57 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
6 Planning
Function of
external axis
enabling switch
External enabling 1
Enabling switch must be pressed for jogging in T1 or T2. Input is closed.
External enabling 2
Enabling switch is not in the panic position. Input is closed.
If a smartPAD is connected, its enabling switches and the external en-
abling are ANDed.
Signal “Peri
enabled”
The signal “Peri enabled” is set to 1 (active) if the following conditions are met:
Drives are switched on.
Safety controller motion enable signal present.
The message “Operator safety open” must not be active.
This message is only active in the modes T1 and T2.
“Peri enabled” in conjunction with the signal “Safe operational stop”
34 Local E-STOP channel A Output, floating contacts from
internal E-STOP.
(>>> "CIB_SR outputs"
Page 23)
The contacts are closed if the
following conditions are met:
E-STOP on smartPAD not
actuated
Controller switched on and
operational
The contacts open if any condi-
tion is not met.
35
45 Local E-STOP channel B
46
36 Acknowledge operator safety,
channel A
Output, floating contact for
operator safety acknowledge-
ment, connection 1 and 2
Output can be used to forward
the assured operator safety
(input BS = 1 and, if configured,
input QBS acknowledged) to
other robot controllers on the
same safety fence.
37
47 Acknowledge operator safety,
channel B
48
38 Peri enabled, channel A Output, floating contact
(>>> "Signal “Peri enabled”"
Page 57)
39
49 Peri enabled, channel B
50
Pin Description Function
Function
(only active for T1 and T2)
External
enabling 1
External
enabling 2
Switch position
Safety stop 1 (drives switched off
when axis at standstill)
Input open Input open No operational
state
Safety stop 2 (safe operational stop,
drives switched on)
Input open Input closed Not pressed
Safety stop 1 (drives switched off
when axis at standstill)
Input closed Input open Panic position
Axes enabled (axis jogging possible) Input closed Input closed Center position
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