Acknowledging Errors, Acknowledging Emergency Stop - Bosch Rexroth APAS assistant K1100-10i Installation Instructions Manual

7.4.2

Acknowledging errors, acknowledging EMERGENCY STOP

The following 3 variables are used to acknowledge active errors in the
safety functions of the APAS safety controller.
Signal direction KRC I/O
KRC -> PLC-R OUT4109
KRC -> PLC-R OUT4110
KRC -> PLC-R OUT4111
apas_Diag_QuitPSDxS20
Acknowledgment input: rising edge necessary if diagnosis requiring acknowledgment
is active.
The function block requiring acknowledgment is used for reading and acknowledging
of diagnoses of the S20-PSDx modules (PROFIsafe modules) on the PROFINET S20
bus coupler (S20-PN-BK+) (for diagnosis see apas_Diag_S20PSDx_DC).
apas_Diag_QuitEStop
This signal resets the EMERGENCY STOP monitoring block in the APAS safety
controller. EMERGENCY STOP for the end effector, external EMERGENCY STOP,
local EMERGENCY STOP and error signals from the APAS assistant are connected.
Variable. Initial value is FALSE
Depending on the function, this input can be used for different purposes:
Reset of the state machine and coupled error and state messages as displayed via
DiagCode after the cause of the error has been remedied. This reset behavior is
designed as an error reset.
Manual reset of a restart lock by the operator. This reset is designed as a functional
reset.
This function is only active in case of a signal change from FALSE to TRUE. A static
TRUE signal does not trigger any further actions, but can be detected as an error in
some blocks.
apas_Diag_QuitErrorBus
PROFIsafe host block signal concerning the safety cards in the safety module and
safety card in the KRC.
(Input according to PROFIsafe specification, operator acknowledgment)
The resumption of the safety function following an error is confirmed with a rising
edge. Following a confirmation, the input must be on FALSE for at least a full cycle
before the next error can be confirmed.
apas_Diag_QuitErrorBus is an input for confirmation by the user. It should be
connected with an input signal and not generated by programming.
Default value: FALSE
When no acknowledgment (apas_Diag_S20PSDI_OAR ,
apas_Diag_S20PSDO_OAR, apas_Diag_KUKA_OAR is FALSE) is requested, the
input is ignored: For this reason, the same signal can be linked with the input
to the acknowledgment edge of all FB instances in order to implement an
unspecific confirmation of communication problems.
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99, Bosch Rexroth AG
Variable names in KRC Short description
apas_Diag_QuitPSDxS20 Acknowledge errors at PSDxS20
[apas_Diag_QuitPSDxS20]
apas_Diag_QuitEStop Acknowledge EMERGENCY STOP
[apas_Diag_QuitEStop]
apas_Diag_QuitErrorBus Acknowledge PLC-R internal bus
error
[apas_Diag_QuitErrorBus]
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