SAFETY

ROBOT SYSTEM KR ... WITH KR C...

General

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e Copyright

KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

PD Interleaf
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Contents
1

Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1

Fundamental safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

Particular safety measures for users and operating personnel . . . . . . . . . . . . . . . . . . . . . . . .

3.3
3.3.1
3.3.2
3.3.2.1
3.3.3
3.3.3.1
3.3.4

Safety functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restricted envelope working space limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Enabling switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External enabling switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Guard interlock (operator safety) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11
11
11
11
11
11
12

3.4

Emergency axis override device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

Planning and construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.1

Foundations and substructures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.2

Load ratings of the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.3

Safety zones and working zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
4.4.7
4.4.8

Operation in potentially explosive areas of explosion protection zone 2 . . . . . . . . . . . . . . . .

Industrial robot requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating environment of the industrial robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tools and additional equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
KR C... control cabinet installation site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation of the KUKA Control Panel (KCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Robot power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical connecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Working range monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16
16
16
17
17
17
17
17
17

4.5

Collision protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.6

Tool change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.7

Safety mats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.8

Interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.9

EMERGENCY STOP circuit (EN 418) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.10

Presetting of outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.11

Tooling and additional equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.12

Safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

Installation, operation and other work . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

5.1

Mains connection conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

5.2

Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

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5.3

Protection from dirt and UV radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

5.4

Start--up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

5.5

Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

5.6

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

5.7

Shut--down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

5.8

Additional remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21

5.9

Safety instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21

Safety labelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

6.1

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

6.2

Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

6.3

Control cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

ESD directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23

7.1
7.1.1
7.1.2

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handling ESD modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Packaging suitable for ESDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23
24
24

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Valid for

Liability

all robot types KR ...

robot controller KR C...

The primary purpose of this Documentation Module is the

safety of the user and operating personnel when using the
device described below.

Liability
The device described in these operating instructions is an industrial robot -- called robot
system in the following text --, consisting of robot, connecting cables and control cabinet.
The robot system -- the subject matter of these operating instructions -- has been built
in accordance with state--of--the--art standards and the recognized safety rules. Nevertheless, improper use of the robot system or its employment for a purpose other
than the intended one may constitute a risk to life and limb of operating personnel
or of third parties or cause damage to the robot system and to other material property.
The robot system may only be used in technically perfect condition in accordance
with its designated use and only by safety--conscious persons who are fully aware
of the risks involved in its operation. Use of the robot system is subject to compliance
with these operating instructions and with the manufacturers declaration* supplied
together with the robot system. Any functional disorders affecting the safety of the
robot system must be rectified immediately.
The design and rating of the mechanical and electrical equipment of the robot system was
based on the EC machinery directives that came into force on 1 January 1993 (89/392 EEC
dated 14 June 1989 with amendments 91/368 EEC dated 20 June 1991 and 93/44 EEC
dated 14 June 1993) together with their annexes and associated standards.
The following harmonized standards in particular were taken into account with regard to the
safety of the robot system:
EN 292
EN 60204
EN 775
EN 418
EN 614
prEN 954

Parts 1 and 2 (November 1991)

Part 1 (June 1993)

Part 1
Part 1

EN 50081
EN 50082
EN 55011
EN 6100--4
EN 61800
DIN 40040

Part 2
Part 1
Parts 4 and 5
Part 3

The electrical part of the robot system additionally conforms to the EC low voltage directive
(73/23 EEC dated 19 February 1973 and EN 50082--1) and the directive on Electromagnetic
compatibility (89/336 EEC dated 3 May 1989 with amendments 92/31 EEC dated 28 May
1992 and EN 55011).
* The manufacturers declaration is to be found in the control cabinet.

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General
G

Designated use

The robot system is designed exclusively for the applications specified in the robot
Doc. Module Technical Data (Section 1).
Using the robot system for any other or additional purpose is considered contrary
to its designated use. The manufacturer cannot be held liable for any damage resulting from such misuse. The risk of such misuse lies entirely with the user.
Operating the robot system within the limits of its designated use also involves
continuous observance of these operating instructions with particular reference to
the maintenance specifications.
The software employed is matched to the applications specified by the customer/
user and has been thoroughly tested. In the event that the functions contained in the
software are not executed without interruption, the Doc. Module Error Messages/
Troubleshooting must be consulted to remedy this condition. This also applies to
malfunctions occuring during service, set--up, programming and start--up activities.
The robot system may not be put into operation until it is ensured that the functional
machine or plant into which the robot system has been integrated conforms to the
specifications of the EC directives 89/392 EEC dated 14 June 1989 and 91/368 EEC
dated 20 June 1991.
No liability can be accepted if these directions are disregarded.
If the user provides items of equipment and the like which do not constitute part of
the KUKA contract and these parts are integrated into the periphery of the robot system on behalf of the user, KUKA cannot be held liable for any resulting damage. Any
risk associated with these parts (mechanical, pneumatic and electrical) lies entirely
with the user.
These operating instructions consist of the following parts:

robot
control cabinet
software

They constitute an integral part of the robot system supplied by KUKA, whose serial
numbers for robot and control cabinet can be noted from the manufacturers declaration.

