Kuka KR C4 compact - 5.5.9 External Enabling Device; 5.5.10 External Safe Operational Stop; 5.5.11 External Safety Stop 1 and External Safety Stop 2; 5.5.12 Velocity Monitoring in T1

37 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
 Actuate the EMERGENCY STOP device.
 Release the Start key.
5.5.9 External enabling device
External enabling devices are required if it is necessary for more than one per-
son to be in the danger zone of the industrial robot.
External enabling devices are not included in the scope of supply of the indus-
trial robot.
5.5.10 External safe operational stop
The safe operational stop can be triggered via an input on the customer inter-
face. The state is maintained as long as the external signal is FALSE. If the
external signal is TRUE, the manipulator can be moved again. No acknowl-
edgement is required.
5.5.11 External safety stop 1 and external safety stop 2
Safety stop 1 and safety stop 2 can be triggered via an input on the customer
interface. The state is maintained as long as the external signal is FALSE. If
the external signal is TRUE, the manipulator can be moved again. No ac-
knowledgement is required.
If interface X11 is selected as the customer interface, only the signal Safety
stop 2 is available.
5.5.12 Velocity monitoring in T1
The velocity at the mounting flange is monitored in T1 mode. If the velocity ex-
ceeds 250 mm/s, a safety stop 0 is triggered.
5.6 Additional protective equipment
5.6.1 Jog mode
In the operating modes T1 (Manual Reduced Velocity) and T2 (Manual High
Velocity), the robot controller can only execute programs in jog mode. This
means that it is necessary to hold down an enabling switch and the Start key
in order to execute a program.
 Releasing the enabling switch triggers a safety stop 2.
 Pressing the enabling switch down fully (panic position) triggers a safety
stop 1.
 Releasing the Start key triggers a STOP 2.
The enabling switches must not be held down by adhe-
sive tape or other means or tampered with in any other
way.
Death, injuries or damage to property may result.
Which interface can be used for connecting external enabling devices
is described in the “Planning” chapter of the robot controller operating
instructions and assembly instructions.