The X11 safety interface on my KRC2 ED05 controller does not match the cabinet documentation and behaves unexpectedly.
I have a KR360-2 with a 7th axis and a KRC2 ED05 controller. The robot is fully functional with no error messages, and we have been using it for the past several months. I am trying to hook up an external EStop through the X11 interface, and am following the typical X11 documentation for my controller: BA KR C2 ed05 V5 en (Kuka ID: PB4846).
My warehouse has a KR 1000-F titan with a KRC2 ED05 controller and an X11 interface. I have successfully integrated an external EStop, drives activation button, safety gate, etc. I have some experience with the X11 system from this, and a working system to test out hypotheses.
The X11 jumper currently used on the robot is odd - Some of the pin pairs that the manual says must be jumpered are not jumpered, while other pin pairs that aren't covered by the manual are jumpered (further details in posts below). However, the KR360 accepts it without any errors.
When I hook up an External 2-channel estop to the connector (1 -> 4, 19 -> 22), the robot does not change behavior. There is no acknowledgement of the Estop at all.
The documentation mentioned above mentions multiple possible C13 boards that could be installed in the cabinet.
- KR 1000: C13 Tech Board (This is the one that works as expected)
- KR 360: C13 Bus Board (This is the one that doesn't work as expected)
According to the documentation regarding the C13 Bus Board:
Quote from KRC2 edition 2005 Operating Instructions
The SafetyBUS p Gateway board is plugged onto the CI3 bus board and connects the ESC circuit with the SafetyBUS p manufactured by PILZ
This implies (to me) that the C13 Bus Board could be modifying the safety system operation. Unfortunately, referencing Kuka's documentation for SafetyBUS Gateway (Kuka ID: FI3663) contains no mention of the X11 interface