Kuka KR 20-3, Спецификация

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52 / 81
Issued: 22.04.2016 Version: Spez KR 20-3 V2
KR 20-3
5.5.4 Manual mode
Manual mode is the mode for setup work. Setup work is all the tasks that have
to be carried out on the industrial robot to enable automatic operation. Setup
work includes:

Jog mode

Teaching

Programming

Program verification
The following must be taken into consideration in manual mode:

If the drives are not required, they must be switched off to prevent the ma-
nipulator or the external axes (optional) from being moved unintentionally.

New or modified programs must always be tested first in Manual Reduced
Velocity mode (T1).

The manipulator, tooling or external axes (optional) must never touch or
project beyond the safety fence.

Workpieces, tooling and other objects must not become jammed as a re-
sult of the industrial robot motion, nor must they lead to short-circuits or be
liable to fall off.

All setup work must be carried out, where possible, from outside the safe-
guarded area.
If the setup work has to be carried out inside the safeguarded area, the follow-
ing must be taken into consideration:
In
Manual Reduced Velocity mode (T1)
:

If it can be avoided, there must be no other persons inside the safeguard-
ed area.
If it is necessary for there to be several persons inside the safeguarded ar-
ea, the following must be observed:

Each person must have an enabling device.

All persons must have an unimpeded view of the industrial robot.

Eye-contact between all persons must be possible at all times.

The operator must be so positioned that he can see into the danger area
and get out of harm’s way.
In
Manual High Velocity mode (T2)
:

This mode may only be used if the application requires a test at a velocity
higher than possible in T1 mode.

Teaching and programming are not permissible in this operating mode.

Before commencing the test, the operator must ensure that the enabling
devices are operational.

The operator must be positioned outside the danger zone.

There must be no other persons inside the safeguarded area. It is the re-
sponsibility of the operator to ensure this.
5.5.5 Automatic mode
Automatic mode is only permissible in compliance with the following safety
measures:

All safety equipment and safeguards are present and operational.

There are no persons in the system.

The defined working procedures are adhered to.