Controller Option KUKA Roboter GmbH

KR C4 PROFIBUS

Configuration

Issued: 24.01.2011

Version: KR C4 PROFIBUS V1 en
 KR C4 PROFIBUS

© Copyright 2011
KUKA Roboter 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 Roboter 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 software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC

Publication: Pub KR C4 PROFIBUS en

Bookstructure: KR C4 PROFIBUS V1.2
Label: KR C4 PROFIBUS V1 en

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 Contents

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 Trade mark ................................................................................................................. 5
1.5 Terms used ................................................................................................................ 6

2 Product description ..................................................................................... 7

3 Safety ............................................................................................................ 11
4 Start-up and recommissioning ................................................................... 13
4.1 Routing the data cables ............................................................................................. 13

5 Configuration ............................................................................................... 15
5.1 Overview .................................................................................................................... 15
5.2 Making GSD files available ........................................................................................ 15
5.3 Configuring the bus with WorkVisual ......................................................................... 15
5.3.1 Configuring the PROFIBUS master ...................................................................... 16
5.3.2 Configuring a PROFIBUS slave ............................................................................ 16
5.3.3 Device settings ..................................................................................................... 17
5.4 Setting the device address in WorkVisual .................................................................. 18
5.4.1 Settings for PROFIBUS master ............................................................................ 18
5.4.2 Settings for PROFIBUS slave ............................................................................... 19
5.5 Mapping inputs/outputs in WorkVisual ....................................................................... 19

6 Operation ...................................................................................................... 21
6.1 Coupling/decoupling devices ..................................................................................... 21
6.2 Executing queries / changes ...................................................................................... 22

7 Diagnosis ..................................................................................................... 25
7.1 Displaying diagnostic data ......................................................................................... 25

8 Messages ..................................................................................................... 27
9 KUKA Service .............................................................................................. 29
9.1 Requesting support .................................................................................................... 29
9.2 KUKA Customer Support ........................................................................................... 29

Index ............................................................................................................. 37

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 KR C4 PROFIBUS

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 1 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 manipulator
 Documentation for the robot controller
 Operating and programming instructions for the KUKA System Software
 Documentation relating to options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that death or severe physical inju-

ry will occur, if no precautions are taken.

These warnings mean that death or severe physical inju-

ry may occur, if no precautions are taken.

These warnings mean that minor physical injuries may

occur, if no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures. These warnings do not refer to individual
hazards or individual precautionary measures.

Hints These hints 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 Trade mark

Windows is a trade mark of Microsoft Corporation.

Step 7 is a trademark of Siemens AG.

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 KR C4 PROFIBUS

1.5 Terms used

Term Description
GSD Device description file for PROFIBUS
PLC Programmable logic controller
Step 7 Configuration software from Siemens

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 2 Product description

2 Product description
PROFIBUS is a universal field bus which enables communication between de-
vices from different manufacturers without special interface adaptations. Data
exchange is carried out on a master-slave basis.

Variants For the KR C4 there are 3 different variants of PROFIBUS:

 PROFIBUS Controller (Master) - EtherCAT
 PROFIBUS Device (Slave) - EtherCAT
 PROFIBUS Controller/Device - EtherCAT
The KUKA System Software 8.2 is preinstalled on all 3 variants.

Expansion KR C4 PROFIBUS can be combined with the “Expansion of Digital I/Os 16/16”
option, but not with other expansion options for digital inputs/outputs.

Configuration KR C4 PROFIBUS is configured on a laptop or PC. The following software is

required for configuration:
 WorkVisual 2.0
The requirements for installation of WorkVisual are contained in the
WorkVisual documentation.
With use of a higher-level controller, the corresponding configuration software
from the manufacturer of the higher-level controller is also required, e.g.
Step 7 from Siemens.

Device types The following device types are used with KR C4 PROFIBUS:
 Controller: A controller that controls all the components of a system. A
controller will also be referred to as the master in this document.
 Device: A field device subordinated to a controller. A device consists of a
number of modules and submodules. A device will also be referred to as
a slave in this document.
 Supervisor: Can be a programming device or industrial PC. Parallel to the
controller, this has access to all process and parameter files.
The 3 device types have relationships for transferring configuration data and
process data.
A physical device, e.g. the robot controller, can be a controller and/or a device.
The configuration of communication relationships is carried out solely in the
controller.

