I have a KR 3 R540, to carry out training sessions in our country, but we are having problems when placing or making the connections of the digital inputs and outputs, we see that the KR C4 Compact has an X11 connector, we suppose that from there we can connect a PLC or control any actuator, but we have doubts about how to do it, since the connection manual is difficult to understand and is not very clear, could you explain to me how to connect those digital inputs and outputs. Thanks
Connection Digital Output and Input
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Andres -
June 28, 2021 at 11:05 PM -
Thread is Unresolved
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X11 is for safety interface. It is pre-mapped.
Are you trying to wire physical actuators? Or are you trying to connect to a PLC via a fieldbus?
For physical Digital IO, it depends on the controller. You will see X12 (on the physical controller), or if you do not have aX12, and have a standard KRC4, you might just have the Beckhoff internally. Then it depends on what configuration of Beckhoff you have internally.
In your WorkVisual project, under KUKA Extension Bus, you should see a EK1100 with cards underneath. Then, in IO Mapping, you can select Digital Inputs in one window, and the Beckhoff card in the second window (under Fieldbusses tab). From there, you can map your IO.
This is the same method to mapping any other device.
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My idea is to connect or send a signal to a PLC or to be able to control a physical actuator such as a motor or a pilot light with the physical outputs of the robotic arm, also my idea is to connect a sensor to an input of the robotic arm, and so the robotic arm wait for a signal from a sensor. I have a KR C4 Compact, it seems to me that it doesn't have the X12.
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I am still trying to visual what you are exactly planning to do. Attach a picture of your controller, to see exactly which options you have.
1. On a KR3, anything wired to the wrist on X96 simply is wired back down to X76 at the base. Which can be wired to any device, i.e. PLC, KRC
2. Are you trying to send an output from the robot controller that is wired to an input card of the PLC?
3. If you want to control, e.g. a pilot light with the robot, either purchase the X12 option from KUKA, or purchase a module that can communicate via EtherCAT to the robot controller, You may then wire the pilot light into that controller.
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first you need to identify what is the exact I/O hardware available on your controller.
X11 is a safety interface, not I/O interface.
I/O would be on X12 which is same form factor but different connections. and to really determine proper way to wire it, you need to identify exact hardware behind that X12 interface because there are several options and connections are not the same.
so read schematics or at least take some pictures to help identify what you have.
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Just that I need, send an output from the robot controller that is connected to a PLC input card
I attach a photograph of my controller, I think I should buy an X12 connector then
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correct your controller has no physical I/Os. you could add external node, this can but does not need to be inside robot controller. i think that is better option, specially if you are installing it yourself - you don't want to touch internal controller wiring.
do add external 24VPSU, EK1100, EL1809, EL2809 and map them in WoV.
run ethernet cable from KRC X65 to X1 on your EK1100
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For the moment we are going to focus on the security part of the X11, then we acquire the Ethercat slave, then with respect to the X11 connector, we want to place some sensors on the cell door, so that the robotic arm is deactivated when that door is Open, to avoid an accident, what would the connection be like for that system? We have a manual where it was mentioned about X11, but it is difficult to understand, so we want your help and that you tell me how to connect this sensor.
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You can find further explanation of the X11 pinout information in the KRC4 compact manual.
To give a brief description, to wire an E-Stop (dual channel), it is pin 2 (channel A) channel input, and you can take pin 1 (test output A) pulsed voltage. Then you will take pin 11 (channel B) channel input, and you can take pin 10 (test output B) pulsed voltage. (i.e. Pin 1 ----Estop Channel A ---- Pin 2 ; Pin 10 ---- Estop Channel B --- Pin 11).
For operator safety, you will look for pins which are for the Operator Safety.
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why don't you show us what exactly you find confusing? if you have problem reading schematics and supplied documentation, you should not be one wiring anything on the robot. get someone trained do it for you.
also did you read pinned topic? did you try forum search? X11 is a very common topic and there are bunch of posts about it.
Btw, connecting all safety devices to an EStop circuit is possible but.... It is really not the best idea. While it may be seen as acceptable, it is suboptimal and robot usability is SEVERELY limited. I would strongly advise against it. Just read the documentation.
As the name suggests EStop circuit is for emergency stops (and nothing else). Do not add anything else there. Breaking this circuit by some safety devices (door switch, light curtain, laser scanner etc.) does stop robot but ... This means one cannot open cell door, get inside and try to touchup some points while being close to EOAT. In other words this prevents meaningful use of the robot even in T1 mode.
Operator safety circuit is for operator safety. This circuit has unique behavior for a specific reason and it is well documented. Read about it. It need to be wired and configured correctly because machine directive and robotic safety standard mandate that this must be manually acknowledged.