Hi everyone. I have a KUKA LBR iiwa 7 r800 with a KUKA Sunrise Cabinet running KUKA Sunrise.OS V1.10, and I'm trying to hook up an external E-STOP button. I have a normally closed DPST E-STOP button hooked up to pins 1,2 and 10,11 of the X11 connection on my Sunrise Cabinet, and I've activated the row on my Customer PSM configuration to use an external emergency stop. However, regardless of whether the E-STOP is open or closed, the external E-STOP registers as active. Could the problem be that I need to supply separate power to these pins (as of now, I'm not)? If so, is it possible to get the power from the output of another pin on the X11 connection, so that I don't need to involve a separate power source? I would also be willing to connect to other pins on the X11 besides the dedicated E-STOP ones, so long as the PSM could be configured such that the robot stops when the button is pressed. Thank you very much!
KUKA Sunrise Cabinet External E-STOP
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jjoachim -
November 28, 2017 at 12:10 AM -
Thread is marked as Resolved.
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Nooo....
Please read controller manual....
X11.1 is test output ChannelA ("power" terminal but signals is modulated)
X11.2 is safety input_1, ChannelAX11.10 is test output ChannelB
X11.11 is safety input_1, ChannelBBtw, try to follow forum guidelines and post in correct forum section. Also check READ FIRST topic
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Understood! Sorry about that. I also see now that I had mistakenly wired things incorrectly so it's all working now (misinterpreted the diagram in the manual and had the pins mirrored). Thank you for your help!
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no problem...