Kuka KR C4 compact - 5.4 Triggers for Stop Reactions; 5.5 Safety Functions; 5.5.1 Overview of the Safety Functions

32 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
A safety stop 0 can be triggered by a safe operational stop via the safety inter-
face, for example. If a safety option is installed, it can be triggered, for in-
stance, by a space violation (e.g. the robot exceeds the limit of an activated
workspace in Automatic mode).
A safety stop 1 can be triggered by pressing the EMERGENCY STOP device
on the smartPAD, for example.
5.4 Triggers for stop reactions
Stop reactions of the industrial robot 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.
5.5 Safety functions
5.5.1 Overview of the safety functions
The following safety functions are present in the industrial robot:
 Selecting the operating mode
 Operator safety (= connection for the monitoring of physical safeguards)
 EMERGENCY STOP device
 Enabling device
 External safe operational stop
 External safety stop 1
 External safety stop 2
 Velocity monitoring in T1
The safety functions of the industrial robot meet the following requirements:
Trigger T1, T2 AUT, AUT EXT
Start key released STOP 2 -
STOP key pressed STOP 2
Drives OFF STOP 1
$MOVE_ENABLE input
drops out
STOP 2
Power switched off via
main switch or power fail-
ure
STOP 0
Internal error in non-
safety-oriented part of the
robot controller
STOP 0 or STOP 1
(dependent on the cause of the error)
Operating mode changed
during operation
Safety stop 2
Safety gate opened (oper-
ator safety)
- Safety stop 1
Enabling switch released Safety stop 2 -
Enabling switch pressed
fully down or error
Safety stop 1 -
E-STOP pressed Safety stop 1
Error in safety controller
or periphery of the safety
controller
Safety stop 0