Hi All,
KRC4 KSS 8.6.5
I'm experiencing some confusion with regard to the external mastering confirmation and I want to get the specifics nailed down because I am getting conflicting inputs from various resources (people and documentation).
So the questions that I have are as follows:
1. Is it a requirement to have the standard reference switch for mastering confirmation?
The reason I am questioning this is because of the Description paragraph in section 7.7 of the safeoperation manual and from my reading of that is that the external mastering is handled explicitly with the higher level controller and/or external mastering confirmation system and that external mastering is confirmed by checking the reference position saved in the higher level controller and then if okay sending a safe input to the robot to confirm that mastering is fine.
So for example:
1: Internal mastering required
2: Robot moves to reference position (specific position in space, not touching reference switch)
3: External controller checks the robots position and compares to that of the reference, stored within the higher level controller itself
4: If robot position is within tolerance then fires safe mastering confirmation (EJB) signal to the robot controller
5: Robot can continue operation
Am I correct in what has been stepped out or is it a requirement to still have the robot move to a reference switch?