KUKA - FastSendDriver 40 en

KUKA System Technology KUKA Roboter GmbH
KUKA.FastSendDriver 4.0
For KUKA System Software 8.3
Issued: 10.11.2014
Version: KUKA.FastSendDriver 4.0 V3

© Copyright 2014
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 KUKA.FastSendDriver 4.0 (PDF) en

Book structure: KUKA.FastSendDriver 4.0 V1.1
Version: KUKA.FastSendDriver 4.0 V3
2 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

Contents
Contents
1 Introduction .................................................................................................. 5
1.1 Industrial robot documentation ................................................................................... 5
1.2 Representation of warnings and notes ...................................................................... 5
1.3 Terms used ................................................................................................................ 5
2 Product description ..................................................................................... 7

2.1 Product description of FastSendDriver ...................................................................... 7
2.1.1 Functional principle of communication .................................................................. 7
2.2 Connection variants ................................................................................................... 8
2.2.1 Standard variant (X65, X51) ................................................................................. 9
2.2.2 Variant with installed EtherCAT components (X51) .............................................. 9
2.2.3 Variant via KLI (X65, X66) .................................................................................... 11
2.3 Communication .......................................................................................................... 11
2.3.1 Digital inputs/outputs ............................................................................................ 11
2.3.2 UDP/IP interfaces ................................................................................................. 12
2.3.2.1 Data exchange between client and controller (structure of the packets) ......... 12
2.3.2.2 Designations within the data packets .............................................................. 13
3 Safety ............................................................................................................ 15
4 Installation .................................................................................................... 17
4.1 System requirements ................................................................................................. 17
4.2 Installing or updating FastSendDriver ........................................................................ 17
4.3 Uninstalling FastSendDriver ...................................................................................... 17
5 Configuration ............................................................................................... 19
5.1 Configuration in WorkVisual – overview .................................................................... 19
5.1.1 Configuration of the driver using WorkVisual ........................................................ 19
5.1.2 Mapping the FSD signals using WorkVisual ......................................................... 21
5.2 Using the KLI to exchange data with the FSD ........................................................... 21
6 Programming ............................................................................................... 23
6.1 KRL library ................................................................................................................. 23
6.1.1 FSD_SCAN_START() .......................................................................................... 24
6.1.2 FSD_SCAN_STOP() ............................................................................................ 24
6.1.3 FSD_SEND_ORIGIN() ......................................................................................... 24
6.1.4 FSD_SET_ORIGIN ............................................................................................... 25
6.1.5 FSD_SET_GRID() ................................................................................................ 25
6.1.6 FSD_SET_SCANRATE() ...................................................................................... 26
6.1.7 FSD_SET_TBM() .................................................................................................. 27
6.1.8 FSD_SET_PGM() ................................................................................................. 27
6.1.9 FSD_SYNC() ........................................................................................................ 27
6.1.10 FSD_SET_GPR() ................................................................................................. 28
6.1.11 FSD_SET_USER_ID() .......................................................................................... 28
6.1.12 FSD_SET_USER_DATA ...................................................................................... 28
6.1.13 FSD_IS_CLIENT_CONNECTED() ....................................................................... 29
6.1.14 FSD_IS_SCAN_ACTIVE() .................................................................................... 29
7 Diagnosis ..................................................................................................... 31
Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 3 / 53

7.1 Overview .................................................................................................................... 31

7.1.1 Network interface (FSD interface) ........................................................................ 31
7.1.2 FastSendDriver (FSD) .......................................................................................... 32
8 Appendix ...................................................................................................... 35
8.1 Packet types .............................................................................................................. 35
8.1.1 Packet type: Command (client to FSD) ................................................................ 35
8.1.1.1 HELO ............................................................................................................... 35
8.1.1.2 STOP ............................................................................................................... 35
8.1.1.3 FSD1 ............................................................................................................... 36
8.1.1.4 FSD0 ............................................................................................................... 36
8.1.1.5 SSCR .............................................................................................................. 36
8.1.1.6 RSCR .............................................................................................................. 36
8.1.1.7 SMOD .............................................................................................................. 36
8.1.1.8 RMOD ............................................................................................................. 37
8.1.1.9 SGRD .............................................................................................................. 37
8.1.1.10 RGRD .............................................................................................................. 37
8.1.1.11 POSQ .............................................................................................................. 37
8.1.1.12 RORI ............................................................................................................... 38
8.1.1.13 VERQ .............................................................................................................. 38
8.1.1.14 SADJ ............................................................................................................... 38
8.1.1.15 RADJ ............................................................................................................... 38
8.1.1.16 SYNC .............................................................................................................. 38
8.1.2 Packet type: Response (FSD to client) ................................................................. 39
8.1.2.1 ISCR ................................................................................................................ 39
8.1.2.2 IMOD ............................................................................................................... 39
8.1.2.3 IGRD ............................................................................................................... 39
8.1.2.4 ORID ............................................................................................................... 40
8.1.2.5 VERS ............................................................................................................... 40
8.1.2.6 SCN1 ............................................................................................................... 41
8.1.2.7 SCN0 ............................................................................................................... 41
8.1.2.8 USER .............................................................................................................. 41
8.1.2.9 POSD .............................................................................................................. 41
8.1.2.10 IADJ ................................................................................................................. 41
9 KUKA Service ............................................................................................... 43

9.1 Requesting support ................................................................................................... 43
9.2 KUKA Customer Support ........................................................................................... 43
Index ............................................................................................................. 51

1 Introduction
1 Introduction
1.1 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 System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.2 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
These warnings mean that it is certain or highly probable

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

occur, if no precautions are taken.
These warnings mean that minor 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 pre-
cautionary measures.
This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:
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.
1.3 Terms used
Term Description
CIB Cabinet Interface Board
DAS Data Acquistion System
FSD FastSendDriver
GPR General Purpose Register

Term Description
KEB KUKA Extension Bus
KLI KUKA Line Interface. Connection to higher-level
control infrastructure (PLC, archiving)
KSB KUKA System Bus. Internal KUKA bus for inter-
nal networking of the controllers with each other
PGM Position Grid Mode
Transfer of robot data at position intervals (veloc-
ity-dependent)
TBM Time Based Mode
Transfer of robot data at time intervals
UDP User Datagram Protocol
Connectionless protocol for the data exchange
between the devices of a network
IP Internet Protocol
The Internet Protocol is used to define subnet-
works by means of physical MAC addresses.

