN Controller Area Network

ESI EtherCAT Slave Information

File format for description of EtherCAT devices

FSoE FailSafe over EtherCAT

Protocol for transferring safety-relevant data via EtherCAT. An FSoE
master and an FSoE slave are used for this.

KLI KUKA Line Interface

Ethernet interface of the robot controller for external communication
(not real-time-capable).

SDO Service Data Objects

WorkVisual Engineering environment for KR C-controlled robot cells

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Product description
2 Product description

2.1 Product description

Description

EtherCAT is an Ethernet-based field bus suitable for real-time require-

ments.
The KR C5 robot controller is equipped with the XF8 EtherCAT interface
(KUKA Extension Interface). Any EtherCAT components can be connected
to the KUKA Extension Bus via this interface. Ethernet cables of perform-
ance class CAT 5 or higher can be used for the connection.
The KR C5 robot controller is always delivered as an EtherCAT master.

Fig. 2-1: Overview of interfaces for “Performance” system board

Functions

The following functions and device classes are supported:

• EtherCAT IO (cyclical communication)
• Slot-based devices (Modular Device Profile)
• Devices that are not slot-based
• CANopen over EtherCAT
• File Access over EtherCAT
• Vendor-specific over EtherCAT
• ADS over EtherCAT
• Gateway devices (for converting EtherCAT to other field buses)
‒ PROFIBUS
‒ DeviceNet
‒ EtherCAT Bridge
‒ VARAN slave
• Decouplable devices
• Creation and configuration of process data objects (only for
EL6695-1001 and slot-based devices)

Restrictions

The following functions and device classes are not supported, for exam-
ple:
• Servodrive over EtherCAT
• Ethernet over EtherCAT
• Slave-to-slave communication
• Creation and configuration of process data objects
• Modification of the configuration of process data objects
• Advanced settings (e.g. watchdog, timeout, mailbox protocol)

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Product description KR C5 EtherCAT

• Distributed Clocks
• Oversampling

The use of the robot controller as an EtherCAT slave or FSoE slave is

only possible with EtherCAT Bridge or EtherCAT Bridge FSoE.
Further information can be found in the EtherCAT Bridge FSoE (M/M)
documentation.

Compatibility

KR C5 EtherCAT is compatible with the following field buses:

• KUKA.PROFINET® M/S 6.0
• KUKA.PROFINET® -/S 6.0
• KUKA.EtherNet/IP™ M/S 5.1
• KUKA.RS 232 1.0
• KR C5 PROFIBUS
• KR C5 DeviceNet
• EtherCAT Bridge
• EtherCAT Bridge FSoE
• VARAN slave

Configuration

The EtherCAT interface is configured on a laptop or PC. The following

software is required for configuration:
• WorkVisual 6.0
The requirements for installation of WorkVisual are contained in the
WorkVisual documentation.

Device types

The following device types are used:

• Master: A higher-level controller that controls all the components of a
system.
• Slave: A field device subordinated to a master. A slave consists of
one or more modules.

System limits

• Maximum number of EtherCAT slaves: 128

• Size of the process data: EtherCAT frame ≤ 1536 bytes

2.2 Intended use and misuse

Use

KR C5 EtherCAT is intended solely for the configuration and diagnosis of

EtherCAT bus modules on the KUKA Extension Bus using the
KUKA.WorkVisual software.

Misuse

Any use or application deviating from the intended use is deemed to be

misuse and is not allowed. The manufacturer cannot be held liable for any
resulting damage. The risk lies entirely with the user.
Examples of such misuse include:

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Product description
• Configuration of EtherCAT bus modules not in accordance with the
specified parameters

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Safety
3 Safety
This documentation contains safety instructions which refer specifically to
the product described here. The fundamental safety information for the in-
dustrial robot can be found in the “Safety” chapter of the operating or as-
sembly instructions for the robot controller.
Comply with safety-relevant information
The safe use of this product requires knowledge of and compliance with
fundamental safety measures. Death, severe injuries or damage to prop-
erty may otherwise result.
• The “Safety” chapter in the operating or assembly instructions of the
robot controller used must be observed.

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Configuration
4 Configuration

4.1 Overview

Step Description
1 Configure the higher-level controller with the manufacturer’s
configuration software.
Note: This step only needs to be carried out if a higher-lev-
el controller is being used. The required device description
file must be obtained from the device manufacturer.
The interface to the higher-level controller can be routed,
for example, via EtherCAT Bridge or EtherCAT Bridge
FSoE. Further information can be found in the EtherCAT
Bridge or EtherCAT Bridge FSoE documentation.
2 Prepare device description files.
(>>> 4.2 "Preparing device description files" Page 14)
3 Insert KUKA Extension Bus into project.
(>>> 4.3 "Inserting the KUKA Extension Bus in the project"
Page 14)
4 Enter the IP address of the KUKA Line Interface. (optional)
(>>> 4.4 "Entering the IP address of the KUKA Line Inter-
face" Page 15)
Note: The IP address of the KLI is required for online func-
tions such as the bus scan or device diagnosis.
5 Modify bus driver settings (optional).
(>>> 4.5 "Modifying bus driver settings" Page 15)
6 Insert EtherCAT devices manually or automatically into the
bus.
(>>> 4.6 "Inserting devices manually" Page 16)
(>>> 4.7 "Automatically inserting devices (bus scan)"
Page 17)
7 Configure the EtherCAT devices.
(>>> 4.8 "Configuring devices" Page 18)
8 Configure File Access over EtherCAT (optional).
(>>> 4.9 "Configuring File Access over EtherCAT"
Page 22)
9 Write alias address to devices (optional).
(>>> 4.10 "Writing the alias address to devices" Page 22)
10 Check the topology in the Topology editor and modify it if
necessary.
(>>> 4.11 "Checking and modifying the topology" Page 23)
11 Map the inputs and outputs in WorkVisual.
12 Transfer the bus configuration from WorkVisual to the robot
controller.

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Configuration KR C5 EtherCAT

Information about procedures in WorkVisual is contained in the WorkVi-

sual documentation. Information about procedures in the configuration
software of the higher-level controller can be found in the
documentation for this software.

4.2 Preparing device description files

WorkVisual requires the associated device description files for the configu-
ration of EtherCAT devices. The files can be downloaded from the website
of the vendor.

Precondition

• There is no project open.

Procedure

1. Select the menu sequence File > Import / Export. A window opens.
2. Select Import device description file. and click on Next >.
3. Click on Search.... Another window opens.
4. Select the file format EtherCAT ESI.
5. Navigate to the directory in which the device description files are loca-
ted.
6. Select the files to be imported and click on Open. A list is displayed
of the device description files that are to be imported.
7. Confirm with Next >. A list is displayed of the devices that are to be
imported.
8. Click on Finish. The devices are imported.
9. Close the window.

The following applies to device description files that contain a reference

to further files: Only the file that contains the references must be impor-
ted. The files to which the references refer are automatically imported.
All files must be in the same directory. If a file could not be found, this
is indicated by a message.

4.3 Inserting the KUKA Extension Bus in the project

Precondition

• A project is open.
• The robot controller has been set as the active controller.

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. Select the entry KUKA Extension Bus (SYS-X44)
and confirm with OK. The entry is inserted in the tree structure.

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Configuration
4.4 Entering the IP address of the KUKA Line Interface

Description

In order to be able to perform online functions (e.g. bus scan, diagnosis),

the IP address of the KLI must be entered.

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• KUKA Extension Bus (SYS-X44) is inserted.

Procedure

1. Right-click on the KUKA Extension Bus (SYS-X44) entry on the

Hardware tab in the Project structure window.
2. Select Settings… from the context menu. The Settings… window
opens.
3. Select the Master settings tab.
4. Enter the IP address of the KLI and confirm with OK.

4.5 Modifying bus driver settings

Description

The bus driver settings can be modified.

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• KUKA Extension Bus (SYS-X44) is inserted.

Procedure

1. Right-click on the KUKA Extension Bus (SYS-X44) entry on the

Hardware tab in the Project structure window.
2. Select Settings… from the context menu. The Settings… window
opens.
3. Select the Master settings tab.
(>>> 4.5.1 "“Master settings” tab" Page 16)
4. Modify the desired settings and confirm with OK.

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4.5.1 “Master settings” tab

Fig. 4-1: “Master settings” tab

Box Description
Bus cycle time Update time of the bus instance

• 0.25 … 12 ms
Default value: 4 ms
Topology refresh Update time of the topology
time
• 100 … 5000 ms
Default value: 1000 ms
Restart after error • Automatic: Following an error, the bus in-
stance is automatically rebooted.
• Manual: Following an error, the bus in-
stance is not rebooted.
Default setting: Manual

4.6 Inserting devices manually

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• KUKA Extension Bus (SYS-X44) is inserted.

Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on EtherCAT under the KUKA Extension Bus (SYS-X44)
entry and select Add… from the context menu. A window opens.
3. If a bus device is to be added: Continue with step 4.
If a bus coupler is to be added: Select the bus coupler, e.g. EK1100
EtherCAT coupler (2A E-Bus), and confirm with OK. The bus coupler
is inserted in the tree structure.
Further modules can be inserted under a bus coupler (e.g. input or
output terminals, gateways, etc.).

4. Select the EtherCAT device used and confirm with OK. The device is
inserted in the tree structure.

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Configuration
5. If further devices are to be inserted, repeat steps 2 to 4 for these de-
vices.

4.7 Automatically inserting devices (bus scan)

Description

The bus devices can be inserted automatically. For this, the user can start
a scan in WorkVisual to determine which devices are connected to the re-
al bus. The corresponding devices are then inserted automatically into the
bus structure in WorkVisual.

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• KUKA Extension Bus (SYS-X44) is inserted.
• The IP address of the KUKA Line Interface is entered.
• Network connection to the real robot controller
• The devices are connected to the real robot controller.
• The device description files (ESI files) with the corresponding revision
have been imported into WorkVisual.

Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the KUKA Extension Bus (SYS-X44) entry and select
Connect from the context menu. The connection is established.
3. Right-click on the KUKA Extension Bus (SYS-X44) entry again and
select Scan Topology… > EtherCAT from the context menu. The
Topology Scan Wizard window is opened.
4. Click on Next > to start the scan. When the scan is completed, Work-
Visual displays all the devices found in the window on the left. Each
device is represented by a number (= product code).
5. Select a device. In the window on the right, WorkVisual displays a list
of the device description files which have the same product code.
These are usually different versions of the same device description
file.
6. If the list contains a number of device description files, scroll down the
list and check if the file of the device that is actually used is selected.
If a different file is marked, select the option Manual selection and
select the correct file.
7. Repeat steps 5 and 6 for all devices shown.
8. Click on Next > to confirm the assignment.
9. To assign the devices, click on Finish.
10. Only for slot-based devices:
a. Transfer the project to the robot controller.
b. Repeat steps 3 and 4. When the scan is completed, WorkVisual
displays the device modules found in the window on the left.
c. Click on Finish. The modules are now present on the Modules
tab.

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4.7.1 2-stage bus scan

Description

The 2-stage bus scan only has to be carried out for devices which require
the process data objects to be uploaded (= PDO upload).

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• KUKA Extension Bus (SYS-X44) is inserted.
• The IP address of the KUKA Line Interface is entered.
• Network connection to the real robot controller
• The devices are connected to the real robot controller.
• The bus is in PreOp operating mode.
(>>> 6.1.1 "KUKA Extension Bus (SYS-X44)" Page 63)

Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the KUKA Extension Bus (SYS-X44) entry in the tree
structure and select Connect from the context menu. The connection
is established.
3. Right-click on the KUKA Extension Bus (SYS-X44) entry and select
Scan Topology… > EtherCAT from the context menu. The Topology
Scan Wizard window is opened.
4. Click on Next > to start the scan. When the scan is completed, Work-
Visual displays all the devices found in the window on the left. Each
device is represented by a number (= product code).
5. Select a device. In the window on the right, WorkVisual displays a list
of the device description files which have the same product code.
These are usually different versions of the same device description
file.
6. If the list contains a number of device description files, scroll down the
list and check if the file of the device that is actually used is selected.
If a different file is marked, select the option Manual selection and
select the correct file.
7. Repeat steps 5 and 6 for all devices shown.
8. Click on Next > to confirm the assignment.
9. To assign the devices, click on Finish. A message is displayed indi-
cating that the bus scan must be performed again.
10. Check whether the process data objects have been uploaded.
11. Transfer the project to the robot controller and activate it.
12. Open the project from the robot controller in WorkVisual.
13. Repeat steps 1 to 10.

4.8 Configuring devices

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• Devices are inserted into the bus.

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Configuration
Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Settings… from the context
menu. A window opens with the device settings.
3. Make the desired settings on the General tab.
(>>> 4.8.1 "“General” tab" Page 19)
4. If the Distributed clocks tab is present: Deactivate the distributed
clocks.
5. Make the desired settings on the Process data objects tab.
(>>> 4.8.2 "“Process data objects” tab" Page 20)
6. If the Modules tab is present, modify the desired parameters.
(>>> 4.8.3 "Modules tab" Page 21)
7. Save the settings by selecting OK.

4.8.1 “General” tab

Fig. 4-2: General tab

Addresses

Box Description
EtherCAT address The EtherCAT address is assigned automatical-
ly. The address can be changed using the Top-
ology tab.
(>>> 4.11 "Checking and modifying the topolo-
gy" Page 23)
EtherCAT alias Alias address for decouplable devices, e.g. tool
changer
The alias address is required for coupling/
uncoupling decouplable devices during opera-
tion. The alias address can be changed using
the Topology tab.
(>>> 4.11 "Checking and modifying the topolo-
gy" Page 23)

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Device identification

Box Description
Check vendor ID • Check box active: The manufacturer ID is
checked when booting up the device.
• Check box not active: The manufacturer
ID is not checked.
Check product code • Check box active: The product number is
checked when booting up the device.
• Check box not active: The product num-
ber is not checked.
Check revision num- Procedure for checking the revision number of
ber the device. The revision numbers that can be
selected depend on the device.

• OFF: The revision number is not checked.

• EQ: A check is made to see if the revision
number matches.
• LW_EQ: A check is made to see if the low-
order 16 bits of the revision number match.
The default setting is read from the device de-
scription file.

