Kuka KR C4 compact - 5.5.5 EMERGENCY STOP Device; 5.5.6 Logging Off from Higher-Level Controller

35 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
5.5.5 EMERGENCY STOP device
The EMERGENCY STOP device for the industrial robot is the EMERGENCY
STOP device on the smartPAD. The device must be pressed in the event of a
hazardous situation or emergency.
Reactions of the industrial robot if the EMERGENCY STOP device is pressed:
 The manipulator and any external axes (optional) are stopped with a safe-
ty stop 1.
Before operation can be resumed, the EMERGENCY STOP device must be
turned to release it.
There must always be at least one external EMERGENCY STOP device in-
stalled. This ensures that an EMERGENCY STOP device is available even
when the smartPAD is disconnected.
(>>> 5.5.7 "External EMERGENCY STOP device" Page 36)
5.5.6 Logging off from the higher-level safety controller
If the robot controller is connected to a higher-level safety controller, this con-
nection will inevitably be terminated in the following cases:
 Switching off the voltage via the main switch of the robot
Or power failure
 Shutdown of the robot controller via the smartHMI
 Activation of a WorkVisual project in WorkVisual or directly on the robot
controller
 Changes to Start-up > Network configuration
 Changes to Configuration > Safety configuration
 I/O drivers > Reconfigure
 Restoration of an archive
Effect of the interruption:
 If a discrete safety interface is used, this triggers an EMERGENCY STOP
for the overall system.
Following a loss of signal, automatic operation may only
be resumed when the safeguard has been closed and
when the closing has been acknowledged. This acknowledgement is to pre-
vent automatic operation from being resumed inadvertently while there are
still persons in the danger zone, e.g. due to the safety gate closing acciden-
tally.
The acknowledgement must be designed in such a way that an actual check
of the danger zone can be carried out first. Other acknowledgement functions
(e.g. an acknowlegement which is automatically triggered by closure of the
safeguard) are not permitted.
The system integrator is responsible for ensuring that these criteria are met.
Failure to met them may result in death, severe injuries or considerable dam-
age to property.
Tools and other equipment connected to the robot must
be integrated into the EMERGENCY STOP circuit on the
system side if they could constitute a potential hazard.
Failure to observe this precaution may result in death, severe injuries or con-
siderable damage to property.