I have a KUKA KRC5 Controller with EL6695 connection to PLC at Application level and Safety via Hardware Safety Interface XG11.1, 11. 3.
Currently the function to open/close door is handled from the robot sub program.
I am currently using the 2nd Brakes A2-A5 (XG11.3 Pins 3-9, 6-12)as a requirement to enable the opening of the safety door at the hardware plan.
When the robot is in T1 mode, the relay is TRUE and I can open/close the door with the std. door opening/closing output signal. At EXT mode when I set the signal to open the door, the Brakes A2-A5 signal relay is FALSE when the Operator safety is set to False.
I tried turning down the DRIVE_ON and DRIVE_OFF signal but this does not change the state of 2nd Brakes A2 - A5
At What Application state the robot sets the brakes A2-A5 enabled in the Ext Mode ?
If this is not the correct signal which signal at the safety level can be used to denote the robot is in safe stop to enable the safety door opening function ?
Thanks