KST SafeOperation 32 En

 Documents

 18 views
of 205
All materials on our website are shared by users. If you have any questions about copyright issues, please report us to resolve them. We are always happy to assist you.
Description
Manual Kuka Safe Operation.
Share
Tags
Transcript
  KUKA System Technology KUKA.SafeOperation 3.2 For KUKA System Software 8.3Assembly and Operating Instructions KUKA Roboter GmbH Issued: 08.06.2016Version: KST SafeOperation 3.2 V7  KUKA.SafeOp-eration3.2  KUKA.SafeOperation 3.2 2 / 205 Issued: 08.06.2016 Version: KST SafeOperation 3.2 V7 © Copyright 2016KUKA Roboter GmbHZugspitzstraße 140D-86165 AugsburgGermanyThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH.Other functions not described in this documentation may be operable in the controller. The user has no claims 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, how-ever, and necessary corrections will be incorporated in the subsequent edition.Subject to technical alterations without an effect on the function.Translation of the srcinal documentationKIM-PS5-DOCPublication:Pub KST SafeOperation 3.2 (PDF) enBook structure:KST SafeOperation 3.2 V6.2Version:KST SafeOperation 3.2 V7  3 / 205 Issued: 08.06.2016 Version: KST SafeOperation 3.2 V7Contents 1Introduction  ..................................................................................................9 1.1Target group ..............................................................................................................91.2Industrial robot documentation ...................................................................................91.3Representation of warnings and notes ......................................................................91.4Terms used ................................................................................................................10 2Product description  .....................................................................................13 2.1Overview of SafeOperation ........................................................................................132.2Monitoring spaces ......................................................................................................142.2.1Coordinate systems ..............................................................................................162.2.1.1Special cases ...................................................................................................182.2.2Cell area ...............................................................................................................192.2.3Cartesian workspaces ..........................................................................................202.2.4Cartesian protected spaces ..................................................................................212.2.5Axis-specific workspaces ......................................................................................222.2.6Axis-specific protected spaces .............................................................................232.2.7Space-specific velocity .........................................................................................252.2.8Reference stop .....................................................................................................252.3Safe tools ...................................................................................................................262.4Velocity monitoring functions .....................................................................................272.5Safe operational stop for axis groups ........................................................................282.6Reference switch module ...........................................................................................282.7Connecting cables .....................................................................................................29 3Technical data  ..............................................................................................31 3.1Service life .................................................................................................................313.2Reference switch .......................................................................................................313.3Connector pin assignment of reference cable X42-XS Ref  .......................................323.4Circuit digram of reference switch XS Ref  .................................................................333.5Hole pattern for actuating plate ..................................................................................33 4Safety  ............................................................................................................35 4.1General ......................................................................................................................354.1.1Liability ..................................................................................................................354.1.2Intended use of the industrial robot ......................................................................354.1.3EC declaration of conformity and declaration of incorporation .............................364.1.4Terms used ...........................................................................................................364.2Personnel ...................................................................................................................384.3Workspace, safety zone and danger zone .................................................................394.3.1Determining stopping distances ............................................................................394.4Triggers for stop reactions .........................................................................................404.5Safety functions .........................................................................................................404.5.1Overview of the safety functions ...........................................................................404.5.2Safety controller  ....................................................................................................414.5.3Selecting the operating mode ...............................................................................414.5.4“Operator safety” signal ........................................................................................424.5.5EMERGENCY STOP device ................................................................................43 Contents  4 / 205 Issued: 08.06.2016 Version: KST SafeOperation 3.2 V7KUKA.SafeOperation 3.2 4.5.6Logging off from the higher-level safety controller  ................................................434.5.7External EMERGENCY STOP device ..................................................................444.5.8Enabling device ....................................................................................................444.5.9External enabling device ......................................................................................454.5.10External safe operational stop ..............................................................................454.5.11External safety stop 1 and external safety stop 2 .................................................454.5.12Velocity monitoring in T1 ......................................................................................454.6Additional protective equipment ................................................................................454.6.1Jog mode ..............................................................................................................454.6.2Software limit switches .........................................................................................464.6.3Mechanical end stops ...........................................................................................464.6.4Mechanical axis range limitation (optional) ...........................................................464.6.5Axis range monitoring (optional) ...........................................................................464.6.6Options for moving the manipulator without drive energy ....................................474.6.7Labeling on the industrial robot ............................................................................474.6.8External safeguards .............................................................................................474.7Overview of operating modes and safety functions ...................................................484.8Safety measures ........................................................................................................484.8.1General safety measures .....................................................................................484.8.2Transportation ......................................................................................................504.8.3Start-up and recommissioning ..............................................................................504.8.3.1Checking machine data and safety configuration ............................................514.8.3.2Start-up mode ..................................................................................................534.8.4Manual mode ........................................................................................................544.8.5Simulation .............................................................................................................544.8.6Automatic mode ...................................................................................................554.8.7Maintenance and repair  ........................................................................................554.8.8Decommissioning, storage and disposal ..............................................................564.8.9Safety measures for “single point of control” ........................................................564.9Applied norms and regulations ..................................................................................57 5Installation  ....................................................................................................61 5.1System requirements .................................................................................................615.2Installing or updating SafeOperation .........................................................................615.3Uninstalling SafeOperation ........................................................................................62 6Operation  ......................................................................................................63 6.1User groups ...............................................................................................................636.2Opening the safety configuration ...............................................................................636.3Overview of buttons ...................................................................................................636.4Display functions .......................................................................................................646.4.1Displaying information about the safety configuration ..........................................646.4.2Displaying the change log ....................................................................................656.4.3Displaying machine data ......................................................................................656.5Importing the safety configuration (XML import) ........................................................656.6Exporting the safety configuration (XML export) .......................................................676.7Safe robot retraction in case of space violation .........................................................68 7Start-up and configuration  ..........................................................................69
Related Search
We Need Your Support
Thank you for visiting our website and your interest in our free products and services. We are nonprofit website to share and download documents. To the running of this website, we need your help to support us.

Thanks to everyone for your continued support.

No, Thanks