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Safety symbols

Safety symbols
The following safety symbols are used in these operating instructions:
This symbol is used where failure to fully and accurately observe operating instructions, work instructions, prescribed sequences and the like could result in injury
or a fatal accident.

This symbol is used where failure to fully and accurately observe operating instructions, work instructions, prescribed sequences and the like could result in damage
to the robot system.

This symbol is used to draw attention to a particular feature. Observance of the note will
generally result in facilitation of the work concerned.

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General

Safety

3.1

Fundamental safety regulations

The mechanical and electrical equipment of the robot system for which these operating
instructions, prescribed by the manufacturer, have been issued meets the requirements of
the standard DIN EN 775 concerning the safety of industrial robots. The technical features
and possible mounting positions of this robot system are presented in detail in these operating instructions and in the relevant specifications for the robot and control cabinet.
Improper use of the robot system or its employment for a purpose other than the
intended one may cause
-- danger to life and limb
-- danger to the robot system and other assets of the user and
-- danger to the efficient working of the robot system or its operator.
The associated operating instructions therefore contain numerous indications of danger,
which also apply to applications and to the use of accessories and supplementary equipment
supplied by KUKA.
Every person involved with installation or exchange, adjustment, operation, maintenance or
repair of the robot system must have read and understood these operating instructions,
particularly the Doc. Module Safety, General, paying special attention to the passages
, which are of paramount importance.
marked with the symbol
These passages contain switch--off procedures and other safety precautions serving to
protect operating personnel. Particular attention must be devoted to them when any work
concerning for example, transportation, installation, operation, conversion and adjustment,
adaptation, maintenance or repair is carried out.
Installation, exchange, adjustment, operation, maintenance and repair must be performed
only as specified in these operating instructions and only by personnel specially trained for
this purpose. The user is recommended to have personnel assigned for this work complete
an application--specific KUKA training course.
The user should check at specific intervals selected at his own discretion that the personnel
attend to their work in a safety--conscious manner, are fully aware of the risks involved during
operation and observe these operating instructions.
The responsibilities involved in operation of the robot system and in all other work performed
on the robot system or in its immediate vicinity must be clearly defined and observed by the
user in order to prevent any uncertainty regarding spheres of competence in matters of
safety.
The danger zones of the robot system, i.e. areas in which the robot together with tools,
accessories and additional equipment moves, must in all cases be safeguarded according
to DIN EN 775 to prevent persons or objects from entering these zones or to ensure that the
robot system is immediately shut down by an EMERGENCY STOP system if a person or
object should nevertheless enter a danger zone. This safety facility is the responsibility of
the user.
The switching times of the EMERGENCY STOP system must be taken into account
when determining the size of the danger zones.
The paint markings on the floor and signs indicating the danger zones must differ clearly in
form, color and style from other markings within the machine or plant in which the robot
system is integrated.

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3.2

Safety (continued)

Particular safety measures for users and operating personnel

The robot system must be switched off before exchange, adjustment, maintenance
and repair in accordance with the regulations contained in these operating instructions, i.e. the main switch on the robot control cabinet must be turned to OFF and
secured with a padlock to prevent unauthorized persons from switching it on again.

Voltages in excess of 50 V (up to 600 V) can be present in the KPS, the

KSDs and the intermediate--circuit connecting cables up to 5 minutes
after the control cabinet has been switched off!
Any method of working that impairs the functional and operating safety of the robot system
must be avoided.
The user and operating personnel must ensure that only authorized personnel are permitted
to work on the robot system. The user must clearly set out what the responsibilities of operating personnel actually entail and give them the authority to refuse to carry out instructions
from third parties which are contrary to safety procedures.
Do not allow personnel to be trained or instructed or personnel taking part in a general training
course to work on or with the robot system without being permanently supervised by an experienced person.
Work on the electrical system or equipment of the robot system may only be carried out by
a skilled electrician himself or by specially instructed personnel under the control and supervision of such an electrician and in accordance with the applicable electrical engineering
rules.
Work on the hydropneumatic counterbalancing system (if present) may only be carried out
by persons having special knowledge and experience of hydraulic and pneumatic systems.

