CONTROL CABINET

KR C2

PSA Interbus Interface

-- 00--113--871

Functional Description

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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
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Contents
1

Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1
1.1.1
1.1.2

Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5
5
5

1.2
1.2.1
1.2.2

Installation position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6
6
6

1.3
1.3.1
1.3.2
1.3.3

Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface X11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
X12A and X12B Interbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
X14 Interbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7
7
9
10

1.4

Start--up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10

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PSA Interbus Interface

-- 00--113--871

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Functional description

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;

interface connector X11;

Interbus connector X12A (slave IN);

Interbus connector X12B (slave OUT);

Interbus connector X14 (master);

cable W42248;

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.

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PSA Interbus Interface

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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:

X1

Ground conductor connections

X12B X12A

X20

Ground conductor rail

PE

X11

X14

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

MFC

PC

Cable W42112
W42113
W42248c

A1

Cable W42248a/b

Connector panel
Front view

Inside right

Inside of cabinet door

Fig. 2 Cable connections

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1.3

Interface signals

1.3.1

Interface X11

Functional description (continued)

X11

Cable W42112a
1

17

38

16

41

19

23

25

18

39

14

43

22

10

24

11

12

26

19

50

20

51

13

44

15

42

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

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PSA Interbus Interface

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X11 (continued)
Cable 42113
1

46

47

48

28

27

10

10

20

11

21

12

30

13

29

14

12

15

11

AUTO mode
TEST mode
COM mode
not connected
not connected
not connected
not connected
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

Cable 42112b
BK

88

RD

89

BK

106

YE

107

+VCC external
GND external
24 V DC internal
0 V internal

Cable W42248
108
90
54
72
18
36

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

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1.3.2

Functional description (continued)

X12A and X12B Interbus

Shield

X12A

WHBN

BNWH

GNWH

WHGN

10

GYWH

11

WHGY

D0
/D0

DI
/DI
COM
not connected
24 V DC

0V

not connected

2
12
17
13
14
5

Slave IN

not connected
not connected
not connected
not connected
not connected
Grd. conductor

15
16

not connected
not connected

X12B
GNRD

RDGN

WHOG

OGWH

10
11

Cable W42248b

6
4
1
3
2
12
17
13
14
5
15
16

D0
/D0
DI
/DI
COM
not connected
24 V DC
0V
not connected

Slave OUT

not connected
not connected
not connected
not connected
not connected
Grd. conductor
SRBST
COM

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PSA Interbus Interface

1.3.3

-- 00--113--871

X14 Interbus

X14

Cable W42248
1
2
3
4
5
Cable W42248b

0V
27 V DC / 4 A
27 V DC / 7.5 A
Grd. conductor
not connected

BU WH

WH BU

BN RD

RD BN

10

GY RD

11

RD GY

12

COM
not connected

13

not connected

14
15
16
17

1.4

0V

D0
/D0
DI

Master

/DI

not connected
not connected
not connected
not connected

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

ON
Main switch in the OFF position
OFF

OFF

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Functional description (continued)

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