KR C4 compact - KUKA Robotics

3 Safety
If the practical tests are not successfully completed during a different procedure,
the machine data and the safety-relevant controller configuration must
be checked and corrected.
General practical
test
Practical test for
axes that are not
mathematically
coupled
Practical test for
couplable axes
If practical tests are required for the machine data, this test must always be
carried out.
The following methods are available for performing the practical test:
• TCP calibration with the XYZ 4-point method
The practical test is passed if the TCP has been successfully calibrated.
Or:
1. Align the TCP with a freely selected point.
The point serves as a reference point. It must be located so that reorientation
is possible.
2. Move the TCP manually at least 45° once in each of the A, B and C directions.
The movements do not have to be accumulative, i.e. after motion in one
direction it is possible to return to the original position before moving in the
next direction.
The practical test is passed if the TCP does not deviate from the reference
point by more than 2 cm in total.
If practical tests are required for the machine data, this test must be carried out
when axes are present that are not mathematically coupled.
1. Mark the starting position of the axis that is not mathematically coupled.
2. Move the axis manually by a freely selected path length. Determine the
path length from the display Actual position on the smartHMI.
• Move linear axes a specific distance.
• Move rotational axes through a specific angle.
3. Measure the length of the path covered and compare it with the value displayed
on the smartHMI.
The practical test is passed if the values differ by no more than 10%.
4. Repeat the test for each axis that is not mathematically coupled.
If practical tests are required for the machine data, this test must be carried out
when axes are present that can be physically coupled and uncoupled, e.g. a
servo gun.
1. Physically uncouple the couplable axis.
2. Move all the remaining axes individually.
The practical test is passed if it has been possible to move all the remaining
axes.
3.8.3.2 Start-up mode
Description
The industrial robot can be set to Start-up mode via the smartHMI user interface.
In this mode, the manipulator can be moved in T1 without the external
safeguards being put into operation.
When Start-up mode is possible depends on the safety interface that is used.
If a discrete safety interface is used:
Issued: 15.04.2014 Version: Spez KR C4 compact V5
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