Connection panel Depending on the variant, either the connection X11 or X55 is provided. X11
or X55 is the connection for the power supply.

Fig. 2-1: Connection panel with interface X11

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 KR C4 PROFIBUS

Fig. 2-2: Connection panel with interface X55

Connector pin Depending on the variant, different interfaces are provided:

allocation  PROFIBUS Controller: Interface X61
 PROFIBUS Device: Interface X15A/X15B
 PROFIBUS Controller/Device: Interface X61 and X15A/X15B

Fig. 2-3: Interface X61

1 “Activate drives” contacts (optional)

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 2 Product description

Fig. 2-4: Interface X15A / X15B with X11

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 KR C4 PROFIBUS

Fig. 2-5: Interface X15A / X15B with X55

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 3 Safety

3 Safety
This documentation contains safety instructions which refer specifically to the
product described here. The fundamental safety information for the industrial
robot can be found in the “Safety” chapter of the operating or assembly instruc-
tions for the robot controller.

The “Safety” chapter in the operating or assembly in-

structions must be observed. Death to persons, severe
physical injuries or considerable damage to property may otherwise result.

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 4 Start-up and recommissioning

4 Start-up and recommissioning

4.1 Routing the data cables

 The PROFIBUS cables are routed to the devices from the controller or
from the switch using a star or ring topology.

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 KR C4 PROFIBUS

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 5 Configuration

5 Configuration

5.1 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-level
controller is being used.
The required device description file can be found on the
WorkVisual CD-ROM, in the following directory: DeviceDe-
scriptions\GSD.
2 Make GSD files available.
(>>> 5.2 "Making GSD files available" Page 15)
3 Configure the PROFIBUS.
(>>> 5.3 "Configuring the bus with WorkVisual" Page 15)
4 Set the device address in WorkVisual.
(>>> 5.4 "Setting the device address in WorkVisual"
Page 18)
5 Map the inputs and outputs in WorkVisual.
(>>> 5.5 "Mapping inputs/outputs in WorkVisual" Page 19)
6 Transfer the bus configuration from WorkVisual to the robot
controller.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation. Information about procedures in the con-
figuration software from the manufacturer of the higher-level control-
ler can be found in the documentation for this configuration software.

5.2 Making GSD files available

For the configuration of a device, WorkVisual requires the GSD file for this de-
vice. The GSD file must be obtained from the manufacturer of the device.

Precondition  There is no project open.

Procedure 1. Select the menu sequence File > Import / Export.

The Import/Export Wizard window is opened.
2. Select Import device description file and click on Next >.
3. Click on Browse… and specify a directory.
4. Confirm with Next >.
A list is displayed of the devices that are to be imported.
5. Click on Finish.
The devices are imported.
6. Close the Import/Export Wizard window.

5.3 Configuring the bus with WorkVisual

With the variant PROFIBUS Controller/Device, the PROFIBUS mas-

ter must be configured first, followed by the PROFIBUS slave.

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 KR C4 PROFIBUS

5.3.1 Configuring the PROFIBUS master

Precondition  A robot controller has been added and set as active.

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.
4. Open the tree structure as far as possible. Right-click on EtherCAT and
select Add… from the context menu.
5. A window opens. Select the bus coupler EK1100 EtherCAT-Koppler (2A
E-Bus) and confirm with OK. The bus coupler is inserted in the tree struc-
ture.
6. Open the tree structure as far as possible. Right-click on EBus and select
Add… from the context menu.
7. A window opens. Select the PROFIBUS Master Gateway EL6731 PROFI-
BUS DP Master and confirm with OK. The gateway is inserted in the tree
structure.
8. Open the tree structure as far as possible. Right-click on Profibus IO and
select Add… from the context menu.
9. A window opens with a list of devices. Select the PROFIBUS device used
and confirm with OK. The device is inserted in the tree structure.

The inserted device must correspond to the actual de-

vice used in reality. Substantial damage to property may
otherwise result.

10. Right-click on the device in the tree structure and select Settings… from
the context menu. A window opens with device settings.
The Module Configuration 2 tab displays the slots on the device. Assign
the slots to the modules used.
(>>> 5.3.3 "Device settings" Page 17)
11. If necessary, repeat steps 9 to 11 for further devices.
12. Save the device settings by selecting OK.

