5 Safety (continued)
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MA KR 30, 60 HA, KR C4 04.11.02 en
Function test
The following tests must be carried out before start--up and recommissioning.
It must be ensured that:
G The industrial robot is correctly installed and fastened in accordance with the specifica-
tions in the documentation.
G There are no foreign bodies or loose parts on the industrial robot.
G All required safety equipment is correctly installed and operational.
G The power supply ratings of the industrial robot correspond to the local supply voltage
and mains type.
G The ground conductor and the equipotential bonding cable are sufficiently rated and
correctly connected.
G The connecting cables are correctly connected and the connectors are locked.
Machine data
It must be ensured that the rating plate on the robot controller has the same machine data
as those entered in the declaration of incorporation.
The machine data on the rating plate of the manipulator and the external axes (optional) must
be entered during start--up.
Danger!
The industrial robot must not be moved if incorrect machine data are loaded.
Death, severe injuries or considerable damage to property may otherwise result.
The correct machine data must be loaded.
5.6.4 Manual mode
Manual mode is the mode for setup work. Setup work is all the tasks that have to be carried
out on the industrial robot to enable automatic operation. Setup work includes:
G Jog mode
G Teach
G Programming
G Program verification
The following must be taken into consideration in manual mode:
G If the drives are not required, they must be switched off to prevent the manipulator or
the external axes (optional) from being moved unintentionally.
New or modified programs must always be tested first in Manual Reduced Velocity
mode (T1).
G The manipulator, tooling or external axes (optional) must never touch or project beyond
the safety fence.
G Workpieces, tooling and other objects must not become jammed as a result of the in-
dustrial robot motion, nor must they lead to short--circuits or be liable to fall off.
G All setup work must be carried out, where possible, from outside the safeguarded area.
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