2 Product description
2.1 Product description of FastSendDriver
Description The FastSendDriver is an add-on technology package for the implementation

of robot applications in the field of non-destructive material testing with KUKA
robot systems. The FSD is used for real-time communication with an external
sensor system (e.g ultrasound probe on the robot flange, with control unit) and
the “Data Aquisition System” (DAS) evaluation unit.
The sensor system and the DAS are not included in the FastSendDriver tech-
nology package.
With FastSendDriver, it is also possible to implement other robot applications
which depend on high-frequency transmission of robot position data. For ex-
ample, the technology can also be used for scanning 3D surface models with
a robot-supported stereo camera system or a laser scanner, for example.
Functions The add-on technology package has the following functions:

 FSD real-time driver
 WorkVisual plug-in for configuration
 WorkVisual FSD adapter in the mapping editor for signal mapping
 KRL library for FSD configuration via KRL programs
 Fast I/Os on the KUKA Extension Bus (KEB) for synchronizing the robot,
evaluation and sensor systems as well as the relevant data using the eval-
uation system.
Main features Main features of the FSD:

 Time Based Mode (TBM): transfer of robot data at time intervals (1 ms,
2 ms, 4 ms, 6 ms, 12 ms)
 Position Grid Mode (PGM): transfer of robot data at position intervals (ve-
locity-dependent)
Features of FSD real-time communication (TBM and PGM):
 Transfer of current robot data at a high clock rate (max. 1 kHz) via Ethernet
UDP/IP
 Cartesian robot position
 Axis-specific robot position
 Axis angle of external axes
 Accumulated value of the virtual axis
 Generation of digital input and output signals directly on the KUKA Exten-
sion Bus (EtherCAT)
 Increased bus clock frequency of the KUKA Extension Bus (1 kHz)
 4-bit encoder for the consecutive counting of the TBM or PGM interval
 1-bit digital input and 1-bit digital output for the synchronization of ex-
ternal systems (e.g. DAS)
2.1.1 Functional principle of communication
Overview The FSD has direct access to the KUKA Extension Bus and the KUKA System
Bus. The synchronisation process can be started via a digital input from the
Data Acquisition System. In an active scan, the FSD synchronizes several dig-
ital outputs with the clock, enabling the DAS to make an exact assignment be-
tween the UDP packets of the robot and the measurement data of the sensor
system.

Fig. 2-1: Functional principle of communication
Description  Establishing the UDP connection:

The UDP connection to the FSD is initiated by the DAS. The DAS is reg-
istered with the FSD via the UDP command HELO. Only one DAS can be
registered. The FSD does not support more than one connection.
The FSD is accessed via the KUKA System Bus at port X47 on the CIB via
the predefined IP address 172.20.1.1 and the default UDP port 24674. By
default, the FSD sends responses to UDP client requests to the UDP port
24673.
Since the UDP communication works at a very high clock

rate, an isolated network should be used for data ex-
change with the FSD. Otherwise, the correct functioning of the application
can be impaired.
As an alternative to UDP communication, the KLI of the robot control-

ler can also be used (>>> 5.2 "Using the KLI to exchange data with
the FSD" Page 21).
 Sequence on starting a scan:

When a scan start is triggered by the KRL function FSD_SCAN_START in
a robot program or by the UDP command SCN1 via the DAS, the FSD ex-
ecutes a single encoder step and also sends the current position data. If,
for example, a scan of 1,000 mm in length is executed in PGM
(grid=1 mm), a total of 1,001 encoder steps are executed and 1,001 posi-
tion data are sent.
 Position data:
When a scan is active, the DAS has established the UDP connection to
the FSD, and $BASE and $TOOL are valid, the position data are sent from
the FSD to the DAS. It is also possible to receive the position data from the
FSD when jogging with no program selected.
2.2 Connection variants
Description There are 3 connection variants between the robot controller and the Data Ac-
quisition System:

 Standard variant (X65, X51)

(>>> 2.2.1 "Standard variant (X65, X51)" Page 9)
 Variant with installed EtherCAT components (X51)
(>>> 2.2.2 "Variant with installed EtherCAT components (X51)" Page 9)
 Variant via KLI (X65, X66)
(>>> 2.2.3 "Variant via KLI (X65, X66)" Page 11)
2.2.1 Standard variant (X65, X51)
Description
Fig. 2-2: Standard variant
Designation Description
B KUKA System Bus at port X47 of the CIB
Ethernet connection to the DAS for UDP communica-
tion
X65 EthernetCAT interface X65 (optional)
Interface for connection of EtherCAT slaves outside the
robot controller.
X51 Cable inlet X51 (optional)
Four-way cable inlet
Further information regarding the X51 four-way cable inlet for digital
inputs and outputs can be found in the assembly and operating in-
structions Optional interfaces for KR C4 robot controllers.
2.2.2 Variant with installed EtherCAT components (X51)
Description The space for integration of external customer options can be used for exter-
nal customer equipment depending on the installed hardware options on the
top-hat rail.

Further information regarding the use of the space for the integration
of customer options is contained in the assembly or operating instruc-
tions of the robot controller.
Fig. 2-3: Variant with installed EtherCAT components (X51)
A Port X44 of the CIB
B KUKA System Bus at port X47 of the CIB
tion
X51 Cable inlet X51 (optional)
Four-way cable inlet
Further information regarding the X51 four-way cable inlet for digital
inputs and outputs can be found in the assembly and operating in-
structions Optional interfaces for KR C4 robot controllers.
Further information regarding the X44 port of the CIB is contained in

the assembly or operating instructions of the robot controller.

2.2.3 Variant via KLI (X65, X66)
Description
Fig. 2-4: Connection variant via KLI (X65, X66)
X65 EtherCAT interface X65 (optional)
Interface for connection of EtherCAT slaves outside the
robot controller.
KLI KUKA Line Interface
X66 (1xRJ45) or X67.1/.2/.3 (3xRJ45) (optional)
tion.
Further information regarding the EtherCAT interface X65 can be

found in the assembly and operating instructions Optional interfac-
es for KR C4 robot controllers.
2.3 Communication
2.3.1 Digital inputs/outputs
Inputs Input Description

FSD_BIT_SYNC_IN Starts the synchronization process in the FSD.
During synchronization, the signal
FSD_BIT_SYNC_OUT is set briefly, and the
internal packet counter and the time stamp are
reset to 0. These two values are sent as
FSD_PARAM_COUNT (packet counter) and
FSD_PARAM_TIME (time stamp) within the
position data to the registered UDP client.

