Вы находитесь на странице: 1из 11
  CONTROL CABINET KR C2 PSA Interbus Interface -- 00--113--871 Functional Description
 
 
  CONTROL CABINET KR C2 PSA Interbus Interface -- 00--113--871 Functional Description PSA--Interbus--Schnittstelle
  CONTROL CABINET KR C2 PSA Interbus Interface -- 00--113--871 Functional Description PSA--Interbus--Schnittstelle
  CONTROL CABINET KR C2 PSA Interbus Interface -- 00--113--871 Functional Description PSA--Interbus--Schnittstelle
  CONTROL CABINET KR C2 PSA Interbus Interface -- 00--113--871 Functional Description PSA--Interbus--Schnittstelle

CONTROL CABINET

KR C2

PSA Interbus Interface

-- 00--113--871

Functional Description

PSA--Interbus--Schnittstelle 05.02.00 en

  e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced
 
 
  e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced or
  e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced or
  e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced or
  e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced or

e Copyright

KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

PD Interleaf

 

PSA--Interbus--Schnittstelle 05.02.00 en

Contents

1

Functional description

5

1.1

Fundamentals

5

1.1.1

Liability

5

1.1.2

Designated use

5

1.2

Installation position

6

1.2.1

Connector panel

6

1.2.2

Cable connections

6

1.3

Interface signals

7

1.3.1

Interface X11

7

1.3.2

X12A and X12B Interbus

9

1.3.3

X14 Interbus

10

1.4

Start--up

10

PSA--Interbus--Schnittstelle 05.02.00 en

PSA Interbus Interface

-- 00--113--871

PSA Interbus Interface -- 00--113--871 PSA--Interbus--Schnittstelle 05.02.00 en 4 of 11
PSA Interbus Interface -- 00--113--871 PSA--Interbus--Schnittstelle 05.02.00 en 4 of 11

PSA--Interbus--Schnittstelle 05.02.00 en

1

Functional d escription

1 Functional description

The option “PSA Interbus Interface” makes it possible to connect user--specific input and output signals to the KR C2 control cabinet via interface connector X11. An Interbus connection is provided in the control cabinet by connectors X12A, X12B and X14.

1.1

Fundamentals

1.1.1 Liability

The option described in this documentation is the “PSA Interbus Interface”, consisting of:

G

the Interbus card;

G

interface connector X11;

G

Interbus connector X12A (slave IN);

G

Interbus connector X12B (slave OUT);

G

Interbus connector X14 (master);

G

cable W42248;

G

fastening and installation materials.

This option is designed and built using state--of--the--art technology and in accordance with the recognized safety rules. Nevertheless, improper installation of this unit or its employment for a purpose other than the intended one may constitute a risk to life and limb of operating personnel or of third parties, or cause damage to or failure of the control cabinet, resulting in damage to or failure of the entire robot system and other material property.

The “PSA Interbus Interface” may only be used in technically perfect condition in accordance with its designated use and only by safety--conscious persons who are fully aware of the risks involved in its operation. Connection and use must be carried out in compliance with this documentation.

1.1.2 Designated use

Using this option for any purpose other than or additional to that described above is considered contrary to its designated use. The manufacturer cannot be held liable for any damage resulting from such use. The risk lies entirely with the user.

No liability can be accepted if these directions are disregarded.

Installation or exchange of this option or individual components thereof may be performed only by qualified personnel specially trained for this purpose and acquainted with the risks involved.

Before installing and connecting the “PSA Interbus Interface”, please refer to the accompanying circuit diagram and cabling description.

PSA--Interbus--Schnittstelle 05.02.00 en

PSA Interbus Interface

-- 00--113--871

1.2 Installation position

1.2.1 Connector panel

X1: Power supply connection

X20:

Motor connector

X11:

Peripheral interface

X12A:Interbus connector, slave IN

X12B:Interbus connector, slave OUT

X14: Interbus connector, MASTER

PE: Ground conductor connections

Interbus connector, MASTER PE: Ground conductor connections X1 X20 Ground conductor rail X12B X12A X11 X14

X1

X20

Ground conductor rail

X12B X12A

X11

X14

PE

Fig. 1 Connector panel, exterior view

The installation position may vary from that illustrated here. All contactor, relay and valve coils that are connected to the robot controller by the user must be equipped with suitable suppressor diodes (RC elements and VCR resistors are not suitable).

