Kuka KR C1 - Safety Logic Module FE201; Function Blocks; FE201 Settings

3SafetylogicmoduleFE201
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Hardware R2.2.8 1 1.98.02 en
3SafetylogicmoduleFE201
Incorrect settings of the DIP--FIX switches X1 --X10 can lead to dangerous
malfunctions of the robot in certain circumstances ! Before switching the
controller on, it is therefore imperative to check the settings of the DIP--FIX
switches X1 -- X10 again according to the adjustment instructions in this
section!
If these instructions are not observed there is a risk of extensive damage to the
robot !
3.1 Function blocks
Module FE201 serves to implement the safe switch--off function and the Drives ON circuit.
It comprises:
-- Volt age m onit or ing f or 27 V
-- Dual--channel EMERGENCY STOP circuit
-- EME R G E NC Y STO P d elay
-- Dual--channel user safeguard (operator safety and enabling circuit)
-- Operating mode switchover (Test / Automatic)
-- Drives ON circuit
3.1.1 Settings
To ensure the safe functioning of the robot, it must be checked that the DIP--FIX
switches have the following settings before the robot is put into operation:
--X 1 --
X6
These DIP--FIX switches serve the purpose of setting the EMERGENCY STOP delay in
Automatic mode.
X1 and X4
X2 and X5 X3 and X6 Emergency Stop
X
1
a
n
d
X
4
X
2
a
n
d
X
5
X
3
a
n
d
X
6
E
m
e
r
g
e
n
c
y
S
t
o
p
delay
closed closed closed 0.5 s
closed closed open 0.7 s
closed open open 1.0 s
open open open 1.3 s (default setting)
--X 7 -- X9
X7 -- X9
External axes
closed not present (default setting)
open present
--X 10 (version B only)
Position “b” (default sett ing)
Emergency Stop switch--off without path--
oriented braking
Position “a” Emergency Stop switch--off with path--
oriented braking