Kuka KL 1500-3 - 5.4 Protective Equipment Overview

32 / 151 Issued: 16.06.2010 Version: MA KL 1500-3 T S 141215 V1 en
KL 1500-3; KL 1500-3 T; KL 1500-3 S
5.4 Overview of protective equipment
The protective equipment of the mechanical component may include:
 Mechanical end stops
 Mechanical axis range limitation (optional)
 Axis range monitoring (optional)
 Release device (optional)
 Labeling of danger areas
Not all equipment is relevant for every mechanical component.
5.4.1 Mechanical end stops
The axis ranges of main axes A1 to A3 and wrist axis A5 of the manipulator
are limited by means of mechanical end stops with buffers.
Additional mechanical end stops can be installed on the external axes.
5.4.2 Mechanical axis range limitation (optional)
Some manipulators can be fitted with mechanical axis range limitation in axes
A 1 to A 3. The adjustable axis range limitation systems restrict the working
range to the required minimum. This increases personal safety and protection
of the system.
In the case of manipulators that are not designed to be fitted with mechanical
axis range limitation, the workspace must be laid out in such a way that there
is no danger to persons or material property, even in the absence of mechan-
ical axis range limitation.
If this is not possible, the workspace must be limited by means of photoelectric
barriers, photoelectric curtains or obstacles on the system side. There must be
no shearing or crushing hazards at the loading and transfer areas.
5.4.3 Axis range monitoring (optional)
Some manipulators can be fitted with dual-channel axis range monitoring sys-
tems in main axes A1 to A3. The positioner axes may be fitted with additional
axis range monitoring systems. The safety zone for an axis can be adjusted
and monitored using an axis range monitoring system. This increases person-
al safety and protection of the system.
Warning!
If the manipulator or an external axis hits an obstruction or a buffer on the me-
chanical end stop or axis range limitation, this can result in material damage
to the industrial robot. KUKA Roboter GmbH must be consulted before the
industrial robot is put back into operation (>>> 16 "KUKA Service" page 139).
The affected buffer must be replaced with a new one before operation of the
industrial robot is resumed. If a manipulator (or external axis) collides with a
buffer at more than 250 mm/s, the manipulator (or external axis) must be ex-
changed or recommissioning must be carried out by KUKA Roboter GmbH.
This option is not available for all robot models. Information on specific robot
models can be obtained from KUKA Roboter GmbH.
This option is not available for all robot models. Information on specific robot
models can be obtained from KUKA Roboter GmbH.