56 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
4 Operator safety, channel A
(Safe input 2)
For dual-channel connection of
a safety gate locking mecha-
nism, max. 24 V.
(>>> "CIB_SR inputs"
Page 24)
As long as the signal is active,
the drives can be switched on.
Only effective in the AUTO-
MATIC modes.
13 Operator safety, channel B
(Safe input 2)
6 Acknowledge operator safety,
channel A
(Safe input 3)
For connection of a dual-chan-
nel input for acknowledging
operator safety with floating
contacts. (>>> "CIB_SR
inputs" Page 24)
The response of the “Operator
safety acknowledgement” input
can be configured in the KUKA
system software.
After closing the safety gate
(operator safety), manipulator
motion can be enabled in the
automatic modes using an
acknowledge button outside
the safety fence. This function
is deactivated on delivery.
15 Acknowledge operator safety,
channel B
(Safe input 3)
8 Safe operational stop, channel
A
(Safe input 4)
Activation of standstill monitor-
ing
Stop 0 is initiated if the acti-
vated monitoring is violated.
17 Safe operational stop, channel
B
(Safe input 4)
19 Safety stop 2, channel A
(Safe input 5)
Triggering of stop 2 and activa-
tion of standstill monitoring at
standstill of all axes.
Stop 0 is initiated if the acti-
vated monitoring is violated.
29 Safety stop 2, channel B
(Safe input 5)
21 External enabling 1 channel A
(Safe input 6)
For connection of an external
2-channel enabling switch 1
with floating contacts.
If no external enabling switch 1
is connected, channel A pins
20/21 and channel B 30/31
must be jumpered. Only effec-
tive in TEST modes.
31 External enabling 1 channel B
(Safe input 6)
23 External enabling 2 channel A
(Safe input 7)
For connection of an external
2-channel enabling switch 2
with floating contacts.
If no external enabling switch 2
is connected, channel A pins
22/23 and channel B 32/33
must be jumpered. Only effec-
tive in TEST modes.
33 External enabling 2 channel B
(Safe input 7)
Pin Description Function
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