Kuka KR C4 compact - Page 60

60 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
Test outputs A and B are fed with the supply voltage of the CIB_SR. Test out-
puts A and B are sustained short-circuit proof. The test outputs must only be
used to supply the CIB_SR inputs, and for no other purpose.
The wiring example can be used to achieve compliance with SIL2 (DIN EN
62061) and Cat. 3 (DIN EN 13849).
Dynamic testing
 The switch-off capability of the inputs is tested cyclically. For this, the test
outputs TA_A and TA_B are switched off alternately.
 The switch-off pulse length is defined for the CIB_SRs as t1 = 625 μs (125
μs – 2.375 ms).
 The duration t2 between two switch-off pulses on one channel is 106 ms.
 The input channel SIN_x_A must be supplied by the test signal TA_A. The
input channel SIN_x_B must be supplied by the test signal TA_B. No other
power supply is permissible.
 It is only permitted to connect sensors which allow the connection of test
signals and which provide floating contacts.
 The signals TA_A and TA_B must not be significantly delayed by the
switching element.
Switch-off pulse
diagram
1 Failsafe input CIB_SR
2CIB_SR
3 Robot controller
4 Interface X11
5 Test output channel B
6 Test output channel A
7 Input X, channel A
8 Input X, channel B
9 System side
10 Floating contact
Fig. 6-6: Switch-off pulse diagram, test outputs
t1 Switch-off pulse length
t2 Switch-off period per channel (106 ms)
t3 Offset between switch-off pulses of both channels (53 ms)
TA/A Test output channel A
TA/B Test output channel B
SIN_X_A Input X, channel A
SIN_X_B Input X, channel B