Kuka KR C4 compact - Page 4

4 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
5.5.3 Selecting the operating mode ............................................................................... 33
5.5.4 “Operator safety” signal ........................................................................................ 34
5.5.5 EMERGENCY STOP device ................................................................................ 35
5.5.6 Logging off from the higher-level safety controller ................................................ 35
5.5.7 External EMERGENCY STOP device .................................................................. 36
5.5.8 Enabling device .................................................................................................... 36
5.5.9 External enabling device ...................................................................................... 37
5.5.10 External safe operational stop .............................................................................. 37
5.5.11 External safety stop 1 and external safety stop 2 ................................................. 37
5.5.12 Velocity monitoring in T1 ...................................................................................... 37
5.6 Additional protective equipment ................................................................................ 37
5.6.1 Jog mode .............................................................................................................. 37
5.6.2 Software limit switches ......................................................................................... 38
5.6.3 Mechanical end stops ........................................................................................... 38
5.6.4 Mechanical axis limitation (optional) ..................................................................... 38
5.6.5 Options for moving the manipulator without drive energy .................................... 38
5.6.6 Labeling on the industrial robot ............................................................................ 39
5.6.7 External safeguards ............................................................................................. 39
5.7 Overview of operating modes and safety functions ................................................... 40
5.8 Safety measures ........................................................................................................ 40
5.8.1 General safety measures ..................................................................................... 40
5.8.2 Transportation ...................................................................................................... 41
5.8.3 Start-up and recommissioning .............................................................................. 42
5.8.3.1 Checking machine data and safety configuration ............................................ 43
5.8.3.2 Start-up mode .................................................................................................. 45
5.8.4 Manual mode ........................................................................................................ 46
5.8.5 Simulation ............................................................................................................. 47
5.8.6 Automatic mode ................................................................................................... 47
5.8.7 Maintenance and repair ........................................................................................ 47
5.8.8 Decommissioning, storage and disposal .............................................................. 49
5.8.9 Safety measures for “single point of control” ........................................................ 49
5.9 Applied norms and regulations .................................................................................. 50
6 Planning ........................................................................................................ 53
6.1 Electromagnetic compatibility (EMC) ......................................................................... 53
6.2 Installation conditions ................................................................................................ 53
6.3 Connection conditions ............................................................................................... 54
6.4 Power supply connection ........................................................................................... 55
6.5 Safety interface X11 .................................................................................................. 55
6.5.1 X11 safety interface .............................................................................................. 55
6.5.2 Wiring example for E-STOP circuit and safeguard ............................................... 58
6.5.3 Wiring example for safe inputs and outputs ......................................................... 59
6.6 Safety functions via Ethernet safety interface ........................................................... 61
6.6.1 Schematic circuit diagram for enabling switches .................................................. 65
6.6.2 SafeOperation via Ethernet safety interface (optional) ......................................... 66
6.6.3 KUKA Line Interface X66 ..................................................................................... 69
6.7 Mastering test ............................................................................................................ 70
6.8 X65 EtherCAT interface ............................................................................................. 70
6.9 X69 KUKA Service Interface ..................................................................................... 71