• Labeling of danger areas
Not all equipment is relevant for every mechanical component.
3.4.1
Mechanical end stops
Depending on the robot variant, the axis ranges of the main and wrist ax-
es of the manipulator are partially limited by mechanical end stops.
Additional mechanical end stops can be installed on the external axes.
WARNING
Danger to life and limb following collision with obstacle
If the manipulator or an external axis hits an obstruction or a mechani-
cal end stop or mechanical axis limitation, the manipulator can no
longer be operated safely. Death, injuries or damage to property may re-
sult.
• Put manipulator out of operation.
• KUKA must be consulted before it is put back into operation.
3.4.2
Mechanical axis limitation (optional)
Some manipulators can be fitted with adjustable mechanical axis limitation
systems in axes A1 to A3. The axis limitation systems restrict the working
range to the required minimum. This increases personal safety and pro-
tection of the system.
In the case of manipulators that are not designed to be fitted with me-
chanical axis limitation, the workspace must be laid out in such a way that
there is no danger to persons or material property, even in the absence of
mechanical axis limitation.
If this is not possible, the workspace must be limited by means of photo-
electric barriers, photoelectric curtains or mechanical limitations on the
system side. There must be no shearing or crushing hazards at the load-
ing and transfer areas.
This option is not available for all robot models. Information on specific
robot models can be obtained from the manufacturer.
3.4.3
Options for moving the manipulator without drive energy
Qualification of personnel with regard to behavior in emergency
situations
In emergencies or other exceptional situations, it may be necessary to
move the manipulator without drive energy.
• Personnel must be trained in how to move the manipulator without
drive energy.
Description
The following options are available for moving the manipulator without
drive energy after an accident or malfunction:
• Release device (optional)
The release device can be used for the main axis drive motors and,
depending on the robot variant, also for the wrist axis drive motors.
KR IONTEC
24/344 |
www.kuka.com
MA KR IONTEC V4 | Issued: 11.05.2021
Safety
Summary of Contents for IONTEC KR 20 R3100
Page 14: ...KR IONTEC 14 344 www kuka com MA KR IONTEC V4 Issued 11 05 2021 Introduction...
Page 166: ...KR IONTEC 166 344 www kuka com MA KR IONTEC V4 Issued 11 05 2021 Planning...
Page 188: ...KR IONTEC 188 344 www kuka com MA KR IONTEC V4 Issued 11 05 2021 Start up and recommissioning...
Page 310: ...KR IONTEC 310 344 www kuka com MA KR IONTEC V4 Issued 11 05 2021 Repair...
Page 340: ...KR IONTEC 340 344 www kuka com MA KR IONTEC V4 Issued 11 05 2021 KUKA Service...
