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7.4 Operation with higher-level controller
7.4.1
Connecting the robot with the higher-level controller
The APAS assistant can optionally accept commands from a higher-level
controller. The function Automatic-External interface of the KR C4 controller is
used for this.
Observe the information in the vendor documentation installation and
operating instructions KSS 8.5 SI V6 Configuration of kinematics of
KUKA Roboter GmbH.
Customer
Kunden-
controller
steuerung
1. $DRIVES_ON
2. $CONF_MESS
2
3. $EXT_START
KRC
On item 1:
The APAS controller verifies whether an EMERGENCY STOP ($ALARM_STOP) is active
in the robot controller or the sensor skin ($USER_SAF) has been triggered.
In case of an EMERGENCY STOP, the APAS controller does not perform any action.
In case the sensor skin has been triggered, the APAS controller overwrites
the variables $DRIVES_ON, $CONF_MESS and $EXT_START according to the
automatic-external interface description in the KUKA instructions in order to start
an automatic restart as soon as there is no object near the sensor skin. For this,
the following handshakes are performed:
1. Switching on the drives
Requirements:
• $USER SAF: Sensor skin is not triggered
• $ALARM STOP: There is no active EMERGENCY STOP
• $PERI RDY: Drives are not ready
Switching on the drives
• $DRIVES ON signal for drive is switched on
Drives ready
• $PERI RDY: $DRIVES ON signal is canceled as soon as the drives are ready
2. Acknowledge message
Requirements:
• $PERI RDY: Drives are not ready
Acknowledge message
• $CONF_MESS: Acknowledge message
Acknowledgeable messages have been deleted
• $STOPMESS is no longer active, the signal $CONF_MESS is canceled
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99, Bosch Rexroth AG
1. $DRIVES_ON
1
2. $CONF_MESS
3. $EXT_START
APAS
APAS-
controller
Steuerung
PROFINET / PROFIsafe
PROFINET/PROFISafe
Commissioning
51/68
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