KR C4 compact - KUKA Robotics

KR C4 compact
Trigger T1, T2 AUT, AUT EXT
Operating mode changed
Safety stop 2
during operation
Safety gate opened (operator
- Safety stop 1
safety)
Enabling switch released Safety stop 2 -
Enabling switch pressed Safety stop 1 -
fully down or error
E-STOP pressed Safety stop 1
Error in safety controller
Safety stop 0
or periphery of the safety
controller
3.5 Safety functions
3.5.1 Overview of the safety functions
The following safety functions are present in the industrial robot:
• Mode selection
• Operator safety (= connection for the guard interlock)
• EMERGENCY STOP device
• Enabling device
• External safe operational stop
• External safety stop 1 (not for the controller variant “KR C4 compact”)
• External safety stop 2
• Velocity monitoring in T1
The safety functions of the industrial robot meet the following requirements:
• Category 3 and Performance Level d in accordance with EN ISO 13849-
1:2008
The requirements are only met on the following condition, however:
• The EMERGENCY STOP device is pressed at least once every 6 months.
The following components are involved in the safety functions:
• Safety controller in the control PC
• KUKA smartPAD
• Cabinet Control Unit (CCU)
• Resolver Digital Converter (RDC)
• KUKA Power Pack (KPP)
• KUKA Servo Pack (KSP)
• Safety Interface Board (SIB) (if used)
There are also interfaces to components outside the industrial robot and to
other robot controllers.
In the absence of operational safety functions and safeguards,
the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deactivated,
the industrial robot may not be operated.
28 / 89 Issued: 15.04.2014 Version: Spez KR C4 compact V5