Commissioning 49/68
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99,
Bosch Rexroth AG
7.3 Operation without higher-level controller
In operation without a higher-level controller, the robot must be operated in
automatic-external operating mode to implement the automatic restart of the
robot after triggering the sensor skin.
Use the SUBMIT program StandaloneSPS.sub included in the scope of delivery.
7.3.1
Preparing submit interpreter
Observe the information in the vendor documentation installation and
operating instructions KSS 8.5 SI V6 Configuration of kinematics of
KUKA Roboter GmbH.
Add the included program StandaloneSPS.sub to the submit interpreter of the
controller and start it.
When using the program StandaloneSPS, the automatic operating mode must
not be selected!
7.3.2
Preparing the I/O circuitry
Connect the signals for $DRIVES_ON, $CONF_MESS, $EXT_START in the I/O
circuitry with the inputs of the PROFINET master (PLC within the SafetyBox).
Signal
Connection with
$OUT[4106]
b_Kuka_EXT_START_i
$OUT[4107]
b_Kuka_CONF_MESS_i
$OUT[4108]
b_Kuka_DRIVES_ON_i
EN
GLISH
