KRC4 Safe Operation Reference Switch and Proximity Sensor

Hi All,

Is there a direct way to monitor the status of the Proximity Switches (part of the KRC4 Safe Operation Reference Switch).without running the Safe Operation programs?

I am assuming the 2 proximity switches must be mapped somewhere to the internal Kuka I/O. I have searched on the TP and Work Visual with no luck.

We have Kuka KRC4 controllers with the option package Safe Operation 3.x installed.

Controllers are KRC4 8.3.x

There is only one Reference Switch connected through X42 to the CCU.

I have examined MasRef_Main.SRC, MasRef_User.SRC and can't seem to find an I/O reference for the 'proximity switch status'.

I see there is a Safe Operation $MASTERINGTEST_SWITCH_OK variable but that's just the condition of the Reference Switch and not the two individual proximity switches.

Any guidance would be most appreciated.

Hi Panic Mode and Skyefire,

Quote

What are you trying to accomplish?

What I am trying to do is find a quick way to see the status of the proximity switch by simply placing a piece of steel over the proximity sensors and checking their status on the KRC4 Smart Pad.

Quote from hermann

That's possible. In diagnosis menu, and should do the task.

I have tried using the diagnostic monitor see SafeOperation_1.bmp and SafeOperation_3.bmp but can't seem to get a real-time result when placing the steel piece over the proximity sensors.

Please note there is no SIB in this unit.

I also struggle sometimes with the German references in my notes.

Quote from RustyRSA

I have tried using the diagnostic monitor see SafeOperation_1.bmp and SafeOperation_3.bmp but can't seem to get a real-time result when placing the steel piece over the proximity sensors.

Please note there is no SIB in this unit.

I also struggle sometimes with the German references in my notes.

Quote from panic mode

Mastering reference switch does not connect to SIB. It connects to CCU, more specifically to CIB (CCU=CIB+PBM). so if there is a live status, it will be in diagnostic monitor for CIB and it will refer to JR.

Thanks. I know the reference switch doesn't connect to SIB - just mentioned that for background. I'll look at the JR bit. Thanks

Quote from SkyeFire

Then, how is the MasRef switch connected to the robot?

Through the CCU (CIB). But I see panic mode suggests monitoring the JR bit - I'll have a look at it.

Quote from SkyeFire

Do you mean, it's connected directly to the KRC through the X42 connector?

AFAIK, that's only relevant when the MasRef switch is connected to a Safety PLC, and the Safety PLC program passes the MasRef contact signals to the KRC via the JR bit.

Yes - I understood the JR bit was only relevant to a PLC. Thanks for clearing that up.

Yes - the Reference Switch is connected directly to the KRC through the X42 to the CCU.