Kuka KR C2 edition05, Руководство по эксплуатации

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55 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
4. Safety
4.2 Description
4.2.1 Category of the safety-oriented circuits
The following circuits correspond to Category 3 in accordance with EN 954-1:
„
EMERGENCY STOP systems
„
Enabling switches
„
Operator safety
„
Operating modes
„
Qualifying inputs
4.2.2 Stop reactions
Stop reactions of the robot system are triggered in response to operator ac-
tions or as a reaction to monitoring functions and error messages. The follow-
ing table shows the different stop reactions according to the operating mode
that has been set.
STOP 0, STOP 1 and STOP 2 are the stop definitions according to EN 60204.
2 Robot 5 Braking distance
3 Braking distance
Trigger T1, T2 AUT, AUT EXT
EMERGENCY STOP
pressed Path-oriented braking
(STOP 0)
Path-maintaining brak-
ing
(STOP 1)
Start key released Ramp-down braking
(STOP 2)
-
Enabling switch
released Path-oriented braking
(STOP 0)
-
Safety gate opened - Path-maintaining brak-
ing
(STOP 1)
"Drives OFF" key
pressed Path-oriented braking
(STOP 0)
Change operating
mode Path-oriented braking
(STOP 0)
Encoder error
(DSE-RDC connec-
tion broken) Short-circuit braking
(STOP 0)
Motion enable can-
celed Ramp-down braking
(STOP 2)
STOP key pressed Ramp-down braking
(STOP 2)
Robot controller
switched off
Power failure
Short-circuit braking
(STOP 0)