64 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
Output byte 0
Bit Signal Description
0 NHL Local E-STOP (local E-STOP triggered)
0 = local E-STOP is active
1 = local E-STOP is not active
1 AF Drives enable (the internal safety controller in the
KRC has enabled the drives so that they can be
switched on)
0 = drives enable is not active (the robot controller
must switch the drives off)
1 = drives enable is active (the robot controller must
switch the drives to servo-control)
2 FF Motion enable (the internal safety controller in the
KRC has enabled robot motions)
0 = motion enable is not active (the robot controller
must stop the current motion)
1 = motion enable is active (the robot controller may
trigger a motion)
3 ZS The signal ZS (enabling) is set to 1 (active) if the fol-
lowing conditions are met:
One of the enabling switches on the smartPAD is
in the center position (enabling signal has been is-
sued).
T1 or T2 mode
External enabling signal has been issued (signal
ZSE1/ZSE2).
Robot can be moved (no external EMERGENCY
STOP, safety stop, etc.).
4 PE The signal “Peri enabled” is set to 1 (active) if the fol-
lowing conditions are met:
Drives are switched on.
Safety controller motion enable signal present.
The message “Operator safety open” must not be
active.
5 AUT The manipulator is in AUT or AUT EXT mode.
0 = AUT or AUT EXT mode is not active
1 = AUT or AUT EXT mode is active
6 T1 The manipulator is in Manual Reduced Velocity
mode.
0 = T1 mode is not active
1 = T1 mode is active
7 T2 The manipulator is in Manual High Velocity mode.
0 = T2 mode is not active
1 = T2 mode is active
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