Outputs 8 outputs are provided. The first four 1-bit signals are synchronized with each
clock unit. In TBM, this is a time unit and in PGM this is a grid unit. Signals A
and B work as quadrature encoders (90° phase offset), and signals /A and /B
allow operation on a differential interface.
Output Description
FSD_BIT_ENC_AA Encoder A
FSD_BIT_ENC_nA Encoder /A
FSD_BIT_ENC_BB Encoder B
FSD_BIT_ENC_nB Encoder /B
FSD_BIT_CLOCK The FSD produces a 1-bit clock signal in the
context of the real-time kernel. The signal
changes every 1 ms and can be used for exter-
nal synchronization.
FSD_BIT_SCAN_ACT The FSD sets this 1-bit signal when a scan
IVE begins and deletes it when a scan ends.
FSD_BIT_SCAN_END The FSD sets this signal for 1 ms (pulse) when a
S scan ends.
FSD_BIT_SYNC_OUT The FSD switches the SYNC_IN signal through
in order to enable time synchronization with an
external DAS. The signal is active for the dura-
tion of one clock unit and is then deleted.
In detail, the behavior of this signal is as follows:
 FSD_BIT_SYNC_OUT is set synchronously
with the triggering by the FSD_BIT_ENC_
signals.
 FSD_BIT_SYNC_OUT remains set just until
the next triggering.
 If FSD_BIT_SYNC_IN is set while no scan is
active, FSD_BIT_SYNC_OUT is set when
the following scan is triggered.
 For a continuously set FSD_BIT_SYNC_IN,
FSD_BIT_SYNC_OUT is only set once.
2.3.2 UDP/IP interfaces
2.3.2.1 Data exchange between client and controller (structure of the packets)
Description The UDP/IP protocol is used for data exchange between the client and con-
troller. The user data of the FSD are received in the UDP/IP packets in the
form of a special FSD datagram.
The FSD datagram consists of the following components:
 FSD header
 Packet type
 Command (client to FSD)
 Response (FSD to client)
 Length of the data part
 FSD data
 Designation
describes the following parameter
 Parameter
current value

Data width The packet type, length, designation and parameter each have a set data
width of 4 bytes. Depending on the packet type, a different number of desig-
nations and parameters are sent.
If a packet only contains the header, the data part of the packet is assigned a
length of 0 (4 bytes). The header therefore always has a length of 8 bytes.
Byte sequence With the exception of the packet type, the byte sequence in the FSD datagram
for all components is the little endian format. The packet type is formatted in
the big endian format (network byte order).
More detailed information about the packet types can be found in the
Appendix (>>> 8.1 "Packet types" Page 35).
2.3.2.2 Designations within the data packets
Description A number of designations are defined which indicate the data type of the fol-
lowing 4 bytes within the packet. The following parameter designations are de-
fined:
Identifier Designation Byte display Parameter

(4 bytes, HEX)
X FSD_PARAM_X 0x0000 0001 Cartesian value of axis X in µm
Y FSD_PARAM_Y 0x0000 0002 Cartesian value of axis Y in µm
Z FSD_PARAM_Z 0x0000 0004 Cartesian value of axis Z in µm
A FSD_PARAM_A 0x0000 0010 Rotational value of axis A in µrad
B FSD_PARAM_B 0x0000 0020 Rotational value of axis B in µrad
C FSD_PARAM_C 0x0000 0040 Rotational value of axis C in µrad
E1 FSD_PARAM_E1 0x0000 0081 Axis value of external axis E1
 Rotational axis in µrad
 Linear axis in µm
FC FSD_PARAM_COUNT 0x0000 0800 Packet counter of the current scan
TICK FSD_PARAM_TICK 0x0000 1000 Value of the internal system time
stamp in ms
TIME FSD_PARAM_TIME 0x0000 2000 Duration of the current scan in ms

Identifier Designation Byte display Parameter

(4 bytes, HEX)
IOS FSD_PARAM_IOS 0x0000 4000 Value of the I/O status register
 Bit 0: set when scan is active
 Bit 4: set when FSD is in TBM
 Bit 5: set when FSD is in PGM
 Bit 6: set when SYNC_IN has
been set
GPR FSD_PARAM_GPR 0x0000 8000 Value of the General Purpose Regis-
ter (GPR)
VA FSD_PARAM_VAXIS 0x0001 0000 Accumulated value of the virtual axis
in µm
A1 FSD_PARAM_A1 0x0001 0001 Axis angle A1 in µrad
ST FSD_PARAM_STATUS 0x0000 0400 Position is invalid: 0

3 Safety
3 Safety
This documentation contains safety instructions which refer specifically to the
software described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the Operating and Programming Instructions for End Users.
The “Safety” chapter in the operating and programming instructions

of the KUKA System Software (KSS) must be observed. Death to per-
sons, severe injuries or considerable damage to property may other-
wise result.


4 Installation
4 Installation
4.1 System requirements
Hardware  KR C4 robot controller

 External Data Aquisition System
 EtherCat components for the digital I/Os
 Bus components with fast switching and reading time
 Bus coupler (recommended: Beckhoff EK1100)
 Digital input module (recommended: Beckhoff EL1018)
 8-channel digital output module (recommended: Beckhoff EL20008)
In order to minimize the tolerances during synchronous switching of

outputs, it is advisable to use only one output module for the 8 outputs
switched by the FSD.
Software Robot controller:

 KUKA System Software 8.3 (8.3.6 or higher)
 WorkVisual 3.0 (3.0.7 or higher)
4.2 Installing or updating FastSendDriver
It is advisable to archive all relevant data before updating a software

package.
Precondition  Software on KUKA.USBData stick

 No program is selected.
 T1 or T2 operating mode
 “Expert” user group
Only the KUKA.USB data stick may be used. Data may

be lost or modified if any other USB stick is used.
Procedure 1. Plug in USB stick.