The operating personnel are obliged to inform the user immediately of any
changes to the robot system which impair its safety or give reason to suspect
that this might be the case.
The user must ensure that the robot system is only ever operated in faultless
condition.
The user must ensure, by means of appropriate instructions and checks, that the work station
and the environment of the robot system are kept in clean and orderly condition.
No functional safety equipment may be dismantled or taken out of operation if this
would directly or indirectly affect the robot system and if exchange, adjustment,
maintenance or repair is carried out on the robot system. This would cause danger
to life and limb, such as contusions, eye injuries, fractures, serious internal and
external injuries etc.
If it is necessary for such safety equipment nevertheless to be dismantled during the above-mentioned work on the robot system, the machine or plant in which the robot system is integrated must be shut down in the exact manner specified, with particular attention being paid
to the text passages of the operating instructions concerned marked with the symbol
,
and measures must be taken to prevent unintentional or unauthorized start--up. Immediately
after completion of the exchange, adjustment, maintenance or repair work, the safety equipment must be reinstalled and checked to ensure that it is functioning correctly.
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General

If it is essential for personnel to enter the working range of the robot system for
conversion, adjustment, maintenance or repair work on the machine or plant in
which the robot system is integrated, the safety measures must always be designed
in such a way (e.g. enabling switches) that the robot system is switched off
immediately should an unintended situation arise.
Aspects requiring special consideration:
Only trained personnel familiar with the hazards may be entrusted with exchange, adjustment, maintenance and repair work on the robot system.
When work is carried out in the danger zone of the robot, the latter may only, if absolutely essential, be operated at manual traversing speed at the most, to allow the
personnel enough time either to avoid dangerous movements or to stop the robot.
All persons situated in the environment of the robot must be informed in good time that the
robot is about to move.
Wherever possible, only one person should work in the danger zone of the robot at any time,
with a second person remaining in visual contact outside the danger zone within reach of an
Emergency Stop pushbutton.
If two or more persons are working in the danger zone at the same time, they must also all
remain in constant visual contact. Responsibilities for each type of work and for each person
must be clearly and comprehensibly defined.
In sensor--assisted operation, the robot is liable to perform unexpected movements
and path corrections if the main switch on the control cabinet has not been turned
to OFF.

If work is to be carried out within the working range of a switched--off robot, the robot
must first be moved into a position in which it is unable to move on its own, whether
the payload is mounted or not. If this is not possible, the robot must be secured by
appropriate means.
Components, tooling and other objects must not become jammed as a result of the robot
motion, nor must they lead to short--circuits or be liable to fall off.
Any motion of the robot that would cause indirect danger to persons or objects must be
avoided.
Due regard must be paid to hazards posed by the peripheral system components of the robot
such as grippers, conveyors, feed devices or other robots in a multi--robot system.
Any unauthorized conversion or modification of the robot system is not allowed.
No customer--specific equipment may be installed in or on the control cabinet without the approval of the sales representative of KUKA Roboter GmbH responsible for
your system.
The robot system including accessories and additional equipment may not be equipped
or operated with products of other manufacturers whose use is not expressly permitted
in these operating instructions or the parts catalog of the robot system.
When using prescribed operating media which are specified as aggressive or toxic, appropriate protective clothing must be worn. Warning remarks must be observed.
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Safety (continued)

The maintenance cycles prescribed in these operating instructions must be adhered to.
These operating instructions must always be kept ready to hand at the place of use of the
robot system (e.g. in the tool compartment or in the receptacle provided for them) -- whether
as a manual or CD--ROM.

3.3

Safety functions
The safety functions include:
--

Restricted envelope

--

EMERGENCY STOP

--

Enabling switches

--

Guard interlock

The circuits for EMERGENCY STOP, enabling switches and interlock conform to control
category 3 according to EN 954--1

3.3.1

Restricted envelope working space limitation

The robot is designed as standard to allow the attachment of adjustable mechanical stops
in the three main axes for the limitation of the working space. In addition, the range of motion
of all axes can be restricted using software limit switches.

3.3.2

EMERGENCY STOP
The EMERGENCY STOP button of the robot system is located on the KCP, which is also
used as the programming and operator control device.
When triggered in the test modes, the EMERGENCY STOP function causes a safety stop
with immediate disconnection of power to the drives, dynamic braking and application of the
holding brakes.
In the automatic modes, an EMERGENCY STOP causes a controlled stop, with power to
the drives being maintained in order to ensure this controlled stop. The power is only disconnected once the robot has come to a standstill.

3.3.2.1

External EMERGENCY STOP

If, due to the risk situation, it is necessary to install additional EMERGENCY STOP devices
or if several EMERGENCY STOP systems need to be linked together, this can be done via
a special interface provided for the purpose. See Peripheral Interface chapter.

3.3.3

Enabling switches
The KCP is equipped with three three--position enabling switches, which can be used to
switch on the drives in the operating modes Test 1 and Test 2. Each of these enabling
switches has three positions, of which only the middle position allows the robot to move. In
either of the other positions, hazardous motions are safely stopped and the drives are safely
disconnected.