5.3.2 Configuring a PROFIBUS slave

Precondition  A robot controller has been added and set as active.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
 If no PROFIBUS master has been configured: Continue with step 2.
 If a PROFIBUS master has been configured: Continue with step 6.
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.
4. Open the tree structure as far as possible. Right-click on EtherCAT and
select Add… from the context menu.
5. A window opens. Select the bus coupler EK1100 EtherCAT-Koppler (2A
E-Bus) and confirm with OK. The bus coupler is inserted in the tree struc-
ture.
6. Right-click on EBus and select Add… from the context menu.
7. A window opens. Select the PROFIBUS Slave Gateway EL6731-0010
PROFIBUS DP Slave and confirm with OK. The gateway is inserted in the
tree structure.

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 5 Configuration

8. Open the tree structure as far as possible. Right-click on Profibus IO and

select Add… from the context menu.
9. A window opens. Select the PROFIBUS slave EL6731-0010 and confirm
with OK. The PROFIBUS slave is inserted in the tree structure.
10. Right-click on the PROFIBUS slave in the tree structure and select Set-
tings… from the context menu. A window opens with device settings.
The Module Configuration 2 tab displays the slots on the PROFIBUS
slave. Assign the slots to the modules used.
(>>> 5.3.3 "Device settings" Page 17)
11. Save the device settings by selecting OK.

5.3.3 Device settings

Slot configuration

Fig. 5-1: Module Configuration 2 tab

1 Slot 3 Search box

2 Parameter window 4 Module window

All the windows can be resized as desired.

Element Description
Slot Number of slots on the device
The number of slots displayed depends on the device se-
lected. The number of slots displayed is always the maxi-
mum number possible for the device.
To add a module to a slot, click on the slot and double-
click on the desired module. To remove the module, click
on the slot and double-click on the empty space above the
first module.
Parameter The parameter window displays module-specific parame-
window ters, which can be set via a selection menu.

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Element Description
Search box The search box can be used to search for modules. The
search is a full-text search. The search result is cleared
when another slot is selected.
Module win- The available modules are displayed in the module win-
dow dow.

5.4 Setting the device address in WorkVisual

Precondition  A robot controller has been added and set as active.

 PROFIBUS master: One or more PROFIBUS devices have been added to
the bus.
 PROFIBUS slave: The PROFIBUS slave has been added to the bus.

Procedure for 1. Open the tree structure as far as possible. Right-click on EL6731 PROFI-
PROFIBUS BUS DP Master and select Settings… from the context menu. A window
master opens.
2. On the Profibus settings tab, enter the device address of the PROFIBUS
devices in the Device Id column (address range: 2...127) and confirm with
OK.
(>>> 5.4.1 "Settings for PROFIBUS master" Page 18)

The device addresses must also be set on the PROFIBUS devices

themselves using the DIP switches.

Procedure for 1. Open the tree structure as far as possible. Right-click on EL6731-0010
PROFIBUS slave PROFIBUS DP Slave and select Settings… from the context menu. A
window opens.
2. On the Profibus settings tab, enter the device address of the PROFIBUS
slave in the Device Id box (address range: 2...127) and confirm with OK.
(>>> 5.4.2 "Settings for PROFIBUS slave" Page 19)

5.4.1 Settings for PROFIBUS master

Fig. 5-2: “Profibus settings” tab (PROFIBUS master)

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 5 Configuration

Column Description
Device ID Device address
Always connected  Activated: The robot controller expects the
device to be connected when the controller
boots up. If the device is not connected, the
robot controller issues an error message.
 Deactivated: The robot controller does not
check whether the device is connected when
the controller boots up.

5.4.2 Settings for PROFIBUS slave

Fig. 5-3: “Profibus settings” tab (PROFIBUS slave)

Box Description
Device ID Device address

5.5 Mapping inputs/outputs in WorkVisual

Procedure  Map the inputs/outputs in WorkVisual.

