Kuka KR C2 edition05, Operating Instructions Manual

Page: 73 / 157

73 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
5. Planning
Signal Pin Description Comments
+24 V internal
0 V internal
106
107
ESC power supply max. 2 A
24 V external
0 V external
88
89
In the absence of an external
power supply, 24 V / 0 V must
be jumpered internally. An external power supply is
recommended for interlinked
systems.
+24 V
0 V
36
18
24 V control voltage for supply
to external devices, max. 4 A. Optional
+24 V
0 V
90
72
24 V control voltage for supply
to external devices, max. 6 A. Optional
Test output A
(test signal)
1
5
7
38
41
Makes the pulsed voltage avail-
able for the individual interface
inputs of channel A. Connection example: enabling
switch is connected under
channel A to pin 1 (TA_A) and
pin 6.
Test output B
(test signal)
19
23
25
39
43
Makes the pulsed voltage avail-
able for the individual interface
inputs of channel B. Connection example: safety
gate locking mechanism is con-
nected under channel B to pin
19 (TA_B) and pin 26.
Local E-STOP
channel A 20 / 21 Output, floating contacts from
internal E-STOP, max. 24 V,
600 mA In the non-activated state, the
contacts are closed.
Local E-STOP
channel B 2 / 3
External E-STOP
channel A 4 E-STOP, dual-channel input,
max. 24 V, 10 mA.
External E-STOP
channel B 22
Enabling chan-
nel A 6 For connection of an external
dual-channel enabling switch
with floating contacts max.
24 V, 10 mA If no enabling switch is con-
nected, pins 5 and 6 and pins
23 and 24 must be jumpered.
Only effective in TEST mode.
Enabling chan-
nel B 24
Safeguard chan-
nel A 8 For dual-channel connection of
a safety gate locking mecha-
nism, max. 24 V, 10 mA Only effective in AUTOMATIC
mode.
Safeguard chan-
nel B 26
Drives OFF
external, channel
A (single-chan-
nel) 42 A floating contact (break con-
tact) can be connected to this
input. If the contact opens, the
drives are switched off, max.
24 V, 10 mA. If this input is not used, pins 41/
42 must be jumpered.
Drives ON exter-
nal, channel B
(single-channel) 44 For connection of a floating
contact. Pulse > 200 ms switches the
drives on. Signal must not be
permanently active.
Drives ON chan-
nel B 29 / 30 Floating contacts (max. 7.5 A)
signal “Drives ON”.
These contacts are only availa-
ble if a CI3 Extended or CI3
Tech board is used.
Is closed if the “Drives ON”
contactor is energized.