3.3.3.1

External enabling switch

The external enabling switch function allows the connection of an additional enabling
device. If it is necessary for a second person to be in the safeguarded space, then this is only
permitted if this person also uses an enabling device.

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General

3.3.4

Guard interlock (operator safety)

The robot controller features a two--channel safety input, to which the guard interlock can
be connected. In the automatic modes, the opening of the guard connected to this input
causes a controlled stop, with power to the drives being maintained in order to ensure this
controlled stop. The power is only disconnected once the robot has come to a standstill. Motion in Automatic mode is prevented until the guard connected to this input is closed. This
input has no effect in Test mode.
The guard must be designed in such a way that it is only possible to acknowledge the stop
from outside the safeguarded space.

3.4

Emergency axis override device

The emergency axis override device can be used to move the robot mechanically after a
malfunction via the main axis drive motors and, depending on the type of robot, also via the
wrist axis drive motors in some instances. It is only for use in exceptional circumstances and
emergencies (e.g. for freeing people).
The emergency axis override device may only be used if the main switch on the
control cabinet has been turned to OFF and secured with a padlock to prevent
unauthorized persons from switching it on again.

If a robot axis has been moved using the emergency axis override device, all
robot axes must be remastered.
The robot may only be moved manually using the override device supplied by KUKA. The
override device is pushed onto the axle of the motor (remove protective cap), which can then
be turned. It is necessary to overcome the resistance of the mechanical motor brake and any
other loads acting on the axis. The protective cap must be put back on after the operation.
The motors reach temperatures during operation which can cause burns to the
skin. Appropriate safety precautions must be taken.

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Planning and construction

Planning and construction

The following safety measures must be implemented during the planning and construction
of a robotic installation.

4.1

Foundations and substructures

It must be ensured that the dimensions and qualities specified by KUKA for the foundations,
substructure or the ceiling construction have been adhered to. Deviations from these
dimensions or quality requirements are not permitted.

4.2

Load ratings of the robot

It must be checked that the torques, acceleration, weights and other mechanical and environmental conditions to be expected in operation of the robot system lie within the permissible
range for the robot.

4.3

Safety zones and working zones

Working zones are to be restricted to the necessary minimum size. In addition to software
limitation, they can also be safeguarded with adjustable mechanical stops (working range
limitation accessory). The working zones must meet the safety requirements, i.e. on no
account may persons or equipment be exposed to any danger.
Danger zones, i.e. areas in which robots move, must be safeguarded by means of protective
barriers. These can take the form of safety fences, light barriers, light curtains or zone scanners, for example.
Fixed safety devices (safety fencing) must be designed to withstand all forces that are likely
to occur in the course of operation, whether from inside or outside the enclosure.
If safety fences are used, they must have a mesh size as specified in DIN EN 294, DIN EN
349 and DIN EN 811. They must also be high enough to prevent anybody from reaching over
them. The size of the fence sections must be selected in accordance with the strength of the
fencing; design measures must be taken to prevent them from bending. The number of
entrances (gates) in the fencing must be kept to a minimum. There should preferably be only
one gate. All entrances must be connected to the safety devices incorporated in the robot
and to the overall EMERGENCY STOP system.
Shown below is an example illustrating the connection of gate position switches in combination with a pushbutton for enabling operation when the safety gate is closed.

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General

L+

A1 (+)

Safety gate monitor

e.g. PST3, manuf.: Pilz

Ue
L- = safety gate open

A2 (- -)
S11

= safety gate closed

= actuated element
S12

Gate position switches

S23

S24
X1

23

24

25

26
Safeguard channel 2 O

14

Safeguard channel 2 I

Peripheral connector
here X11 for example

13

Safeguard channel 1 O

This pushbutton must be located

outside the space limited by the
safeguards.

X2

Safeguard channel 1 I

Pushbutton for enable

with safety gate closed

KR C...

Irrespective of these safeguarding measures, the danger zone is to be indicated by means

of paint markings on the floor. These markings must differ distinctly in form, color and style
from other markings within the machine or plant in which the robot system is integrated.

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Planning and construction (continued)

L+

A1 (+)

Safety gate monitor

e.g. PST3, manuf.: Pilz

Ue
L- = safety gate open

A2 (- -)
S11

= safety gate closed

= actuated element
S12

Gate position switches

S23

S24
X1

23

24

10

11

12
Safeguard channel 2 O

14

Safeguard channel 1 I

Peripheral connector
here X6 for example

13

Safeguard channel 2 I

This pushbutton must be located

outside the space limited by the
safeguards.

