Kuka KR C2 edition05 - Description of Safety-Oriented Circuits

55 / 157V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
4. Safety
4.2 Description
4.2.1 Category of the safety-oriented circuits
The following circuits correspond to Category 3 in accordance with EN 954-1:
 EMERGENCY STOP systems
 Enabling switches
 Operator safety
 Operating modes
 Qualifying inputs
4.2.2 Stop reactions
Stop reactions of the robot system are triggered in response to operator ac-
tions or as a reaction to monitoring functions and error messages. The follow-
ing table shows the different stop reactions according to the operating mode
that has been set.
STOP 0, STOP 1 and STOP 2 are the stop definitions according to EN 60204.
2 Robot 5 Braking distance
3 Braking distance
Trigger T1, T2 AUT, AUT EXT
EMERGENCY STOP
pressed
Path-oriented braking
(STOP 0)
Path-maintaining brak-
ing
(STOP 1)
Start key released Ramp-down braking
(STOP 2)
-
Enabling switch
released
Path-oriented braking
(STOP 0)
-
Safety gate opened - Path-maintaining brak-
ing
(STOP 1)
"Drives OFF" key
pressed
Path-oriented braking
(STOP 0)
Change operating
mode
Path-oriented braking
(STOP 0)
Encoder error
(DSE-RDC connec-
tion broken)
Short-circuit braking
(STOP 0)
Motion enable can-
celed
Ramp-down braking
(STOP 2)
STOP key pressed Ramp-down braking
(STOP 2)
Robot controller
switched off
Power failure
Short-circuit braking
(STOP 0)