Kuka KR C2 edition05, Operating Instructions Manual

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24 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
„
Enabling switches
The node receives single-channel signals from:
„
Drives ON
„
AUTO mode, TEST mode
Node in the KPS
In the KPS there is an ESC node which switches off the drives contactor in the
case of a fault.
Node on the MFC3
On the MFC3 board is a passive ESC node which monitors the information on
the ESC circuit and then passes it on to the controller.
2.6.1 ESC nodes
Configuration
Each node consists of two ESC chips (A and B), which monitor each other.
If no KCP coupler is used, the ESC circuit will only function with the KCP con-
nected. If the KCP is unplugged during operation without a KCP coupler, the
drives are immediately switched off.
Fig. 2-15: ESC nodes
Signal
name
Meaning Description
TA Test output Pulsed voltage for the interface inputs.
NA Local E-STOP Input for local E-STOP (dual-channel). If the
signal is interrupted, the drives contactor
drops out immediately.
ENA External E-
STOP Input for external E-STOP (dual-channel). If
the signal is interrupted, the drives contactor
drops out after a delay.