KR C4 compact - KUKA Robotics

KR C4 compact
3.6.2 Software limit switches ......................................................................................... 33
3.6.3 Mechanical end stops ........................................................................................... 33
3.6.4 Mechanical axis range limitation (optional) ........................................................... 33
3.6.5 Axis range monitoring (optional) ........................................................................... 33
3.6.6 Options for moving the manipulator without drive energy .................................... 34
3.6.7 Labeling on the industrial robot ............................................................................ 34
3.6.8 External safeguards ............................................................................................. 35
3.7 Overview of operating modes and safety functions ................................................... 35
3.8 Safety measures ........................................................................................................ 36
3.8.1 General safety measures ..................................................................................... 36
3.8.2 Transportation ...................................................................................................... 37
3.8.3 Start-up and recommissioning .............................................................................. 37
3.8.3.1 Checking machine data and safety configuration ............................................ 38
3.8.3.2 Start-up mode .................................................................................................. 39
3.8.4 Manual mode ........................................................................................................ 40
3.8.5 Simulation ............................................................................................................. 41
3.8.6 Automatic mode ................................................................................................... 41
3.8.7 Maintenance and repair ........................................................................................ 42
3.8.8 Decommissioning, storage and disposal .............................................................. 43
3.8.9 Safety measures for “single point of control” ........................................................ 43
3.9 Applied norms and regulations .................................................................................. 44
4 Planning ........................................................................................................ 47
4.1 Electromagnetic compatibility (EMC) ......................................................................... 47
4.2 Installation conditions ................................................................................................ 47
4.3 Connection conditions ............................................................................................... 48
4.4 Power supply connection ........................................................................................... 48
4.5 Safety interface X11 .................................................................................................. 49
4.5.1 Safety interface X11 ............................................................................................. 50
4.5.2 Wiring example for E-STOP circuit and safeguard ............................................... 53
4.5.3 Wiring example for safe inputs and outputs ......................................................... 55
4.6 Safety functions via Ethernet safety interface (optional) ........................................... 57
4.6.1 Schematic circuit diagram for enabling switches .................................................. 60
4.6.2 SafeOperation via Ethernet safety interface (optional) ......................................... 61
4.6.3 KUKA Line Interface X66 ..................................................................................... 64
4.7 Mastering test ............................................................................................................ 64
4.8 EtherCAT interface X65 ............................................................................................. 64
4.9 Service Interface X69 ................................................................................................ 65
4.10 PE equipotential bonding ........................................................................................... 66
4.11 Performance level ...................................................................................................... 66
4.11.1 PFH values of the safety functions ....................................................................... 66
5 Transportation ............................................................................................. 69
5.1 Transporting the robot controller ............................................................................... 69
6 Start-up and recommissioning ................................................................... 71
6.1 Installing the robot controller ..................................................................................... 71
6.2 Connecting the connecting cables ............................................................................. 71
6.3 Plugging in the KUKA smartPAD ............................................................................... 73
4 / 89 Issued: 15.04.2014 Version: Spez KR C4 compact V5