Kuka KR C2 edition05, Руководство по эксплуатации

Страница: 23 / 157

23 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
2. Product description
2.6 Electronic Safety Circuit (ESC) safety logic
Overview
The ESC (Electronic Safety Circuit) safety logic is a dual-channel computer-
aided safety system. It permanently monitors all connected safety-relevant
components. In the event of a fault or interruption in the safety circuit, the pow-
er supply to the drives is shut off, thus bringing the robot system to a standstill.
The ESC system consists of the following components:
„
CI3 board
„
KCP (master)
„
KPS600
„
MFC (passive node)
The ESC system with its node periphery replaces all the interfaces of a con-
ventional safety system.
The ESC safety logic monitors the following inputs:
„
Local EMERGENCY STOP
„
External EMERGENCY STOP
„
Operator safety
„
Enabling
„
Drives OFF
„
Drives ON
„
Operating modes
„
Qualifying inputs
Node in the KCP
The node in the KCP is the master and is initialized from here.
The node receives dual-channel signals from:
„
EMERGENCY STOP pushbutton
Fig. 2-14: Structure of the ESC circuit
1 KPS600 5 MFC3
2 CI3 board 6 DSE
3 KCP coupler (optional) 7 PC
4 KCP