Kuka KR C4 compact - 5.8.3.2 Start-up Mode

45 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
Practical test for
couplable axes
If practical tests are required for the machine data, this test must be carried out
when axes are present that can be physically coupled and uncoupled, e.g. a
servo gun.
1. Physically uncouple the couplable axis.
2. Move all the remaining axes individually.
The practical test is passed if it has been possible to move all the remain-
ing axes.
5.8.3.2 Start-up mode
Description The industrial robot can be set to Start-up mode via the smartHMI user inter-
face. In this mode, the manipulator can be moved in T1 without the external
safeguards being put into operation.
The safety interface used affects “Start-up” mode:
Discrete safety interface
 System Software 8.2 or earlier:
Start-up mode is always possible if all input signals at the discrete safety
interface have the state “logic zero”. If this is not the case, the robot con-
troller prevents or terminates Start-up mode.
If an additional discrete safety interface for safety options is used, the in-
puts there must also have the state “logic zero”.
 System Software 8.3 or higher:
Start-up mode is always possible. This also means that it is independent
of the state of the inputs at the discrete safety interface.
If an additional discrete safety interface is used for safety options: The
states of these inputs are also irrelevant.
Ethernet safety interface
The robot controller prevents or terminates Start-up mode if a connection to a
higher-level safety system exists or is established.
Effect When the Start-up mode is activated, all outputs are automatically set to the
state “logic zero”.
If the robot controller has a peripheral contactor (US2), and if the safety con-
figuration specifies for this to switch in accordance with the motion enable,
then the same also applies in Start-up mode. This means that if motion enable
is present, the US2 voltage is switched on – even in Start-up mode.
Hazards Possible hazards and risks involved in using Start-up mode:
 A person walks into the manipulator’s danger zone.
 In a hazardous situation, a disabled external EMERGENCY STOP device
is actuated and the manipulator is not shut down.
Additional measures for avoiding risks in Start-up mode:
 Cover disabled EMERGENCY STOP devices or attach a warning sign in-
dicating that the EMERGENCY STOP device is out of operation.
 If there is no safety fence, other measures must be taken to prevent per-
sons from entering the manipulator’s danger zone, e.g. use of warning
tape.
The maximum number of switching cycles of the periph-
eral contactors is 175 per day.