4.8.2 “Process data objects” tab

Fig. 4-3: “Process data objects” tab (example)

Box Description
Use • Check box active: The process data object is
used.
• Check box not active: The process data object is
not used.
SM Another Sync Manager can be assigned to the process
data object.

The settings on this tab depend on the device used. Further information
about the settings can be found in the manufacturer’s documentation for
the device.

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4.8.3 Modules tab

Fig. 4-4: “Modules” tab (example)

Item Description
1 Slots on the device
The number of slots displayed depends on the device selected.
The number of slots displayed is always the maximum number
possible for the device.
There are 2 possible methods for assigning a module to a slot:

• Select the desired group in the module window. Click on the

desired module in the group and drag it onto a compatible
slot. If the module is marked, the compatible slots are high-
lighted in orange.
• Assign a module to a next available slot: Select the desired
group in the module window and double-click on the desired
module.
2 Parameter window
Displays the module-specific parameters. The values of the pa-
rameters can be changed.
3 Search box
The search box can be used to search for modules. The search
is a full-text search.
4 Module window
The modules are divided into groups.
5 Module description
Describes the module type and properties.
6 Parameter description
Describes the parameters that can be set in the parameter win-
dow.

For devices that are not slot-based, only the parameter window and the
parameter description are shown on this tab.

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The parameters on this tab depend on the device used. Further informa-
tion about the parameters can be found in the manufacturer’s documen-
tation for the device.

4.9 Configuring File Access over EtherCAT

Description

File Access over EtherCAT can be used to load files from a device or to
save them on a device.

Precondition

• The device supports the File Access over EtherCAT function.

• The device is connected and active.
• A project is open.
• The robot controller has been set as the active controller.
• The device is inserted into the bus.

Procedure

Load file from the device:

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Connect from the context menu.
The connection to the device is being established.
3. Right-click on the device again and select Functions > Upload file
from the context menu.
4. A window opens. Navigate to the location of the file to be loaded by
the device.
5. Enter a name and click on Save.
Save file to device:
1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Connect from the context menu.
The connection to the device is being established.
3. Right-click on the device again and select Functions > Download file
from the context menu.
4. A window opens. Navigate to the location of the file to be saved on
the device.
5. Select the file and click on Save.

4.10 Writing the alias address to devices

Description

With WorkVisual, the alias address can be written directly to a device. If

the alias address of a device matches the alias address that has been
configured for this device, the device can be used as a decouplable de-
vice.

Precondition

• The device is connected and active.

• WorkVisual:

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Configuration
‒ A project is open.
‒ The robot controller has been set as the active controller.
‒ The device is inserted into the bus.
• Real robot controller:
‒ User group “Expert” or higher
‒ T1 mode
‒ The safety controller does not give a drives enable signal.
‒ This status can be brought about in the following way: trigger
an EMERGENCY STOP.
‒ This status can be checked as follows: In the status bar, click
on the Drives status indicator. The Motion conditions window
opens. The Drives enabled from Safety box must be gray. It
must not be green.
Information about the status bar can be found in the operat-
ing and programming instructions for the system software.

Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Connect from the context menu.
The connection to the device is being established.
3. Right-click on the device again and select Functions > Assigning
alias address... from the context menu. The Alias address assign-
ment window opens. The current alias address of the device is dis-
played in the Alias address box.
4. Modify the address as desired and confirm with OK.
5. Restart the device.

4.11 Checking and modifying the topology

Description

If devices are inserted into the bus, WorkVisual connects the devices au-
tomatically. As WorkVisual does not know the real bus configuration, a
check must be carried out to determine whether the connections match
this configuration. If this is not the case, the connections must be modified
accordingly. The topology is not modified following subsequent modifica-
tions to the bus configuration. As a result, a check must be carried out to
determine whether the connections match in this case as well.

Precondition

• A project is open.
• The robot controller has been set as the active controller.
• Devices are inserted into the bus.

Procedure

1. Right-click on the KUKA Extension Bus (SYS-X44) entry on the

Hardware tab in the Project structure window.
2. Select Settings… from the context menu. The Settings… window
opens.
3. Select the Topology tab.
(>>> 4.11.1 "Topology tab" Page 24)

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Configuration KR C5 EtherCAT

4. Make the desired modifications:

• Delete invalid connections: Right-click on the connection and
select Delete.
Alternatively: Select the connection and press the “Del” key.
• Insert missing connections: Click on a connection and hold down
the mouse button. Drag the mouse pointer to another connection
and release the mouse button.
• Rearrange the devices using Drag&Drop. This serves to increase
the clarity of the Topology tab. It has no effect on the bus.
• Select the individual devices and modify the desired properties,
e.g. the alias address, in the Properties window.
5. Click on OK.

4.11.1 Topology tab

Fig. 4-5: “Topology” tab (example)

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Configuration
Item Description
1 Connection
Each device can have up to 4 connections. Connection A is the designation for the
input. The number and designation of the outputs (connections B, C and D) depend
on the design of the device. The input of every device must be connected to the
output of a device that is in the line topology. The connections must match the real
topology.
An output can only be connected to an input. No cyclical dependencies are possible.
2 Permanent connection
A solid line indicates a permanent connection between 2 devices.
3 Device
The number specifies the physical address of the device.
When a device is selected, the properties of the device, e.g. the address and alias
address, are displayed in the Properties window. Some of the properties can be
changed. For decouplable devices, it essential for an alias address to be assigned.
Note: These properties are saved in the WorkVisual project and on the robot con-
troller, but not on the device itself. If, for example, the alias address is modified
here, this has no effect on the alias address on the device. When coupling and de-
coupling the device, the alias address displayed here is compared with the alias ad-
dress on the device in order to identify the device unambiguously.
4 Decouplable connection
A dotted line indicates a decouplable connection between 2 devices.
5 The device is sending one or more messages.
6 Message area
The message area shows if a device has an invalid address or alias address. The
message area can be collapsed in order to enlarge the graphic display area. The
message area is only displayed if messages are active.

Buttons

Button Description
Print Prints the graphic.
The graphic is printed as displayed. It is possible to zoom in and out to
make the graphic larger or smaller – for example, to display just one sec-
tion.
To use the zoom function, click anywhere in the tab. Then hold down the
CTRL key and move the mouse wheel up or down. Moving it upwards
makes the graphic larger; moving it downwards makes the graphic smaller.

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Operation
5 Operation

5.1 Decoupling/coupling devices

Description

Decouplable devices have the following properties:

• After booting or reconfiguration, a decouplable device is not automati-
cally integrated into the bus. The device remains in the INIT state, but
this does not trigger an error.
• After a restart of the bus system or a reboot of the robot controller,
the state that the decouplable device had before the restart is re-
stored.
• If a decouplable device is coupled and is then disconnected from the
bus without first decoupling it, this triggers a bus error.
• If an attempt is made to couple a decouplable device that is not
present on the bus, this does not trigger a bus error.

Precondition

• An alias address has been written to the decouplable device.

(>>> 4.10 "Writing the alias address to devices" Page 22)
• The alias address of the decouplable device has been stored in Work-
Visual. (>>> 4.11 "Checking and modifying the topology" Page 23)

KRL syntax

Decoupling:
ioRet = IOCTL("SYS-X44", 60, Device address)
Coupling:
ioRet = IOCTL("SYS-X44", 50, Device address)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 A general error has occurred in the EtherCAT I/O driver
during execution of the IOCTL function.
0 The device was successfully decoupled/coupled.
0x98110000 A general error has occurred in the EtherCAT master
stack during execution of the IOCTL function.
0x9811000C The transferred device address could not be assigned to
a configured EtherCAT device.
2 The name of the bus instance could not be assigned to a
configured field bus. This is the case, for example, if the
bus instance has not been configured or there is no I/O
mapping for this bus instance.
17 The IOCTL function could not be sent to the field bus.

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5.2 Activating/deactivating bus errors

Description

Bus errors can be disabled and re-enabled using the KRL function IOCTL.
As standard, bus errors are enabled. This leads to a stop and/or inhibits
active commands if a bus error occurs.
Disabling bus errors is possible for one or more bus instances. If bus er-
rors are disabled, the response is as follows:
• Bus error: no stop and/or inhibition of active commands
• Bus error: no error message in the message window of the smartHMI
• The following message is displayed in the message window of the
smartHMI:
KRC IO bus error suppression active for bus instance: {Bus instance}
{Bus instance}{Bus instance}
• If an error has already occurred for a bus instance, it is not possible
to re-enable bus errors.
Whether or not a bus error has occurred can be read in this case via the
system variable $IOBUS_INFO.
Enabling or disabling can be carried out either in a program via KRL dur-
ing the runtime or independently of a program via the smartHMI.

Procedure

On the smartHMI:
1. Select the menu sequence Display > Variable > Single.
2. In the Name box, enter:
• To disable: =IOCTL("KRC->SYS-X44", 1, 1)
• To enable: =IOCTL("KRC->SYS-X44", 1, 0)
3. Confirm by pressing the Enter key.
In the KRL program:
• Enter the following:
‒ To disable: retVal=IOCTL("KRC->SYS-X44", 1, 1)
‒ To enable: retVal=IOCTL("KRC->SYS-X44", 1, 0)
Return values for retVal:
Value Meaning
0 IOCTL function executed successfully
-4 Enabling not permissible because a bus error has occurred
-3 IOCTL function contains an incorrect parameter
-1 The specified bus driver or bus name was not found

5.3 Restarting the bus system

Description

After a bus error, the bus system can be restarted using IOCTL function
12.

KRL syntax

INT ioRet

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ioRet = IOCTL("SYS-X44", 12, 0)

Operation
Return values

The following return values are possible for ioRet:

Value Meaning
0 Restart of the bus system was successful.
-1 Restart of the bus system failed.

5.4 Executing queries / changes

Description

IOCTL functions can also be used to make queries or changes. Parame-

ters are required for some queries and changes. If no parameter is re-
quired, “0” is entered as the parameter in the syntax.

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", '[IOCTL function]', [Parameter])

Overview

Query Function Parameters

Bus error status of SYS-X44 H8001 -
EtherCAT slave is configured as a de- H8003 Device address
couplable device.
Decouplable device enabled/disabled H8004 Device address
Operating mode of the EtherCAT slave H8005 Device address
Timeout period for the coupling/decou- H8009 -
pling of devices
Number of configured devices H8109 -

Change Function Parameters

Timeout period for the coupling/decou- H8008 Timeout period
pling of devices in ms

5.4.1 Querying the bus error status of SYS-X44

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8001', 0)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 A general error has occurred in the EtherCAT I/O driver dur-
ing execution of the IOCTL function.
0 SYS-X44 is OK

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Value Meaning
2 The name of the bus instance could not be assigned to a
configured field bus. This is the case, for example, if the bus
instance has not been configured or there is no I/O mapping
for this bus instance.
17 The IOCTL function could not be sent to the field bus.

5.4.2 Querying whether EtherCAT slave is configured as a decouplable de-

vice

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8003', Device address)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 Device address not found / general error
0 EtherCAT slave is not configured as a decouplable device.
1 EtherCAT Slave is configured as a decouplable device.

5.4.3 Querying whether a decouplable device is enabled or disabled

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8004', Device address)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 Device address not found / general error
0 EtherCAT slave is disabled.
1 EtherCAT slave is enabled.

5.4.4 Querying the operating mode of the EtherCAT slave

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8005', Device address)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 Device address not found / general error
0 EtherCAT slave is not in the operating mode OPERATIONAL.

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Operation
Value Meaning
1 EtherCAT slave has no error and is in the operating mode
OPERATIONAL.

5.4.5 Querying the timeout period for the coupling/decoupling of devices

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8009', 0)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 General error
> 0 Current timeout period in ms

5.4.6 Changing the timeout period for the coupling/decoupling of devices

The default timeout period for the coupling/decoupling of devices is

5000 ms.

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8008', Timeout period in ms)

Return values

The following return values are possible for ioRet:

Value Meaning
-1 A general error has occurred in the EtherCAT I/O driver dur-
ing execution of the IOCTL function.
0 New timeout period has been set
2 The name of the bus instance could not be assigned to a
configured field bus. This is the case, for example, if the bus
instance has not been configured or there is no I/O mapping
for this bus instance.
17 The IOCTL function could not be sent to the field bus.

5.4.7 Querying the number of configured devices

The number also includes all decouplable devices that are not currently
connected to the bus.

Syntax

INT ioRet
ioRet = IOCTL("SYS-X44", 'H8109', 0)

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Operation KR C5 EtherCAT

Return values

The following return values are possible for ioRet:

Value Meaning
-1 General error
> 0 Number of configured devices

5.5 Accessing EtherCAT SDO via KRL

Overview

EtherCAT SDO can be accessed via KRL in the following ways:

• Access via CANopen over EtherCAT (CoE)
(>>> 5.5.1 "Access via CANopen over EtherCAT (CoE)" Page 32)
• Access via File Access over EtherCAT (FoE)
(>>> 5.5.2 "Access via File Access over EtherCAT (FoE)" Page 37)
• Access via vendor-specific protocol over EtherCAT (VoE)
(>>> 5.5.3 "Access via vendor-specific protocol over EtherCAT (VoE)"
Page 48)
• Access via ADS over EtherCAT (AoE)
(>>> 5.5.4 "Access via ADS over EtherCAT (AoE)" Page 51)

5.5.1 Access via CANopen over EtherCAT (CoE)

Read access

Function signature:"krl_ECat_Sys_X44_CoE_Read"
Function call:CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_CoE_Read", Slave address, CoE index, CoE
subindex, Buffer, Data length, Timeout, CoE access, Return value)

Write access

Function signature:"krl_ECat_Sys_X44_CoE_Write"
Function call:CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_CoE_Write", Slave address, CoE index, CoE
subindex, Buffer, Data length, Timeout, CoE access, Return value)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
CoE index [IN] The parameter can be used to read or write to
the entire CoE object.
Data type: INT
CoE subindex [IN] The parameter can be used to read or write to
individual values of the CoE object.
Data type: INT
Buffer [OUT] Buffer for the data to be read or written
Data type: CHAR array

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Operation
Parameter Description
Data length [IN/OUT] [IN]: Maximum length of the data to be read (in
bytes)
[OUT]: Actual length of the data read (in bytes)
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
CoE access [IN] Access to an individual element or to the entire
group
For access to the entire group: CoeObjSu-
bIdx=0
Data type: BOOL
Return value [OUT] Value that is returned after the function call
Data type: INT

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 8 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter CoE index has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -13 The parameter CoE subindex has the wrong
data type or is not in the valid range of val-
ues (UChar).
Stat.Msg_No = -14 The parameter Buffer has the wrong data
type or the value of the parameter Data
length is too great.
Stat.Msg_No = -15 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -16 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -17 The parameter CoE access has the wrong
data type.
Stat.Msg_No = -18 The parameter Return value has the wrong
data type.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The CoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The CoE interface contains an impermissible
combination of parameters
Stat.Msg_No = -34 The CoE interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface

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Operation KR C5 EtherCAT

Return value Description

Stat.Ret1 = #DATA_OK The data were read/written successfully.

