KR 10 scara R600, R850 WP - KUKA Robotics

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KR 10 scara R600, R850 WP3.8.9 Decommissioning, storage and disposalThe industrial robot must be decommissioned, stored and disposed of in accordancewith the applicable national laws, regulations and standards.3.8.10 Safety measures for “single point of control”OverviewIf certain components in the industrial robot are operated, safety measuresmust be taken to ensure complete implementation of the principle of “singlepoint of control”.Components:• Submit interpreter• PLC• OPC Server• Remote control tools• External keyboard/mouseThe implementation of additional safety measures may be required. Thismust be clarified for each specific application; this is the responsibility of thesystem integrator, programmer or user of the system.Since only the system integrator knows the safe states of actuators in the peripheryof the robot controller, it is his task to set these actuators to a safestate, e.g. in the event of an EMERGENCY STOP.Submit interpreter,PLCOPC server,remote controltoolsExternalkeyboard/mouseIf motions, (e.g. drives or grippers) are controlled with the Submit interpreteror the PLC via the I/O system, and if they are not safeguarded by other means,then this control will take effect even in T1 and T2 modes or while an EMER-GENCY STOP is active.If variables that affect the robot motion (e.g. override) are modified with theSubmit interpreter or the PLC, this takes effect even in T1 and T2 modes orwhile an EMERGENCY STOP is active.Safety measures:• Do not modify safety-relevant signals and variables (e.g. operating mode,EMERGENCY STOP, safety gate contact) via the Submit interpreter orPLC.• If modifications are nonetheless required, all safety-relevant signals andvariables must be linked in such a way that they cannot be set to a dangerousstate by the Submit interpreter or PLC.These components can be used with write access to modify programs, outputsor other parameters of the robot controller, without this being noticed by anypersons located inside the system.Safety measures:• KUKA stipulates that these components are to be used exclusively for diagnosisand visualization.Programs, outputs or other parameters of the robot controller must not bemodified using these components.These components can be used to modify programs, outputs or other parametersof the robot controller, without this being noticed by any persons locatedinside the system.Safety measures:• Only use one operator console at each robot controller.36 / 57 Issued: 26.03.2010 Version: Spez KR 10 scara WP V5 en
3. Safety• If the KCP is being used for work inside the system, remove any keyboardand mouse from the robot controller beforehand.3.9 Applied norms and regulationsName Definition Edition2006/42/EC Machinery Directive:2006Directive 2006/42/EC of the European Parliament and ofthe Council of 17 May 2006 on machinery, and amendingDirective 95/16/EC (recast)2004/108/EC EMC Directive:2004Directive 2004/108/EC of the European Parliament and ofthe Council of 15 December 2004 on the approximation ofthe laws of the Member States relating to electromagneticcompatibility and repealing Directive 89/336/EEC.97/23/ECPressure Equipment Directive:1997Directive 97/23/EC of the European Parliament and of theCouncil of 29 May 1997 on the approximation of the lawsof the Member States concerning pressure equipmentEN ISO 13850 Safety of machinery:2008Emergency stop - Principles for designEN ISO 12100-1 Safety of machinery:2003Basic concepts, general principles for design - Part 1:Basic terminology, methodologyEN ISO 12100-2 Safety of machinery:2003Basic concepts, general principles for design - Part 2:Technical principlesEN ISO 10218-1 Industrial robots:2008SafetyEN 954-1Safety of machinery:1997Safety-related parts of control systems - Part 1: Generalprinciples for designEN 614-1Safety of machinery:2006Ergonomic design principles - Part 1: Terminology andgeneral principlesEN 61000-6-2 Electromagnetic compatibility (EMC):2005Part 6-2: Generic standards; Immunity for industrial environmentsEN 61000-6-4 Electromagnetic compatibility (EMC):2007Part 6-4: Generic standards; Emission standard for industrialenvironmentsEN 60204-1 Safety of machinery:Electrical equipment of machines - Part 1: Generalrequirements2006Issued: 26.03.2010 Version: Spez KR 10 scara WP V5 en37 / 57
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KR 10 scara R600, R850 WP - KUKA Robotics

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