Signal names PROFIBUS signal names have the following structure in WorkVisual:
Example 03:0001 Input

Fig. 5-4: PROFIBUS signal names in WorkVisual

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 KR C4 PROFIBUS

In the
Name Meaning
example
1st value from left Slot number 03
Note: Modules without inputs/
outputs, e.g. power supply
modules, have a number but
are not displayed in the list.
2nd value from left Index number (consecutive 0001
ascending numbering of the
individual inputs/outputs)
Input/Output Direction of processing Input

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 6 Operation

6 Operation

6.1 Coupling/decoupling devices

For certain applications, e.g. tool change, it is necessary to couple and decou-
ple devices. Coupling and decoupling can only be carried out via KRL.

Decoupling Properties of decoupled devices:

 If decoupled devices are disconnected from PROFIBUS or the power sup-
ply, no error is triggered.
 All I/O operations on decoupled devices remain without effect.
 Decoupled devices cannot carry out error treatment in the case of read/
write errors.

Coupling The IOCTL function is executed synchronously. It only returns when the de-
vice is functional and can be written to once again.
If a coupled device is not functional, e.g. because it is disconnected from the
bus or supply voltage, a message is displayed after a timeout of approx. 2 sec-
onds.

Always The option Always connected affects the way the robot controller reacts to a
connected decoupled device in the event of a cold start or I/O reconfiguration. Always
connected can be set in WorkVisual in the settings of the PROFIBUS master.
(>>> 5.4.1 "Settings for PROFIBUS master" Page 18)

Always connected: Always connected:

Yes No
Device coupled No error message No error message

Device decoupled Error message No error message

Syntax ret = ioCtl("[bus instance name]", [command], [device address])

Description [device address]: The ID of a device is displayed in WorkVisual in the Device ID

box in the Profibus settings.
(>>> 5.4.1 "Settings for PROFIBUS master" Page 18)
Return values for RET:

Value Meaning
-3 Timeout - device not reacting
-2 Device address not found
-1 General fault
0 Device successfully coupled/decoupled

Examples Here, device 6 is decoupled.

...
RET = IOCTL("SYS-X44_PB-Master1", 'H003C',6)
...

Here, device 6 is coupled.

...
RET = IOCTL("SYS-X44_PB-Master1", 'H0032',6)
...

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 KR C4 PROFIBUS

The timeout for coupling/decoupling is set by default to 2 s. This default value

can be changed. Here the value is set to 5000 ms:
RET = IOCTL("SYS-X44_PB-Master1",8008,5000)

6.2 Executing queries / changes

Description A command can be used to execute a query or a change. Parameters are re-
quired for some queries and changes. If no parameter is required, “0” is en-
tered as the parameter in the syntax.

Syntax ret = ioCtl("[bus instance name]", [command], [parameter])

Overview
Query Command Parameter
I/O status of gateway module &H8001 -
I/O status of gateway module and &H8002 -
status of SYS-X44
Device is optionally present on sys- &H8003 Device address
tem start
Device activated / deactivated &H8004 Device address
Device has error status &H8005 Device address
Number of devices with error &H8006 -
Number of configured devices &H8007 -
Timeout time for device activation &H8009 -

Change Command Parameter

Timeout time for device activation &H8008 Timeout time

Commands &H8003 to &H8009 are only available for the PROFIBUS

Master Gateway.

The description of the PROFIBUS error codes can be found in the

manufacturer’s documentation.

Command Syntax
&H8001 PROFIBUS Master Gateway:
ret = ioCtl("SYS-X44_PB-Master1", &H8001, 0)
PROFIBUS Slave Gateway:
ret = ioCtl("SYS-X44_PB-Slave1", &H8001, 0)
Return values for RET:

Value Meaning
-1 General error during ioCtl
0 PROFIBUS OK
>0 PROFIBUS error code

Command Syntax
&H8002 PROFIBUS Master Gateway:
ret = ioCtl("SYS-X44_PB-Master1", &H8002, 0)
PROFIBUS Slave Gateway:
ret = ioCtl("SYS-X44_PB-Slave1", &H8002, 0)
Return values for RET:

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 6 Operation

Value Meaning
-1 General error during ioCtl
0 SYS-X44 and PROFIBUS Gateway OK
>0 Bus error code

Bus error codes:

