Kuka KR C4 compact - 5.8.5 Simulation; 5.8.6 Automatic Mode; 5.8.7 Maintenance and Repair

47 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
tained between persons and the manipulator (including tool). Guide value:
50 cm.
The minimum clearance may vary depending on local circumstances, the
motion program and other factors. The minimum clearance that is to apply
for the specific application must be decided by the user on the basis of a
risk assessment.
Setup work in T2 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 High
Velocity (T2):
 This mode may only be used if the application requires a test at a velocity
higher than that possible in T1 mode.
 Teaching and programming are not permissible in this operating mode.
 Before commencing the test, the operator must ensure that the enabling
devices are operational.
 The operator must be positioned outside the danger zone.
 There must be no other persons inside the safeguarded area. It is the re-
sponsibility of the operator to ensure this.
5.8.5 Simulation
Simulation programs do not correspond exactly to reality. Robot programs cre-
ated in simulation programs must be tested in the system in Manual Reduced
Velocity mode (T1). It may be necessary to modify the program.
5.8.6 Automatic mode
Automatic mode is only permissible in compliance with the following safety
measures:
 All safety equipment and safeguards are present and operational.
 There are no persons in the system.
 The defined working procedures are adhered to.
If the manipulator or an external axis (optional) comes to a standstill for no ap-
parent reason, the danger zone must not be entered until an EMERGENCY
STOP has been triggered.
5.8.7 Maintenance and repair
After maintenance and repair work, checks must be carried out to ensure the
required safety level. The valid national or regional work safety regulations
must be observed for this check. The correct functioning of all safety functions
must also be tested.
The purpose of maintenance and repair work is to ensure that the system is
kept operational or, in the event of a fault, to return the system to an operation-
al state. Repair work includes troubleshooting in addition to the actual repair
itself.
The following safety measures must be carried out when working on the indus-
trial robot:
 Carry out work outside the danger zone. If work inside the danger zone is
necessary, the user must define additional safety measures to ensure the
safe protection of personnel.
 Switch off the industrial robot and secure it (e.g. with a padlock) to prevent
it from being switched on again. If it is necessary to carry out work with the