Example 1

Read access to an individual index

1 DECL INT physAddr

2 DECL STATE_T State
3 DECL MODUS_T Mode
4 DECL CHAR sBuffer[128]
5 DECL INT nAtemRet, nDataLen
6 BOOL bTemp
7
8 nAtemRet = 'H98110000'
9 nDataLen = 128
10 bTemp = StrCopy(sBuffer[], " ")
11 IF (NOT bTemp) THEN
12 HALT
13 ENDIF
14
15 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_CoE_Read", 1004, 'H1008', 0,
sBuffer[], nDataLen, 200, FALSE, nAtemRet)
16 IF (State.Ret1 <> #DATA_OK) THEN
17 IF (State.Msg_No == -34) THEN
18 HALT
19 ELSE
20 HALT
21 ENDIF
22 ELSE
23 HALT
24 ENDIF
25
26 END

Line Description
1 … 6 Declaration of the required variables
8 … 9 Initialization of the variables that are used in the function
call
10 Buffer is cleared
11 … 13 If an error occurs while the buffer is being cleared, the
program is stopped.
15 Function is called
Here the name of the slave with the physical address
1004 is read.
16 … 18 If read access fails, an error code is generated. This is
contained in the variable nAtemRet. The error code can
be transformed into an English text using the function
CWRITE(..."krl_ECat_ApiErrorTxt"...).
(>>> "Example: Convert error code to text" Page 37)
19 If read access fails because the transfer parameters for
the CWrite call are not correct, a different error code is
generated. The relevant description can be found in the
table of error codes.

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Operation
Line Description
22 If read access was successful, the read value is con-
tained in the KRL variable sBuffer.

Example 2

Read access to a complete index

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet, nDataLen
4 DECL CHAR sBuffer[128]
5 DECL INT nVendorId
6 DECL INT nProdCode
7 DECL INT nRevNr
8 DECL INT nSerNr
9 DECL INT nNumSubIdx
10 DECL CHAR bySubIdx[2]
11 DECL INT OFFSET
12 BOOL bTemp
13
14 nAtemRet = 'H98110000'
15 nDataLen = 128
16 bTemp = StrCopy(sBuffer[], " ")
17 IF (NOT bTemp) THEN
18 HALT
19 ENDIF
20
21 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_CoE_Read", 1004, 'H1018', 'H0',
sBuffer[], nDataLen, 200, TRUE, nAtemRet)
22 IF (State.Ret1 <> #DATA_OK) THEN
23 AtemErrMsg(nAtemRet)
24 HALT
25 ELSE
26 nVendorId='H1', nProdCode='H1', nRevNr='H1',
nSerNr='H1'
27 bySubIdx[1]="X", bySubIdx[2]="X"
28 OFFSET=0
29 CAST_FROM(sBuffer[],OFFSET, bySubIdx[1], bySubIdx[2],
nVendorId, nProdCode, nRevNr, nSerNr)
30 nNumSubIdx=bySubIdx[1]
31 KrlMsgStringXInt("CoE-Rd(0x1018): '"'%1'"' -> %2",
"Num. Sub-Index", nNumSubIdx)
32 KrlMsgStringXInt("CoE-Rd(0x1018): '"'%1'"' -> %2",
"Vendor-ID", nVendorId)
33 KrlMsgStringXInt("CoE-Rd(0x1018): '"'%1'"' -> %2",
"Procuct-Code", nProdCode)
34 KrlMsgStringXInt("CoE-Rd(0x1018): '"'%1'"' -> %2",
"Revision-Nr.", nRevNr)
35 KrlMsgStringXInt("CoE-Rd(0x1018): '"'%1'"' -> %2",
"Serial-Nr.", nSerNr)
36 ENDIF
37 END

Line Description
1 … 12 Declaration of the required variables
14 … 15 Initialization of the variables that are used in the function
call
16 Buffer is cleared

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Operation KR C5 EtherCAT

Line Description
17 … 19 If an error occurs while the buffer is being cleared, the
program is stopped.
21 Function is called
The entire CoE object is read here.
22 … 24 If read access fails, an error code is generated. This is
contained in the variable nAtemRet. The error code can
be transformed into an English text using the function
CWRITE(..."krl_ECat_ApiErrorTxt"...).
(>>> "Example: Convert error code to text" Page 37)
25 … 35 If read access was successful, a message is generated.
This contains the values that have been read.

Example 3

Write access to an individual index

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet
4 DECL CHAR sBuffer[4]
5 DECL INT OFFSET, nNewVal
6
7 nAtemRet = 'H98110000'
8 nNewVal = 'H0815'
9 Offset=0
10 CAST_TO(sBuffer[],OFFSET, nNewVal)
11 IF (Offset == 4) THEN
12 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_CoE_Write", 1004,'H3004', 'H1',
sBuffer[], 4, 200, FALSE, nAtemRet)
13 IF (State.Ret1 - #DATA_OK) THEN
14 AtemErrMsg(nAtemRet)
15 HALT
16 ELSE
17 KrlMsgStringXInt("CoE-Wr(): '"'%1'"' -> ATEM-Ret=
%2", "CoE_Write(0x3004:01)", nAtemRet)
18 ENDIF
19 ELSE
20 HALT
21 ENDIF

Line Description
1 … 5 Declaration of the required variables
7 … 9 Initialization of the variables that are used in the function
call
10 The contents of the variable nNewVal are copied byte by
byte to the variable sBuffer[]. The value of the variable
Offset indicates the array position at which the copying
operation begins.
In this example, the variable Offset has the value zero;
therefore, after execution of the function, the variable
sBuffer[] contains the values {'H00', 'H00', 'H08', 'H15'}.

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Operation
Line Description
12 Function is called
CoE index 0x3004 and CoE subindex 0x01 are written
here.
13 … 15 If read access fails, an error code is generated. This is
contained in the variable nAtemRet.
16 … 17 If read access was successful, a message is generated.
This contains the values that have been written.
19 … 20 If an error occurs during execution of the function
CAST_TO() in line 10, the program is stopped. Alterna-
tively, generation of a message can be programmed
here.

Example: Convert error code to text

1 DEF Krl_Sdo()
2 AtemErrMsg('H9811004A')
3 HALT
4 AtemErrMsg('H98110047')
5 HALT
6 END
7 -------------------------------------------
8 DEF AtemErrMsg(nAtemRet : IN)
9 DECL INT nAtemRet
10 DECL STATE_T State
11 DECL MODUS_T Mode
12 DECL CHAR sAtemRet[128]
13 BOOL bOK
14
15 bOK = StrCopy(sAtemRet[], " ")
16 CWRITE($FCT_CALL,State, Mode, "krl_ECat_ApiErrorTxt",
nAtemRet, sAtemRet[])
17
18 IF (State.Ret1 == #DATA_OK) THEN
19 bOK = StrCopy($LOOP_MSG[], sAtemRet[])
20 ENDIF
21 END

Line Description
2, 4 Call of the function which converts the error code. The
error code used serves as an example.
9 … 13 Declaration of the required variables
15 Buffer is cleared
16 Function is called
The error code in the variable nAtemRet is converted
into text here.
18 … 20 If the function call was successful, the text is copied to
the variable $LOOP_MSG[].

5.5.2 Access via File Access over EtherCAT (FoE)

There are 2 types of access via FoE:

• Access to the file contents transferred as parameters (CHAR array).

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Operation KR C5 EtherCAT

• Access to the directory in which the file is stored in the file system.
The type of access varies depending on how many parameters are used
and which ones. The function call itself is identical for both types.

Read access (file contents)

Function signature: “krl_ECat_FoE_Read”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_FoE_Read", Slave address, File name, Buffer, Data
length, Password, Timeout, Return value, Return value FoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
File name [IN] Name of the file
It is not possible to specify the directory.
Data type: CHAR array
Buffer [OUT] Buffer for the file contents
The data are read to this buffer.
Data type: CHAR array
Data length [IN/OUT] [IN]: Maximum length of the data to be read (in
bytes). The length corresponds to the size of
the CHAR array of the parameter Buffer.
[OUT]: Actual length of the data read (in bytes)
Data type: INT
Password [IN] Password for access to the file contents
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT array
Return value FoE Return value of the FoE interface
[OUT]
The return value consists of an error code and
an error text. The error code is an integer val-
ue (bytes 1 … 4). This is followed by an error
text with a maximum length of 80 characters.
This contains the description of the error code.
Data type: CHAR array
Length: 84 bytes

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 8 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).

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Operation
Return value Description
Stat.Msg_No = -12 The parameter File name has the wrong data
type.
Stat.Msg_No = -13 The parameter Buffer has the wrong data
type or the data length of the parameter Data
length does not correspond to the size of the
CHAR array.
Stat.Msg_No = -14 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -15 The parameter Password has the wrong data
type.
Stat.Msg_No = -16 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -17 The parameter Return value has the wrong
data type.
Stat.Msg_No = -18 The parameter Return value FoE has the
wrong data type or the number of elements ≠
84.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The FoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The FoE interface contains an impermissible
combination of parameters.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The contents of the file were read successful-
ly.

Write access (file contents)

Function signature: “krl_ECat_FoE_Write”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_FoE_Write", Slave address, File name, Buffer, Data
length, Password, Timeout, Return value, Return value FoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
File name [IN] Name of the file
It is not possible to specify the directory.
Data type: CHAR array
Buffer [IN] Buffer containing the file contents
Data type: CHAR array

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Operation KR C5 EtherCAT

Parameter Description
Data length [IN] Length of the data to be written (in bytes). The
length corresponds to the size of the CHAR ar-
ray of the parameter Buffer.
Data type: INT
Password [IN] Password for access to the file contents
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT array
Return value FoE Return value of the FoE interface
[OUT]
The return value consists of an error code and
an error text. The error code is an integer val-
ue (bytes 1 … 4). This is followed by an error
text with a maximum length of 80 characters.
This contains the description of the error code.
Data type: CHAR array
Length: 84 bytes

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 8 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter File name has the wrong data
type.
Stat.Msg_No = -13 The parameter Buffer has the wrong data
type or the data length of the parameter Data
length does not correspond to the size of the
CHAR array.
Stat.Msg_No = -14 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -15 The parameter Password has the wrong data
type.
Stat.Msg_No = -16 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -17 The parameter Return value has the wrong
data type.
Stat.Msg_No = -18 The parameter Return value FoE has the
wrong data type or the number of elements ≠
84.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The FoE interface of the KUKA Extension
Bus is not initialized.

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Operation
Return value Description
Stat.Msg_No = -33 The FoE interface contains an impermissible
combination of parameters.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The contents of the file were written success-
fully.

Read access (directory)

Function signature: “krl_ECat_FoE_Read”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_FoE_Read", Slave address, File name, Data length,
Password, Timeout, Return value, Return value FoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
File name [IN] Name of the file with specification of the direc-
tory to which the read file is to be written
Data type: CHAR array
Data length [OUT] Actual length of the data read (in bytes)
Data type: INT
Password [IN] Password for access to the directory
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT
Return value FoE Return value of the FoE interface
[OUT]
The return value consists of an error code and
an error text. The error code is an integer val-
ue (bytes 1 … 4). This is followed by an error
text with a maximum length of 80 characters.
This contains the description of the error code.
Data type: CHAR array
Length: 84 bytes

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 7 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter File name has the wrong data
type.

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Operation KR C5 EtherCAT

Return value Description

Stat.Msg_No = -13 The parameter Data length has the wrong da-
ta type.
Stat.Msg_No = -14 The parameter Password has the wrong data
type.
Stat.Msg_No = -15 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -16 The parameter Return value has the wrong
data type.
Stat.Msg_No = -17 The parameter Return value FoE has the
wrong data type or the number of elements ≠
84.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The FoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The FoE interface contains an impermissible
combination of parameters.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The file was read successfully.

Write access (directory)

Function signature: “krl_ECat_FoE_Write”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_FoE_Write", Slave address, File name, Data length,
Password, Timeout, Return value, Return value FoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
File name [IN] Name of the file with specification of the direc-
tory in which the file to be written is located
Data type: CHAR array
Data length [IN] Actual length of the data written (in bytes)
Data type: INT
Password [IN] Password for access to the directory
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT

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Operation
Parameter Description
Return value FoE Return value of the FoE interface
[OUT]
The return value consists of an error code and
an error text. The error code is an integer val-
ue (bytes 1 … 4). This is followed by an error
text with a maximum length of 80 characters.
This contains the description of the error code.
Data type: CHAR array
Length: 84 bytes

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 7 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter File name has the wrong data
type.
Stat.Msg_No = -13 The parameter Data length has the wrong da-
ta type.
Stat.Msg_No = -14 The parameter Password has the wrong data
type.
Stat.Msg_No = -15 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -16 The parameter Return value has the wrong
data type.
Stat.Msg_No = -17 The parameter Return value FoE has the
wrong data type or the number of elements ≠
84.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The FoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The FoE interface contains an impermissible
combination of parameters.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The file was written successfully.

