Exchange Of Signals With Safety Relevance; Signals Between Safety Controller Of Apas Assistant And Robot Controller - Bosch Rexroth APAS assistant K1100-10i Installation Instructions Manual

20/68 Product description
Bosch Rexroth AG, APAS assistant K1100-10i V01.00.00 - V01.00.99, 3 842 565 050/2019-11

3.5 Exchange of signals with safety relevance

3.5.1

Signals between safety controller of APAS assistant and robot controller

The following signals with safety relevance are exchanged via the Ethernet safety
interface PROFIsafe between the safety controller of the APAS assistant and the
robot controller.
Signal direction PROFIsafe byte
KRC -> PLC-R 0
KRC -> PLC-R 0
KRC -> PLC-R 0
KRC -> PLC-R 1
KRC -> PLC-R 2
PLC-R -> KRC 0
PLC-R -> KRC 0
PLC-R -> KRC 0
PLC-R -> KRC 0
PLC-R -> KRC 0
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 1
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 3
PLC-R -> KRC 5
PLC-R -> KRC 5
PLC-R -> KRC 5
PLC-R -> KRC 6
PROFIsafe bit English description
0 Local EMERGENCY STOP
from KRC
6 Operating mode T1
7 Operating mode T2
6 Safety interface active
0 Safety option active
0 Reserved 1
1 Input for external
EMERGENCY STOP
2 Operator protection/
sensor skin triggered
4 Safety STOP 1 (all axes)
5 Safety STOP 2 (all axes)
0 US2 supply voltage
1 Safe operating stop
(all axes)
2 Reserved 11
3 Reserved 12
4 Reserved 13
5 Reserved 14
6 Reserved 15
0 Reserved 25
1 Reserved 26
2 Reserved 27
3 Reserved 28
4 Reserved 29
5 Reserved 30
6 Reserved 31
7 Reserved 32
15 Monitoring space 14 /
axis angle limitation
space
15 Monitoring space 15 /
Collaboration room
16 Monitoring space 16 /
Speed space
0 Tool 1