Kuka safety setup

  • I have a kuka kr210 and KRC4 controller and am having issues with the safety setup. The robot was originally setup around 4 years ago and the person who done it has departed the company a long time ago. An external E-stop is wired to interface X11 and a Sick flexisoft safety PLC (CPU1, XTIO and a UE410-4RO relay module) and an acknowledgement button is also on the PLC. my question is, is there any wiring diagrams for the sick PLC which show it connected to the kuka as the interlocks are not working nor is the acknowledgement button but the E-stop is.

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  • IF KRC4 is using X11 as safety interface then wiring has to follow KUKA documentation. an example of X11 circuits (only the safety inputs) can be found in Forum Download section.


    X11 interface does not care if connected external circuit is using relay contact or push button contacts or any other type of contacts - they are just contacts that need to form closed circuit. they are so called "potential-free" or "dry contacts" with low voltage drop. and of course they need to belong to some safet rated component.


    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • manual acknowledgment of operator safety is required.... the question if just if it is done at the robot input (X11) or externally .

    normally this is done externally except in simplest cell setup where no external safety controller is used.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • User safety acknowledgement is a required function. If this is done on some external unit, you do need to acknowledge again on the robot. If there is no external safety controller present, or when it us present but acknowledgement is not done on that unit, acknowledgement must be done on KRC. KRC has safety configuration setting where one can specify this.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I know that i need the acknowledgement button but does anyone have experience using guard interlocks and an acknowledgement button using the SICK safety PLC. The interlocks seem to be wired into the input/output module and the relay module. Is the relay module needed for the interlocks are can they be used with the input/output module.


    Regards

  • All of the inputs on the KRC4 SIB are "pulse coded", so I believe you will need to use safety relays in between your safety controllers outputs and the SIB inputs.


    The KRC4 manual covers this in-depth, I would suggest reading it to understand the requirements or hiring an integrator that has experience working with safety systems.

  • After a bit of further investigation, a looked at the existing logic code of the safety PLC and the code shown an input for a light curtain which must of been lost when robot was getting moved around the different sites so it was just a case of deleting that input from the code and upload to the PLC and all running in auto with interlocks working so thanks for all the help.


    Much appreciated

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