Kuka KR AGILUS sixx, Assembly Instructions Manual

Page: 76 / 141

76 / 141
Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
KR AGILUS sixx
5.4 Overview of protective equipment
The protective equipment of the mechanical component may include:

Mechanical end stops

Mechanical axis range limitation (optional)

Axis range monitoring (optional)

Release device (optional)

Labeling of danger areas
Not all equipment is relevant for every mechanical component.
5.4.1 Mechanical end stops
Depending on the robot variant, the axis ranges of the main and wrist axes of
the manipulator are partially limited by mechanical end stops.
Additional mechanical end stops can be installed on the external axes.
5.4.2 Mechanical axis range limitation (optional)
Some manipulators can be fitted with mechanical axis range limitation in axes
A1 to A3. The adjustable axis range limitation systems restrict the working
range to the required minimum. This increases personal safety and protection
of the system.
Fig. 5-1: Example of axis range A1
1 Workspace 3 Stopping distance
2 Manipulator 4 Safety zone
If the manipulator or an external axis hits an obstruction
or a mechanical end stop or axis range limitation, this
can result in material damage to the industrial robot. The manipulator must
be taken out of operation and KUKA Roboter GmbH must be consulted be-
fore it is put back into operation (
>>> 10 "KUKA Service" Page 131).