Kuka KR C2 edition05, Operating Instructions Manual

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59 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
4. Safety
4.3.6 Jog mode
In modes T1 and T2, the robot can only be moved in jog mode. For this, an
enabling switch and the Start key must be kept held down. If the enabling
switch is released or pressed fully down (panic position), the drives are deac-
tivated immediately and the robot stops with a STOP 0. Releasing the Start
key causes the robot to be stopped with a STOP 2.
4.3.7 Mechanical end stops
The axis ranges of main axes A 1 to A 3 and wrist axis A 5 are limited by means
of mechanical limit stops with a buffer.
4.3.8 Mechanical axis range limitation (option)
Most robots can be fitted with mechanical axis range limitation in main 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. 4-3: Enabling switches on the KCP
1 - 3 Enabling switches
Danger!
If the robot hits an obstruction or a buffer on the mechanical end stop or axis
range limitation, this can result in material damage to the robot. The KUKA
Robot Group must be consulted before the robot is put back into operation
(
>>> 13 "KUKA Service" page 147). The affected buffer must immediately be
replaced with a new one. If a robot collides with a buffer at more than 250
mm/s, the robot must be exchanged or recommissioning must be carried out
by the KUKA Robot Group.