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Product description
Bosch Rexroth AG
, APAS assistant K1100-10i V01.00.00 - V01.00.99, 3 842 565 050/2019-11
3.5 Exchange of signals with safety relevance
3.5.1
Signals between safety controller of APAS assistant and robot controller
The following signals with safety relevance are exchanged via the Ethernet safety
interface PROFIsafe between the safety controller of the APAS assistant and the
robot controller.
Signal direction
PROFIsafe byte
PROFIsafe bit
English description
KRC -> PLC-R
0
0
Local EMERGENCY STOP
from KRC
KRC -> PLC-R
0
6
Operating mode T1
KRC -> PLC-R
0
7
Operating mode T2
KRC -> PLC-R
1
6
Safety interface active
KRC -> PLC-R
2
0
Safety option active
PLC-R -> KRC
0
0
Reserved 1
PLC-R -> KRC
0
1
Input for external
EMERGENCY STOP
PLC-R -> KRC
0
2
Operator protection/
sensor skin triggered
PLC-R -> KRC
0
4
Safety STOP 1 (all axes)
PLC-R -> KRC
0
5
Safety STOP 2 (all axes)
PLC-R -> KRC
1
0
US2 supply voltage
PLC-R -> KRC
1
1
Safe operating stop
(all axes)
PLC-R -> KRC
1
2
Reserved 11
PLC-R -> KRC
1
3
Reserved 12
PLC-R -> KRC
1
4
Reserved 13
PLC-R -> KRC
1
5
Reserved 14
PLC-R -> KRC
1
6
Reserved 15
PLC-R -> KRC
3
0
Reserved 25
PLC-R -> KRC
3
1
Reserved 26
PLC-R -> KRC
3
2
Reserved 27
PLC-R -> KRC
3
3
Reserved 28
PLC-R -> KRC
3
4
Reserved 29
PLC-R -> KRC
3
5
Reserved 30
PLC-R -> KRC
3
6
Reserved 31
PLC-R -> KRC
3
7
Reserved 32
PLC-R -> KRC
5
15
Monitoring space 14 /
axis angle limitation
space
PLC-R -> KRC
5
15
Monitoring space 15 /
Collaboration room
PLC-R -> KRC
5
16
Monitoring space 16 /
Speed space
PLC-R -> KRC
6
0
Tool 1
