Kuka KR C4 compact - 6.6.2 SafeOperation via Ethernet Safety Interface (Optional)

66 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
 Enabling switch center position (make contact closed (1) = enabled) OR
AUT at SHS2
 Panic (break contact open (0) = panic position) = AND not AUT at SHS1
6.6.2 SafeOperation via Ethernet safety interface (optional)
Description The components of the industrial robot move within the limits that have been
configured and activated. The actual positions are continuously calculated and
monitored against the safety parameters that have been set. The safety con-
troller monitors the industrial robot by means of the safety parameters that
have been set. If a component of the industrial robot violates a monitoring limit
or a safety parameter, the manipulator and external axes (optional) are
stopped. The Ethernet safety interface can be used, for example, to signal a
violation of safety monitoring functions.
In the case of the KR C4 compact or KR C4 compact slimline robot controller,
safety options such as SafeOperation are only available via the Ethernet safe-
ty interface from KSS/VSS 8.3 onwards.
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.
Input byte 2
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.
Bit Signal Description
0 JR Mastering test (input for the reference switch of
the mastering test)
0 = reference switch is active (actuated).
1 = reference switch is not active (not actu-
ated).
1 VRED Reduced axis-specific and Cartesian velocity
(activation of reduced velocity monitoring)
0 = reduced velocity monitoring is active.
1 = reduced velocity monitoring is not active.
2 … 7 SBH1 … 6 Safe operational stop for axis group 1 ... 6
Assignment: Bit 2 = axis group 1 … bit 7 = axis
group 6
Signal for safe operational stop. The function
does not trigger a stop, it only activates the safe
standstill monitoring. Cancelation of this func-
tion does not require acknowledgement.
0 = safe operational stop is active.
1 = safe operational stop is not active.