Kuka KR C2 edition05, Operating Instructions Manual

Page: 64 / 157

64 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
4.5.4 Programming
The following safety measures must be carried out during programming:
„
It must be ensured that no persons are present within the danger zone of
the robot during programming.
„
New or modified programs must always be tested first in operating mode
T1.
„
If the drives are not required, they must be switched off to prevent the robot
from being moved unintentionally.
„
The motors reach temperatures during operation which can cause burns
to the skin. Contact should be avoided if at all possible. If necessary, ap-
propriate protective equipment must be used.
„
The robot and its tooling must never touch or project beyond the safety
fence.
„
Components, tooling and other objects must not become jammed as a re-
sult of the robot motion, nor must they lead to short-circuits or be liable to
fall off.
The following safety measures must be carried out if programming in the dan-
ger zone of the robot:
„
The robot must only be moved at reduced velocity (max. 250 mm/s). In this
way, persons have enough time to move out of the way of hazardous robot
motions or to stop the robot.
„
To prevent other persons from being able to move the robot, the KCP must
be kept within reach of the programmer.
„
If two or more persons are working in the system at the same time, they
must all use an enabling switch. While the robot is being moved, all per-
sons must remain in constant visual contact and have an unrestricted view
of the robot system.
4.5.5 Automatic mode
Automatic mode is only permissible in compliance with the following safety
measures.
„
The prescribed safety equipment is present and operational.
„
There are no persons in the system.
„
The defined working procedures are adhered to.
If the robot comes to a standstill for no apparent reason, the danger zone must
not be entered until the EMERGENCY STOP function has been triggered.