58 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
In the case of activation of the signal “Safe operational stop” during the
motion:
Error -> braking with Stop 0. “Peri enabled” eliminated.
Activation of the signal “Safe operational stop” with the manipulator sta-
tionary:
Release the brakes, switch drives to servo-control and monitor for restart.
“Peri enabled” remains active.
Signal “Motion enable” remains active.
Signal “Peri enabled” remains active.
“Peri enabled” in conjunction with the signal “Safety stop 2”
In the case of activation of the signal “Safety stop 2”:
Stop 2 of the manipulator.
Signal “Drive enable” remains active.
Brakes remain released.
Manipulator remains under servo-control.
Monitoring for restart active.
Signal “Motion enable” is deactivated.
Signal “Peri enabled” is deactivated.
6.5.2 Wiring example for E-STOP circuit and safeguard
Description The EMERGENCY STOP devices are connected to X11 in the robot control-
ler.
EMERGENCY
STOP
Safety gate A dual-channel acknowledge button must be installed outside the physical
safeguard. The system integrator must ensure that closing the safety gate in-
advertently does not directly set the signal for operator safety. After the safety
gate has closed, the signal for operator safety must only be confirmed by an
external device, e.g. an acknowledge button, that can only be accessed from
The EMERGENCY STOP devices on the robot controller
must be integrated into the EMERGENCY STOP circuit
of the system by the system integrator.
Failure to do this may result in death, severe injuries or considerable damage
to property.
Fig. 6-3: Wiring example: EMERGENCY STOP
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