KR C2 sr - KUKA Robotics

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KR C2 srConnector pinallocationFig. 4-6Signal Pin Description Comments+24 V ESC withoutbattery back-up0 V ESC withoutbattery back-up1937ESC power supply, max. 1.3 A -24 V external0 V external33 / 3415 / 16In the absence of an externalpower supply, 24 V / 0 V mustbe jumpered internally.An external power supply isrecommended for interlinkedsystems.46 / 73 Issued: 21.12.2011 Version: Spez KR C2 sr V4 en
4 PlanningSignal Pin Description CommentsTest output A(test signal)Test output B(test signal)Local E-STOP,channel ALocal E-STOP,channel BExternal E-STOP,channel AExternal E-STOP,channel BSafeguard channelASafeguard channelBMotor contactormonitorOperating modegroup AutomaticOperating modegroup Test1351224613Makes the pulsed voltageavailable for the individualinterface inputs of channel A.Makes the pulsed voltageavailable for the individualinterface inputs of channel B.8 / 27 Output, floating contacts frominternal E-STOP, max. 0.15 A /9 / 28 24 V.20 E-STOP, dual-channel input,max. 24 V.2124 For dual-channel connectionof a safety gate locking mechanism,max. 24 25V.29 / 10 Floating contact signals“Drives ON”, max. 0.15 A at24 V.11 / 30 Floating contacts signal theoperating mode.7 / 26E2S channel A 22 E2 keyswitch, dual-channel,E2S channel B 23 max. 24 V.Qualifying input,channel AQualifying input,channel B31 These inputs have no function.32Connection example: safetygate locking mechanism isconnected under channel A topin 3 (TA_A) and pin 24.Connection example: safetygate locking mechanism isconnected under channel B topin 4 (TA_B) and pin 25.In the non-activated state, thecontacts are closed.Only effective in the AUTO-MATIC modes.Is closed if the “Drives ON”contactor is energized.This contact is not safetyoriented.The input is at 0 V if keyswitchoff.If the E2 keyswitch is notused, pin 22 must be jumperedto test output 3, and pin23 to test output 4.Pin 31 must be jumpered totest output 12, and pin 32 totest output 13.ESC IN, channel A 35 -- If there are no other ESC circuitnodes present, the follow-ESC IN, channel B 17 -ing pins must be jumpered:ESC OUT, channel36 -A• Pin 35 / 36ESC OUT, channelB18 -• Pin 17 / 18--In the cabling for the input signals and test signals in the system, suitablemeasures must be taken to prevent a cross-connection betweenthe voltages (e.g. separate cabling of input signals and test signals).Issued: 21.12.2011 Version: Spez KR C2 sr V4 en47 / 73
Page 1 and 2: ControllerKUKA Roboter GmbHKR C2 sr
Page 3 and 4: ContentsContents1 Product descripti
Page 5 and 6: 1 Product description1 Product desc
Page 7 and 8: 1 Product descriptionFig. 1-3: Over
Page 9 and 10: 1 Product descriptionFig. 1-5: KR C
Page 11 and 12: 1 Product description1.5.2 Rear vie
Page 13 and 14: 1 Product description1.7 Descriptio
Page 15 and 16: 1 Product descriptionConnector pina
Page 17 and 18: 2 Technical data2 Technical dataBas
Page 19 and 20: 2 Technical dataFixing bracketFig.
Page 21 and 22: 3 Safety3 Safety3.1 General3.1.1 Li
Page 23 and 24: 3 Safety3.1.4 Terms usedTermAxis ra
Page 25 and 26: 3 SafetyWork on the electrical and
Page 27 and 28: 3 SafetyThe ESC safety logic trigge
Page 29 and 30: 3 Safety3.5.5 EMERGENCY STOP device
Page 31 and 32: 3 SafetyIf the enabling switch is r
Page 33: 3 SafetyWarning!The motors reach te
Page 36 and 37: KR C2 sr3.8.5 Manual modeManual mod
Page 38 and 39: KR C2 srHazardoussubstancesThe foll
Page 40 and 41: KR C2 srName Definition EditionEN 6
Page 42 and 43: KR C2 srDimensionsFig. 4-2: Dimensi
Page 44 and 45: KR C2 srExampleFig. 4-4: Robot with
Page 48 and 49: KR C2 srIn the cabling for the outp
Page 50 and 51: KR C2 srFig. 4-8: X12 jumpers In th
Page 52 and 53: KR C2 sr4.7 Configuring wrist I/O X
Page 54 and 55: KR C2 sr• the number of switching
Page 56 and 57: KR C2 sr56 / 73 Issued: 21.12.2011
Page 58 and 59: KR C2 srStep Description Informatio
Page 60 and 61: KR C2 sr6.9 Configuring and connect
Page 62 and 63: KR C2 srBrazilKUKA Roboter do Brasi
Page 64 and 65: KR C2 srMexicoKUKA de Mexico S. de
Page 66 and 67: KR C2 srTaiwanKUKA Robot Automation
Page 70 and 71: KR C2 srKCP coupler 11KCP coupler,

KR C2 sr - KUKA Robotics

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