Assembly Instructions
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MA KR 30, 60 HA, KR C4 04.11.02 en
5.5.2 Mechanical axis range limitation (optional)
Some manipulators can be fitted with mechanical axis range limitation in axes A1 to A3. 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 limi-
tation, 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 mechanical axis range limitation.
If this is not possible, the workspace must be limited by means of photoelectric barriers, pho-
toelectric curtains or obstacles on the system side. There must be no shearing or crushing
hazards at the loading and transfer areas.
Information!
This option is not available for all robot models. Information on specific robot models
can be obtained from KUKA Roboter GmbH.
5.5.3 Axis range monitoring (optional)
Some manipulators can be fitted with dual--channel axis range monitoring systems in main
axes A1 to A3. The positioner axes may be fitted with additional axis range monitoring sys-
tems. The safety zone for an axis can be adjusted and monitored using an axis range moni-
toring system. This increases personal safety and protection of the system.
Information!
This option is not available for all robot models and not for the KR C4. Information on
specific robot models can be obtained from KUKA Roboter GmbH.
5.5.4 Options for moving the manipulator without drive energy
Caution!
The system user is responsible for ensuring that the training of personnel with
regard to the response to emergencies or exceptional situations also includes
how the manipulator can be moved without drive energy.
Description
The following devices are available for moving the manipulator after an accident or malfunc-
tion:
G Release device (optional)
The release device can be used for the main axis drive motors and, depending on the
robot variant, also for the wrist axis drive motors.
G Brake release device (optional)
The brake release device is designed for robot variants whose motors are not freely
accessible.
G Moving the wrist axes directly by hand
There is no release device available for the wrist axes of variants in the low payload
category. This is not necessary because the wrist axes can be moved directly by hand.
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