Kuka KR C1 - EMERGENCY STOP and Safety Circuit

Hardware
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Hardware R2.2.8 1 1.98.02 en
3.4 EMERGENCY STOP and safety circuit
MFC
X923 22
X807 22
Emergency Stop channel 1
26V
KCP
external
24
24
Emergency Stop delayed
0V
MFC
MFC
external
V7
x2
x1
x3
X11 1
X11 2
X921 3
X923 5
X807 5
X806 16
X19M1 2
X806 1
X806 15
X807 6
X923 6
X921 6
X11 3
X11 4
X921 9
K1
K1
Emergency Stop 1
external
Emergency Stop
K14
K2
K3
X921 1
Emergency Stop
X921 11
X11 40
X11 37
X921 2
V16
x2
x1
x3
X11 19
X11 20
X921 4
X923 7
X807 7
X806 14
X19M1 4
X806 3
X806 13
X807 8
X923 8
X921 7
X11 21
X11 22
X921 10
K2
K2
Emergency Stop 2
K1
K4
MFC
X923 23
X807 23
Emergency Stop channel 2
V22
X923 9
X807 9
X806 12
X19M1 9
X806 7
X806 11
X807 10
X923 10
X921 12
X11 5
X11 6
X921 15
TEST
K7
K5
K5
Operator safety 1
K6
MFC
Enabling
Enabling
X923 26
X807 26
Safety channel 1
X806 8
X806 10
X807 11
X923 11
X921 13
X11 23
X11 24
X921 16
TEST
K8
K6
K6
Operator safety 2
K5
V24
X921 18
X11 7
X11 8
21
AUTO
K3
MFC
Safeguard
X923 27
X807 27
Safety channel 2
X921 19
X11 25
X11 26
22
AUTO
K4
X921 24
X11 9
Channel 1
external
FE201
K1
K2
27
10
-- E m e rgenc y S top c i rc u i t --
25
27
Channel 2
K1
K2
26
28
30
11
Channel 1
K5
K6
33
12
Safety circuit
31
29
Channel 2
K5
K6
34
30
Enabling 1
Enabling 2
Safety circuit