61 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
6 Planning
Safe output On the CIB_SR, the outputs are provided as dual-channel floating relay out-
puts.
The following diagram illustrates the connection of a safe output to a safe input
provided by the customer with external test facility. The input used by the cus-
tomer must be monitored externally for cross-connection.
The wiring example shown can be used to achieve compliance with SIL2 (DIN
EN 62061) and Cat. 3 (DIN EN 13849).
6.6 Safety functions via Ethernet safety interface
Description The exchange of safety-relevant signals between the controller and the sys-
tem is carried out via the Ethernet safety interface (e.g. PROFIsafe or CIP
Safety). The assignment of the input and output states within the Ethernet
safety interface protocol are listed below. In addition, non-safety-oriented in-
formation from the safety controller is sent to the non-safe section of the high-
er-level controller for the purpose of diagnosis and control.
Reserved bits Reserved safe inputs can be pre-assigned by a PLC with the values 0 or 1. In
both cases, the manipulator will move. If a safety function is assigned to a re-
served input (e.g. in the case of a software update) and if this input is preset
with the value 0, then the manipulator either does not move or comes unex-
pectedly to a standstill.
Fig. 6-7: Connection schematic for safe output
1CIB_SR
2 Robot controller
3 Interface X11, safe output
4 Output wiring
5System side
6 Safe input (Fail Safe PLC, safety switching device)
7 Test output channel B
8 Test output channel A
9 Input X, channel A
10 Input X, channel B
KUKA recommends pre-assignment of the reserved inputs with 1. If
a reserved input has a new safety function assigned to it, and the in-
put is not used by the customer’s PLC, the safety function is not acti-
vated. This prevents the safety controller from unexpectedly stopping the
manipulator.
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