2. Select Start-up > Install additional software in the main menu.
3. Press New software. If a software package that is on the USB stick is not
displayed, press Refresh.
4. Mark the FastSendDriver entry and press Install. Reply to the request for
confirmation with Yes. The files are copied onto the hard drive.
5. Repeat step 4 if another software is to be installed from this stick.
6. Remove USB stick.
7. It may be necessary to reboot the controller, depending on the additional
software. In this case, a corresponding prompt is displayed. Confirm with
OK and reboot the robot controller. Installation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.
4.3 Uninstalling FastSendDriver
It is advisable to archive all relevant data before uninstalling a soft-

ware package.

Precondition  “Expert” user group
Procedure 1. Select Start-up > Install additional software in the main menu. All addi-
tional programs installed are displayed.
2. Mark the FastSendDriver entry and press Uninstall. Reply to the request
for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

5 Configuration
5 Configuration
5.1 Configuration in WorkVisual – overview
Step Description
1 Install the FastSendDriver option package in WorkVisual.
2 Load the project from the robot controller.
Precondition: FastSendDriver is installed on the robot con-
troller.
3 Insert the FastSendDriver catalog in the currect project.
4 Add the FastSendDriver option from the catalog of the proj-
ect.
5 Configure the FastSendDriver using WorkVisual.
(>>> 5.1.1 "Configuration of the driver using WorkVisual"
Page 19)
6 Map the inputs and outputs in WorkVisual.
(>>> 5.1.2 "Mapping the FSD signals using WorkVisual"
Page 21)
7 Transfer the project from WorkVisual to the robot controller.
Note: During project deployment, the technology-specific files
are copied to the robot controller and activated. If an earlier
project has already been transferred, the files of this project
are overwritten. It is therefore recommended to archive the
files of the earlier project before transferring the new project.
Information about installing and managing option packages can be

found in the WorkVisual documentation.
Information about bus configuration and project deployment can be

found in the WorkVisual documentation.
5.1.1 Configuration of the driver using WorkVisual
Precondition  FastSendDriver is installed and operational in WorkVisual.
Procedure 1. Select the menu sequence Editors > Options packages > Configuring
FastSendDriver. The FastSendDriver window opens.
2. Configure the desired settings.

Fig. 5-1: Configuring the driver
Item Description
1 Transmission mode
Time Based Mode (TBM)
 Transfer of robot data at time intervals (1 ms, 2 ms, 4 ms,
6 ms, 12 ms)
Position Grid Mode (PGM)
 Transfer of robot data at position intervals (velocity-depen-
dent)
2 Scan rate [ms]
Specifies the time interval at which the robot data are transferred.
The scan rate is used in TBM.
3 Grid size [µm]
Specifies the position interval at which the robot data are trans-
ferred. The grid size is used in PGM.
4 UDP port (TX)
Defines the UDP port to which the data are sent from the FSD. The
client connects to this port to receive the data from the FSD.
5 UDP port (RX)
Defines the UDP port at which the FSD waits for incoming com-
mands. The client sends a request to this port.

5 Configuration
Item Description
6 Formatting
Describes the format of the response packet of type POSD
(>>> 8.1.2.9 "POSD" Page 41).
 DEFAULT
 FULL
 FULL_TICK
 FRAME_TNA
 FRAME_VAXIS
 USER_DEFINED
This option allows the specification of user-defined for-
mats.
7 Description
Defines the structure of the response packet of type POSD, which
is sent from the FSD to the client.
Depending on Formatting, the corresponding identifiers are dis-
played in the Description box. In the UDP datagram, the corre-
sponding designations with parameters are sent in accordance
with the sequence of these identifiers. The individual identifiers are
separated by commas.
Identifiers, designations and parameters are described in the table
(>>> 2.3.2.2 "Designations within the data packets" Page 13).
5.1.2 Mapping the FSD signals using WorkVisual
Procedure 1. Select the menu sequence Editors > I/O mapping:. A window opens.
2. Click on the FSD tab. All digital inputs and outputs and field buses are dis-
played.
Fig. 5-2: I/O mapping
Further information about mapping inputs and outputs can be found

in the WorkVisual documentation.
5.2 Using the KLI to exchange data with the FSD
Description The KUKA Line Interface is a line bus for integrating the system into the cus-
tomer network. It is possible to implement the UDP communication between
the client and controller via the KUKA Line Interface.


rate, an isolated network should be used for data ex-
change with the FSD. Otherwise, the correct functioning of the application
can be impaired.
Precondition  “Expert” user group
Procedure 1. Select the menu sequence Start-up > Network configuration.

2. Click on the Advanced... button. A window opens.
3. Add a new interface by clicking on Add interface.
4. Select the newly created interface from the list (e.g. virtual6)
5. In the corresponding interface characteristics, select Address type: Real-
time IP address.
6. Configure the corresponding IP address and subnet mask (e.g. 172.21.1.1
and 255.255.0.0).
No address from the network 172.20.0.0/16 may be used, as this net-

work is reserved for the connection via the KUKA System Bus.
7. Change the corresponding interface designation (e.g. FSD KLI)
The designations FSD or FSD Interface may not be used, as this is

used by the technology package.
8. Select the newly created interface from the interface list.

9. Click on the arrow to the left of the interface and select the subordinate
queue.
10. Select Reception filter: as Target subnet.
11. Save the changes and perform an initial cold start by clicking on Reload
files.
12. After rebooting, check whether a network interface with the selected des-
ignation is available in the diagnostic monitor.

rate, the KLI should only be used in an isolated network
for data exchange with the FSD. Otherwise, the correct functioning of the ap-
plication can be impaired.