Example 1

Read access to the file contents

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet, nDataLen
4 DECL CHAR sBuffer[128]
5 DECL CHAR sFoeRet[84]
6 DECL INT nFoeRet, OFFSET

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Operation KR C5 EtherCAT

7 DECL CHAR sFoeRetTxt[80]

8
9 nAtemRet = 'H98110000'
10 Wait for StrCopy(sBuffer[], " ")
11 Wait for StrCopy(sFoeRet[], " ")
12 nDataLen = StrDeclLen(sBuffer[])
13
14 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_FoE_Read", 1001, "XData.txt",
sBuffer[], nDataLen, 0, 2000, nAtemRet, sFoeRet[])
15 IF (State.Ret1 <> #DATA_OK) THEN
16 AtemErrMsg(nAtemRet)
17 nFoeRet = -1
18 OFFSET=0
19 CAST_FROM(sFoeRet[],OFFSET,nFoeRet,sFoeRetTxt[])
20 KrlMsgStringXInt("FoE-Read() Fehler: '"'%1'"' - %2",
sFoeRetTxt[], nFoeRet)
21 HALT
22 ELSE
23 KrlMsgStringXInt("FoE-Read(): '"'%1'"' <-- ApiRet=%2",
"Read XData.txt ... OK", nAtemRet)
24 ENDIF

Line Description
1 … 7 Declaration of the required variables
9 Initialization of the variables that are used in the function
call
10 Clears the buffer to which the file contents are read
11 Clears the buffer for the return value of the FoE interface
12 Determines the maximum length of the buffer for the file
contents from the declaration of the variable sBuffer[]
14 Function is called
The contents of the file XData.txt are read here from the
slave.
15 … 16 If read access fails, an error code is generated. This is
contained in the variable nAtemRet.
17 … 18 Initialization of the variables nFoeRet and Offset. This is
necessary for the function CAST_FROM() in line 19 to
work correctly.
19 Evaluation of the return value of the FoE interface in the
event of an error
The function CAST_FROM() transfers the error code and
error text from the variable sFoeRet[] to the variables
nFoeRet and sFoeRetTxt[]. The error code (INT) is trans-
ferred to the variable nFoeRet, the error text (CHAR[]) to
the variable sFoeRetTxt[].
20 A message is generated in the event of an error. This
contains the error code and the error text.
21 If an error occurs during execution of the function
CAST_FROM() in line 19, the program is stopped.
23 If read access was successful, a message is generated.

Example 2

Read access to a directory

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Operation
1 DECL STATE_T State
2 DECL MODUS_T Mode
3 DECL INT nAtemRet, nDataLen
4 DECL CHAR sFoeRet[84]
5 DECL INT nFoeRet, OFFSET
6 DECL CHAR sFoeRetTxt[80]
7
8 nAtemRet = 'H98110000'
9 nDataLen = 0
10 Wait for StrCopy(sFoeRet[], " ")
11
12 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_FoE_Read", 1001, "Log/YData.txt",
nDataLen, 0, 2000, nAtemRet, sFoeRet[])
13 IF (State.Ret1 <> #DATA_OK) THEN
14 AtemErrMsg(nAtemRet)
15 nFoeRet = -1
16 OFFSET = 0
17 CAST_FROM(sFoeRet[],OFFSET,nFoeRet,sFoeRetTxt[])
18 KrlMsgStringXInt("FoE-Read() Fehler: '"'%1'"' - %2",
sFoeRetTxt[], nFoeRet)
19 HALT
20 ELSE
21 KrlMsgStringXInt("FoE-Read(): '"'%1'"' <-- ApiRet=%2",
"Read Log/YData.txt ... OK", nAtemRet)
22 ENDIF

Line Description
1 … 6 Declaration of the required variables
8 … 9 Initialization of the variables that are used in the function
call
10 Clears the buffer for the return value of the FoE interface
12 Function is called
Here the file YData.txt is read from the “Log” directory of
the slave.
13 … 14 If read access fails, an error code is generated. This is
contained in the variable nAtemRet.
15 … 16 Initialization of the variables nFoeRet and Offset. This is
necessary for the function CAST_FROM() in line 17 to
work correctly.
17 Evaluation of the return value of the FoE interface in the
event of an error
The function CAST_FROM() transfers the error code and
error text from the variable sFoeRet[] to the variables
nFoeRet and sFoeRetTxt[]. The error code (INT) is trans-
ferred to the variable nFoeRet, the error text (CHAR[]) to
the variable sFoeRetTxt[].
18 A message is generated in the event of an error. This
contains the error code and the error text.
19 If an error occurs during execution of the function
CAST_FROM() in line 17, the program is stopped.
21 If read access was successful, a message is generated.

Example 3

Write access to the file contents

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Operation KR C5 EtherCAT

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet, nDataLen
4 DECL CHAR sBuffer[128]
5 DECL CHAR sFoeRet[84]
6 DECL INT nFoeRet, OFFSET
7 DECL CHAR sFoeRetTxt[80]
8
9 nAtemRet = 'H98110000'
10 Wait for StrCopy(sBuffer[], "test data for FoE test")
11 Wait for StrCopy(sFoeRet[], " ")
12 nDataLen = StrLen(sBuffer[])
13
14 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_FoE_Write", 1001, "XData.txt",
sBuffer[], nDataLen, 0, 2000, nAtemRet, sFoeRet[])
15 IF (State.Ret1 <> #DATA_OK) THEN
16 AtemErrMsg(nAtemRet)
17 nFoeRet = -1
18 OFFSET=0
19 CAST_FROM(sFoeRet[],OFFSET,nFoeRet,sFoeRetTxt[])
20 KrlMsgStringXInt("FoE-Write() Fehler: '"'%1'"' - %2",
sFoeRetTxt[], nFoeRet)
21 HALT
22 ELSE
23 KrlMsgStringXInt("FoE-Write(): '"'%1'"' <-- ApiRet=
%2", "Write XData.txt ... OK", nAtemRet)
24 ENDIF

Line Description
1 … 7 Declaration of the required variables
9 Initialization of the variables that are used in the function
call
10 Writes the text “test data for FoE test” to the buffer
11 Clears the buffer for the return value of the FoE interface
12 Determines the actual length of the data in the buffer
14 Function is called
Here data are written to the file XData.txt from the slave.
15 … 16 If write access fails, an error code is generated. This is
contained in the variable nAtemRet.
17 … 18 Initialization of the variables nFoeRet and Offset. This is
necessary for the function CAST_FROM() in line 19 to
work correctly.
19 Evaluation of the return value of the FoE interface in the
event of an error
The function CAST_FROM() transfers the error code and
error text from the variable sFoeRet[] to the variables
nFoeRet and sFoeRetTxt[]. The error code (INT) is trans-
ferred to the variable nFoeRet, the error text (CHAR[]) to
the variable sFoeRetTxt[].
20 A message is generated in the event of an error. This
contains the error code and the error text.
21 If an error occurs during execution of the function
CAST_FROM() in line 19, the program is stopped.
23 If write access was successful, a message is generated.

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Operation
Example 4

Write access to a directory

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet, nDataLen
4 DECL CHAR sBuffer[128]
5 DECL CHAR sFoeRet[84]
6 DECL INT nFoeRet, OFFSET
7 DECL CHAR sFoeRetTxt[80]
8
9 nAtemRet = 'H98110000'
10 Wait for StrCopy(sFoeRet[], " ")
11
12 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_FoE_Write", 1001, "Log/YData.txt", 0,
2000, nAtemRet, sFoeRet[])
13 IF (State.Ret1 <> #DATA_OK) THEN
14 AtemErrMsg(nAtemRet)
15 nFoeRet = -1
16 OFFSET=0
17 CAST_FROM(sFoeRet[],OFFSET,nFoeRet,sFoeRetTxt[])
18 KrlMsgStringXInt("FoE-Write() Fehler: '"'%1'"' - %2",
sFoeRetTxt[], nFoeRet)
19 HALT
20 ELSE
21 KrlMsgStringXInt("FoE-Write(): '"'%1'"' <-- ApiRet=
%2", "Write Log/YData.txt ... OK", nAtemRet)
22 ENDIF

Line Description
1 … 7 Declaration of the required variables
9 Initialization of the variables that are used in the function
call
10 Clears the buffer for the return value of the FoE interface
12 Function is called
Here the file YData.txt is written to the “Log” directory of
the slave.
13 … 14 If write access fails, an error code is generated. This is
contained in the variable nAtemRet.
15 … 16 Initialization of the variables nFoeRet and Offset. This is
necessary for the function CAST_FROM() in line 17 to
work correctly.
17 Evaluation of the return value of the FoE interface in the
event of an error
The function CAST_FROM() transfers the error code and
error text from the variable sFoeRet[] to the variables
nFoeRet and sFoeRetTxt[]. The error code (INT) is trans-
ferred to the variable nFoeRet, the error text (CHAR[]) to
the variable sFoeRetTxt[].
18 A message is generated in the event of an error. This
contains the error code and the error text.
19 If an error occurs during execution of the function
CAST_FROM() in line 17, the program is stopped.
21 If write access was successful, a message is generated.

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Operation KR C5 EtherCAT

5.5.3 Access via vendor-specific protocol over EtherCAT (VoE)

Read access

Function signature: “krl_ECat_Sys_X44_VoE_Read”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_VoE_Read", Slave address, Buffer, Data
length, Timeout, Return value)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
Buffer [OUT] Buffer for the data to be read
Data type: CHAR array
Data length [IN/OUT] [IN]: Maximum length of the data to be read (in
bytes). The length corresponds to the size of
the CHAR array of the parameter Buffer.
[OUT]: Actual length of the data read (in bytes)
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 5 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter Buffer has the wrong data
type or the value of the parameter Data
length is too great.
Stat.Msg_No = -13 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -14 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -15 The parameter Return value has the wrong
data type.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The data were read successfully.

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 KR C5 EtherCAT

Operation
Write access

Function signature: “krl_ECat_Sys_X44_VoE_Write”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_VoE_Write", Slave address, Buffer, Data
length, Timeout, Return value)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
Buffer [OUT] Buffer for the data to be written
Data type: CHAR array
Data length [IN] Length of the data to be written (in bytes).
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value [OUT] Value that is returned after the function call
Data type: INT

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 5 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter Buffer has the wrong data
type or the value of the parameter Data
length is too great.
Stat.Msg_No = -13 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -14 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -15 The parameter Return value has the wrong
data type.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -34 The SDO interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The data were written successfully.

Example 1

Read access

1 DECL STATE_T State

2 DECL MODUS_T Mode

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Operation KR C5 EtherCAT

3 DECL INT nAtemRet, nDataLen

4 DECL CHAR sBuffer[128]
5
6 nAtemRet = 'H98110000'
7 nDataLen = 128
8 Wait for StrCopy(sBuffer[], " ")
9
10 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_VoE_Read", 1004, sBuffer[], nDataLen,
200, nAtemRet)
11 IF (State.Ret1 <> #DATA_OK) THEN
12 AtemErrMsg(nAtemRet)
13 HALT
14 ELSE
15 KrlMsgStringXInt("VoE-Rd(): '"'%1'"' <-- Len=%2",
sBuffer[], nDataLen)
16 ENDIF

Line Description
1 … 4 Declaration of the required variables
6 … 7 Initialization of the variables that are used in the function
call
8 Clears the buffer to which the data are read
10 Function is called
Here data are read from the slave with the physical ad-
dress 1004.
11 … 13 If read access fails, the program is stopped and an error
code is generated. This is contained in the variable nA-
temRet.
15 If read access was successful, a message is generated.

Example 2

Write access

DECL STATE_T State

DECL MODUS_T Mode
DECL INT nAtemRet
DECL CHAR sBuffer[128]
DECL INT OFFSET, nSerVal

nAtemRet = 'H98110000'
Wait for StrCopy(sBuffer[], "test")

CWRITE($FCT_CALL,State, Mode, "krl_ECat_Sys_X44_VoE_Write",

1004, sBuffer[], StrLen(sBuffer[]), 200, nAtemRet)
IF (State.Ret1 <> #DATA_OK) THEN
AtemErrMsg(nAtemRet)
HALT
ELSE
KrlMsgStringXInt("VoE-Wr(): '"'%1'"' -> ATEM-Ret=%2",
"VoE_Write", nAtemRet)
ENDIF

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Operation
Line Description
1 … 5 Declaration of the required variables
7 Initialization of the variable nAtemRet that is used in the
function call
8 Clears the buffer to which the data are written
10 Function is called
Here the string “test” is written to the slave with the phys-
ical address 1004.
11 … 13 If write access fails, the program is stopped and an error
code is generated. This is contained in the variable nA-
temRet.
15 If write access was successful, a message is generated.

5.5.4 Access via ADS over EtherCAT (AoE)

Read access (slave net ID)

Function signature: “krl_ECat_Sys_X44_AoE_GetSlaveNetId”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_GetSlaveNetId", Slave address, AoE
target net ID, Return value)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
AoE target net ID Addresses the desired device
[OUT]
Data type: CHAR array
Return value [OUT] Value that is returned after the function call
Data type: INT

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 3 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter AoE target net ID has the
wrong data type or fewer than 6 array ele-
ments.
Stat.Msg_No = -13 The parameter Return value has the wrong
data type.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.

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Operation KR C5 EtherCAT

Return value Description

Stat.Msg_No = -34 The AoE interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The slave net ID was read successfully.

Read access

Function signature: “krl_ECat_Sys_X44_AoE_Read”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_Read", Slave address, AoE target net ID,
AoE target port, AoE group index, AoE index offset, Buffer, Data
length, Timeout, Return value AoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
AoE target net ID [IN] Addresses a specific device
Data type: CHAR array
AoE target port [IN] Addresses a specific service on the device
Data type: INT
AoE group index [IN] The parameter can be used to read the entire
AoE group.
Data type: INT
AoE index offset [IN] The parameter can be used to read individual
values of the AoE group.
Data type: INT
Buffer [OUT] Buffer for the data to be read
Data type: CHAR array
Data length [IN/OUT] [IN]: Maximum length of the data to be read (in
bytes). The length corresponds to the size of
the CHAR array of the parameter Buffer.
[OUT]: Actual length of the data read (in bytes)
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value AoE Return value of the AoE interface
[OUT]
The return value is a CHAR array with 12
bytes, containing 4-byte values:

• AoE response error code (bytes 1-4)

• AoE command result code (bytes 5-8)
• Result code of the programming interface
(bytes 9-12)
Data type: CHAR array

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Operation
Return value Description
Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 9 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter AoE target net ID has the
wrong data type or fewer than 6 array ele-
ments.
Stat.Msg_No = -13 The parameter AoE target port has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -14 The parameter AoE group index has the
wrong data type.
Stat.Msg_No = -15 The parameter AoE index offset has the
wrong data type.
Stat.Msg_No = -16 The parameter Buffer has the wrong data
type or the value of the parameter Data
length is too great.
Stat.Msg_No = -17 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -18 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -19 The parameter Return value AoE has the
wrong data type or fewer than 12 array ele-
ments.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The AoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The AoE interface contains an impermissible
combination of parameters
Stat.Msg_No = -34 The AoE interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The data were read successfully.

