Kuka KR C4 compact - 5.5.2 Safety Controller; 5.5.3 Selecting the Operating Mode

33 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
 Category 3 and Performance Level d in accordance with EN ISO 13849-
1
The requirements are only met on the following condition, however:
 The EMERGENCY STOP device is pressed at least once every 12
months.
The following components are involved in the safety functions:
 Safety controller in the control PC
 KUKA smartPAD
 Cabinet Control Unit (CCU)
 Resolver Digital Converter (RDC)
 KUKA Power Pack (KPP)
 KUKA Servo Pack (KSP)
 Safety Interface Board (SIB) (if used)
There are also interfaces to components outside the industrial robot and to
other robot controllers.
5.5.2 Safety controller
The safety controller is a unit inside the control PC. It links safety-relevant sig-
nals and safety-relevant monitoring functions.
Safety controller tasks:
 Switching off the drives; applying the brakes
 Monitoring the braking ramp
 Standstill monitoring (after the stop)
 Velocity monitoring in T1
 Evaluation of safety-relevant signals
 Setting of safety-oriented outputs
5.5.3 Selecting the operating mode
Operating modes The industrial robot can be operated in the following modes:
 Manual Reduced Velocity (T1)
 Manual High Velocity (T2)
 Automatic (AUT)
 Automatic External (AUT EXT)
In the absence of operational safety functions and safe-
guards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deacti-
vated, the industrial robot may not be operated.
During system planning, the safety functions of the overall system
must also be planned and designed. The industrial robot must be in-
tegrated into this safety system of the overall system.
Do not change the operating mode while a program is running. If the
operating mode is changed during program execution, the industrial
robot is stopped with a safety stop 2.