Hi Kiiwa!
I actually dont know what its called, but we're supposed to connect wires between different plints on x11, enabling the robot to be fully functional without any external emergency stops.
Hi Kiiwa!
I actually dont know what its called, but we're supposed to connect wires between different plints on x11, enabling the robot to be fully functional without any external emergency stops.
You do not have to do that.
IIWA allows you to turn of E-stop monitoring at Safe PLC level.
However if you still want to put hardware jumper look at page 43 at the very top.
Installing jumpers between pins 1 - 2 and 10 - 11 will disable E-stop.
If you decide to install E-stop at some point top of page 45 shows how to do that correctly.
Hi Kiiwa!I actually dont know what its called, but we're supposed to connect wires between different plints on x11, enabling the robot to be fully functional without any external emergency stops.
You don't need to use any shunt for the X11. All you need to do is to change the default security settings in your project on the Sunrise Workbench, to deactivate the external emergency stop.
Just do like in the screenShot attached. Once you do, the robot will restart. Go to smartPad, Safety-->Activation --> and enter the password KUKA gave you and you're good to go.
You do not have to do that.
IIWA allows you to turn of E-stop monitoring at Safe PLC level.However if you still want to put hardware jumper look at page 43 at the very top.
Installing jumpers between pins 1 - 2 and 10 - 11 will disable E-stop.If you decide to install E-stop at some point top of page 45 shows how to do that correctly.
Hi and thank you for you reply. I dont know why kuka told us to do this, im just trying to follow what they say.
You don't need to use any shunt for the X11. All you need to do is to change the default security settings in your project on the Sunrise Workbench, to deactivate the external emergency stop.
Just do like in the screenShot attached. Once you do, the robot will restart. Go to smartPad, Safety-->Activation --> and enter the password KUKA gave you and you're good to go.
Hi Kiiwa. i might just not really know what the different categorys in customer PSM means. Im curious of what the different categories mean, and what happens if they are active/inactive. and which saftey functions will work and which wont work.
Maybe you can say that making everything inactive as the picture (the one you attached) makes whole of x11 inactive?
Since we're going to use iiwa at an event i need to be sure every other saftey config is working. like forcetourqe and other functions. so that noone gets injured.
Also i wonder if you have done any offline programming for iiwa? For example with visual components or process simulate.
QuoteHi and thank you for you reply. I dont know why kuka told us to do this, im just trying to follow what they say.
Because it is a standard procedure on every industrial robot.
You have to connect and configure safety circuit.
On KUKA robots hardware for safety (E-stops, safety gates, etc...) is plugged to X11 connector.
If you do not have any safety hardware but still want to run you need to install jumpers.
IIWA robot gives users the ability to disable these safety signals so robot is not monitoring them.
However if you are not sure what you are doing I would recommend building X11 with jumpers rather then disabling safety circuits on the safe PLC level.
Again this is standard safety procedure.
You need to get yourself familiar with industrial robots safety.
These are not friendly toys (but they can be )
Quote
Hi Kiiwa. i might just not really know what the different categorys in customer PSM means. Im curious of what the different categories mean, and what happens if they are active/inactive. and which saftey functions will work and which wont work.
Hi,
The PSM's are "Permanent Safety Monitoring", i.e., they will be always Active whatever the situation. Say, you want your robot to stop at any contact exceeding 30NM or any Cartesian velocity exceeding 1000mm/s (1m/s), you add a row in your PSM precising the category. For each row , you have the category and the AMF's. The category can be "Collision detection", then in the AMF1 (AMF = "Atomic Monitoring Function " is the smallest unit of a safety monitoring function) column choose the "Cartesian velocity monitoring" and add as much instances as you want (to select the value of your maximum velocity). Then, you can precise the reaction of your robot (if it's Stop 0 or Stop1 , etc.)
If you want some security measures to be applied just in some parts of your program. For instance, in some parts of your program you can be in contact with some humans, you can add a collision detection just in that part of you program. Hence, the use of ESM mechanism (Event-driven Safety Monitoring), which defines safe
states , and you can to switch between these in the robot program. A safe ESM state contains the safety functions required in the corresponding part of your program
You can find a lot of information concerning security in the SunriseOS document (or just read the info of each safety measure on sunrise Workbench on the "safetyConfig.sconf" tab ).
It's beyond me to detail everything
QuoteMaybe you can say that making everything inactive as the picture (the one you attached) makes whole of x11 inactive?
X11 is just an interface that you can use to stop that robot by an external stop switch or acknowledge a stop and resume your program. On iiwa is less relevant than other KRC robots. Safety monitoring functions can be added without needing X11 cabling.
QuoteSince we're going to use iiwa at an event i need to be sure every other saftey config is working. like forcetourqe and other functions. so that noone gets injured.
We used them in many events, we have never had any accident ( There were kids around, often). Just be sure about the velocity monitoring and collision detection. No X11 is needed for that (unless you want to rely on some laser sensors that deactivate the robot as soon as someone enters its zone)
QuoteAlso i wonder if you have done any offline programming for iiwa? For example with visual components or process simulate.
I tried to do that last year with V-rep, but KUKA's representative told me that since LBR 4 they stopped doing that. It sucks, but I got used to programming directly on the robot and being always super cautions (always run your programs in T1 the first time, never in AUTO or T2)