more about safety...

  • Hello again,

    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.

  • hey there was a similar topic here :zwink:…c4-restart-doors-and-emg/

    doors are part of the safety circuit and should disable everything inside cell (all peripherals, robot etc.).
    X11 has 'user safety' input which is just for this. Note, this input is ignored by the robot when robot mode is T1/T2 for same reasons you mention (so you don't have to do any conditioning outside, in T1/T2 this can be either open or closed circuit, it does not matter... no need to 'prevent safety relay from...').

    if you have more than one robot inside cell then you need to also interlock them so that only one can be moved at a time.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • You can find information in the controllers manual; i.e. KRC4, KRC4 compact, KRC5)

    It depends on the safety you are using. If you have the robots connected to the PLC's just for standard IO, then you have to use X11 for safety. If you are using safety signals (CIP, ProfiSafe, FSoE), then X11 is not required, and you just need to place the small jumper on the CCU.

    What are you trying to achieve?

  • Forum has gone through several upgrades so older links do not always work, specially for things that are a decade old.

    this is why there is a search function. lookup last token of the broken link then search for it (use spaces instead of dashes). in this case that search term would be "krc4 restart doors and emg" and among top results should be:

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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