Value Meaning
Bit 0 SYS-X44 does not have the status OPERATIONAL
Bit 1 At least one device in the SYS-X44 has an error
Bit 2 Error during configuration / initiatization on system start
Bit 3 Error present on gateway bus
Bit 4 Error during initiatization / configuration in gateway module on
system start

Command Syntax
&H8003 ret = ioCtl("SYS-X44_PB-Master1", &H8003, device address)
Return values for RET:

Value Meaning
-1 Device address not found / general error
0 Device is not optionally present on system start
1 Device is optionally present on system start

Command Syntax
&H8004 ret = ioCtl("SYS-X44_PB-Master1", &H8004, device address)
Return values for RET:

Value Meaning
-1 Device address not found / general error
0 Device is deactivated
1 Device is activated

Command Syntax
&H8005 ret = ioCtl("SYS-X44_PB-Master1", &H8005, device address)
Return values for RET:

Value Meaning
-1 Device address not found / general error
0 Device has no error
>0 PROFIBUS error code

Command Syntax
&H8006 ret = ioCtl("SYS-X44_PB-Master1", &H8006, 0)
Return values for RET:

Value Meaning
-1 General error during ioCtl
0 All configured devices OK
>0 Number of faulty devices

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Deactivated devices which are not physically connected to the PRO-

FIBUS line are also considered faulty and included in this return val-
ue.

Command Syntax
&H8007 ret = ioCtl("SYS-X44_PB-Master1", &H8007, 0)
Return values for RET:

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

Command Syntax
&H8008 ret = ioCtl("SYS-X44_PB-Master1", &H8008, timeout time)

The timeout time must be specified in ms.

Return values for RET:

Value Meaning
-1 General error during ioCtl
0 Value in ms was set

Command Syntax
&H8009 ret = ioCtl("SYS-X44_PB-Master1", &H8009, 0)
Return values for RET:

Value Meaning
-1 General error during ioCtl
>0 Timeout value in ms

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 7 Diagnosis

7 Diagnosis

7.1 Displaying diagnostic data

The diagnostic data can also be displayed in WorkVisual. Information

about procedures in WorkVisual is contained in the WorkVisual doc-
umentation.

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:

 ECatIODriver
 SYS-X44_PB-Master1
 SYS-X44_PB-Slave1

ECatIODriver
“Name” column Description
Driver version Name of the driver
Bus instance Name and state of the bus instance

SYS-X44_PB-
“Name” column Description
Master1
Device name Name of the controller
Device version Controller version
Number of slaves Number of devices
Number of slaves Number of devices where an error has occurred.
with error
Cycle-Fail-Counter Counter for bus cycle errors
Cycle time Time (in µs) required by the controller for an
update
Min. cycle time Minimum time (in µs) required by the controller
for an update
Max. cycle time Maximum time (in µs) required by the controller
for an update
Station address Address of the controller
Baud rate Baud rate of the controller
Slave info(0) Name and device address of the first device
Slave state(0) Status of the first device
Slave info(1) Name and device address of the second device
Slave state(1) Status of the second device
Slave info(2) Name and device address of the third device
Slave state(2) Status of the third device

SYS-X44_PB-
“Name” column Description
Slave1
Device name Name of the device
Device version Version of the device
Station address Device address
Slave status Status of the device
Baud rate Baud rate of the device

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 8 Messages

8 Messages

No. / type Message text

2858 Ackn. Stop due to field bus error
Stop message
1034 Error on writing, driver: driver name
Status message
10039 bus name: Profibus master error in module [module name](error code)
Status message Note: The description of the error codes can be found in the manufac-
turer’s documentation for the PROFIBUS master.
4429 bus instance name: Profibus master configuration error (cause of error)
Status message Note: The possible causes of errors are given in the following table.

Error causes

Cause of error Description Remedy

Invalid ECatWrapper interface System error 1. Reboot the system with a
cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
IODataCreate() Error System error 1. Reboot the system with a
cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
System Manager interface System error 1. Reboot the system with a
invalid cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
Error opening The file 1. Correct the file.
'ecatms_sys_X44_swap.xml' ecatms_sys_X44_swap.xml 2. Reconfigure the bus.
File contains syntax errors.
found Gateway multiple There is more than one identi- 1. Remove the superfluous
cal gateway. gateway module from the
bus.
2. Reconfigure the bus.
unable to create Gateway- System error 1. Reboot the system with a
SEM cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
unable to spawn Gateway- System error 1. Reboot the system with a
Task cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
invalid Gateway PDO-Config No valid process data configu- 1. Check the bus configura-
ration is available for the gate- tion and correct if neces-
way module. sary.
2. Reconfigure the bus.

