Commissioning 57/68
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99,
Bosch Rexroth AG
apas_Diag_S20PSDO_OAR
Value
State/device
TRUE
The F-device requires a confirmation by the operator
(apas_Diag_QuitErrorBus) to resume the safety function.
FALSE
The F-device does not currently require any confirmation by the
operator (apas_Diag_QuitErrorBus).
apas_Diag_KUKA_OAR
TRUE: The F-device requires a confirmation by the operator
(apas_Diag_QuitErrorBus) to resume the safety function.
FALSE: The F-device does not currently require any confirmation by the operator
(apas_Diag_QuitErrorBus).
apas_CustPLC_InEStop
The diagnosis signal indicates the external EMERGENCY STOP on the APAS assistant.
apas_CustPLC_OutEStop
The diagnosis signal indicates the local EMERGENCY STOP on the APAS assistant.
apas_EndEff_EStop
The diagnosis signal indicates the EMERGENCY STOP on the end effector.
apas_SensorSkin_Error
The diagnosis signal indicates an error message of the sensor skin. The APAS
assistant is stopped. Restarting is only possible after the cause of the error has been
determined and remedied.
apas_SensorSkin_Go
The diagnosis signal indicates that the sensor skin has been triggered.
apas_Diag_StepCount
The diagnosis signal indicates the program sequence status of the automatic-external
communication between APAS assistant controller and KRC.
Status
State/device
10
Waits until program is deselected and no longer running
(e.g. R1/PRG.SRC).
15
Waits until program is selected and running (e.g. R1/PRG.SRC).
20
Permanent query whether sensor skin has been triggered or
EMERGENCY STOP is active.
30
Query whether sensor skin has been triggered.
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