speed reduction with KUKA lbr iiwa and Sick laser scanner

    Hello HRC fans,


    I would like to create a system where a laser scanner Sick MicroScan3 Core I/O (with 2 monitoring cases, each having a different speed) reduces the robot speed when the warning field is infringed and then switches to a smaller protective area. To connect the laser scanner to the KUKA lbr iiwa I have a Sick safety relay UE10-2FG. My OSSD pairs will be connected to the X11 interface on the KRC4 to CIB_SR.1 as an emergency stop. To communicate that the warning field is infringed and a speed reduction is required I use an output signal from the scanner. How can I integrate this signal in Sunrise Workbench in the safety configuration to achieve a speed reduction (not a stop).
    After a successful speed reduction I have to switch between monitoring cases (I use 2 uni-I/Os at the scanner as static control input), meaning the robot has to give an output to the scanner. Any ideas?


    Thanks a lot for your advice!

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