38 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
5.6.2 Software limit switches
The axis ranges of all manipulator and positioner axes are limited by means of
adjustable software limit switches. These software limit switches only serve as
machine protection and must be adjusted in such a way that the manipula-
tor/positioner cannot hit the mechanical end stops.
The software limit switches are set during commissioning of an industrial ro-
bot.
5.6.3 Mechanical end stops
Depending on the robot variant, the axis ranges of the main and wrist axes of
the manipulator are partially limited by mechanical end stops.
Additional mechanical end stops can be installed on the external axes.
5.6.4 Mechanical axis limitation (optional)
Some manipulators can be fitted with mechanical axis limitation systems in
axes A1 to A3. The axis limitation systems restrict the working range to the re-
quired minimum. This increases personal safety and protection of the system.
In the case of manipulators that are not designed to be fitted with mechanical
axis limitation, the workspace must be laid out in such a way that there is no
danger to persons or material property, even in the absence of mechanical
axis limitation.
If this is not possible, the workspace must be limited by means of photoelectric
barriers, photoelectric curtains or obstacles on the system side. There must be
no shearing or crushing hazards at the loading and transfer areas.
5.6.5 Options for moving the manipulator without drive energy
Description The following options are available for moving the manipulator without drive
energy after an accident or malfunction:
Release device (optional)
The release device can be used for the main axis drive motors and, de-
pending on the robot variant, also for the wrist axis drive motors.
Further information is contained in the operating and programming in-
structions.
If the manipulator or an external axis hits an obstruction
or a mechanical end stop or mechanical axis limitation,
the manipulator can no longer be operated safely. The manipulator must be
taken out of operation and KUKA Deutschland GmbH must be consulted be-
fore it is put back into operation.
This option is not available for all robot models. Information on spe-
cific robot models can be obtained from KUKA Deutschland GmbH.
The system user is responsible for ensuring that the training of per-
sonnel with regard to the response to emergencies or exceptional sit-
uations also includes how the manipulator can be moved without
drive energy.
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