DeviceNet is a communication protocol based on CAN (Controller Area Network) bus technology, which is widely used in industrial control systems to achieve efficient and reliable communication between devices. In the communication of KUKA robots, DeviceNet Master allows the robot to communicate with other DeviceNet devices as a master station.
The configuration of KUKA robot’s DeviceNet Master mainly includes the following steps. Firstly, import the corresponding device description file of EL6752 into workvisual. Then, open the project and add the EL6752 module to the EtherCAT module. Next, add the DeviceNet Master and select the DTM. Finally, double-click the DeviceNet Master to configure the master/slave station address and baud rate. This enables the robot to communicate effectively via DeviceNet.
1 Hardware requirements
(1) Bus adapter: EK1100_EtherCat bus adapter is required.
(2) Terminal module: External EL6752_DeviceNet Master terminal module, which supports all DeviceNet I/O modes and has high-performance parameters and diagnostic interfaces.
2 Software configuration
Before configuring the system, it is recommended to back up the robot system to prevent system crashes. If you need a system backup and restore USB flash drive dedicated to the KUKA robot, you can reply to the background to obtain it.
(1) Open Workvisual, and after closing the project, check or import the corresponding Devicenet description file, FILE->import->import device description file->NEXT
(2) Select the Beckhoff EKxxxx.xml file->Open->Next->Finish, and repeat the above steps to import the Beckhoff EL6xxx.xml file.
(3) Import the current Workvisual, double-click to activate the current project->right-click BUS structure->select SYS-X44->OK
(4) Expand SYS-X44->right-click to add EK1100->OK->expand EK1100->right-click EBus to add EL6752master
(5) Right-click DeviceNet IO->Add generic devicenet device->OK
(6) Double-click EL6752 Devicenet, set the baud rate on the gateway page of the pop-up dialog box, and set the MacID on the slave page
(7) Expand devicenet IO, double-click Generic devicenet Device, and configure the input bytes and output bytes on the Connection Configuration page.
3 Testing and Verification
After completing the above configuration, you need to compile it in WorkVisual and download the configuration to the robot controller. Note that during the download process, you may need to confirm the operation on the robot teach pendant. It is also recommended to perform a communication test to verify the correctness of the configuration, which can be achieved by sending test data or observing the network status to ensure that the slave can correctly respond to the master’s request and exchange data.
In summary, the DeviceNet communication configuration of the KUKA robot is a process involving hardware connection, software setting, parameter configuration, and test verification. In order to ensure the accuracy of the configuration and the stability of the system, it is recommended to back up the current controller settings before making any changes, and follow the relevant guidance documents and best practices during operation.