6 Programming
6 Programming
6.1 KRL library
A KRL library is made available for the user. The setup program saves the
necessary KRL files on the controller under /KRC/R1/TP/FSD.
The following KRL functions are provided:
Function Description
FSD_SCAN_START() (>>> 6.1.1 "FSD_SCAN_START()" Page 24)
FSD_SCAN_STOP() (>>> 6.1.2 "FSD_SCAN_STOP()" Page 24)
FSD_SEND_ORIGIN() (>>> 6.1.3 "FSD_SEND_ORIGIN()" Page 24)
FSD_SET_ORIGIN(ORIGIN_VAL :IN) (>>> 6.1.4 "FSD_SET_ORIGIN" Page 25)
FSD_SET_GRID(GRID_VAL :IN) (>>> 6.1.5 "FSD_SET_GRID()" Page 25)
FSD_SET_SCANRATE(SCAN_RATE_VAL (>>> 6.1.6 "FSD_SET_SCANRATE()"
:IN) Page 26)
FSD_SET_TBM() (>>> 6.1.7 "FSD_SET_TBM()" Page 27)
FSD_SET_PGM() (>>> 6.1.8 "FSD_SET_PGM()" Page 27)
FSD_SYNC() (>>> 6.1.9 "FSD_SYNC()" Page 27)
FSD_SET_GPR(GPR_VAL: IN) (>>> 6.1.10 "FSD_SET_GPR()" Page 28)
FSD_SET_USER_ID(USER_ID: IN) (>>> 6.1.11 "FSD_SET_USER_ID()" Page 28)
FSD_SET_USER_DATA(USER_DATA: IN) (>>> 6.1.12 "FSD_SET_USER_DATA"
Page 28)
FSD_IS_CLIENT_CONNECTED(IS_CONN:
OUT) (>>> 6.1.13 "FSD_IS_CLIENT_CONNECTED(
)" Page 29)
FSD_IS_SCAN_ACTIVE(IS_ACTIVE: OUT) (>>> 6.1.14 "FSD_IS_SCAN_ACTIVE()"
Page 29)
These KRL functions messages can have the following return values:
Return value Value (INT) Description

FSDOK 0 Function executed success-
fully.
FSDINTERR -1 An internal error has occurred.
FSDPARAMNO -2 An invalid number of parame-
ters has been transferred.
FSDPARVAL -3 The transferred parameter has
an invalid value.
FSDPARAMTYPE -4 The transferred parameter has
an invalid data type.
FSDPARVAR -5 The transferred parameter is
not a variable.
FSDSCANACT -6 Function cannot be carried out
because a scan is active.
FSDNOSCANACT -7 Function cannot be carried out
because no scan is active.
FSDNOCLIENT -8 Function cannot be carried out
because no client is registered
with the FSD.
FSDDATAERR -9 An error has occurred when
transferring the data.

6.1.1 FSD_SCAN_START()
Description FSD_SCAN_START() starts the scan. The controller sends an SCN1 packet
to the client.
Syntax RET=FSD_SCAN_START()
Explanation of Element Description

the syntax RET Type: INT
Return values:
 FSDOK: function executed successfully.
 FSDINTERR: an internal error has occurred.
 FSDPARAMNO: an invalid number of parameters
has been transferred.
 FSDSCANACT: function cannot be carried out be-
cause a scan is active.
 FSDDATAERR: an error occurred during data
transfer.
6.1.2 FSD_SCAN_STOP()
Description FSD_SCAN_START() stops the scan. The controller sends an SCN0 packet
to the client.
Syntax RET= FSD_SCAN_STOP()

Return values:
 FSDOK: function executed successfully
transfer.
6.1.3 FSD_SEND_ORIGIN()
Description FSD_SEND_ORIGIN() sends an ORID package to the registered client con-

taining the data of the origin which was set beforehand with the function
FSD_SET_ORIGIN.
Syntax RET= FSD_SEND_ORIGIN()

6 Programming

Return values:
transfer.
6.1.4 FSD_SET_ORIGIN
Description FSD_SET_ORIGIN sets the origin, which can be sent to the registered client
with FSD_SEND_ORIGIN.
A variable of data type FRAME must be transferred as a parameter. The vari-
able must be converted into a CHAR array before the function is called.
Syntax RET=FSD_SET_ORIGIN(<ORIGIN_VAL:IN>)
Return value Element Description

RET Type: INT
Return values:
 FSDPARVAL: the transferred parameter has an in-
valid value.
 FSDPARAMTYPE: the transferred parameter has
ORIGIN_VAL:IN Type: FRAME
Origin: Space coordinates and orientation of the origin.
6.1.5 FSD_SET_GRID()
Description FSD_SET_GRID() sets the grid size which should be used by FastSendDriver
in Position Grid Mode. It cannot be set during an active scan. It sends an IGRD
package to the registered client.
Syntax RET=FSD_SET_GRID(<GRID_VAL:IN>)


Return values:
valid value.
transfer.
GRID_VAL:IN Type: INT
Grid size for Position Grid Mode in µm.
6.1.6 FSD_SET_SCANRATE()
Description FSD_SET_SCANRATE() sets the scan rate of the FastSendDriver. The fol-
lowing values are allowed:
 1 ms
 2 ms
 4 ms
 6 ms
 12 ms
It cannot be set during an active scan. It sends an ISCR packet to the regis-
tered client.
Syntax RET=FSD_SET_SCANRATE(<SCAN_RATE_VAL:IN>)

Return values:
valid value.
transfer.
SCAN_RATE_V Type: INT
AL:IN
Scan rate: Scan rate in ms.

6 Programming
6.1.7 FSD_SET_TBM()
Description FSD_SET_TBM() sets the transmission mode Time Based Mode (TBM),
which should be used by the FastSendDriver. It cannot be set during an active
scan. It sends an IMOD packet to the registered client.
Syntax RET=FSD_SET_TBM()

Return values:
6.1.8 FSD_SET_PGM()
Description FSD_SET_PGM() sets the transmission mode Position Grid Mode (PGM),
which should be used by the FastSendDriver. It cannot be set during an active
scan. It sends an IMOD packet to the registered client.
Syntax RET=FSD_SET_PGM()

Return values:
6.1.9 FSD_SYNC()
Description FSD_SYNC() resets the internal time stamp and confirms this by briefly setting
the FSD_BIT_SYNC_OUT signal.
Syntax RET=FSD_SYNC()

Return values:

6.1.10 FSD_SET_GPR()
Description FSD_SET_GPR() sets the value of the General Purpose Register (GPR). This
value can be sent to the client within the POSD packets.
Syntax RET=FSD_SET_GRP(<GPR_VAL:IN>)

Return values:
GPR_VAL:IN Type: INT
Register: register value to be set.
6.1.11 FSD_SET_USER_ID()
Description FSD_SET_USER_ID() sets the user ID which is then sent to the registered cli-
ent together with the data.
Syntax RET=FSD_SET_USER_ID(<USER_ID:IN>)

Return values:
transfer.
USER_ID:IN Type: INT
ID: value to be set for the user ID
6.1.12 FSD_SET_USER_DATA
Description FSD_SET_USER_DATA() sends the transferred data together with the set
user ID to the registered user as a USER packet.
Syntax RET=FSD_SET_USER_DATA(<USER_DATA:IN>)