Write access

Function signature: “krl_ECat_Sys_X44_AoE_Write”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_Write", Slave address, AoE target net
ID, AoE target port, AoE group index, AoE index offset, Buffer, Da-
ta length, Timeout, Return value AoE)

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Operation KR C5 EtherCAT

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
AoE target net ID [IN] Addresses a specific device
Data type: CHAR array
AoE target port [IN] Addresses a specific service on the device
Data type: INT
AoE group index [IN] The parameter can be used to write to the en-
tire AoE group.
Data type: INT
AoE index offset [IN] The parameter can be used to write to individ-
ual values of the AoE group.
Data type: INT
Buffer [IN] Buffer for the data to be written
Data type: CHAR array
Data length [IN] Length of the data to be written (in bytes).
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value AoE Return value of the AoE interface
[OUT]
The return value is a CHAR array with 12
bytes, containing 4-byte values:

• AoE response error code (bytes 1-4)

• AoE command result code (bytes 5-8)
• Result code of the programming interface
(bytes 9-12)
Data type: CHAR array

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 9 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter AoE target net ID has the
wrong data type or fewer than 6 array ele-
ments.
Stat.Msg_No = -13 The parameter AoE target port has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -14 The parameter AoE group index has the
wrong data type.
Stat.Msg_No = -15 The parameter AoE index offset has the
wrong data type.

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Operation
Return value Description
Stat.Msg_No = -16 The parameter Buffer has the wrong data
type or the value of the parameter Data
length is too great.
Stat.Msg_No = -17 The parameter Data length has the wrong da-
ta type or a value ≤ 0.
Stat.Msg_No = -18 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -19 The parameter Return value AoE has the
wrong data type or fewer than 12 array ele-
ments.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.
Stat.Msg_No = -32 The AoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The AoE interface contains an impermissible
combination of parameters
Stat.Msg_No = -34 The AoE interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The data were written successfully.

Read and write access

Function signature: “krl_ECat_Sys_X44_AoE_ReadWrite”

Function call: CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_ReadWrite", Slave address, AoE target
net ID, AoE target port, AoE group index, AoE index offset, Buffer,
Data length Write, Data length Read, Timeout, Return value AoE)

Description

Parameter Description
Slave address [IN] Physical address of the slave
Data type: INT
AoE target net ID [IN] Addresses a specific device
Data type: CHAR array
AoE target port [IN] Addresses a specific service on the device
Data type: INT
AoE group index [IN] The parameter can be used to read or write to
the entire AoE group.
Data type: INT
AoE index offset [IN] The parameter can be used to read or write to
individual values of the AoE group.
Data type: INT
Buffer [IN/OUT] Buffer for the data to be read and/or written
Data type: CHAR array
Data length Write [IN] Length of the data to be written (in bytes)

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Operation KR C5 EtherCAT

Parameter Description
Data length Read [IN/ [IN]: Maximum length of the data to be read (in
OUT] bytes). The length corresponds to the size of
the CHAR array of the parameter Buffer.
[OUT]: Actual length of the data read (in bytes)
Data type: INT
Timeout [IN] Maximum time for the access (in ms)
Data type: INT
Return value AoE Return value of the AoE interface
[OUT]
The return value is a CHAR array with 12
bytes, containing 4-byte values:

• AoE response error code (bytes 1-4)

• AoE command result code (bytes 5-8)
• Result code of the programming interface
(bytes 9-12)
Data type: CHAR array

Return value Description

Stat.Msg_No = -10 The function call contains too few or too
many parameters. The function call must con-
tain 10 parameters.
Stat.Msg_No = -11 The parameter Slave address has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -12 The parameter AoE target net ID has the
wrong data type or fewer than 6 array ele-
ments.
Stat.Msg_No = -13 The parameter AoE target port has the wrong
data type or is not in the valid range of val-
ues (UShort).
Stat.Msg_No = -14 The parameter AoE group index has the
wrong data type.
Stat.Msg_No = -15 The parameter AoE index offset has the
wrong data type.
Stat.Msg_No = -16 The parameter Buffer has the wrong data
type or the value of the parameter Data
length Write or Data length Read is too great.
Stat.Msg_No = -17 The parameter Data length Write has the
wrong data type or a value ≤ 0.
Stat.Msg_No = -18 The parameter Data length Read has the
wrong data type or a value ≤ 0.
Stat.Msg_No = -19 The parameter Timeout has the wrong data
type or a value ≤ 0.
Stat.Msg_No = -20 The parameter Return value AoE has the
wrong data type or fewer than 12 array ele-
ments.
Stat.Msg_No = -30 No connection can be established to the
SDO interface of the KUKA Extension Bus.
Stat.Msg_No = -31 The specified physical address of the slave
cannot be assigned to a slave.

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Operation
Return value Description
Stat.Msg_No = -32 The AoE interface of the KUKA Extension
Bus is not initialized.
Stat.Msg_No = -33 The AoE interface contains an impermissible
combination of parameters
Stat.Msg_No = -34 The AoE interface of the KUKA Extension
Bus signals an execution error at the pro-
gramming interface.
Stat.Ret1 = #DATA_OK The data were read and/or written successful-
ly.

Example 1

Read access to slave net ID

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nAtemRet
4 DECL CHAR sAdsNetId[6]
5 DECL CHAR sAdsNetIdString[64]
6 DECL INT OFFSET
7
8 nAtemRet = 'H98110000'
9 Wait for StrCopy(sAdsNetId[], " ")
10
11 CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_GetSlaveNetId", 1001, sAdsNetId[],
nAtemRet)
12 IF (State.Ret1 <> #DATA_OK) THEN
13 KrlMsgStringXInt("AoE-Net-ID Read() Fehler: '"'%1'"' -
%2", "Read ... Fehler", nAtemRet)
14 HALT
15 ELSE
16 OFFSET = 0
17 SWrite(sAdsNetIdString[], STATE, OFFSET, "Net-ID =
%i.%i.%i.%i.%i.%i",sAdsNetId[1], sAdsNetId[2],
sAdsNetId[3], sAdsNetId[4], sAdsNetId[5], sAdsNetId[6])
18 KrlMsgStringXInt("AoE-Net-ID Read(): '"'%1'"' <--
ApiRet=%2", sAdsNetIdString[], nAtemRet)
19 ENDIF

Line Description
1 … 6 Declaration of the required variables
8 Initialization of the variable nAtemRet that is used in the
function call
9 Clears the buffer for the slave net ID
11 Function is called
Here the net ID is read from the slave with the physical
address 1001.
12 … 14 If read access fails, the program is stopped and an error
code is generated. This is contained in the variable nA-
temRet.
16 Initialization of the variable OFFSET. This is necessary
for the function SWrite() in line 17 to work correctly.

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Operation KR C5 EtherCAT

Line Description
17 The function SWrite() writes the text string for the AoE
target net ID to the variable sAdsNetIdString[] so that it
can be indicated in the message in line 18 (e.g.
"11.2.3.4.5.6").
18 If read access was successful, a message is generated.

Example 2

Read access

1 DECL STATE_T State

2 DECL STATE_T State
3 DECL MODUS_T Mode
4 DECL INT nDataLen
5 DECL CHAR sBuffer[128]
6 DECL CHAR sAdsNetId[6]
7 DECL CHAR sAoeRet[12]
8 DECL INT OFFSET, nAoeResponseRet, nAoeCmdRet, nAtemRet
9
10 nAtemRet = 'H98110000'
11 nAoeResponseRet = 0
12 nAoeCmdRet = 0
13 Wait for StrCopy(sBuffer[], " ")
14 Wait for StrCopy(sAoeRet[], " ")
15 GetSlaveNetId(1001, sAdsNetId[])
16 nDataLen = StrDeclLen(sBuffer[])
17
18 CWRITE($FCT_CALL, State, Mode,
"krl_ECat_Sys_X44_AoE_Read", 1001, sAdsNetId[], 55,
1234, 22, sBuffer[], nDataLen, 200, sAoeRet[])
19 IF (State.Ret1 <> #DATA_OK) THEN
20 OFFSET = 0
21 CAST_FROM(sAoeRet[], OFFSET, nAoeResponseRet,
nAoeCmdRet, nAtemRet)
22 AtemErrMsg(nAtemRet)
23 HALT
24 ELSE
25 KrlMsgStringXInt("AoE-Rd(): '"'%1'"' <-- Len=%2",
sBuffer[], nDataLen)
26 ENDIF

Line Description
1 … 8 Declaration of the required variables
10 … 12 Initialization of the variables that are used in the function
call
13 Clears the buffer to which the data are read
14 Clears the buffer for the return value of the AoE interface
15 Reads the slave net ID of the slave with the physical ad-
dress 1001
16 Determines the maximum length of the buffer from the
declaration of the variable sBuffer[]
18 Function is called
At AoE target port 55 of the slave with the physical ad-
dress 1001, AoE group index 1234 is read with AoE in-
dex offset 22.

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Operation
Line Description
19 … 23 Evaluation of the return value of the AoE interface in the
event of an error
The return value of the AoE interface consists of 3 inte-
ger variables. The function CAST_FROM() transfers the
values of the 3 variables in the correct sequence to the
variables nAoeResponseRet, nAoeCmdRet and nAtem-
Ret. The program is stopped in the event of an error.
26 If read access was successful, a message is generated.

Example 3

Write access

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nDataLen
4 DECL CHAR sBuffer[128]
5 DECL CHAR sAdsNetId[6]
6 DECL CHAR sAoeRet[12]
7 DECL INT OFFSET, nAoeResponseRet, nAoeCmdRet, nAtemRet
8
9 nAtemRet = 'H98110000'
10 nAoeResponseRet = 0
11 nAoeCmdRet = 0
12 Wait for StrCopy(sBuffer[], "ADS test")
13 Wait for StrCopy(sAoeRet[], " ")
14 GetSlaveNetId(1001, sAdsNetId[])
15 nDataLen=StrLen(sBuffer[])
16
17 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_AoE_Write", 1001, sAdsNetId[], 55,
1234, 22, sBuffer[], nDataLen, 200, sAoeRet[])
18 IF (State.Ret1 <> #DATA_OK) THEN
19 OFFSET = 0
20 CAST_FROM(sAoeRet[], OFFSET, nAoeResponseRet,
nAoeCmdRet, nAtemRet)
21 AtemErrMsg(nAtemRet)
22 HALT
23 ELSE
24 KrlMsgStringXInt("AoE-Wr(): '"'%1'"' <-- Len=%2",
"Write...OK", nDataLen)
25 ENDIF

Line Description
1 … 7 Declaration of the required variables
9 … 11 Initialization of the variables that are used in the function
call
12 Writes the text “ADS test” to the buffer
13 Clears the buffer for the return value of the AoE interface
14 Reads the slave net ID of the slave with the physical ad-
dress 1001
15 The length of the buffer sBuffer[] is defined in the varia-
ble nDataLen

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Operation KR C5 EtherCAT

Line Description
17 Function is called
The write access is performed at the slave with the phys-
ical address 1001. The contents of the buffer are written
to AoE group index 1234 with AoE index offset 22 at
AoE target port 55 of the slave.
18 … 22 Evaluation of the return value of the AoE interface in the
event of an error
The return value of the AoE interface consists of 3 inte-
ger variables. The function CAST_FROM() transfers the
values of the 3 variables in the correct sequence to the
variables nAoeResponseRet, nAoeCmdRet and nAtem-
Ret. The program is stopped in the event of an error.
24 If write access was successful, a message is generated.

Example 4

Write and read access

1 DECL STATE_T State

2 DECL MODUS_T Mode
3 DECL INT nMaxRdDataLen, nDataWrLen
4 DECL CHAR sBuffer[128]
5 DECL CHAR sAdsNetId[6]
6 DECL CHAR sAoeRet[12]
7 DECL INT OFFSET, nAoeResponseRet, nAoeCmdRet, nAtemRet
8
9 nAtemRet = 'H98110000'
10 nAoeResponseRet = 0
11 nAoeCmdRet = 0
12 Wait for StrCopy(sBuffer[], "Write test")
13 nDataWrLen = StrLen(sBuffer[])
14 Wait for StrCopy(sAoeRet[], " ")
15 GetSlaveNetId(1001, sAdsNetId[])
16 nMaxRdDataLen = 128
17
18 CWRITE($FCT_CALL,State, Mode,
"krl_ECat_Sys_X44_AoE_ReadWrite", 1001, sAdsNetId[], 55,
1234, 22, sBuffer[], nDataWrLen, nMaxRdDataLen, 200,
sAoeRet[])
19 IF (State.Ret1 <> #DATA_OK) THEN
20 OFFSET = 0
21 CAST_FROM(sAoeRet[], OFFSET, nAoeResponseRet,
nAoeCmdRet, nAtemRet)
22 AtemErrMsg(nAtemRet)
23 HALT
24 ELSE
25 KrlMsgStringXInt("AoE-Rd/Wr(): '"'%1'"' <-- Len=%2",
sBuffer[], nMaxRdDataLen)
26 Halt
27 ENDIF

Line Description
1 … 7 Declaration of the required variables
9 … 11 Initialization of the variables that are used in the function
call
12 Writes the text “Write test” to the buffer

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Operation
Line Description
13 The length of the buffer sBuffer[] to which data are to be
written is defined in the variable nDataWrLen
14 Clears the buffer for the return value of the AoE interface
15 Reads the slave net ID of the slave with the physical ad-
dress 1001
16 The maximum length of the buffer for the data that are to
be read is defined in the variable nMaxRdDataLen
18 Function is called
First a write access is performed at the slave with the
physical address 1001. The contents of the buffer are
written to AoE group index 1234 with AoE index offset 22
at AoE target port 55 of the slave. The answer is then
read from the same AoE target port.
19 … 23 Evaluation of the return value of the AoE interface in the
event of an error
The return value of the AoE interface consists of 3 inte-
ger variables. The function CAST_FROM() transfers the
values of the 3 variables in the correct sequence to the
variables nAoeResponseRet, nAoeCmdRet and nAtem-
Ret. The program is stopped in the event of an error.
25 … 26 If the write and read access was successful, a message
is generated and the program is stopped.

