February 17, 2019, 08:29:37 AM
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 Sunrise Cabinet: Is Using X11 output 12 with Safety Stop 1 event possible?

Author Topic:  Sunrise Cabinet: Is Using X11 output 12 with Safety Stop 1 event possible?  (Read 290 times)

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January 15, 2019, 09:34:00 PM
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BayAppsGuy


Hello All,
This is my first post so I apologize while I'm learning the guidelines.

We have a IIWA820 with Sunrise Cabinet.  We'll use AUT Mode for the project.

Per the manual Sunrise Cabinet Manual:
On the X11 safety connector, Output 12 channel A and B will open when the Robot is in an Emergency stop condition.  These are just dry contacts.  We want to use these contacts to drive a stack light (to know when the IIWA is operating) however we will create a “Safety Stop 1” event instead of an Emergency stop event.   


Will a SafetyStop1 event open the Output12 contacts?  It only mentions "ESTOP and Controller is on & Operational" events will affect these outputs.  I'm hoping a Safety Stop 1 will also open the contacts since the robot will come to a halt.
This isn’t specifically stated in the documentation, "Kuka Sunrise Cabinet Assembly Instructions".

Today at 08:29:37 AM
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January 16, 2019, 07:52:49 PM
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panic mode

Global Moderator
Once you have something driving that output, you can use it. Of course you need to consider contact ratings (voltage, current, switching frequency etc.).
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

January 16, 2019, 08:34:53 PM
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BayAppsGuy


Thanks for your reply. 

Interesting.  So it seems I can use AMF 1-3 to trigger outputs 12-14 however I'm restricted to the list of options in the lower left window.

Ideally, if the robot is in a Stop1 (on-path) reaction (from input signal 2) then I'd like to trigger any of the available outputs. 
It seems I can enter Input signal 2 for Output AMF1 and this will work.

Does my logic sound correct?

January 18, 2019, 02:08:30 AM
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BayAppsGuy



January 19, 2019, 12:32:14 PM
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panic mode

Global Moderator
use standard IO, not safety IO.
this means forget about X11 and add own IOs to controller and use them any way you like
« Last Edit: January 20, 2019, 12:36:28 AM by panic mode »

January 19, 2019, 07:03:56 PM
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NullReference


I see no need to control the stacklight from the safety configuration. You could check your programs state from your application and control the light from there. Keep in mind that when an application is stopped only robot motions are stopped, Java code will continue running untill a call to move the robot is made in the API, when that happens the calling thread will be blocked.

If you really want to know that your application is running then you could use the status controller option.


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