74 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
I/Os I/Os can be configured using the following components:
DeviceNet (master) via MFC
Optional field bus cards
Interbus
Profibus
DeviceNet
ProfiNet
Specific customer interfaces
5.8 PE equipotential bonding
Description
A 16 mm
2
cable must be used as equipotential bonding between the robot and
the robot controller.
Drives ON chan-
nel A
11 / 12 Floating contacts (max. 2 A)
signal “Drives ON”.
These contacts are only availa-
ble if a CI3 Extended or CI3
Tech board is used.
Is closed if the “Drives ON”
contactor is energized.
Operating mode
group Automatic
48 / 46 Floating contacts of the safety
circuit signal the operating
mode.
These contacts are only availa-
ble if a CI3 Extended or CI3
Tech board is used.
Automatic contact 48 / 46 is
closed if Automatic or External
is selected on the KCP.
Operating mode
group Test
48 / 47 Test contact 48 / 47 is closed if
Test 1 or Test 2 is selected on
the KCP.
Qualifying input,
channel A
50 0 signal causes a category 0
STOP in all operating modes.
If these inputs are not used, pin
50 must be jumpered to test
output 38, and pin 51 to test
output 39.
Qualifying input,
channel B
51
Signal Pin Description Comments
The counterpart to interface X11 is a 108-contact Harting connector with a
male insert, type Han 108DD, housing size 24B.
Fig. 5-9: Equipotential bonding, from controller to robot, with cable duct
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