gripper configuration

I/O Configuration?

install some I/O and make sure they work
wire gripper and make sure it works (you can control it by toggling I/O)

of course if you have GripperTech, it will need to be installed too.
then you can configure it using same I/O that you tested earlier manually.
simple gripper is Type 1.
there are 4 boxes for inputs (reed switches or whatever sensors checking gripper position) and outputs (solenoid valves).
typically you would assign the first two of each. read the grippertech manual for more details...

Have you configured Operator Safety to require a separate reset signal?

Go into the menu -> Configuration -> Safety configuration -> hardware options - there you can set Operator safety acknowledgement - if you have en external safety device (relay or PLC) set it to external device.
Of cause this requires an external safety device - else your safety might not be okay - but that is up to you to make sure of.
You would properly need to be safety maintenance user at least

solved it? just be careful - since this is safety related, you really need to know what you are doing as you will be liable in case of an accident. get familiar with requirements in your country/company etc. or require help of experts. (not anonymous people on a forum )

it is something along these lines:
when making safety circuit for the robot you have to design it in such a way that auto modes are not possible with gate open, any configuration allowing T2 must also be in compliance with local regulations and - there must be a way to acknowledge operator safety. this means that when you press the acknowledge button, you assume responsibility for checking that nobody is left behind (inside robot area) since now robot can move at full speed in auto (or auto external).
details depend on your particular cell setup.

if the robot is a stand-alone unit (not tied to external safety controller or safety plc) then acknowledgment button must be wired to X11 (see download section for X11 jumper plug wiring). in this case you must configure operator safety acknowledgement is "by button" in the Safety Configuration.

if the robot controller is just a part of larger safety circuit and acknowledgement is done externally (button wired to safety PLC for example), then the setting on the robot end for operator safety ack. is "external unit" instead of "by button".

if the robot is part of a larger cell and it is not possible to easily see entire cell area (there are blind spots such that someone could be inside cell working in crouched position etc and not seen by operator), additional means are required (procedural plus lockout system such as trapped key etc.)

about T2 message - why exactly is this a problem?

when you switch to T2 mode, jogging is disabled (on KRC4) and program override is set to 10%. if you change override message disappears.

yes that is normal, in fact I don't think it prevents you from doing anything, it is just warning that robot could move fast (full speed). this is why initially speed is reduced when T2 is selected.

Hi, I just found this thread.

We are going to integrate a Schunk gripper using etherCAT-profibus-gateway.
We have received ideas from Kuka representatives, adn we are asking for further support.
I have also sent some posts to the forum:
http://www.robot-forum.com/rob…-via-io-configuration/15/

The case described by bigboss seems interesting. Could you tell, which type of KUKA robot and which flange bigboss is in this case?

BR, Paavo from Univ. Eastern Finland