Kuka KR C4 compact - 5.8.8 Decommissioning, Storage and Disposal; 5.8.9 Safety Measures for Single Point of Control

49 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
5 Safety
 Avoid breathing in oil spray or vapors.
 Clean skin and apply skin cream.
5.8.8 Decommissioning, storage and disposal
The industrial robot must be decommissioned, stored and disposed of in ac-
cordance with the applicable national laws, regulations and standards.
5.8.9 Safety measures for “single point of control”
Overview If certain components in the industrial robot are operated, safety measures
must be taken to ensure complete implementation of the principle of “single
point of control” (SPOC).
The relevant components are:
 Submit interpreter
 PLC
 OPC server
 Remote control tools
 Tools for configuration of bus systems with online functionality
 KUKA.RobotSensorInterface
Since only the system integrator knows the safe states of actuators in the pe-
riphery of the robot controller, it is his task to set these actuators to a safe
state, e.g. in the event of an EMERGENCY STOP.
T1, T2 In modes T1 and T2, the components referred to above may only access the
industrial robot if the following signals have the following states:
Submit inter-
preter, PLC
If motions, (e.g. drives or grippers) are controlled with the submit interpreter or
the PLC via the I/O system, and if they are not safeguarded by other means,
then this control will take effect even in T1 and T2 modes or while an EMER-
GENCY STOP is active.
If variables that affect the robot motion (e.g. override) are modified with the
submit interpreter or the PLC, this takes effect even in T1 and T2 modes or
while an EMERGENCY STOP is active.
Safety measures:
 In T1 and T2, the system variable $OV_PRO must not be written to by the
submit interpreter or the PLC.
 Do not modify safety-relevant signals and variables (e.g. operating mode,
EMERGENCY STOP, safety gate contact) via the submit interpreter or
PLC.
If modifications are nonetheless required, all safety-relevant signals and
variables must be linked in such a way that they cannot be set to a dan-
To ensure safe use of our products, we recommend regularly re-
questing up-to-date safety data sheets for hazardous substances.
The implementation of additional safety measures may be required.
This must be clarified for each specific application; this is the respon-
sibility of the system integrator, programmer or user of the system.
Signal State required for SPOC
$USER_SAF TRUE
$SPOC_MOTION_ENABLE TRUE