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Commissioning
Bosch Rexroth AG, APAS assistant K1100-10i V01.00.00 - V01.00.99, 3 842 565 050/2019-11
3. Starting the program
Requirements:
• $USER SAF: Sensor skin is not triggered
• $ALARM STOP: There is no active EMERGENCY STOP
• $STOPMESS is no longer active
External start
• $EXT_START: Switch on external start
Selected program (e.g. R1/PRG.SRC) is running
• $PRO_ACT: When the selected program is running, the signal $EXT_START is
canceled
Automatic restart of the APAS controller:
The following diagram shows the signal routing between the APAS controller and the
robot controller:
Overview Sensor skin triggered with automatic startup
Robot during
Signal
normal operation
Signal name
direction
R1/PRG.SRC
running
On item 2:
To implement a restart after an EMERGENCY STOP, the customer must integrate
at least the variables $DRIVES_ON, $CONF_MESS and $EXT_START into the system
controller. These are connected with the safety module in the I/O circuitry of the
KR C4 controller.
Robot at safety stop 1
Sensor skin
is triggered
Robot during
normal operation
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