KRC4_X11_接法.pdf - CSDN文库

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KUKA X11 接線方式主要針對庫卡機器人KRC4控制箱X11接腳說明，讓手臂可排除緊急停止狀態

1

19

20

2

3

4

21

22

External E-Stop

Safety Gate (User Safety)

7

8

25

26

Safe Op Stop

9

10

27

28

Safe Stop2

11

12

29

30

External Enable1 (Deadman1)

13

14

31

32

External Enable2 (Deadman2)

5

23

24

6

Acknowledge Operator Safety

This circuit is IGNORED in T1/T2

76

74

73

75

Cabinet E-Stop

"24" VDC Power loop back

( ... actually 27.1 VDC !)

KRC4 Standard/Extended (North American Version)

X11

1

10

11

2

3

4

12

13

External E-Stop

Safety Gate (User Safety)

7

8

16

17

Safe Op Stop

18

19

28

29

Safe Stop2

20

21

30

31

External Enable1 (Deadman1)

22

23

32

33

External Enable2 (Deadman2)

1

2

3

4

"24" VDC Power loop back

5

14

15

6

Acknowledge Operator Safety

This circuit is IGNORED in T1/T2

( ... actually 27.1 VDC !)

KRC4 compact (Agilus)

X11

X55

5

6

7

8

1

19

20

2

3

4

21

22

Safety Gate (User Safety)

7

8

25

26

Safe Op Stop

9

10

27

28

Safe Stop2

11

12

29

30

External Enable1 (Deadman1)

13

14

31

32

External Enable2 (Deadman2)

105

106

107

108

5

23

24

6

Acknowledge Operator Safety

This circuit is IGNORED in T1/T2

"24" VDC Power loop back

( ... actually 27.1 VDC !)

KRC4 Standard/Extended (European Version)

X11

External E-Stop

Infeed

Terminal

ProfiBus

Internal

ECat I/O

+24V

0 V

Internal

Enet Sw.

+24V

0 V

Internal

Enet Sw.

+24V

0 V

105

106

107

108

8 7 6

2 1 5

3 4

X55 - view from contact side

Power for

I/O (X12)

+

-

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