I want to implement the control of the KRC4 controller with a Siemens PLC as detailed in the Kuka SI manuals to monitor system variables and control program execution with the PLC, but I am still handling the safety of the robot through the physical X11 interface instead of through Profisafe.
My problem is that I don't currently have a F-CPU to try it, only a regular S7-1200, and when importing the KRC4 GSDML to TIA Portal it says "An F-Module in safety mode can only be used by an F-CPU in which F-capability is enabled". Is there a way to work with higher level control without a safety PLC?
I haven't found a way to disable the safety features in the KRC4 "module" on TIA Portal and I even tried to edit the GSDML but it's much harder than I thought.
Has anyone dealt with the same problem and can help me?