"OPERATOR SAFETY / GATE OPEN" & "QE" messages question

    Hello everyone,


    We have a KUKA KR150-2 robot, with a KR C2 controller, and we have installed two safety barriers using the X11 connector, one connected to the Safeguard (channel A) and the other one connected to the Qualifying input (channel A).


    The behaviour of both safety barriers was the expected, but we have one doubt we hope you can answer:


    - When one of the safety barriers is activated, the message 207 "OPERATOR SAFETY / GATE OPEN" (first barrier) or 420 QE message is shown in the KCP console and the robot stops its movement. Until here everything is OK, but we need to restart the KR C2 controller because these messages cannot be cleared and we cannot continue working with the robot.


    Is mandatory to restart the KR C2 controller when message 207 or 420 arise? Or there is an option to clear the KCP console and continue working without restarting the KR C2 controller?


    Thanks in advance and sorry for the inconveniences.


    Best regards,


    Luis

    (Fluke beat me to it while I was typing) Are you utilizing the dual-channel safety signals properly? Each safety barrier should be interrupting an A channel and a B channel. If both channels are not interrupted simultaneously, you can create a single-channel situation that is difficult to clear.


    Also, what generation KRC2 is this controller? Does it utilize an ESC board, or one of the older relay-safety boards?


    If it is an ESC board, there should be a small blue object that looks like a very small relay on the ESC board, with a small black button rising out of it. Pushing this button will reset any single-channel faults. If using this button fixes the error, then the root cause is definitely your channel wiring.


    If you don't have an ESC board, then interrupting the power to the safety-relay board will usually reset single-channel faults.

    Edited once, last by SkyeFire ().

    First of all thanks to Fluke and SkyFire for the fast answer.


    Now we have connected one barrier to X11 connector pins 7 & 8, and the other one to the pins 38 & 50. Our KR C2 version is "edition 2005" (so it use an ESC board). We don't see any button as the one you described SkyFire, we have the next KCP:


    http://www.gebrauchtroboter.co…B_KCP2/zubeh_angebot.html


    Maybe we are using the safety signals incorrectly as Fluke suggested?


    Best regards,
    Luis

    Quote from gorodrim


    Now we have connected one barrier to X11 connector pins 7 & 8, and the other one to the pins 38 & 50. Our KR C2 version is "edition 2005" (so it use an ESC board). We don't see any button as the one you described SkyFire, we have the next KCP:


    No, the ESC board is inside the cabinet. Should be on the bottom of the right interior wall, near the front.

    I´m affraid you re connecing it wrongly, you shold wire the barriers into a serial safety style relay, then your x11 pins conneted into that relay, if you open individually each contact with each barrier you´ll get the alarm always. You should have a push button to reset your safety circuit into that esc board your have to try harder to find it

    Do what you think but think what yo re going to do...

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