Kuka KR C4 compact - 5.8.3.1 Checking Machine Data and Safety Configuration

43 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
 The power supply ratings of the industrial robot correspond to the local
supply voltage and mains type.
 The ground conductor and the equipotential bonding cable are sufficiently
rated and correctly connected.
 The connecting cables are correctly connected and the connectors are
locked.
Test of the safety functions:
A function test must be carried out for the following safety functions to ensure
that they are functioning correctly:
 Local EMERGENCY STOP device
 External EMERGENCY STOP device (input and output)
 Enabling device (in the test modes)
 Operator safety
 All other safety-relevant inputs and outputs used
 Other external safety functions
5.8.3.1 Checking machine data and safety configuration
 Following the start-up procedure, the practical tests for the machine data
must be carried out. The tool must be calibrated (either via an actual cali-
bration or through numerical entry of the data).
 Following modifications to the machine data, the safety configuration must
be checked.
 After activation of a WorkVisual project on the robot controller, the safety
configuration must be checked.
 If machine data are adopted when checking the safety configuration (re-
gardless of the reason for the safety configuration check), the practical
tests for the machine data must be carried out.
 System Software 8.3 or higher: If the checksum of the safety configuration
has changed, the safe axis monitoring functions must be checked.
If the practical tests are not successfully completed in the initial start-up, KUKA
Deutschland GmbH must be contacted.
If the practical tests are not successfully completed during a different proce-
dure, the machine data and the safety-relevant controller configuration must
be checked and corrected.
General practical
test
If practical tests are required for the machine data, this test must always be
carried out.
For 6-axis robots:
The following methods are available for performing the practical test:
 TCP calibration with the XYZ 4-point method
The practical test is passed if the TCP has been successfully calibrated.
Or:
The industrial robot must not be moved if incorrect ma-
chine data or an incorrect controller configuration are
loaded. Death, severe injuries or considerable damage to property may oth-
erwise result. The correct data must be loaded.
Information about checking the safety configuration and the safe axis
monitoring functions is contained in the Operating and Programming
Instructions for System Integrators.