Kuka KR C4 compact - 5.3 Workspace, Safety Zone and Danger Zone; 5.3.1 Determining Stopping Distances

31 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
 Cleaning personnel
System integrator The industrial robot is safely integrated into a complete system by the system
integrator.
The system integrator is responsible for the following tasks:
 Installing the industrial robot
 Connecting the industrial robot
 Performing risk assessment
 Implementing the required safety functions and safeguards
 Issuing the EC declaration of conformity
 Attaching the CE mark
 Creating the operating instructions for the system
Operators The operator must meet the following preconditions:
 The operator must be trained for the work to be carried out.
 Work on the system must only be carried out by qualified personnel. These
are people who, due to their specialist training, knowledge and experi-
ence, and their familiarization with the relevant standards, are able to as-
sess the work to be carried out and detect any potential hazards.
5.3 Workspace, safety zone and danger zone
Workspaces are to be restricted to the necessary minimum size. A workspace
must be safeguarded using appropriate safeguards.
The safeguards (e.g. safety gate) must be situated inside the safety zone. In
the case of a stop, the manipulator and external axes (optional) are braked
and come to a stop within the danger zone.
The danger zone consists of the workspace and the stopping distances of the
manipulator and external axes (optional). It must be safeguarded by means of
physical safeguards to prevent danger to persons or the risk of material dam-
age.
5.3.1 Determining stopping distances
The system integrator’s risk assessment may indicate that the stopping dis-
tances must be determined for an application. In order to determine the stop-
ping distances, the system integrator must identify the safety-relevant points
on the programmed path.
When determining the stopping distances, the robot must be moved with the
tool and loads which are also used in the application. The robot must be at op-
erating temperature. This is the case after approx. 1 h in normal operation.
During execution of the application, the robot must be stopped at the point
from which the stopping distance is to be calculated. This process must be re-
peated several times with a safety stop 0 and a safety stop 1. The least favor-
able stopping distance is decisive.
Installation, exchange, adjustment, operation, maintenance and re-
pair must be performed only as specified in the operating or assembly
instructions for the relevant component of the industrial robot and only
by personnel specially trained for this purpose.
Work on the electrical and mechanical equipment of the industrial ro-
bot may only be carried out by specially trained personnel.