I have recently started to learn about robots and got a KUKA KR 5ARC with KR C4 controller to start. After acknowledging some error messages I am able to operate all the axes in start up mode but I couldn't put the robot in T1 and auto modes. It seems the reason is that the robot controller has been configured to work along with a PLC and as there is not any plc available now it is not able to receive the enabling signals and so the aforementioned modes are not selectable . Can somebody please help me about linking a plc like S7 1200 or 1500 to the robot controller and guide me about the signals which are required to be issued from the PLC. And one more question, how can I operate the robot in auto or T1 without connecting a PLC i.e. bypassing the safety signals? To be more clear the messages I get in the robot HMI are as follow (unfortunately I couldn't upload the images):
KSS02858 Stop due to field bus error
KSS15009 Profisafe communication error
KSS11011 Connection between PLC and KMZ11-20R10 could not be established in 2000ms
KSS01033 error on reading, driver: PNIO-DEV
KSS01034 error on writing, driver: PNIO-DEV
Thanks for your help.