I'm currently putting together a small Kuka training robot with a suction tool for training our maintenance techs.
I have the KRC4 compact with KR Agilus Sixx. Im using Work Visual 6.0. Kuka runs 8.3.37 I believe.
What I want to accomplish is I have an air wrist that the tool is attached to (3D printed) and I want a pressure switch to drop out when the tool is crashed into a fixture and cause a safety stop in T1. At this point, in order for the tech to reset he will have to hold a bypass switch to drive the robot back out and reset the tool.
Would the output of the pressure switch go to the PLC and then to X11 to cause a safe stop? Or is there an internal way to program the ouput of the pressure switch into a config file to cause a stop? Currently I don't have any PLC connected to the Kuka but I may put one in for other safety features and for running in Auto.
I'm basing this off the training robots at Kuka.
If there is a safety manual that someone could recommend that would be great. I have what seems dozens of them but I'm still confused how I would accomplish this setup.
Thanks