Kuka KR C2 edition05 - Axis Range Monitoring (Option); Software Limit Switches; Release Device (Option)

60 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
4.3.9 Axis range monitoring (option)
Most robots can be fitted with dual-channel axis range monitoring systems in
main axes A1 to A3. The safety zone for an axis can be adjusted and moni-
tored using an axis range monitoring system. This increases personal safety
and protection of the system.
4.3.10 Software limit switches
The axis ranges of all robot axes are limited by means of adjustable software
limit switches. These software limit switches only serve as machine protection
and must be adjusted in such a way that the robot cannot hit the mechanical
limit stops.
4.3.11 Release device (option)
Description The release device can be used to move the robot mechanically after an acci-
dent or malfunction. The release device can be used for the main axis drive
motors and, depending on the robot variant, also for the wrist axis drive mo-
tors. It is only for use in exceptional circumstances and emergencies (e.g. for
freeing people). After use of the release device, the affected motors must be
exchanged.
Procedure 1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
2. Remove the protective cap from the motor
3. Push the release device onto the corresponding motor and move the axis
in the desired direction.
The directions are indicated with arrows on the motors. It is necessary to
overcome the resistance of the mechanical motor brake and any other
loads acting on the axis.
4. Exchange the motor.
5. Remaster all robot axes.
This option can be retrofitted.
Further information is contained in the working range limitation operating in-
structions.
This option can be retrofitted.
Further information is contained in the working range monitoring operating in-
structions.
Further information is contained in the operating and programming instruc-
tions.
Caution!
The motors reach temperatures during operation which can cause burns to
the skin. Appropriate safety precautions must be taken.