KR C2 edition2005 - KUKA Robotics

KR C2 edition2005
3.6.1 Rykvis kørsel ........................................................................................................ 38
3.6.2 Softwareendestopkontakter .................................................................................. 39
3.6.3 Mekaniske endestop ............................................................................................ 39
3.6.4 Mekanisk akseområdebegrænsning (option) ....................................................... 39
3.6.5 Akseområdeovervågning (option) ......................................................................... 39
3.6.6 Fridrejeanordning (option) .................................................................................... 40
3.6.7 KCP-kobler (option) .............................................................................................. 40
3.6.8 Mærkninger på industrirobotten ............................................................................ 40
3.6.9 Eksterne beskyttelsesanordninger ....................................................................... 41
3.7 Oversigt over driftsmåder og beskyttelsesfunktioner ................................................. 41
3.8 Sikkerhedsforanstaltninger ........................................................................................ 42
3.8.1 Generelle sikkerhedsforanstaltninger ................................................................... 42
3.8.2 Kontrol af sikkerhedsrelaterede styrekomponenter .............................................. 43
3.8.3 Transport .............................................................................................................. 43
3.8.4 Ibrugtagning og genstart ...................................................................................... 44
3.8.5 Virusbeskyttelse og netværkssikkerhed ............................................................... 46
3.8.6 Manuel drift ........................................................................................................... 46
3.8.7 Simulering ............................................................................................................ 47
3.8.8 Automatisk drift ..................................................................................................... 47
3.8.9 Vedligeholdelse og istandsættelse ....................................................................... 47
3.8.10 Ud-af-drifttagning, opbevaring og bortskaffelse .................................................... 48
3.8.11 Sikkerhedsforanstaltninger til "Single Point of Control" ........................................ 49
3.9 Benyttede standarder og forskrifter ........................................................................... 50
4 Planlægning ................................................................................................. 51
4.1 Elektromagnetisk kompatibilitet (EMC) ...................................................................... 51
4.2 Opstillingsbetingelser ................................................................................................ 51
4.3 Tilslutningsbetingelser ............................................................................................... 54
4.4 Nettilslutning .............................................................................................................. 55
4.4.1 Nettilslutning via X1 Hartingstik ............................................................................ 56
4.4.2 Nettilslutning via CEE-stik XS1 ............................................................................. 56
4.5 NØDSTOP-kreds og beskyttelsesanordning ............................................................. 56
4.6 Interface X11 ............................................................................................................. 59
4.6.1 Koblingseksempel X11 ......................................................................................... 63
4.7 PE-potentialudligning ................................................................................................. 64
4.8 Visualisering af KCP-kobler (option) .......................................................................... 65
4.9 Performance Level .................................................................................................... 66
4.9.1 PFH-værdier for sikkerhedsfunktioner .................................................................. 66
5 Transport ...................................................................................................... 69
5.1 Transport med transportgrej ...................................................................................... 69
5.2 Transport med løftevogn ........................................................................................... 70
5.3 Transport med gaffeltruck .......................................................................................... 70
5.4 Transport med rullemonteringssæt (option) .............................................................. 70
6 Ibrugtagning og genstart ............................................................................ 73
6.1 Oversigt Ibrugtagning ................................................................................................ 73
6.2 Opstilling af robotstyring ............................................................................................ 74
6.3 Tilslutning af forbindelsesledninger ........................................................................... 75
4 / 91 Stand: 06.10.2010 Version: Spez KR C2 ed05 V5 da