KR C4 compact - KUKA Robotics

4 Planning
Fig. 4-4: Interface X11, part 2
Signal Pin Description Comments
Test output A
(test signal)
1/3/5
7/18
20/22
Makes the pulsed voltage available
for the individual interface
inputs of channel A.
-
Test output B
(test signal)
External E-
STOP, channel
A
External E-
STOP, channel
B
Operator
safety, channel
A
Operator
safety, channel
B
Acknowledge
operator
safety, channel
A
Acknowledge
operator
safety, channel
B
10/12/14
16/28
30/32
Makes the pulsed voltage available
for the individual interface
inputs of channel B.
2 E-STOP, dual-channel input,
max. 24 V. (>>> "CIB_SR
inputs" Page 20)
11
4 For dual-channel connection of
a safety gate locking mechanism,
max. 24 V. (>>> "CIB_SR
13 inputs" Page 20)
6 For connection of a dual-channel
input for acknowledging
operator safety with floating
contacts. (>>> "CIB_SR inputs"
15 Page 20)
-
Triggering of the E-STOP function
in the robot controller.
As long as the signal is active,
the drives can be switched on.
Only effective in the AUTO-
MATIC modes.
The response of the “Operator
safety acknowledgement” input
can be configured in the KUKA
system software.
After closing the safety gate
(operator safety), manipulator
motion can be enabled in the
automatic modes using an
acknowledge button outside the
safety fence. This function is
deactivated on delivery.
Issued: 15.04.2014 Version: Spez KR C4 compact V5
51 / 89