The robot has Safe Operation option and XG11.3 port, do they cause the stops?
What model KRC and what version of KSS? I don't recognize XG11.3.
This depends on what other options the KRC has installed. The standard safety port for hardwired safeties is X11 (with SafeOp adding X13 with more signals), but if your KRC was ordered with network safety (ProfiSafe, CIP Safe, etc), then the hardwired safety ports should not be present.
There's also the situation where the robot was originally built with hardwired safety, but was altered to use network safety. In which case, the X11 and X13 ports will be present but not operational.
As a temporary workaround, you can use Startup Mode to bypass all the safeties, but this will limit you to operating only in T1.
it is a noob asking for help. and obviously he totally failed to identify what system is working with, what condition it is in, what was done to it, what is connected and how etc.
what is to him a "KUKA ROBOT", to others could mean many things, including collaborative robots and even mobile platforms.
the connectors he refers to suggest that this is some sort of KRC5 system.
btw.. on KRC1-KRC4 parallel safety is on X11. but on KRC5 this has been renamed to XG11... and of course pinouts always differed.
not sure what is meant by XG11.3. To me that would mean pin3 of XG11.
Using Startup mode will verify if system is operational. if not, there could be problems with WoV project configuration, safety configuration not active etc.
Hi, thank you very much for reply.
I use KR16 R2010-2 robot with KRC5 controller, and the KSS 8.7 system.
The start up mode works fine, while on T1 mode it has these warnings. The XG11.3 is following:
I use KR16 R2010-2 robot with KRC5 controller, and the KSS 8.7 system.
The start up mode works fine, while on T1 mode it has these warnings. The XG11.3 is following:
But does this KRC use the XG11 connector for safety, or is it equipped with network safety, as I already asked? If the latter, then any work on XG11 is pointless.
Assuming you are not using network safety, then the instructions are in the manual, just a page or two down from the screenshot you posted. It also appears that both XG11.1 and XG11.3 need to be attended to.
SafeOperation will require additionally wiring on XG11.1 and/or XG11.2, according to the manual.
For KRC safety inputs, each input must be wired to one of the Test Outputs. For XG11.1:
Operator Safety A would need to be wired to one of the TA_A outputs, while Operator Safety B would need to be wired to one of the TA_B signals. _A and _B signals cannot be mixed. Operator Safety would only be satisfied if both the _A and _B channels were closed at the same time. Hence, both channels would need to be wired to contact pairs on an appropriate Safety Relay, or Safety Outputs on a Safety PLC.
This rule holds for all of the KRC Safety inputs.
i think you did not understand...
the question was if the KRC5 is configured to use XG11 as a safety interface? if it was ordered with it, it should (and most likely is...). but to be certain one need to login as safety maintenance and check safety configuration. there is would tell you what is the current safety interface.
assuming that XG11 is used... it would appear that is not wired correctly.