X2

Safeguard channel 1 O

Pushbutton for enable

with safety gate closed

KR C3

Irrespective of these safeguarding measures, the danger zone is to be indicated by means

of paint markings on the floor. These markings must differ distinctly in form, color and style
from other markings within the machine or plant in which the robot system is integrated.

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General

4.4

Operation in potentially explosive areas of explosion protection zone 2

(in compliance with EN 60079--10)
When operating an explosion protection zone 2--class KUKA industrial robot in potentially
explosive areas of protection zone 2, the following preconditions must be met.
Protection zone 2 covers areas in which there is only an occasional and short--term risk
of dangerous, potentially explosive atmospheres forming.

Operation is not permitted in areas at risk from flammable dust.

4.4.1

Industrial robot requirements

The industrial robot, connecting cables and accessories must be explicitly released by KUKA
Roboter GmbH for operation in explosion protection zone 2 in accordance with the directives
and regulations in force.

The operation of robots of normal design is not permitted in potentially

explosive areas.

4.4.2

Operating environment of the industrial robot

The operating environment of the industrial robot must be defined and set up by the user as
an explosion protection zone 2, in accordance with DIN VDE 0165 / DIN EN 60079--14
(Part 1).
The following requirements apply here:
G

Equipment which, during normal operation, does not produce sparks, arcs or impermissible temperatures, may be used. (Normal operation here means the undisrupted
operation of a piece of equipment within defined limit values, e.g. temperature.)

A temperature equal to or greater than the ignition temperature of the flammable

material in question is not permissible.

Only substances which comply with temperature class T3 are permissible in explosion
protection zone 2.

Temperature class T3 is defined as follows:

-- maximum permissible surface temperature of the equipment
-- ignition temperature of flammable materials

200 C
> 200 C

The safety characteristics of the potentially explosive atmospheres which could arise must
be checked by the person responsible for the system. The following characteristics are laid
down in EN 1127--1 / VDE 0165:
--

Ignition temperature

--

Flash point

--

Explosion class

--

Lower explosive limit (LEL)

--

Upper explosive limit (UEL)

--

Temperature class
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4.4.3

Planning and construction (continued)

Tools and additional equipment

Tools and additional equipment used in the protection zone must be released by the supplier
and/or system builder for operation in protection zone 2 in compliance with the regulations
in force.
The following standards, among others, must be observed:
-- VDE 165 / EN 50021
-- VDE 0100 (Part 540)
Responsibility for the fitting, adaptation and operation of tools lies entirely with the suppliers
and/or system builders concerned.

4.4.4

KR C... control cabinet installation site

The KR C... control cabinet must be installed and operated outside the potentially explosive
area.

4.4.5

Operation of the KUKA Control Panel (KCP)

The KUKA Control Panel (KCP) may only be used outside the protection zone.
Exceptions are only permissible during programming.

4.4.6

Robot power supply

The customer must fuse--protect the robot power supply using a ground--fault circuit interrupter with a 300 mA tripping current. Type F374, ABB Stotz GmbH.

4.4.7

Electrical connecting cables

The electrical connecting cables between the KR C... control cabinet and the robot consist
of motor and control cables.
The system user is responsible for the proper laying of the cables, cable inlets and the
necessary safety measures (e.g. cable ducts) in compliance with the relevant regulations
and standards.
Cable requirements:
Standard

Cable with PVC sheath, flame--retardant in accordance with

VDE 0472 (Part 804 B)
Special version, only if required:
Cable with PUR sheath, flame--retardant according to VDE 0472 (Part 804 B)
Temperature range for fixed installation:
80 C.
Cable diameter: motor cable approx. 25 mm
Data cable:
data cable approx. 11 mm

4.4.8

Working range monitoring

Working range monitoring must be carried out with proximity switches using a redundant
(dual--channel) design.
If mechanical limit switches are used, verification of the restricted breathing
enclosure is required.
All equipment in the working range monitoring system must be suitable for the
protection zone concerned.

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General

4.5

Collision protection
The robot can be equipped with a collision protection device (additional equipment). This
must in all cases be connected to the EMERGENCY STOP circuit of the robot system and
higher--level controller.
In the case of conveyor operation, additional precautions are required to ensure that the
conveyor cannot collide with the robot when the EMERGENCY STOP function is triggered.
Appropriate measures must be taken to prevent the conveyor from continuing to move in
areas where a collision is possible after an EMERGENCY STOP, e.g. by means of short
systems with transfer stations.

4.6

Tool change
Removal and installation stations must be provided to allow tools to be changed. These
stations must be accessible to the operator outside the danger zone and the robot must be
able to move to them by means of a special program step.

4.7

Safety mats
If the presence of operating personnel in the work envelope of the robot is unavoidable (e.g.
for loading components), the danger zone is to be isolated by means of a safety mat or light
curtain. This can be accomplished by connecting the safety mat or light curtain to range limit
switches (working range monitoring accessory) or a limit switch for the robots home position and to the EMERGENCY STOP circuit.

