Author Topic: Safety move enable  (Read 195 times)

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Offline Casius

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Safety move enable
« on: August 12, 2017, 06:53:11 AM »
Hello,
We have 6 KRC4 compact controllers 8.33 with x11 for the safety function. Can someone tell me please how can I use  some pins from X11 to stop the robot movement when a light curtain is interrupted. I don't want an error on the robot, because is an conveyor without mutting. Like disable enable move.
To monitor the emergency stop and fence we have used safety relays and contacts expansion from euchener or pilz. Are expensive,100 euro for 3 contacts , it's there an other solution, with other type of relay? Like that I need 24 safety contacts.
Thank you

Offline panic mode

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Re: Safety move enable
« Reply #1 on: August 12, 2017, 04:43:41 PM »
why bother with bunch of relays? get safety PLC...
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

Offline Casius

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Re: Safety move enable
« Reply #2 on: August 12, 2017, 08:40:08 PM »
Thank you for your answer.

What can I do for robot "stop" when light curtain is interrupted? I can make this software, to disable move enable. But it's not there some hardware solution using x11?
"Safety stop 1 and safety stop 2 can be triggered via an input on the customer interface. The state is maintained as long as the external signal is FALSE. If
the external signal is TRUE, the manipulator can be moved again. No acknowledgement is required." --from manual

maybe pins 18-19 and 28-29? Safe stop2

Thank you!

Offline SkyeFire

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Re: Safety move enable
« Reply #3 on: August 12, 2017, 11:57:05 PM »
What is interrupting the light screen?  An object, or a person?  Do you require a safety-rated "hold" of the robot?  If you have Safe Operation, I know that under ProfiSafe and SIPSafe there is a signal that will "pause" the robot, in a safety-rated fashion.  I don't know offhand if that signal is available under X11 or not. 

Offline SkyeFire

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Re: Safety move enable
« Reply #4 on: August 13, 2017, 12:32:58 AM »
Addendum:  the condition is called "Safe Operational Stop."  Basically, the robot is paused by some normal software function, and once the robot stops moving, the Safe Operational Stop signal is sent to the robot.  If any of the monitored axes move while the SOS signal is active, the robot will be terminated by a safety fault.  A means to prevent the robot from trying to move before the SOS signal is reset will be required.

Offline Casius

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Re: Safety move enable
« Reply #5 on: August 13, 2017, 08:41:01 AM »
Hello
Thank you for your answer. I don't think that I have this option on the controller. I have to check it.
The lights curtain is normally interrupted by object (product) which is on the conveyor. An operator can reach the robot area if he wants through the lights curtain .
Thank you!

Offline SkyeFire

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Re: Safety move enable
« Reply #6 on: August 13, 2017, 01:38:36 PM »
If the operator can reach through the light curtain and place themselves in a position to be struck by the robot, then either the light curtain must be connected to the robot's Operator Safety or E-Stop circuit.  The only other option is to install Safe Operation and properly configure the Standstill option.

Anything else is a violation of safety standards.