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Operation KR C5 EtherCAT

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 KR C5 EtherCAT

Diagnosis
6 Diagnosis

6.1 Displaying diagnostic data

The diagnostic data can also be displayed in WorkVisual. Information

about procedures in WorkVisual is contained in the WorkVisual docu-
mentation.

Procedure

1. Select Diagnosis > Diagnostic monitor in the main menu.

2. Select the desired module in the Module box.
Diagnostic data are displayed for the selected module.

Description

Diagnostic data can be displayed for the following modules:

• KUKA Extension Bus (SYS-X44)

6.1.1 KUKA Extension Bus (SYS-X44)

Name Description
Master OK Operating state of the entire EtherCat master stack

• OK: EtherCAT master and slaves are OK.

• ERROR: Error in EtherCAT operation
Current master status Current operating mode of the master

• Init: The EtherCAT slave is initialized. The EtherCAT

slave is in this state after being switched on.
• PreOP: Mailbox communication is possible; process
data communication is not yet possible.
• BootStrap: An update of the EtherCAT slave firmware
is possible.
• SafeOP: Mailbox and process data communication is
possible; the EtherCAT slave outputs, however, are
still in a safe state. The input data are already upda-
ted cyclically.
• OPERATIONAL: The EtherCAT slave copies the out-
put data of the EtherCAT master to its outputs. Proc-
ess data and mailbox communication is possible.
• Unknown: The state of the EtherCAT master is un-
known.
Slaves in requested state • OK: All EtherCAT slave modules have reached the
operating state requested by the EtherCAT master.
• ERROR: Not all EtherCAT slave modules have
reached the operating state requested by the Ether-
CAT master.
Master in requested state • OK: The EtherCAT master has reached the requested
operating state.
• ERROR: The EtherCAT master is not in the requested
operating state.

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Diagnosis KR C5 EtherCAT

Name Description
Master has detected network con- • OK: A network connection is established between the
nection network adapter of the EtherCAT master and the first
EtherCAT slave.
• ERROR: The network connection between the net-
work adapter of the EtherCAT master and the first
EtherCAT slave has been terminated.
Number of slaves found Number of EtherCAT slaves detected by the EtherCAT
master
Number of ECat slaves config- Number of EtherCAT slaves configured
ured
Bus capacity utilization (%) Utilization of the bus capacity
Number of Tx frames Number of EtherCAT telegrams sent via the network
Number of Rx frames Number of EtherCAT telegrams received via the network
Number of lost frames Number of EtherCAT telegrams lost
Counter: Response out of time Number of EtherCAT telegrams not received in time
Counter: Response repeatedly Number of EtherCAT telegrams not received in time (re-
out of time peatedly and one directly after the other)
Counter: Not all slaves operation- Counter for the bus cycles in which not all EtherCAT
al slaves were in the OPERATIONAL state.
Counter: Stack error Number of bus errors
Counter: Stack restarts after error Number of bus restarts that were successfully carried out
after a bus error.
Current send-to-send time (µs) Current time between 2 “Send” calls from EtherCAT tele-
grams
Example: 4000 µs
Current receive-to-receive time Current time between 2 “Recv” calls from EtherCAT tele-
(µs) grams
Example: 4000 µs
Maximum send-to-send time (µs) Maximum time between 2 “Send” calls from EtherCAT
telegrams
Example: 6000 µs
Maximum Recv-To-Recv time (µs) Maximum time between 2 “Recv” calls from EtherCAT
telegrams
Example: 8000 µs
Link layer: Uplink detected Uplink to the virtual VxWorks network
Example: virtual30=100[MBit/s] full-duplex
Link layer: Interface name Name of the network interface for the stack instance
Example: virtual4
EtherCat slave EtherCAT slave with slave ID, name and state of the
slave

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 KR C5 EtherCAT

Diagnosis
6.2 Device diagnosis

Precondition

• The IP address of the KUKA Line Interface is entered.

(>>> 4.4 "Entering the IP address of the KUKA Line Interface"
Page 15)
• The device is connected and active.

Procedure

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the KUKA Extension Bus (SYS-X44) entry in the tree
structure and select Connect from the context menu.
3. Repeat step 2 with the bus coupler, gateway and/or device.
4. Right-click on the gateway or device and select Diagnosis... from the
context menu. The CANopen over EtherCAT window is opened.

Description

The service data objects (SDO) are displayed in the CANopen over
EtherCAT window. These data form the communication channel for the
transfer of parameters to a device (e.g. programming of the encoder reso-
lution). The parameters are device-specific; further information about this
can be found in the manufacturer’s documentation for the device.
The parameters contain at least the following properties:
Property Description
Index number Serves to uniquely identify all parameters. The index
number is divided into a main index and a subindex
(example: 1018:05). The main index is located before
the colon and the subindex after the colon.
Name More comprehensible, self-explanatory text
Value May be a text, a number or another parameter index.
Only the main indices are displayed if the CANopen over EtherCAT win-
dow is opened. Clicking on Update loads the subindices and displays
them.

Fig. 6-1: CANopen over EtherCAT window (example)

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Diagnosis KR C5 EtherCAT

6.3 Topology diagnosis

Topology diagnosis is included in the KUKA.DiagnosisService Ether-

CAT® option package, which is installed on the KUKA System Software
as standard. The option package can be updated either separately or
together with an update of the KUKA System Software.

Precondition

• The devices to be diagnosed are connected and active.

Procedure

1. In the main menu, select Diagnosis > EtherCAT topology. The

EtherCAT topology window opens.
2. In the selection box, select which KUKA bus is to be displayed.
3. Select the desired device in the tree structure. Information about the
selected device is displayed beneath the tree structure.
4. Following modifications to the bus structure or devices, press Refresh.

Description

In the topology diagnosis, the bus structure is represented as a tree struc-

ture that reflects the wiring sequence. Information about every device in
the bus structure is displayed together with any error messages.

Fig. 6-2: “EtherCAT topology” window

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Diagnosis
Item Description
1 Selection of the KUKA bus

• KUKA Controller Bus (KCB)

• KUKA Extension Bus (SYS-X44)
• KUKA System Bus (SYS-X48)
2 Bus structure

• The LED indicates the status of the device: (>>> "LEDs"

Page 67)
• The icon indicates the status of the configuration or type of
device: (>>> "Icons" Page 67)
3 Tabs with information about the device

• Info tab:
Information about the device is displayed here, e.g. name,
address, status, etc.
• Error tab:
This tab is only displayed if errors have occurred on the de-
vice. The errors that have occurred are displayed here in
detail.
• Log tab:
This tab is only displayed if a KUKA bus is selected. The
messages from the LOG file are displayed here. The mes-
sages can be filtered by message type (Info, Warning, Er-
ror).
The messages can also be deleted. For this, press Delete.
4 Link to Error tab

LEDs

LED Description
The device is operational.

The device signals an error, but the module is still opera-

tional.
The device is defective and must be exchanged.

The device has been configured, but is not connected.

Icons

Icon Description
The device is configured in the project and present in the
network.
The device is not configured in the project, but present in
the network.
The device is configured in the project, but not present in
the network.
The device is a decouplable device.

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Messages
7 Messages

7.1 Information about the messages

The “Messages” chapter contains selected messages. It does not cover all
the messages displayed in the message window. For the listed messages,
all known causes and solutions are specified – even if these are not rele-
vant in the context of this documentation.

7.2 System messages from module: CrossMeld (KSS)

7.2.1 KSS13008

Message code KSS13008

Message text <{Instance name}> Ethercat bus error. {Additional parameter} {Addi-
tional parameter}
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Bus error has occurred (>>> Page 69)
Solution: Reboot the robot controller (>>> Page 69)

Cause: Bus error has occurred

Description

A bus error was detected, precise localization of the error is ongoing.

When this is complete and the error has been found, the message is
cleared and replaced by another message.
If it was not possible to execute any of the EtherCAT commands for local-
ization, then it was not possible to localize the error. In this case, the
message remains active and the additional parameter “Job-Task Error” is
displayed in the message.
The procedure for checking if localization has failed is as follows:

Checking instructions

• Check whether the additional parameter “Job-Task Error” is displayed

in the message.

Solution: Reboot the robot controller

Description

The robot controller must be restarted.

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Messages KR C5 EtherCAT

NOTICE
Damage to system files by actuating the main switch too soon
If the Reboot control PC option is selected and the main switch is ac-
tuated before the restart is completed, system files can be damaged.
• Wait until the restart is completed. Only then actuate the main
switch.

Precondition

• User rights: Function group General configuration

Or higher, depending on the desired options
• T1 or T2 mode

Procedure

1. In the main menu, select Shutdown.

2. Press Reboot control PC.
3. Confirm the request for confirmation with Yes. The System Software is
shut down and then restarted.

7.2.2 KSS13011

Message code KSS13011

Message text <{Bus ID}> Error reading configuration file [{XML file name}]
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Configuration file for initialization missing (>>> Page 70)
Solution: Reload WorkVisual project (>>> Page 71)

Cause: Configuration file for initialization missing (>>> Page 71)

Solution: Update the KUKA System Software from the USB stick
(>>> Page 72)

Cause: Configuration file for initialization missing (>>> Page 72)

Solution: Update KUKA System Software from network
(>>> Page 73)

Cause: Configuration file for initialization missing

Description

The configuration file detailed in the message is not available. The file is
required for initializing the bus instance.
The method for restoring the file depends on whether the file is a user file
or system file:
• If the configuration file is a user file: Reload the WorkVisual project.

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Messages
• If the configuration file is a system file: Update the KUKA System Soft-
ware. The update can be carried out with the version of the KUKA
System Software that is already installed.
The procedure for checking whether the file is a user file or a
system file is as follows:

Checking instructions

• Find out which directory contains the file:

‒ User files: C:\KRC\Roboter\Config\User
‒ System files: C:\KRC\Roboter\Config\System

Solution: Reload WorkVisual project

Description

The WorkVisual project must be transferred to the robot controller again.

Precondition

• User group “Expert”

• T1 or T2 mode
• Network connection to the robot controller

Procedure

1. Load the active project from the robot controller.

2. Transfer the project back from WorkVisual to the robot controller and
activate it.

Information about procedures in WorkVisual is contained in the

KUKA.WorkVisual documentation.

Cause: Configuration file for initialization missing

Description

The configuration file detailed in the message is not available. The file is
required for initializing the bus instance.
The method for restoring the file depends on whether the file is a user file
or system file:
• If the configuration file is a user file: Reload the WorkVisual project.
• If the configuration file is a system file: Update the KUKA System Soft-
ware. The update can be carried out with the version of the KUKA
System Software that is already installed.
The procedure for checking whether the file is a user file or a
system file is as follows:

Checking instructions

• Find out which directory contains the file:

‒ User files: C:\KRC\Roboter\Config\User
‒ System files: C:\KRC\Roboter\Config\System

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Solution: Update the KUKA System Software from the USB stick
Messages

NOTICE
A non-bootable USB stick must be used.
We recommend using a non-bootable KUKA stick. Data may be lost if a
stick from a different manufacturer is used.

Precondition

• User rights: Function group General configuration

• T1 or T2 mode
• No program is selected.
• USB stick with the software to be installed
‒ ZIP files must be unzipped.
‒ There must be no other files in the directory in which the individual
files are located.

Procedure

1. Plug in the USB stick.

2. In the main menu, select Start-up > Software update > Automatic.
3. A request for confirmation is displayed, asking if the update should be
carried out. Confirm by pressing Yes.
The data are copied locally. The progress is displayed in the message
window.
When the process is finished, the following message is displayed:
Preparation for Setup is finished. Please reboot the controller to exe-
cute the Setup.
4. Select Shutdown in the main menu and then the option Reboot con-
trol PC. (Reload files is not required.)
5. Confirm the request for confirmation with Yes. The robot controller is
rebooted and performs the update.
The robot controller then reboots again.
The updated System Software is now available.

Cause: Configuration file for initialization missing

Description

The configuration file detailed in the message is not available. The file is
required for initializing the bus instance.
The method for restoring the file depends on whether the file is a user file
or system file:
• If the configuration file is a user file: Reload the WorkVisual project.
• If the configuration file is a system file: Update the KUKA System Soft-
ware. The update can be carried out with the version of the KUKA
System Software that is already installed.
The procedure for checking whether the file is a user file or a
system file is as follows:

Checking instructions

• Find out which directory contains the file:

‒ User files: C:\KRC\Roboter\Config\User

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Messages
‒ System files: C:\KRC\Roboter\Config\System

Solution: Update KUKA System Software from network

Description

In the case of an update from the network, the installation data are copied
to the local drive D:\. If there is already a copy of a system software ver-
sion present on D:\, that copy will now be overwritten.
Installation is started on completion of the copying operation.

Precondition

• User rights: Function group General configuration

• T1 or T2 mode
• No program is selected.

Preparation

Configure the network path from which the update installation is to be car-
ried out:
1. In the main menu, select Start-up > Additional software.
2. Press New software.
3. Press Configure.
4. Select the Installation path for KRC update via the network box.
Press Path selection.
5. Select the desired network path (= the directory in which the Set-
up.exe file is located). Press Save.
6. The selected path is now displayed in the Installation path for KRC
update via the network box.
Press Save again.
7. Close the window.

It is only necessary to configure the network path once. It remains

saved for subsequent updates.

Procedure

1. In the main menu, select Start-up > Software update > Net.
2. A request for confirmation is displayed, asking if the update should be
carried out. Confirm by pressing Yes.
The data are copied locally. The progress is displayed in the message
window.
When the process is finished, the following message is displayed:
Preparation for Setup is finished. Please reboot the controller to exe-
cute the Setup.
3. Select Shutdown in the main menu and then the option Reboot con-
trol PC. (Reload files is not required.)
4. Confirm the request for confirmation with Yes. The robot controller is
rebooted and performs the update.
The robot controller then reboots again.
The updated System Software is now available.