4.8

Interface characteristics
The voltage and output load capacity values of all signals corresponding with the robot
controller must lie within the permissible limits for the controller.

4.9

EMERGENCY STOP circuit (EN 418)

If the robot system is operated in conjunction with a higher--level controller, the two
EMERGENCY STOP circuits must be interconnected. Both these circuits must be of failsafe
design (dual EMERGENCY STOP contactors with reciprocal monitoring). In addition, every
operator station must be provided with an EMERGENCY STOP device. This may take the
form of a pull cord or a mushroom--head pushbutton with a locking mechanism. It is
particularly important that a regular check is made to ensure that that the EMERGENCY
STOP devices are functioning correctly.

4.10

Presetting of outputs
Outputs are to be preset in accordance with the main project file, i.e. signals for hold functions
must not be reset when the robot controller is switched off if personnel or equipment would
be endangered as a result.

4.11

Tooling and additional equipment

If they have not been supplied by KUKA, tooling and additional equipment for the robot must
be designed to the same standard of safety as the robot system. The specifications valid for
the machine or plant into which the robot system is integrated must be applied analogously
to the tooling and equipment (e.g. fuses for the primary circuit of welding transformers).

4.12

Safety regulations
The machine or plant into which the robot system is integrated must be checked before the
robot system is installed to ensure that the users safety regulations, general accident
prevention rules and trade association regulations have been observed. Please observe
Section 5.9.
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Installation, operation and other work

Installation, operation and other work

Personal protection:
All persons working within the danger zone of the robot system must wear
protective clothing. Of particular importance are safety helmets, safety footwear
and closely fitting clothing. In addition, the safety regulations of the relevant
trade associations are to be observed.

The motor units, the hydropneumatic counterbalancing system and the robot wrist
are liable to reach operating temperatures which may result in burns. Work must
not be carried out on these components until they have cooled down sufficiently.

5.1

Mains connection conditions

The mains connection conditions specified by KUKA in respect of conductor cross--sections,
fuses, voltage and frequency must be adhered to. The pertinent regulations of the power
utilities concerned must be observed.

5.2

Transportation
The prescribed transport positions for the robot must be observed. All angle specifications
are referred to the mechanical zero of the robot axis concerned.
If fork slots are installed on the robots base frame, the forks of the fork lift truck
must be placed in these slots. In this case, it is forbidden to pick up the robot in any
other way using a fork lift truck!
When being exchanged, individual parts and larger assemblies are to be fastened with care
to the lifting gear and secured so that they do not constitute a hazard. Only suitable and
technically faultless lifting gear and load--bearing equipment with an adequate carrying
capacity may be used.
Do not work or stand under suspended loads!
The fastening of loads and the instructing of crane operators should be entrusted to experienced persons only. The marshaller giving the instructions must be within sight or sound of
the operator.

5.3

Protection from dirt and UV radiation

No welding may be carried out in the immediate vicinity of the open control cabinet
due to, amongst other factors, the risk of EPROMs being erased by UV radiation.
Foreign matter (e.g. swarf, water, dust) must be prevented from entering the control
cabinet. If a particularly large amount of dirt or dust is created during the installation
phase, the control cabinet and robot must be covered.

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General

5.4

Start--up
It must be ensured that all safety devices, limit switches and other protective measures are
installed completely and functioning correctly before the robot system is started up. The
system elements of the robot and the control cabinet must be checked for foreign bodies.
No persons or objects may be in the danger zone (work envelope of the robot) during the
start--up procedure. It must be ensured that the correct machine data have been loaded
before the system is put into operation for the first time.
In order to comply with protection classification IP54, the control cabinet must only be
operated with all of the provided cover plates for devices and options which are not present
(e.g. connectors, converters, disk drives).

5.5

Software
Special software has been developed for the control computer. The software
detects most incorrect entries and operator errors. For further information refer to
the relevant parts of these operating instructions.
The hardware and software supplied have been checked for viruses. It is the users responsibility to make sure that the latest virus scanner is always used. Relevant details can be found
in the Chapter Running Up / Shutting Down the Controller.

5.6

Operation
All safety regulations must be adhered to while the robot system is in operation. No changes
may be made to safety measures or equipment. In the event of a malfunction, the robot must
be switched off immediately. Until the fault has been eliminated, measures must be taken
to prevent unauthorized start--up and to preclude any danger to persons or objects.
Appropriate records are to be kept of malfunctions, their causes and the remedial action
taken.
Check the robot system at least once per working shift for obvious damage and defects.
Report any changes, including changes in the robot systems working behavior to the
competent department or person immediately. If necessary, stop the robot immediately and
lock it!