6 Programming

Return values:
transfer.
USER_DATA: Type: INT
IN
Data: data to be sent.
6.1.13 FSD_IS_CLIENT_CONNECTED()
Description FSD_IS_CLIENT_CONNECTED() determines whether a client is connected

to the FastSendDriver.
Syntax RET=FSD_IS_CLIENT_CONNECTED(<IS_CONN:OUT>)

Return values:
 FSDPARVAR: the transferred parameter is not a
variable.
IS_CONN:OUT Type: BOOL
Connection status:
 TRUE: client is connected
 FALSE: client is not connected
6.1.14 FSD_IS_SCAN_ACTIVE()
Description FSD_IS_SCAN_ACTIVE() determines whether a scan is active.
Syntax RET=FSD_IS_SCAN_ACTIV(<IS_ACTIVE:OUT>)

Return value Element Description

RET Type: INT
Return values:
 FSDPARVAR: the transferred parameter is not a
variable.
IS_ACTIVE:OUT Type: BOOL
Status of the scan:
 TRUE: scan is active
 FALSE: scan is not active

7 Diagnosis
7 Diagnosis
7.1 Overview
There are two modules in the diagnostic monitor which are important for the
FSD diagnosis:
 Network interface (FSD interface)
Used for data traffic between the FSD and the registered client.
(>>> 7.1.1 "Network interface (FSD interface)" Page 31)
 FastSendDriver (FSD)
(>>> 7.1.2 "FastSendDriver (FSD)" Page 32)
7.1.1 Network interface (FSD interface)
Overview
Fig. 7-1: Diagnostic module, network interface (FSD interface)
Description The network interface contains the following diagnostic information:

 Interface ID
Internal designation of the network interface
 TX counter
Number of data packets which were successfully sent via this interface.
 TX packet errors
Number of data packets which were not sent via this interface due to an
error.
 RX counter
Number of data packets which were successfully received via this inter-
face.
 RX packet errors
Number of data packets which were not received by this interface due to
an error.
 Link status
Details on the current status of the network interface.
 IP address
IP address of this network interface.
 MAC address
Hardware address of this network interface.

 Subnet mask
Subnet mask of this network interface
 Protocols
List containing the protocol designations of the protocols which use this
network interface.
7.1.2 FastSendDriver (FSD)
Overview
Fig. 7-2: FSD diagnostic module
Description The FSD contains the following diagnostic information:

 Protocol version of data interface
Version of the FSD datagram
 Transmission mode
Currently set transmission mode:
 Time Based Mode
 Position Grid Mode
 Frame format
The configured format of the POSD packets to be sent from the FSD
 Scan rate
Current scan rate in ms
 Grid size
Currently set grid size in µm
 UDP port (TX)
Destination port of the UDP packets which are sent from the FSD.
 UDP port (RX)
UDP port at which the FSD waits for incoming packages from the client.
 IP address of client
IP address of the registered client. If no client is registered, N/A (no client)
is displayed
 Scan currently active?
Displays whether a scan is being performed

7 Diagnosis
 Number of skipped frames

Number of positions that have been ignored in the PGM transmission
mode.
 Position errors
Number of positions which could not be correctly calculated.


8 Appendix
8 Appendix
8.1 Packet types
8.1.1 Packet type: Command (client to FSD)
Overview The following UDP packets are included in the client:
UDP packet Description

HELO (>>> 8.1.1.1 "HELO" Page 35)
STOP (>>> 8.1.1.2 "STOP" Page 35)
FSD1 (>>> 8.1.1.3 "FSD1" Page 36)
FSD0 (>>> 8.1.1.4 "FSD0" Page 36)
SSCR (>>> 8.1.1.5 "SSCR" Page 36)
RSCR (>>> 8.1.1.6 "RSCR" Page 36)
SMOD (>>> 8.1.1.7 "SMOD" Page 36)
RMOD (>>> 8.1.1.8 "RMOD" Page 37)
SGRD (>>> 8.1.1.9 "SGRD" Page 37)
RGRD (>>> 8.1.1.10 "RGRD" Page 37)
POSQ (>>> 8.1.1.11 "POSQ" Page 37)
RORI (>>> 8.1.1.12 "RORI" Page 38)
VERQ (>>> 8.1.1.13 "VERQ" Page 38)
SADJ (>>> 8.1.1.14 "SADJ" Page 38)
RADJ (>>> 8.1.1.15 "RADJ" Page 38)
SYNC (>>> 8.1.1.16 "SYNC" Page 38)
8.1.1.1 HELO
Description This packet registers the client with the FSD. Starting from this time, the FSD
can send data to the client. No UDP communication with the FSD is possible
without registration.
 Total length: 8 bytes
Component Packet type Length of the data part
Value HELO 0 bytes
FSD datagram 48 45 4C 4F 00 00 00 00
Start address 0 4
(byte)
8.1.1.2 STOP
Description This packet logs the client out of the FSD.

Value STOP 0 bytes
FSD datagram 53 54 4F 50 00 00 00 00
Start address 0 4
(byte)

8.1.1.3 FSD1
Description This packet starts a scan procedure. If it is successful, the FSD responds with
an SCN1 packet. If a scan is started via UDP, it is possible to receive position
data from the controller when jogging.
Value FSD1 0 bytes
FSD datagram 46 53 44 31 00 00 00 00
Start address 0 4
(byte)
8.1.1.4 FSD0
Description This packet stops a scan procedure. The FSD responds with an SCN0 packet.
Value FSD0 0 bytes
FSD datagram 46 53 44 30 00 00 00 00
Start address 0 4
(byte)
8.1.1.5 SSCR
Description This packet sets the scan rate of the FSD. The following values are allowed:
1 ms, 2 ms, 4 ms, 6 ms, 12 ms.
Component Packet type Length Parameter

Value SSCR 4 bytes Desired scan rate [ms]
e.g. 1 ms
FSD datagram 53 53 43 52 04 00 00 00 01 00 00 00
Start address (byte) 0 4 8
8.1.1.6 RSCR
Description This packet requests the currently set scan rate of the FSD. The controller re-
sponds with an ISCR packet.
Value RSCR 0 bytes
FSD datagram 52 53 43 52 00 00 00 00
Start address 0 4
(byte)
8.1.1.7 SMOD
Description This packet sets the transmission mode of the FSD. If the Time Base Mode
(TBM) is used, a 0 is sent. If the Position Grid Mode (PGM) is used, a 1 is sent.

