Kuka KR C4 compact - 5.8.4 Manual Mode

46 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
Use Intended use of Start-up mode:
 Start-up in T1 mode when the external safeguards have not yet been in-
stalled or put into operation. The danger zone must be delimited at least
by means of warning tape.
 Fault localization (periphery fault).
 Use of Start-up mode must be minimized as much as possible.
Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. KUKA Deutschland GmbH is not liable for any damage re-
sulting from such misuse. The risk lies entirely with the user.
5.8.4 Manual mode
General Manual mode is the mode for setup work. Setup work is all the tasks that have
to be carried out on the industrial robot to enable automatic operation. Setup
work includes:
 Jog mode
 Teaching
 Programming
 Program verification
The following must be taken into consideration in manual mode:
 New or modified programs must always be tested first in Manual Reduced
Velocity mode (T1).
 The manipulator, tooling or external axes (optional) must never touch or
project beyond the safety fence.
 Workpieces, tooling and other objects must not become jammed as a re-
sult of the industrial robot motion, nor must they lead to short-circuits or be
liable to fall off.
 All setup work must be carried out, where possible, from outside the safe-
guarded area.
Setup work in T1 If it is necessary to carry out setup work from inside the safeguarded area, the
following must be taken into consideration in the operating mode Manual Re-
duced Velocity (T1):
 If it can be avoided, there must be no other persons inside the safeguard-
ed area.
 If it is necessary for there to be several persons inside the safeguarded ar-
ea, the following must be observed:
 Each person must have an enabling device.
 All persons must have an unimpeded view of the industrial robot.
 Eye-contact between all persons must be possible at all times.
 The operator must be so positioned that he can see into the danger area
and get out of harm’s way.
 Unexpected motions of the manipulator cannot be ruled out, e.g. in the
event of a fault. For this reason, an appropriate clearance must be main-
Use of Start-up mode disables all external safeguards.
The service personnel are responsible for ensuring that
there is no-one in or near the danger zone of the manipulator as long as the
safeguards are disabled.
Failure to observe this precaution may result in death, injuries or damage to
property.