1.2.2 Cable connections

Connection Cable W42112 W42113 W42248c A1 Connector panel Front view Inside right
Connection
Cable W42112
W42113
W42248c
A1
Connector panel
Front view
Inside right

Fig. 2 Cable connections

MFC PC Cable W42248a/b
MFC
PC
Cable W42248a/b

Inside of cabinet door

PSA--Interbus--Schnittstelle 05.02.00 en

1

Functional d escription (continued)

1.3 Interface signals

1.3.1 Interface X11

Cable W42112a

X11

1

1

2

5

3

7

17

38

16

41

4

19

5

23

6

25

18

39

14

43

7

4

8

22

9

6

10

24

11

8

12

26

19

50

20

51

13

44

15

42

PSA--Interbus--Schnittstelle 05.02.00 en

Test output A

Test output A

Test output A

Test output A

Test output A

Test output B Test output B

Test output B

Test output B

Test output B

External Emergency Stop channel A

External Emergency Stop channel B

Enabling switch channel A

Enabling switch channel B

Safeguard channel A

Safeguard channel B

Qualifying input A

Qualifying input B

Drives ON external

Drives OFF external

PSA Interbus Interface

Cable 42113

-- 00--113--871

X11 (continued)

 

1 46

2 47

3 48

4 28

5 27

6 10

7 9

8 2

9 3

10 20

 

11 21

12 30

13 29

14 12

   
 

15 11

Cable 42112b

 
 

BK

88

RD

89

BK

106

 

YE

107

Cable W42248

108

90

54

72

18

 

36

AUTO mode

TEST mode

COM mode

not connected

not connected

not connected

not connected

mode not connected not connected not connected not connected Local Emergency Stop channel A Out Local

Local Emergency Stop channel A Out

Local Emergency Stop channel A In

Local Emergency Stop channel B Out

Local Emergency Stop channel B In

Drives ON channel B OUT

Drives ON channel B IN

Drives ON channel A OUT

Drives ON channel A IN

+VCC external

GND external

24 V DC internal

0 V internal

27

V internal / 7.5 A

27

V internal / 4 A

0

V internal

0

V internal

0

V external Interbus slave

24 V DC external Interbus slave

PSA--Interbus--Schnittstelle 05.02.00 en

1

Functional d escription (continued)

1.3.2 X12A and X12B Interbus

Shield

X12A

 

WHBN

7

BNWH

8

GNWH

9

WHGN

10

GYWH

11

WHGY

6

 

4

1

3

2

12

17

13

14

5

15

16

X12B

 

GNRD

7

RDGN

8

WHOG

9

OGWH

10

 

11

Cable W42248b

6

4

1

3

2

12

17

13

14

5

15

16

PSA--Interbus--Schnittstelle 05.02.00 en

D0

/D0

DI

/DI

COM

not connected

24 V DC

0 V

not connected

Slave IN

not connected

not connected

not connected

not connected

not connected

Grd. conductor

not connected

not connected

D0

/D0

DI

/DI

COM

not connected

24 V DC

0 V

not connected

Slave OUT

not connected

not connected

not connected

not connected

not connected

Grd. conductor

SRBST

COM

PSA Interbus Interface

1.3.3 X14 Interbus

-- 00--113--871

Cable W42248

X14

 
   

1

0

V

   

2

   

0

V

   
   

3

27

V DC / 4 A

   

4

   

27

V DC / 7.5 A

   
 

5

Grd. conductor

Cable W42248b

6

not connected

 

BU WH

7

D0

WH BU

8

/D0

 
 
 

BN RD

9

DI

RD BN

10

 

/DI

 

GY RD

11

COM

 
 

RD GY

12

not connected

 

13

not connected

14

not connected

15

 

not connected

 

16

not connected

17

not connected

1.4

Start--up

16 not connected 17 not connected 1.4 Start--up Master Before plugging the user--specific connectors into

Master

Before plugging the user--specific connectors into the connection panel, the control cabinet main switch must be turned to the “OFF” position.

OFF

OFF

ON

Main switch in the OFF position

PSA--Interbus--Schnittstelle 05.02.00 en

1

Functional d escription (continued)

1

PSA--Interbus--Schnittstelle 05.02.00 en