8 Appendix

Value SMOD 4 bytes Desired mode
e.g. TBM
FSD datagram 53 4D 4F 44 04 00 00 00 00 00 00 00
8.1.1.8 RMOD
Description This packet requests the currently set transmission mode of the FSD. The con-
troller responds with an IMOD packet.
Component Packet type Length
Value RMOD 0 bytes
FSD datagram 52 4D 4F 44 00 00 00 00
Start address 0 4
(byte)
8.1.1.9 SGRD
Description This packet sets the grid size of the FSD.


Value SGRD 4 bytes Desired grid size in [µm]
e.g. 1000 µm
FSD datagram 53 47 52 44 04 00 00 00 E8 03 00 00
8.1.1.10 RGRD
Description This packet requests the currently set grid size of the FSD. The controller re-
sponds with an IGRD packet.
Value RGRD 0 bytes
FSD datagram 52 47 52 44 00 00 00 00
Start address 0 4
(byte)
8.1.1.11 POSQ
Description This packet requests the current position. The controller responds with a
POSD packet.
Value POSQ 0 bytes
FSD datagram 50 4F 53 51 00 00 00 00
Start address 0 4
(byte)

8.1.1.12 RORI
Description This packet requests the origin set by the user. The controller responds with
an ORID packet.
Value RORI 0 bytes
FSD datagram 52 4F 52 49 00 00 00 00
Start address 0 4
(byte)
8.1.1.13 VERQ
Description This packet requests the protocol version of the FSD. The controller responds
with a VERS packet.
Value VERQ 0 bytes
FSD datagram 56 45 52 51 00 00 00 00
Start address 0 4
(byte)
8.1.1.14 SADJ
Description This packet sets the adjustment factor.


Value SADJ 4 bytes Adjustment factor to be set.
e.g. 1
FSD datagram 53 41 44 4A 04 00 00 00 01 00 00 00
8.1.1.15 RADJ
Description This packet requests the currently set adjustment factor.

Value RADJ 0 bytes
FSD datagram 52 41 44 4A 00 00 00 00
Start address 0 4
(byte)
8.1.1.16 SYNC
Description This packet simulates the setting of the input FSD_BIT_SYNC_IN.

Value SYNC 0 bytes

8 Appendix

FSD datagram 53 59 4E 43 00 00 00 00
Start address 0 4
(byte)
8.1.2 Packet type: Response (FSD to client)
Overview The following UDP packets are included in the controller:
UDP packet Description

ISCR (>>> 8.1.2.1 "ISCR" Page 39)
IMOD (>>> 8.1.2.2 "IMOD" Page 39)
IGRD (>>> 8.1.2.3 "IGRD" Page 39)
ORID (>>> 8.1.2.4 "ORID" Page 40)
VERS (>>> 8.1.2.5 "VERS" Page 40)
SCN1 (>>> 8.1.2.6 "SCN1" Page 41)
SCN0 (>>> 8.1.2.7 "SCN0" Page 41)
USER (>>> 8.1.2.8 "USER" Page 41)
POSD (>>> 8.1.2.9 "POSD" Page 41)
IADJ (>>> 8.1.2.10 "IADJ" Page 41)
8.1.2.1 ISCR
Description With this packet, the FSD sends the currently used scan rate.

Value ISCR 4 bytes Scan rate in [ms]
e.g. 2 ms
FSD datagram 49 53 43 52 04 00 00 00 02 00 00 00
8.1.2.2 IMOD
Description With this packet, the FSD sends the currently used transmission mode.

Value IMOD 4 bytes Transmission mode:
TBM: 0
PGM: 1
e.g. TBM
FSD datagram 49 4D 4F 44 04 00 00 00 00 00 00 00
8.1.2.3 IGRD
Description With this packet, the FSD sends the currently used grid size.


Value IGRD 4 bytes Configured grid size in [µm]
e.g. 1,000 µm
FSD datagram 49 47 52 44 04 00 00 00 E8 03 00 00
8.1.2.4 ORID
Description With this packet, the FSD sends the values set by the user for the origin.
Component Packet type Length Designation Parameter

Value ORID 48 bytes FSD_PARAM_X X_coordinate
in [µm]
e.g. 1200 mm
FSD datagram 4F 52 49 44 30 00 00 00 01 00 00 00 80 4F 12 00
Start address (byte) 0 4 8 12
Designation Parameter Designation Parameter

FSD_PARAM_Y Y_coordinate in [µm] FSD_PARAM_Z Z_coordinate in [µm]
e.g. 0 mm e.g. 1800 mm
02 00 00 00 00 00 00 00 04 00 00 00 40 77 1B 00
16 20 24 28
Designation Parameter Designation Parameter

FSD_PARAM_A A angle in [µrad] FSD_PARAM_B B angle in [µrad]
e.g. 90° = 1570796 e.g. -45° = -785398
µrad µrad
10 00 00 00 EC F7 17 00 20 00 00 00 0A 04 F4 FF
32 36 40 44
Designation Parameter
FSD_PARAM_C C angle in [µrad]
e.g. 45° = 785398 µrad
40 00 00 00 F6 FB 0B 00
48 52
8.1.2.5 VERS
Description With this packet, the FSD sends the protocol version it uses to the client.
Component Packet type Length Parameter Parameter

Value VERS 8 bytes Major (2 bytes) and Build number
minor version (2
e.g. build 09
bytes)
e.g. 1.2
FSD datagram 56 45 52 53 08 00 00 00 01 00 02 00 09 00 00 00

8 Appendix
8.1.2.6 SCN1
Description With this packet, the FSD signals that a scan has been started. Additionally, a
time stamp is sent which marks the point in time when the scan was started.

Value SCN1 4 bytes Time stamp of the start in [ms]
e.g. 71896462 ms
FSD datagram 53 43 4E 31 04 00 00 00 8E 0D 49 04
8.1.2.7 SCN0
Description With this packet, the FSD signals that a scan has been stopped. Additionally,
a time stamp is sent which marks the point in time when the scan was stopped.

