Brief Analysis of PN Power Management of KUKA C4-8.3 System + Case Study

Power management via Industrial Ethernet, Power management via PROFINET

The configuration of the Industrial Ethernet interface with the help of CapCtrl.xml is not a function of PROFIenergy and must be considered separately. Only PROFIenergy or CapCtrl.xml must always be configured. If both are configured at the same time, unexpected effects and malfunctions will occur!

The following signals are available for activating or deactivating various energy-saving modes and for identifying the state of the robot controller.

These functions can only be performed in EXT operating mode, not in T1 or T2.

It is not possible to combine PROFIenergy with power management.

Power management does not refer to PROFIenergy.

Input byte 0

Output Byte 0

Power management with CabCtrl.xml.

A higher-level PLC can switch the drive bus of the KR C4 on and off via Industrial Ethernet or start the controller from cold restart or in sleep mode. For power management via CabCtrl.xml, an input bit is provided for the control function and an output bit is provided for feedback to the higher-level PLC.

Both bits must be transmitted together via the Industrial Ethernet telegram in the non-safe area (02xxxx).

The vector address (bit offset) is determined via CabCtr.xml. It must be ensured that the reserved range cannot be used for other purposes.

PROFIsafe protocol structure:

1. In the PLC project, up to 2032 safety inputs/outputs are available

2.PROFIsafe is a component of the standard PROFINET telegram.

3. Telegram Structure

a. Bytes 0 to 15 are safety inputs

b. Bytes 16 to 269 are standard input

c. Bytes 270 to 285 are safe output

d. From the 286th byte onwards it is standard output

4. For power management via Industrial Ethernet, the specified input bytes and output bytes are transmitted via the normal input/output range.

Steps:

1. Open the following file on Windows platform:

C:KRCRoboterConfiguserCommonCabCtrl.xml

2. Adjustment

"On" activates power management

3.

(input driver="PNIODriver" bus="PNIO-DEV" bitOffset="376")

(Output driver = "PNIODriver" Bus = "PNIO-DEV" bitOffset = "2536")

As shown, accept the values ​​of PNIODriver and PNIO-DEV

4. Calculate bitOffset (Example)

Bit offsets must always be multiples of eight.

5. On the KR C4 controller, inputs 02248 to 02256 should be used.

a. 02248 matches byte offset 31.

b. The first 16 bytes of safety input must be taken into account

c. That is, 16 bytes + 31 bytes = 47 bytes

d. 47 bytes is equivalent to 376 bits

e. In the position offset, enter the value

6. On the KR C4 controller, outputs 02248 to 02256 should be used.

7. 02248 matches byte offset 31

8. 286 bytes are occupied by safety inputs, standard inputs and safety outputs

9. That is, 286 bytes + 31 bytes = 317 bytes

10. 317 Byte corresponds to 2536 Bit.

11. In the position offset, enter the value

E249-E256ENERGYMM is a robot power control

Because it is a PN network card, it can be awakened!

Special Notes:

The CabCtrl.xml file of the Profinet software version used on the KUKA8.2 system is automatically written to the power management control, but when using the Profinet software 3.3 version CabCtrl.xml on the KUKA8.3 system, you need to activate the power management yourself.

8.3 The original CabCtrl.xml file of the system à

Rewritten 8.3 system CabCtrl.xml fileà

After changing the CabCtrl.xml file, the power management function can be activated.

Connection via the wiring editor is no longer necessary. The control signals are already intercepted at the protocol level and further processed internally. However, the reserved bit areas should not be used elsewhere. The inputs can be mapped in the KR C4 input range (as a diagnostic monitor, e.g. as a shutdown command for the PLC drive bus), dual configuration of the outputs is not permitted!