5.7

Shut--down
Before any exchange, adjustment, maintenance or repair work is carried out, the robot
system must be shut down as specified in these operating instructions and precautions must
be taken to prevent unauthorized start--up (e.g. padlock, keyswitch). If it is absolutely
essential for the robot to be moved during certain activities, special attention must be paid
to the relevant remarks in Section 3.2.
It is important to be prepared for possible movements of the robot even after the controller
has been switched off and locked.

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5.8

Installation, operation and other work (continued)

Additional remarks
Always tighten any screwed connections that have been loosened during maintenance and
repair as specified.
When carrying out overhead work always use safety--oriented ladders and working platforms. Never use the robot or the control cabinet as a climbing aid.
Ensure that all consumables, auxiliary substances and replaced parts are disposed of safely
and with minimum environmental impact!

5.9

Safety instruction
The personnel responsible for installation, exchange, adjustment, operation, maintenance
and repair must be instructed before any work is commenced in the type of work involved
and what exactly it entails as well as any hazards which may exist. Records are to be kept
of the content and extent of the instruction.
The above--mentioned personnel must be instructed orally every six months and in writing
every two years with regard to the observance of safety regulations and precautions. The
instruction may be carried out by safety officers of the user and/or within the framework of
the KUKA training program. Instruction is also required after particular incidents or technical
modifications.

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General

Safety labelling

6.1

General
Identification plates, warning labels and safety symbols are attached to the robot and to the
inside and outside of the control cabinet. The connecting cables between the robot and the
control cabinet as well as electric cables and other lines both in and on the robot and control
cabinet are provided with designation labels, many also with position marks.
All of these plates, labels, symbols and marks constitute safety--relevant parts of the robot
system. They must remain attached to the robot or control cabinet concerned for the whole
of their service lives in their specified, clearly visible positions.

It is forbidden
to remove, cover, obliterate, paint over or alter in any other way detracting from
their clear visibility
-- identification plates,
-- warning labels,
-- safety symbols,
-- designation labels and
-- cable marks.

6.2

Robot
See robot Doc. Module Technical Data.

6.3

Control cabinet
See control cabinet Doc. Module Maintenance / Repair.

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ESD directives

7.1

General

ESD directives

The ESD regulations (ESD: electrostatic sensitive devices) must be observed at all times
when handling modules for use in the KR C.... These modules are fitted with high--quality
components and are very sensitive to electrostatic discharges (e.s.d.).
Partly through friction (triboelectricity) and partly through electrostatic induction, it is not rare
for objects, or even people under certain environmental conditions, to become charged to
very high voltages, up to several thousand volts.
The most common kind of electrostatic charging is caused by friction. This effect is
particularly encouraged by the combination of synthetic fibers and dry air and occurs as a
result of two fabrics with different dielectric constants rubbing together. This charges the
materials, i.e. one material gives electrons to the other, resulting in an accumulation of
charge carriers of one particular polarity. The same effect can also occur in people. Moving
in a dry atmosphere with well--insulated shoes on a synthetic carpet, you can build up a
charge of up to approximately 15 kV.
Even a fraction of this voltage (although imperceptible to a person) is enough to destroy
ESDs. It is possible to see from the following table that the voltage endurance of modern
semiconductor components, compared with the voltages which arise through electrostatic
charging, is alarmingly low.

U/kV

e.g. offices without humidity regulation

(in winter)
synthetic

Element
MOSFET

Voltage

EPROM
JFET
OP amplifiers
CMOS

wool
anti--static

Schottky diodes
Thick/thin--film circuits
Bipolar transistors

Relative air humidity

a) average values for electrical voltages
to which a person can be charged

Schottky TTL

b) e.s.d. vulnerability of semiconductor

elements

Fig. 1 Electrostatic charges in people and e.s.d. vulnerability of semiconductors

Furthermore, as well as causing complete failure of components, e.s.d. can also be responsible for partial damage to an IC or component, which in turn reduces service life or leads to
sporadic faults of parts which are still, for the time being, able to function.

For these reasons, not only new modules, but also defective modules,
must be handled very carefully in a way suitable for ESDs.

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General

7.1.1

Handling ESD modules

G Components should only be unpacked and touched if
-- you are wearing ESD shoes or ESD shoe grounding strips, or
-- you are constantly grounded by means of an ESD armband through a 1 M protective
resistor
G Before touching an electronic module you should discharge the voltage from your own
body (by touching a grounded, electroconductive object)
G Surroundings: antistatic table surfaces, conductive floor coverings, high relative air
humidity, grounded tables and chairs (through 1 M protective resistor)
G Electronic modules must not be brought near VDUs, monitors or television sets
G Modules may only be measured if
-- the measuring instrument is grounded (e.g. by means of a protective conductor) or
-- before measuring with a potential--free measuring instrument, the measuring head is
briefly discharged (e.g. touched against an uncoated metallic section of the controller
casing).
G Only unpack and touch electronic components if it is absolutely necessary.
The best protection against the effects of electrostatic discharges is not letting these charges
build up in the first place. For this reason, the grounding of all possible electric potential
carriers is absolutely vital for the optimal handling of ESDs (see diagram).