Value SCN0 4 bytes Time stamp of the stop in [ms]
e.g. 71899094 ms
FSD datagram 53 43 4E 30 04 00 00 00 D6 17 49 04
8.1.2.8 USER
Description This packet contains the values set by the user for the user ID and user data.
It sends these to the client.
Component Packet type Length Parameter Parameter

Value USER 8 bytes ID set by the user Data set by the user
(4 bytes) (4 bytes)
FSD datagram 55 53 45 52 08 00 00 00 1A 2B 3C 4D 9F 8E 7D 6C
8.1.2.9 POSD
Description This packet contains the position data of the controller. The data format must
be configured by the user.
Component Packet type Length Designation Parameter

Value POSD Variable Variable Variable
FSD datagram 50 4F 53 44
8.1.2.10 IADJ
Description This packet contains the currently set adjustment factor.



Value IADJ 4 bytes Adjustment factor
e.g. 1
FSD datagram 49 41 44 4A 04 00 00 00 01 00 00 00

9 KUKA Service
9 KUKA Service
9.1 Requesting support
Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.
Information The following information is required for processing a support request:

 Model and serial number of the manipulator
 Model and serial number of the controller
 Model and serial number of the linear unit (if present)
 Model and serial number of the energy supply system (if present)
 Version of the system software
 Optional software or modifications
 Diagnostic package KrcDiag:
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the soft-
ware (KrcDiag is not yet available here.)
 Application used
 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 KUKA Robotics Australia Pty Ltd

45 Fennell Street
Port Melbourne VIC 3207
Australia
Tel. +61 3 9939 9656
info@kuka-robotics.com.au
www.kuka-robotics.com.au

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.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
info@kuka-roboter.com.br
www.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 Robotics China Co., Ltd.

No. 889 Kungang Road
Xiaokunshan Town
Songjiang District
201614 Shanghai
P. R. China
Tel. +86 21 5707 2688
Fax +86 21 5707 2603
info@kuka-robotics.cn
www.kuka-robotics.com
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

9 KUKA Service
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.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
info@kuka.co.jp
Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
info@kukarobotics.com
www.kuka-robotics.com/canada

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
Malaysia KUKA Robot Automation (M) Sdn Bhd

South East Asia Regional Office
No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 (03) 8063-1792
Fax +60 (03) 8060-7386
info@kuka.com.my
Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx
www.kuka-robotics.com/mexico
Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
info@kuka.no
Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
office@kuka-roboter.at
www.kuka.at

9 KUKA Service
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
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 KUKA Robotics RUS

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

9 KUKA Service
Hungary KUKA Robotics Hungaria Kft.

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

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
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


Index
Index
A S
Appendix 35 Safety 15
Safety instructions 5
C Service, KUKA Roboter 43
CIB 5 Software 17
Configuration 19 Support request 43
System requirements 17
D
DAS 5 T
Data exchange, client – controller 12 TBM 6
Diagnosis 31 Terms 5
Diagnosis, FastSendDriver (FSD) 32
Diagnosis, network interface(FSD interface) 31 U
Documentation, industrial robot 5 UDP 6
Uninstallation, FastSendDriver 17
F Update, FastSendDriver 17
FSD 5
FSD_IS_CLIENT_CONNECTED() 29 W
FSD_IS_SCAN_ACTIVE() 29 Warnings 5
FSD_SCAN_START() 24
FSD_SCAN_STOP() 24
FSD_SEND_ORIGIN() 24
FSD_SET_GPR() 28
FSD_SET_GRID() 25
FSD_SET_ORIGIN 25
FSD_SET_PGM() 27
FSD_SET_SCANRATE() 26
FSD_SET_TBM() 27
FSD_SET_USER_DATA 28
FSD_SET_USER_ID() 28
FSD_SYNC() 27
G
GPR 5
H
Hardware 17
I
Installation 17
Installation, FastSendDriver 17
Introduction 5
IP 6
K
KEB 6
KLI 6
KRL library 23
KSB 6
KUKA Customer Support 43
P
PGM 6
Product description 7
Product description, FastSendDriver 7
Programming 23



KUKA - FastSendDriver 40 en

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

KUKA - FastSendDriver 40 en

Uploaded by

Copyright:

Available Formats

KUKA System Technology KUKA Roboter GmbH

For KUKA System Software 8.3

Version: KUKA.FastSendDriver 4.0 V3

Publication: Pub KUKA.FastSendDriver 4.0 (PDF) en

2 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

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

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 3 / 53

7.1 Overview .................................................................................................................... 31

9 KUKA Service ............................................................................................... 43

4 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

1.1 Industrial robot documentation

The industrial robot documentation consists of the following parts:

1.2 Representation of warnings and notes

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

These warnings mean that it is certain or highly probable

These warnings mean that death or severe injuries may

These warnings mean that minor injuries may occur, if

These warnings mean that damage to property may oc-

These warnings contain references to safety-relevant information or

This warning draws attention to procedures which serve to prevent or remedy

Procedures marked with this warning must be followed

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

1.3 Terms used

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 5 / 53

6 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

2.1 Product description of FastSendDriver

Description The FastSendDriver is an add-on technology package for the implementation

Functions The add-on technology package has the following functions:

Main features Main features of the FSD:

2.1.1 Functional principle of communication

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 7 / 53

Fig. 2-1: Functional principle of communication

Description  Establishing the UDP connection:

Since the UDP communication works at a very high clock

As an alternative to UDP communication, the KLI of the robot control-

 Sequence on starting a scan:

2.2 Connection variants

8 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

 Standard variant (X65, X51)

2.2.1 Standard variant (X65, X51)

Fig. 2-2: Standard variant

2.2.2 Variant with installed EtherCAT components (X51)

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 9 / 53

Fig. 2-3: Variant with installed EtherCAT components (X51)

Further information regarding the X44 port of the CIB is contained in

10 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

2.2.3 Variant via KLI (X65, X66)

Fig. 2-4: Connection variant via KLI (X65, X66)

Further information regarding the EtherCAT interface X65 can be

2.3.1 Digital inputs/outputs

Inputs Input Description

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 11 / 53

2.3.2 UDP/IP interfaces

12 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

2.3.2.2 Designations within the data packets

Identifier Designation Byte display Parameter

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 13 / 53

Identifier Designation Byte display Parameter

14 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

The “Safety” chapter in the operating and programming instructions

Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3 15 / 53

16 / 53 Issued: 10.11.2014 Version: KUKA.FastSendDriver 4.0 V3

4.1 System requirements