I have a couple of KRC4 robots and problems with their safety connections.
I've connected the Local E-Stop to a preventa safety relay as all the external e-stops, and the output of this preventa safety relay is connected to the External E-stop input of the X11. This allows me to have the emergencies restarted by a push button that restarts the preventa safety relay.
==> X11.LocalEStop -> ExternalEStops -> SAFETY RELAY (RESET EMG VIA PUSHBUTTON) -> X11.ExternalEStop
This closes the complete safety emergency loop as I can press any emergency but I won't be able to restart the robot until I've pressed the reset pushbutton.
Till here I'm happy as a clam.
Issues start appearing when we talk about doors.
In manual mode I don't want the doors to affect the safety, therefore I don't want an output from the X11 to signal FALSE after opening the doors. But when I will have the robots in automatic mode I want a signal to become FALSE immediately to put it into a safety relay that will need a push button to reset itself. I need to stop all the periphery of course, not only the robot after opening doors in automatic mode and while in manual mode without the deadman switch.
What do I need to do to get this behavior?
==> X11.DoorOpenOutput -> AUT or EXT Mode -> Emergency stop. (i.e. to the same preventa safety relay I've used for the e-stops).
==> X11.DoorOpenOutput -> T1 or T2 -> Nothing happens.
I need the periphery to be stopped.
As always thank you in advance for your time and help.