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Messages KR C5 EtherCAT

7.2.3 KSS13012

Message code KSS13012

Message text <{Bus ID}> Error during ECat stack initialization [{Reason} {Reason
2}]
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: RDC instead of micro-RDC in the WorkVisual project

(>>> Page 74)
Solution: Correct the configuration with WorkVisual. (>>> Page 74)

Cause: Faulty configuration in WorkVisual on the KUKA Controller

Bus (KCB) (>>> Page 75)
Solution: Correct the configuration with WorkVisual. (>>> Page 75)

Cause: EtherCAT not connected correctly to Office PC

(>>> Page 75)
Solution: Exchange the faulty cabling (>>> Page 78)

Cause: No power supply at bus coupler EK1100 via X55

(>>> Page 78)
Solution: Establish correct connection (>>> Page 79)

Cause: RDC instead of micro-RDC in the WorkVisual project

Description

In order to be able to function correctly, a micro-RDC must be configured

for the robot. An RDC is configured in the project.
The procedure for checking whether the project contains an RDC is
as follows:

Checking instructions

1. Open project in WorkVisual.

2. Select the Hardware tab in the Project structure window.
3. Open the Controller components node.
4. Check whether the entry Resolver Digital Converter (RDC) is
present.

Solution: Correct the configuration with WorkVisual.

Procedure

• Correct the configuration with WorkVisual.

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Cause: Faulty configuration in WorkVisual on the KUKA Controller Bus (KCB)

Messages
Description

The configuration in the KUKA Controller Bus (KCB) is faulty, e.g.

• Incorrect structure of the topology
• Device (KSP) hardware is not available, but device is configured in
WorkVisual
• Device (KSP) hardware is available, but device is not configured in
WorkVisual
• EMD is not defined as Disconnectable
• Two devices have the same name

Checking instructions

• Check whether the bus structure configured in WorkVisual matches

the actual bus structure.

Solution: Correct the configuration with WorkVisual.

Procedure

• Correct the configuration with WorkVisual.

More detailed information can be found in the WorkVisual documen-
tation, in the chapter "Configuration".

Cause: EtherCAT not connected correctly to Office PC

Description

EtherCat (KUKA Extension Bus KEB) is connected to the socket for the
KUKA System Bus (KSB) on the Office PC.
The procedure for checking whether the error is caused by an incor-
rectly connected interface is as follows:

Checking instructions

1. Check whether the message parameters are as follows:

• Bus ID: SYS-X44
• Reason: isNetworkLinkConnected()
• Reason 2: KSB: not connected
2. Check whether the KSB interface on the motherboard has been used
for the KUKA Extension Bus.
3. Check, e.g. by swapping with another cable, whether the cable is
functioning correctly.

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Messages KR C5 EtherCAT

Overview

Fig. 7-1: Motherboard D2608-K interfaces

1 Connector X961, power supply DC 24 V

2 Connector X962, PC fan
3 LAN Dual NIC – KUKA Controller Bus
4 LAN Dual NIC – KUKA Line Interface
5 Field bus cards, slots 1 to 7
6 LAN Onboard – KUKA System Bus
7 8 USB 2.0 ports

Overview

Fig. 7-2: Motherboard D3076-K interfaces

1 Connector X961, power supply DC 24 V

2 Connector X962, PC fan
3 Field bus cards, slots 1 to 7
4 LAN Dual NIC – KUKA Controller Bus
5 LAN Dual NIC – KUKA System Bus

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Messages
6 4 USB 2.0 ports
7 DVI-I
8 4 USB 2.0 ports
9 LAN Onboard – KUKA Option Network Interface
10 LAN Onboard – KUKA Line Interface

VGA support is possible via DVI on VGA adapter. The user interface of
the controller can only be displayed on an external monitor if no active
operator control device (smartPAD, Virtual Remote Pendant (VRP)) is
connected to the controller.

Overview

Fig. 7-3: Motherboard D3236-K interfaces

1 Connector X961, power supply DC 24 V

2 Connector X962, PC fan
(optional, inside PC, depending on variant)
3 Field bus cards, slots 1 to 7
4 LAN Onboard – KUKA Controller Bus
5 LAN Onboard – KUKA System Bus
6 2 USB 2.0 ports
7 2 USB 3.0 ports
8 DVI-I
9 4 USB 2.0 ports
10 LAN Onboard – KUKA Option Network Interface
11 LAN Onboard – KUKA Line Interface

VGA support is possible via DP on VGA adapter. The user interface of

the controller can only be displayed on an external monitor if no active
operator control device (smartPAD, Virtual Remote Pendant (VRP)) is
connected to the controller.

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Messages KR C5 EtherCAT

Overview

Fig. 7-4: Motherboard D3445-K interfaces

1 Connector X961, power supply DC 24 V

2 Field bus cards, slots 1 to 7
3 LAN Onboard – KUKA Controller Bus
4 LAN Onboard – KUKA System Bus
5 2 USB 2.0 ports
6 2 USB 3.0 ports
7 DVI-D
8 Display port
9 4 USB 2.0 ports
10 LAN Onboard – KUKA Option Network Interface
11 LAN Onboard – KUKA Line Interface

VGA support is possible via DP on VGA adapter. The user interface of

the controller can only be displayed on an external monitor if no active
operator control device (smartPAD, Virtual Remote Pendant (VRP)) is
connected to the controller.

Solution: Exchange the faulty cabling

Procedure

• Connect the cabling correctly and exchange if necessary.

Cause: No power supply at bus coupler EK1100 via X55

Description

The power supply for the EK1100 is routed via interface X55.
The power can be supplied either directly from an external source to con-
tacts 5/6, or by jumpering the internal voltage (contacts 7/5 and 8/6) on
X55.

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Messages
Fig. 7-5: Connector pin allocation X55

Fig. 7-6: Contact diagram, view from contact side

The procedure for checking whether there is a fault in interface X55

is as follows:

Checking instructions

1. Check whether the following parameters are displayed in the message:

• Bus ID = SYS-X44
• Reason = isNetworkLinkConnected()
• Reason 2 = KSB: not connected
2. Check whether the power supply is connected correctly to X55.

Solution: Establish correct connection

Precondition

• The robot controller must be switched off and secured to prevent un-
authorized persons from switching it on again.
• The power cable is deenergized.
Work safety

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Messages KR C5 EtherCAT

WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch are
energized even when the main switch is switched off. Death, severe in-
juries or damage to property may result.
• Before starting work, deenergize the incoming power cable.
• Before starting work, ensure that the system is deenergized.

NOTICE
Damage to or destruction of components due to electrostatic dis-
charge (ESD)
Electrostatic discharge during installation or removal work can result in
destruction or partial damage to electronic components.
• Observe the ESD guidelines.

Procedure

• Exchange the defective cable or rectify contact problem.

7.2.4 KSS13013

Message code KSS13013

Message text <ECat> Error creating Ethercat stack instances
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Too little memory (>>> Page 80)

Solution: Contact KUKA Customer Support (>>> Page 80)

Cause: Too little memory

Description

The system does not have enough memory available for execution.

Solution: Contact KUKA Customer Support

Description

Contact the relevant KUKA Customer Support department to rectify the er-
ror.

Procedure

• Send support request by e-mail to local subsidiary.

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Messages
7.2.5 KSS13015

Message code KSS13015

Message text <{Bus ID}> Ethercat bus scan error. Device: {Incorrect device} [{Ad-
ditional info}]
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: RDC defective (>>> Page 81)

Solution: Contact KUKA Service (>>> Page 82)

Cause: Device is connected to the wrong connection

(>>> Page 82)
Solution: Connect device to the correct connection (>>> Page 83)

Cause: The force/torque sensor has a different vendor ID than ex-

pected (>>> Page 83)
Solution: Adapt the configuration of the joint/torque sensor in Work-
Visual (>>> Page 83)

Cause: Field bus configuration for hardware that is not present

(>>> Page 84)
Solution: Only configure the hardware that is actually installed
(>>> Page 84)

Cause: RDC defective

Description

The RDC is defective.

The RDC has the following functions:
• Safe acquisition of up to 8 motor position data streams via resolver
• Detection of up to 8 motor operating temperatures
• Communication with the robot controller
• Monitoring of the resolver cables
• The following non-volatile data are stored on the EDS:
‒ Position data
‒ KUKA configuration
The procedure for checking whether the RDC is defective is as fol-
lows:

Precondition

• The robot controller must be switched off and secured to prevent un-
authorized persons from switching it on again.
• The power cable is deenergized.

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WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, se-
vere injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.

• Wait 5 minutes until the intermediate circuit has discharged.

WARNING
Danger to life and limb due to high intermediate circuit voltages
Some components may remain energized (50...780 V) up to 5 mi-
nutes after the robot controller has been switched off. Death, severe
injuries or damage to property may result.
‒ After switching off, wait at least 5 minutes until the intermediate
circuit has discharged.
The following components may remain energized for up to 5 mi-
nutes:
‒ KPP
‒ KSP
‒ Connections for motor connector and connected motor ca-
bles
‒ Intermediate circuit connecting cables

Inspection instructions

1. Check that all plug-in connections on the RDC are fitted securely.
2. Switch the controller on.
3. If the fault is not eliminated, continue with the inspection instructions.
4. Switch the controller off.
5. Remove the RDC that is assumed to be defective.
6. Install an operational RDC.
7. Switch the controller on.

Solution: Contact KUKA Service

Cause: Device is connected to the wrong connection

Description

The configured device is not connected to the same connection as the ac-
tual device.
The procedure for checking which connection has been configured is
as follows:

Precondition

• Project is open in WorkVisual.

• The robot controller has been set as the active controller.

Checking instructions

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.

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Messages
2. Right-click on the KUKA Extension Bus (SYS-X44) entry and select
Settings… from the context menu. The Settings… window opens.
3. Select the Topology tab.
4. Check the configured connection to see if it matches the connection
the device is connected to.

Solution: Connect device to the correct connection

Procedure

• Connect the device to the connection that was configured for the de-
vice.

Cause: The force/torque sensor has a different vendor ID than expected

Description

Several ForTTran SG 500-20 force/torque sensors from early production

series have a different vendor ID than that indicated in the device descrip-
tion file Kuka ForTTran.xml. The sensor is recognized as an incorrect de-
vice after it has been added during commissioning.

Checking instructions

1. Check whether the sensor KUKA ForTTran SG 500-20is displayed for

the parameter Device: in the error message.
2. Check whether the following code is displayed for the parameter Addi-
tional info: Bus-DEV.: ATI / P-Code=0x26483053.

Solution: Adapt the configuration of the joint/torque sensor in WorkVisual

Description

Adapt the configuration of the joint/torque sensor ForTTran SG 500-20 in

WorkVisual such that the vendor ID is not requested.

Precondition

• User group “Expert”

• Project is open in WorkVisual.

Procedure

1. Set the robot controller as the active controller.

2. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
3. Right-click on the joint/torque sensor ForTTran SG 500-20 and select
Settings... from the context menu. A window opens.
4. To remove the check mark, click on the check box on the General tab
under Check vendor ID.
5. Save the setting and close the window.
6. Transfer the project to the robot controller.

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Cause: Field bus configuration for hardware that is not present

Messages

Description

The field bus configuration does not correspond to the hardware that is
actually installed, e.g. a different field bus card has been configured than
the one that is installed in the controller.

Checking instructions

• Compare the configuration with the hardware that is actually installed

(field bus card, gateway, bus coupler, I/O modules).
• Check whether the installed hardware has been correctly installed and
connected and that no connecting cable is defective.
The procedure for checking whether the connecting cable is defec-
tive is as follows:

Checking instructions

1. Check whether the connectors are correctly connected. Particular at-

tention must be paid to:
• Pins pushed in
• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squash-
ed cables or wires can include the following:
• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram

Solution: Only configure the hardware that is actually installed

Procedure

• Limit the configuration to the hardware components that are actually

installed; if necessary, exchange hardware components for those that
are required.

7.2.6 KSS13016

Message code KSS13016

Message text <{Bus ID}> missing reception of network frames [{Details}]

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Messages
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Bus cycle time too short (>>> Page 85)
Solution: Modify variable or parameter (>>> Page 85)

Cause: Network cable defective or not connected correctly

(>>> Page 86)
Solution: Exchange network cable or connect it correctly
(>>> Page 86)

Cause: Bus cycle time too short

Description

The configured bus cycle time is too short. This can result in EtherCAT
telegrams not being answered or being answered too late.

Configuration file

Directory C:\KRC\ROBOTER\Config\User\Common
File ECAT_SYS_X44.xml
Parameter BusCycleTimeMs
The procedure for checking which value is configured is as follows:

Precondition

• User group “Expert”

• Windows interface (CTRL+ESC)

Inspection instructions

1. Select the file in the Navigator and press Open. The file is displayed
in the editor.
2. Search for the variable or parameter and check the value.

Solution: Modify variable or parameter

Precondition

• User group Expert

Depending on the configuration and the system software used, higher

user rights may be required.

Procedure

1. Select the file in the Navigator and press Open. The file is displayed
in the editor.
2. Search for the corresponding point in the file and modify the value.
3. Save and close the file.

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Cause: Network cable defective or not connected correctly

Messages

Description

The network cable is defective or the plug connection is incorrect.

The procedure for checking whether the network cable and connec-
tors are correctly connected is as follows:

Checking instructions

1. Check that the network cables are correctly connected and fitted se-
curely.
2. Interchange the network cables.

Solution: Exchange network cable or connect it correctly

Procedure

• Exchange network cable or connect it correctly.

7.2.7 KSS13018

Message code KSS13018

Message text <{Bus ID}> Error during ECat stack initialization. Device: {Faulty de-
vice} [{Additional information}]
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Field bus configuration for hardware that is not present
(>>> Page 86)
Solution: Only configure the hardware that is actually installed
(>>> Page 87)

Cause: KSP defective (>>> Page 87)

Solution: Exchange the KSP (>>> Page 88)

Cause: Field bus configuration for hardware that is not present

Description

The field bus configuration does not correspond to the hardware that is
actually installed, e.g. a different field bus card has been configured than
the one that is installed in the controller.

Checking instructions

• Compare the configuration with the hardware that is actually installed

(field bus card, gateway, bus coupler, I/O modules).
• Check whether the installed hardware has been correctly installed and
connected and that no connecting cable is defective.

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The procedure for checking whether the connecting cable is defec-

Messages
tive is as follows:

Checking instructions

1. Check whether the connectors are correctly connected. Particular at-

tention must be paid to:
• Pins pushed in
• Corrosion
• Scorched contacts
• Connector insert pushed back
• Socket pushed back
• Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squash-
ed cables or wires can include the following:
• Cable straps too tight
• Clips too tight
• Trapped when closing a cover
• Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention
must be paid to:
• Cross-connection of individual wires
• Short-circuit of individual wires with the ground conductor
• Correct wiring in accordance with circuit diagram

Solution: Only configure the hardware that is actually installed

Procedure

• Limit the configuration to the hardware components that are actually

installed; if necessary, exchange hardware components for those that
are required.