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Cause of error Description Remedy

unable to allocate Gateway- System error 1. Reboot the system with a
Memory cold start.
2. If the error is still dis-
played, inform KUKA Ser-
vice.
invalid Gateway-ID The gateway module is 1. Use a different gateway
unknown. module.
2. Reconfigure the bus.
invalid Gateway Error-Byte The error status bytes of the 1. Check the bus configura-
Config devices do not match the bus tion and correct if neces-
configuration. sary.
2. Reconfigure the bus.
invalid optional Slave Configu- The file 1. Correct the file.
ration ecat_PBM_Gateway.xml is 2. Reconfigure the bus.
faulty.

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 9 KUKA Service

9 KUKA Service

9.1 Requesting support

Introduction The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please con-
tact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Model and serial number of the robot
 Model and serial number of the controller
 Model and serial number of the linear unit (if applicable)
 Version of the KUKA System Software
 Optional software or modifications
 Archive of the software
 Application used
 Any external axes used
 Description of the problem, duration and frequency of the fault

9.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com

Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australien
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
vic@headland.com.au
www.headland.com.au

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Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
info@kuka.be
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Avenida Franz Liszt, 80
Parque Novo Mundo
Jd. Guançã
CEP 02151 900 São Paulo
SP Brazil
Tel. +55 11 69844900
Fax +55 11 62017883
info@kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
robotec@robotec.cl
www.robotec.cl

China KUKA Automation Equipment (Shanghai) Co., Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1808
Fax +86 21 6787-1805
info@kuka-sha.com.cn
www.kuka.cn

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
info@kuka-roboter.de
www.kuka-roboter.de

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France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
commercial@kuka.fr
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
info@kuka.in
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
kuka@kuka.it
www.kuka.it

Japan KUKA Robotics Japan K.K.

Daiba Garden City Building 1F
2-3-5 Daiba, Minato-ku
Tokyo
135-0091
Japan
Tel. +81 3 6380-7311
Fax +81 3 6380-7312
info@kuka.co.jp

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
info@kukakorea.com

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Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
info@kuka.com.my

Mexico KUKA de Mexico S. de R.L. de C.V.

Rio San Joaquin #339, Local 5
Colonia Pensil Sur
C.P. 11490 Mexico D.F.
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx

Norway KUKA Sveiseanlegg + Roboter

Bryggeveien 9
2821 Gjövik
Norway
Tel. +47 61 133422
Fax +47 61 186200
geir.ulsrud@kuka.no

Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
office@kuka-roboter.at
www.kuka-roboter.at

Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
ServicePL@kuka-roboter.de

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Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
kuka@mail.telepac.pt

Russia OOO KUKA Robotics Rus

Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
info@kuka.se

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
info@kuka-roboter.ch
www.kuka-roboter.ch

Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
Comercial@kuka-e.com
www.kuka-e.com

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South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
info@kuka.com.tw
www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
atika@ji-net.com
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
support@kuka.cz

Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
info@kuka-robotics.hu

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USA KUKA Robotics Corp.

22500 Key Drive
Clinton Township
48036
Michigan
USA
Tel. +1 866 8735852
Fax +1 586 5692087
info@kukarobotics.com
www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
sales@kuka.co.uk

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 Index

Index
C
Configuration 15
Coupling, device 21

D
Decoupling, device 21
Diagnosis 25
Diagnostic monitor (menu item) 25
Documentation, industrial robot 5

G
GSD 6
GSD files, making available 15

I
Introduction 5

K
KUKA Customer Support 29

M
Mapping, inputs/outputs 19
Messages 27

O
Operation 21

P
PLC 6
Product description 7

R
Recommissioning 13

S
Safety 11
Safety instructions 5
Service, KUKA Roboter 29
Start-up 13
Step 7 6
Support request 29

T
Target group 5
Timeout, coupling 22
Timeout, decoupling 22
Trade mark 5

W
Warnings 5

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