5 Safety (continued)
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BA KR 6, 16 F, KR C4 12.10.07 en
G Label the system with a sign indicating that work is in progress. This sign must remain
in place, even during temporary interruptions to the work.
G The EMERGENCY STOP systems must remain active. If safety functions or safe-
guards are deactivated during maintenance or repair work, they must be reactivated
immediately after the work is completed.
Warning!
Before work is commenced on live parts of the robot system, the main switch
must be turned off and secured against being switched on again by unautho-
rized personnel. The incoming power cable must be deenergized. The robot con -
troller and mains supply lead must then be checked to ensure that it is deener-
gized.
If the KR C4 or VKR C4 robot controller is used:
It is not sufficient, before commencing work on live parts, to execute an EMER-
GENCY STOP or a safety stop, or to switch off the drives, as this does not dis-
connect the robot system from the mains power supply in the case of the drives
of the new generation. Parts remain energized. Death or severe injuries may re-
sult.
Faulty components must be replaced using new components with the same article numbers
or equivalent components approved by KUKA Roboter GmbH for this purpose.
Cleaning and preventive maintenance work is to be carried out in accordance with the operat-
ing instructions.
Robot controller
Even when the robot controller is switched off, parts connected to peripheral devices may
still carry voltage. The external power sources must therefore be switched off if work is to
be carried out on the robot controller.
The ESD regulations must be adhered to when working on components in the robot control-
ler.
Voltages in excess of 50 V (up to 600 V) can be present in various components for several
minutes after the robot controller has been switched off! To prevent life--threatening injuries,
no work may be carried out on the industrial robot in this time.
W ater and dust must be prevented from entering the robot controller .
Counterbalancing system
Some robot variants are equipped with a hydropneumatic, spring or gas cylinder counterbal-
ancing system.
The hydropneumatic and gas cylinder counterbalancing systems are pressure equipment
and, as such, are subject to obligatory equipment monitoring. Depending on the robot vari-
ant, the counterbalancing systems correspond to category 0, II o r III, fluid group 2, of the
Pressure Equipment Directive.
The user must comply with the applicable national laws, regulations and standards pertaining
to pressure equipment.
Inspection intervals in Germany in accordance with Industrial Safety Order, Sections 14 and
15. Inspection by the user before commissioning at the installation site.
The following safety measures must be carried out when working on the counterbalancing
system:
G The manipulator assemblies supported by the counterbalancing systems must be se-
cured.
G Work on the counterbalancing systems must only be carried out by qualified personnel.
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