KR 10 scara R600, R850 WP - KUKA Robotics

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KR 10 scara R600, R850 WPTrigger T1, T2 AUT, AUTEXTStart key released STOP 2 -“Drives OFF” key pressed STOP 0STOP key pressed STOP 2Operating mode changed STOP 0Encoder errorSTOP 0(DSE-RDC connection broken)Motion enable canceled STOP 2Robot controller switched offPower failureSTOP 03.5 Safety functions3.5.1 Overview of safety functionsSafety functions:• Mode selection• Operator safety (= connection for the guard interlock)• Local EMERGENCY STOP device (= EMERGENCY STOP button on theKCP)• External EMERGENCY STOP device• Enabling deviceThese circuits conform to the requirements of category 3 according to EN 954-1.Danger!In the absence of functional safety functions and safeguards, the industrialrobot can cause personal injury or material damage. If safety functions orsafeguards are dismantled or deactivated, the industrial robot may not be operated.3.5.2 ESC safety logicThe function and triggering of the electronic safety functions are monitored bythe ESC safety logic.The ESC (Electronic Safety Circuit) safety logic is a dual-channel computeraidedsafety system. It permanently monitors all connected safety-relevantcomponents. In the event of a fault or interruption in the safety circuit, the powersupply to the drives is shut off, thus bringing the industrial robot to a standstill.The ESC safety logic triggers different stop reactions, depending on the operatingmode of the industrial robot.The ESC safety logic monitors the following inputs:• Operator safety• Local EMERGENCY STOP (= EMERGENCY STOP button on the KCP)• External EMERGENCY STOP• Enabling device• Operating modes• Qualifying inputs24 / 57 Issued: 26.03.2010 Version: Spez KR 10 scara WP V5 en
3. Safety3.5.3 Mode selector switchThe industrial robot can be operated in the following modes:• Manual Reduced Velocity (T1)• Manual High Velocity (T2)• Automatic (AUT)• Automatic External (AUT EXT)The operating mode is selected using the mode selector switch on the KCP.The switch is activated by means of a key which can be removed. If the key isremoved, the switch is locked and the operating mode can no longer bechanged.If the operating mode is changed during operation, the drives are immediatelyswitched off. The manipulator and any external axes (optional) are stoppedwith a STOP 0.Fig. 3-2: Mode selector switch1 T2 (Manual High Velocity)2 AUT (Automatic)3 AUT EXT (Automatic External)4 T1 (Manual Reduced Velocity)Operating modeT1T2UseFor test operation, programmingand teachingFor test operationVelocities• Program verification:Programmed velocity, maximum250 mm/s• Jog mode:Jog velocity, maximum 250 mm/s• Program verification:Programmed velocityIssued: 26.03.2010 Version: Spez KR 10 scara WP V5 en25 / 57
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KR 10 scara R600, R850 WP - KUKA Robotics

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