Cause: KSP defective

Description

The KSP has detected a hardware error.

Examples:
• Ground fault
• Overvoltage
• Undervoltage
• Overcurrent
• Internal error
• Brake voltage:

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Messages KR C5 EtherCAT

Precondition

WARNING
Risk of fatal injury from voltage
The robot controller is energized (50-600 V) when it is switched on.
Electrical work carried out by unqualified personnel can cause death,
severe injuries and damage to property.
• Work and measurements on the electrical equipment may only be
carried out by qualified electricians.

Checking instructions

1. Restart the drive bus: menu sequence Main menu > Shutdown >
Drive bus OFF / ON.
2. Check KSP device status LED group.

Overview

Fig. 7-7: KSP LED display

1 LED group: axis control

2 LED group: KSP device status
3 LED group: communication status

Device status

Red LED Green LED Meaning

Off Off No power supply to the control
electronics
On Off Fault in the KSP
Off Flashing No communication with the control-
ler
Off On Communication with the controller

Solution: Exchange the KSP

Precondition

• The robot controller must be switched off and secured to prevent un-
authorized persons from switching it on again.

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Messages
CAUTION
Risk of burns on hot surfaces
High surface temperatures on the heat sink immediately after the ro-
bot controller has been shut down can lead to burns on removal. In-
juries may result.
‒ Protective gloves must be worn.

• The power cable is deenergized.

WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, se-
vere injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.

• Observe the ESD guidelines.

• Wait 5 minutes until the intermediate circuit has discharged.
WARNING
Danger to life and limb due to high intermediate circuit voltages
Some components may remain energized (50...780 V) up to 5 mi-
nutes after the robot controller has been switched off. Death, severe
injuries or damage to property may result.
‒ After switching off, wait at least 5 minutes until the intermediate
circuit has discharged.
The following components may remain energized for up to 5 mi-
nutes:
‒ KPP
‒ KSP
‒ Connections for motor connector and connected motor ca-
bles
‒ Intermediate circuit connecting cables

Procedure

1. Unlock connectors X20 and X21 of the data cables. Unplug all con-
nections to the KSP.
NOTICE
Unplugging the data cable connectors without first unlocking them
damages the connectors. Unlock the connectors before unplugging
them.

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Messages KR C5 EtherCAT

Fig. 7-8: Locking connectors X20 and X21

1 Connector unlocked 3 Connector X21 plugged in

and locked
2 Connector locked 4 Connector X20 plugged in
and unlocked

2. Slacken the Allen screws.

CAUTION
Risk of crushing during removal and installation
The KSP weighs approx. 10 kg. When removing or installing the
KSP, care must be taken to avoid injury by crushing. Injuries or
damage to property may result.
‒ Protective gloves must be worn.

3. Lift the KSP slightly, tilt the top forward and lift the KSP out of the
support bracket.
4. Insert the new KSP into the support bracket, hook it on at the top and
tighten the fastening screws (tightening torque 4 Nm).
5. Plug in all the connections in accordance with the connector and cable
labeling. Lock connectors X20 and X21.
6. If exchanging the device resulted in a system modification, the system
setup of the robot must be configured using WorkVisual.

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Messages
Fig. 7-9: Fastening

1 Allen screws 3 Support bracket

2 Rear panel of cabinet

7.2.8 KSS13020

Message code KSS13020

Message text <{Bus ID}> Ethercat bus error. Device: {Details} [{Details}]
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Device is connected to the wrong connection

(>>> Page 91)
Solution: Connect device to the correct connection (>>> Page 92)

Cause: Device is incorrectly configured (>>> Page 92)

Solution: Correct the configuration with WorkVisual. (>>> Page 92)

Cause: Device is connected to the wrong connection

Description

The configured device is not connected to the same connection as the ac-
tual device.
The procedure for checking which connection has been configured is
as follows:

Precondition

• Project is open in WorkVisual.

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Messages KR C5 EtherCAT

• The robot controller has been set as the active controller.

Checking instructions

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the KUKA Extension Bus (SYS-X44) entry and select
Settings… from the context menu. The Settings… window opens.
3. Select the Topology tab.
4. Check the configured connection to see if it matches the connection
the device is connected to.

Solution: Connect device to the correct connection

Procedure

• Connect the device to the connection that was configured for the de-
vice.

Cause: Device is incorrectly configured

Description

The configured device does not match the device that is actually connec-
ted. One or more configuration parameters are, for example, set incorrect-
ly.
The procedure for checking how the device has been configured is
as follows:

Precondition

• Project is open in WorkVisual.

• The robot controller has been set as the active controller.

Checking instructions

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Settings… from the context
menu. A window opens with the device settings.
3. Check the settings on the tabs to see if they match the connected de-
vice.

Solution: Correct the configuration with WorkVisual.

Procedure

• Correct the configuration with WorkVisual.

7.2.9 KSS13021

Message code KSS13021

Message text <{Bus ID}> Ethercat network error. {Details} [{Details}]

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Messages
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Network cable defective or not connected correctly

(>>> Page 93)
Solution: Exchange network cable or connect it correctly
(>>> Page 93)

Cause: Network cable defective or not connected correctly

Description

The network cable is defective or the plug connection is incorrect.

The procedure for checking whether the network cable and connec-
tors are correctly connected is as follows:

Checking instructions

1. Check that the network cables are correctly connected and fitted se-
curely.
2. Interchange the network cables.

Solution: Exchange network cable or connect it correctly

Procedure

• Exchange network cable or connect it correctly.

7.2.10 KSS13068

Message code KSS13068

Message text <{Bus instance}> EtherCAT device {Device name} is not connected
to bus.
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Device is not connected (>>> Page 94)

Solution: Connect device (>>> Page 94)

Cause: RDC defective (>>> Page 94)

Solution: Contact KUKA Service (>>> Page 95)

Cause: Incorrect connection between SIB and the safety interface

(>>> Page 95)
Solution: Establish correct connection (>>> Page 97)

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Cause: Device is not connected

Messages

Description

The device is present in the configuration but is not connected to the bus.
The procedure for checking which connection the device has to be
connected to is as follows:

Precondition

• Project is open in WorkVisual.

• The robot controller has been set as the active controller.

Checking instructions

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the KUKA Extension Bus (SYS-X44) entry and select
Settings… from the context menu. The Settings… window opens.
3. Select the Topology tab.
4. Check which connection is configured for the device.

Solution: Connect device

Procedure

• Connect the device to the connection that has been configured.

Cause: RDC defective

Description

The RDC is defective.

The RDC has the following functions:
• Safe acquisition of up to 8 motor position data streams via resolver
• Detection of up to 8 motor operating temperatures
• Communication with the robot controller
• Monitoring of the resolver cables
• The following non-volatile data are stored on the EDS:
‒ Position data
‒ KUKA configuration
The procedure for checking whether the RDC is defective is as fol-
lows:

Precondition

• The robot controller must be switched off and secured to prevent un-
authorized persons from switching it on again.
• The power cable is deenergized.

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Messages
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch
are energized even when the main switch is switched off. Death, se-
vere injuries or damage to property may result.
‒ Before starting work, deenergize the incoming power cable.
‒ Before starting work, ensure that the system is deenergized.

• Wait 5 minutes until the intermediate circuit has discharged.

WARNING
Danger to life and limb due to high intermediate circuit voltages
Some components may remain energized (50...780 V) up to 5 mi-
nutes after the robot controller has been switched off. Death, severe
injuries or damage to property may result.
‒ After switching off, wait at least 5 minutes until the intermediate
circuit has discharged.
The following components may remain energized for up to 5 mi-
nutes:
‒ KPP
‒ KSP
‒ Connections for motor connector and connected motor ca-
bles
‒ Intermediate circuit connecting cables

Inspection instructions

1. Check that all plug-in connections on the RDC are fitted securely.
2. Switch the controller on.
3. If the fault is not eliminated, continue with the inspection instructions.
4. Switch the controller off.
5. Remove the RDC that is assumed to be defective.
6. Install an operational RDC.
7. Switch the controller on.

Solution: Contact KUKA Service

Cause: Incorrect connection between SIB and the safety interface

Description

The connection between SIB (Safety Interface Board) and the safety inter-
face is defective.
The cabling is carried out as follows:
for X11:
• CCU X302
• W188678
• SIB (X250 and X258)
• X252 and X253
• W187758 and W187757
• Connector panel (X11)
for XS2/XS3:

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Messages KR C5 EtherCAT

• CCU X302
• W188678
• SIB (X250 and X258)
• X252 and X253
• W194205 and W194210
• Connector panel (XS2 and XS3)

Standard connections

Fig. 7-10: Standard SIB connections

Con-
Item Description
nector
1 X250 SIB power supply
2 X251 Power supply for additional components
3 X252 Safe outputs
4 X253 Safe inputs
5 X254 Safe inputs
6 X258 KUKA System Bus IN
7 X259 KUKA System Bus OUT
The procedure for checking whether the connection is correct is as
follows:

Checking instructions

• Check whether the connectors are correctly connected. Particular at-

tention must be paid to:
‒ Pins pushed in
‒ Loose plug-in connections
‒ Connector on correct slot

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Solution: Establish correct connection

Messages
Precondition

• The robot controller must be switched off and secured to prevent un-
authorized persons from switching it on again.
• The power cable is deenergized.
Work safety
WARNING
Risk of fatal injury from mains voltage
Cables routed from power supply connection X1 to the main switch are
energized even when the main switch is switched off. Death, severe in-
juries or damage to property may result.
• Before starting work, deenergize the incoming power cable.
• Before starting work, ensure that the system is deenergized.

NOTICE
Damage to or destruction of components due to electrostatic dis-
charge (ESD)
Electrostatic discharge during installation or removal work can result in
destruction or partial damage to electronic components.
• Observe the ESD guidelines.

Procedure

• Exchange the defective cable or rectify contact problem.

7.2.11 KSS13080

Message code KSS13080

Message text <{Bus instance}> Ethercat device: '{Device name}' cannot be started.
{Reason}
Message type Status message

Effect No braking reaction

No interlock of motions or commands

Possible cause(s) Cause: Device is incorrectly configured (>>> Page 97)

Solution: Correct the configuration with WorkVisual. (>>> Page 98)

Cause: The device is defective. (>>> Page 98)

Solution: Exchange device (>>> Page 98)

Cause: Device is incorrectly configured

Description

The configured device does not match the device that is actually connec-
ted. One or more configuration parameters are, for example, set incorrect-
ly.

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The procedure for checking how the device has been configured is
Messages

as follows:

Precondition

• Project is open in WorkVisual.

• The robot controller has been set as the active controller.

Checking instructions

1. Expand the tree structure of the robot controller on the Hardware tab
in the Project structure window.
2. Right-click on the device and select Settings… from the context
menu. A window opens with the device settings.
3. Check the settings on the tabs to see if they match the connected de-
vice.

Solution: Correct the configuration with WorkVisual.

Procedure

• Correct the configuration with WorkVisual.

Cause: The device is defective.

Description

The device cannot be started because it is defective.

Checking instructions

1. Disconnect the device that is assumed to be defective.

2. Connect a device that is identical and fully functional.
3. If the function test is successful, the device is defective.

Solution: Exchange device

Procedure

• Disconnect the defective device and replace it with a fully functional

device.

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KUKA Service
8 KUKA Service

8.1 Requesting support

Introduction

This documentation provides information on operation and operator con-

trol, and provides assistance with troubleshooting. For further assistance,
please contact your local KUKA subsidiary.

Information

The following information is required for processing a support re-

quest:
• Description of the problem, including information about the duration
and frequency of the fault
• The greatest possible amount of information about the hardware and
software components of the overall system
The following list gives an indication of the information which is rele-
vant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manip-
ulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifi-
cations
‒ System Software diagnosis package
Additionally for KUKA Sunrise: Existing projects including applica-
tions
For versions of KUKA System Software older than V8: Archive of
the software (Diagnosis package is not yet available here.)
‒ Application used
‒ External axes used

8.2 KUKA Customer Support

The contact details of the local subsidiaries can be found at:

www.kuka.com/customer-service-contacts

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Index K
KLI.....................................................................6
KUKA Customer Support............................... 99
A KUKA Extension Bus, inserting..................... 14
ADS...................................................................6 KUKA Service.................................................99
Alias address, writing to devices................... 22

L
B LED group: KSP device status......................88
Bus driver settings, modifying........................15
Bus errors, activatingBus errors,
deactivating.....................................................28 M
Bus scan, 1-stage.......................................... 17 Messages........................................................69
Bus scan, 2-stage.......................................... 18 Misuse...............................................................8
Bus system, restarting....................................28 Modules (tab)..................................................21
Motherboard D2608-K.................................... 76
Motherboard D3076-K.................................... 76
C Motherboard D3236-K.................................... 77
CAN.................................................................. 6 Motherboard D3445-K.................................... 78
Configuration...................................................13

O
D Operation........................................................ 27
Device description files, preparing.................14
Device diagnosis............................................ 65
Devices, configuring....................................... 18 P
Devices, inserting (automatic)........................17 Process data objects (tab).............................20
Devices, inserting (manual)............................16 Product description...........................................7
Diagnosis........................................................ 63
Diagnosis package......................................... 99
Diagnosis, topology........................................ 66 S
Diagnostic data, displaying............................ 63 Safety.............................................................. 11
Diagnostic data, KUKA Extension Bus..........63 Safety instructions............................................ 5
Diagnostic monitor (menu item).....................63 Scanning, bus.................................................17
Documentation, industrial robot....................... 5 SDO.................................................................. 6
Standard SIB, connections............................ 96
Support request.............................................. 99
E
ESI.................................................................... 6
T
Target group..................................................... 5
F Terms used....................................................... 6
File Access over EtherCAT, configuring........ 22 Topology, checking......................................... 23
FSoE................................................................. 6 Topology, diagnosis........................................ 66
Topology, modifying........................................ 23
Trademarks....................................................... 6
G
General (tab).................................................. 19
W
Warnings........................................................... 5
I WorkVisual........................................................ 6
Insertion, devices (automatic)........................ 17
Insertion, devices (manual)............................ 16
Intended use.....................................................8
Introduction....................................................... 5
IP address of KLI, entering............................15

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