Kuka KR C2 edition05, Operating Instructions Manual

Page: 4 / 157

4 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
3 Technical data .................................................................................................. 47
3.1 Basic data ....................................................................................................................... 47
3.2 KCP coupler (optional) .................................................................................................... 48
3.3 Dimensions of robot controller ........................................................................................ 49
3.4 Minimum clearances, robot controller ............................................................................. 49
3.5 Minimum clearances, top-mounted / technology cabinet ................................................ 50
3.6 Swing range for cabinet door .......................................................................................... 50
3.7 Plates and labels ............................................................................................................ 50
4 Safety ................................................................................................................ 53
4.1 System planning ............................................................................................................. 53
4.1.1 EC declaration of conformity and declaration of incorporation .................................. 53
4.1.2 Installation site ........................................................................................................... 53
4.1.3 External safeguards ................................................................................................... 53
4.1.4 Workspace, safety zone and danger zone ................................................................ 54
4.2 Description ...................................................................................................................... 55
4.2.1 Category of the safety-oriented circuits ..................................................................... 55
4.2.2 Stop reactions ............................................................................................................ 55
4.2.3 Labeling on the robot system ..................................................................................... 56
4.2.4 Safety information ...................................................................................................... 56
4.3 Safety features ................................................................................................................ 57
4.3.1 Overview of the safety features ................................................................................. 57
4.3.2 ESC safety logic ........................................................................................................ 57
4.3.3 Operator safety input ................................................................................................. 57
4.3.4 EMERGENCY STOP button ...................................................................................... 58
4.3.5 Enabling switches ...................................................................................................... 58
4.3.6 Jog mode ................................................................................................................... 59
4.3.7 Mechanical end stops ................................................................................................ 59
4.3.8 Mechanical axis range limitation (option) ................................................................... 59
4.3.9 Axis range monitoring (option) ................................................................................... 60
4.3.10 Software limit switches .............................................................................................. 60
4.3.11 Release device (option) ............................................................................................. 60
4.3.12 KUKA.SafeRobot (option) .......................................................................................... 61
4.4 Personnel ........................................................................................................................ 61
4.5 Safety measures ............................................................................................................. 62
4.5.1 General safety measures ........................................................................................... 62
4.5.2 Transportation ............................................................................................................ 63
4.5.3 Start-up ...................................................................................................................... 63
4.5.4 Programming ............................................................................................................. 64
4.5.5 Automatic mode ......................................................................................................... 64
5 Planning ............................................................................................................ 65
5.1 Overview of planning ...................................................................................................... 65
5.2 Electromagnetic compatibility (EMC) .............................................................................. 65
5.3 Installation conditions ..................................................................................................... 66
5.4 Connection conditions .................................................................................................... 67
5.5 Power supply connection ................................................................................................ 68
5.5.1 Power supply connection via X1 Harting connector .................................................. 69