KUKA KR 160 NANO
KRC4 KSS 8.5.7
ProfiNet MS V4.1.3
I want to command my robot with an external teach pendant other than the SmartPad. This Teach is connected to a Siemens PLC that communicate with robot via PROFINET :
KRC4 <------->Siemens PLC <--------> exeternal TeachPendant
Our external teach pendant contains a dead man's button which is connected to the X11 interface. Since the robot is in external mode, the contacts (11-12 & 29-30, 13-14 & 31-32) for an external dead man are disabled. So we have connected this dead man button to the safe stop 2 (9-10 & 27-28)
- First, is this contact suitable for connecting a Deadman switch?
- The PLC must detect when this deadman is released. Is there any system variable related to these pins (similar to $SAFETY_SW for the smartPad enabling switches) ?
In external mode, releasing the Dead Man sets $ STOPMESS to TRUE and if we re-press $ STOPMESS again becomes FALSE without any message displayed on the SmartPad. Also, the state of this button does not affect the state of $ USER_SAF.
Thank you in advance for your help.