Module

Work surface
(conductive)

Person

Module
packaging

Instruments,
tools

R: protective resistor 1 MOhm

Fig. 2 Handling ESD modules

7.1.2

Packaging suitable for ESDs

When packaging ESD modules and components, care should always be taken to use only
conductive and antistatic packaging materials, e.g. metallized or graphite--containing packaging, antistatic plastic bags, etc.
1

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Index

External EMERGENCY STOP, 11

Acceleration, 13
Accessories, 10
Adaptation, 8, 17
Additional equipment, 10, 17
Adjustment, 8
Adjustment work, 20
Auxiliary substances, 21

External enabling switch, 11

F
Fatal accident, 7
Feed devices, 10
Fixed safety devices, 13
Flash point, 16

C
Carrying capacity, 19
Clothing, 19
Collision protection, 18
Connecting cables, 5, 17, 22
Connection conditions, 19
Connection of gate position, 13
Construction, 13
Control cabinet, 5
Conversion, 10
Conveyor, 10, 18
Counterbalancing system, 9, 19
Cross--sections, 19

Foreign bodies, 20
Foreign matter, 19
Fork lift truck, 19
Foundations, 13
Frequency, 19
Fuses, 19

G
General accident prevention rules, 18
Gripper, 10
Guard interlock (operator safety), 12

D
Damage to the robot system, 7
Danger, 8
Danger zones, 8
Defects, 20
Designated use, 6
Designation labels, 22

I
Identification plates, 22
Ignition temperature, 16
Improper use, 5
Indications of danger, 8
Industrial robot, 5

Injury, 7
EC low voltage directive, 5
EC machinery directives, 5
Electromagnetic compatibility, 5
Emergency axis override device, 12
EMERGENCY STOP, 8, 11, 13, 18
EMERGENCY STOP circuit, 18
Employment for a purpose other than the
intended one, 5
Enabling switches, 11
EPROMs, 19
ESD directives, 23
Exchange, 8
Exchange work, 20
Explosion class, 16
Explosion protection zone 2, 16

Installation, 8, 19
Installation site, 17
Interface characteristics, 18

L
LEL, 16
Liability, 5
Lifting gear, 19
Light barriers, 13
Light curtains, 13, 18
Light zone scanners, 13
Load ratings, 13
Index -- i

Index

M
Main switch, 9
Maintenance, 8
Maintenance cycles, 11
Maintenance specifications, 6
Maintenance work, 20
Manual traversing speed, 10
Manufacturers declaration, 5, 6
Modification, 10

Robot, 5
Robot system, 5

S
Safety, 8
Safety equipment, 9, 20
Safety fences, 13
Safety footwear, 19
Safety functions, 11
Safety instruction, 21
Safety labelling, 22
Safety mats, 18
Safety measures, 9, 20
Safety regulations, 8, 18, 20
Safety symbols, 7, 22
Safety zones, 13
Safety--oriented, 21
Screwed connections, 21
Sensor--assisted operation, 10
Serial numbers, 6
Shut--down, 20
Signs, 8
Skilled electrician, 9
Software, 20
Start--up, 6, 20
Substructures, 13
Suspended loads, 19

O
Observance, 7
Operating environment, 16
Operating instructions, 5
Operating media, 10
Operation, 8, 17, 19, 20
Operation in potentially explosive areas, 16

P
Padlock, 9
Paint markings, 8
Particular safety measures, 9
Parts catalog, 10
Payload, 10
Personal protection, 19
Planning and construction, 13
Plates, 22
Position marks, 22
Potentially explosive areas, 16
Power supply, 17
Presetting of outputs, 18
Protection from dirt and UV radiation, 19
Protection zone 2, 16
Protective barriers, 13
Protective clothing, 19

T
T3, 16
Technical Data, 6
Temperature class, 16
Tool change, 18
Torques, 13
Trade associations, 19
Transport positions, 19
Transportation, 19

R
Range limit switches, 18
Regulations, 18
Repair work, 20
Replaced parts, 21
Requirements concerning the safety of
industrial robots, 8
Responsibility for the fitting, 17
Restricted envelope working space limitation,
11
Risk to life and limb, 5

U
UEL, 16
UV radiation, 19

V
Viruses, 20
Visual contact, 10
Voltage, 19
Index -- ii

Index

W
Warning labels, 22
Warning remarks, 10
Weights, 13
Working platforms, 21
Working range limitation, 13
Working range monitoring, 17
Working zones, 13

Index -- iii