25 / 157V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
2. Product description
2.6.2 Overview of CI3 boards
Description The CI3 board links the individual nodes of the ESC system with the customer
interface being used.
Various different boards are used in the robot controller according to the spe-
cific customer requirements:
ZS1 Enabling
switches on the
KCP
Input for external enabling switch (dual-chan-
nel, 1-step). If the signal is interrupted in Test
mode, the drives contactor drops out immedi-
ately.
ZS2 Enabling
switches, panic
position
BA Operating mode
(A=Automatic,
T=Test)
Inputs for external mode selector switch (sin-
gle-channel). If the Automatic and Test
modes are activated simultaneously, the
drives contactor drops out immediately.
AE Drives ON out-
put
Output for the drives contactor (dual-chan-
nel). The contactor is activated/deactivated
by setting the voltage to 24 V/0 V.
AF Drives enable Input for external drives enable (single-chan-
nel). If the signal is interrupted, the drives
contactor drops out immediately.
QE Qualifying input This signal is used for external axes or load-
ing stations. If the signal is interrupted in Test
mode, the drives contactor drops out immedi-
ately.
E2 Special keys-
witch (customer-
specific)
-
BS Operator safety Input for a safety gate safety switch (single-
channel). If the signal is interrupted, the
drives contactor drops out after a delay;
optionally also immediately.
AA Drives ON Input for Drives ON (single-channel). The
edge of the signal is evaluated. It is only pos-
sible to activate the drives contactor with a
positive edge at this input.
LNA Local E-STOP Output for local E-STOP (dual-channel). The
output is set if a local E-STOP has been trig-
gered. With the relay variant, the contacts are
opened in the event of a local E-STOP.
AAU-
TO/
AT-
EST
BA
Operating mode Output (single-channel). The corresponding
output is set depending on the operating
mode. With the relay variant, the contact is
closed if the corresponding operating mode
has been selected.
Signal
name
Meaning Description
Arrows pointing towards the ESC chip represent the input signals, while
those pointing away from the ESC chip represent the outputs. The signal
TA(A), TA(B) is the pulsed voltage that must be supplied to every input.
To Next Page
Loading...
