Kuka KR AGILUS sixx, Assembly Instructions Manual

Page: 77 / 141

77 / 141 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
5 Safety
In the case of manipulators that are not designed to be fitted with mechanical
axis range limitation, the workspace must be laid out in such a way that there
is no danger to persons or material property, even in the absence of mechan-
ical axis range limitation.
If this is not possible, the workspace must be limited by means of photoelectric
barriers, photoelectric curtains or obstacles on the system side. There must be
no shearing or crushing hazards at the loading and transfer areas.
5.4.3 Axis range monitoring (optional)
Some manipulators can be fitted with dual-channel axis range monitoring sys-
tems in main axes A1 to A3. The positioner axes may be fitted with additional
axis range monitoring systems. The safety zone for an axis can be adjusted
and monitored using an axis range monitoring system. This increases person-
al safety and protection of the system.
5.4.4 Options for moving the manipulator without the robot controller
Description
The following options are available for moving the manipulator after an acci-
dent or malfunction:

Release device (optional)
The release device can be used for the main axis drive motors and, de-
pending on the robot variant, also for the wrist axis drive motors.

Brake release device (option)
The brake release device is designed for robot variants whose motors are
not freely accessible.

Moving the wrist axes directly by hand
In the case of the low payload category, no release device for the wrist
axes is available. A release device is not necessary, as the wrist axes can
be moved directly by hand.
The options are only for use in exceptional circumstances and emergencies,
e.g. for freeing people.
Procedure Moving the manipulator with the release device:
1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
This option is not available for all robot models. Information on spe-
cific robot models can be obtained from KUKA Roboter GmbH.
This option is not available for all robot models. Information on spe-
cific robot models can be obtained from KUKA Roboter GmbH.
Information on the availability of options for specific robot models can
be obtained from KUKA Roboter GmbH.
The motors reach temperatures during operation which
can cause burns to the skin. Contact must be avoided.
Appropriate safety precautions must be taken, e.g. protective gloves must be
worn.
The following procedure must be followed exactly!