庫卡KUKA機器人資料safety-general-en

GeneralrobotsafetySafetyfirst!12/20051safety_general_en.pptLiabilityTherobotsystemisbuiltusingstate-of-the-arttechnologyandinaccordancewiththerecognizedsafetyrules.

Nevertheless,improperuseoftherobotsystemoritsemploymentforapurposeotherthantheintendedonemaycausedangertolifeandlimbordamagetomaterialproperty.Therobotsystemmayonlybeusedintechnicallyperfectconditioninaccordancewithitsdesignateduseandonlybysafety-consciouspersonswhoarefullyawareoftherisksinvolvedinitsoperation.

Anyfunctionaldisordersaffectingthesafetyoftherobotsystemmustberectifiedimmediately.TherobotsystemisdesignedtocomplywiththeECMachineryDirectiveandassociatedstandards.

Theseinclude,forexample,EN775,theEuropeannormforthesafetyofindustrialrobots.Therobotisalwaysstrongerthanyou!12/20052safety_general_en.pptDesignateduseTherobotsystemisdesignedexclusivelyforthespecified

applications.

ApplicationsfortheKR150(Series2000)include:SpotweldingHandlingAssemblyApplicationofadhesives,sealantsandpreservativesMachiningMIG/MAGweldingYAGlaserbeamwelding.12/20053safety_general_en.pptDesignateduseUsingthesystemforanypurposeotherthanoradditionaltothatdescribedaboveisconsideredcontrarytoitsdesignateduse.

Themanufacturercannotbeheldliableforanydamageresultingfromsuchuse.

Theriskliesentirelywiththeuser.Operatingtherobotsystemwithinthelimitsofitsdesignatedusealsoinvolvescontinuousobservanceoftheseoperatinginstructionswithparticularreferencetothemaintenancespecifications.12/20054safety_general_en.pptSafetysymbolsThissymbolisusedwherefailuretofullyandaccuratelyobserveoperatinginstructions,workinstructions,prescribedsequencesandthelikecouldresultininjuryorafatalaccident.Thissymbolisusedwherefailuretofullyandaccuratelyobserveoperatinginstructions,workinstructions,prescribedsequencesandthelikecouldresultindamagetotherobotsystem.Thissymbolisusedtodrawattentiontoaparticularfeature.

Observanceofthenotewillgenerallyresultinfacilitationoftheworkconcerned.12/20055safety_general_en.pptGeneralsafetyregulationsImproperuseoftherobotsystemoritsemploymentforapurposeotherthantheintendedonemaycausedangertolifeandlimbdangertotherobotsystemandotherassetsoftheuseranddangertotheefficientworkingoftherobotsystemoritsoperator.Everypersoninvolvedwiththerobotsystemmusthavereadandunderstoodtheseoperatinginstructions,particularlythe“Safety”

chapter,payingspecialattentiontothepassagesmarkedwiththewarningsymbol.12/20056safety_general_en.pptSafetyregulations-PersonnelInstallation,exchange,adjustment,operation,maintenanceandrepairmustbeperformedonlyasspecifiedintheseoperatinginstructionsandonlybypersonnelspeciallytrainedforthispurpose.Theuserisrecommendedtohavepersonnelassignedforthisworkcompleteanapplication-specificKUKAtrainingcourse.Theuserandoperatingpersonnelmustensurethatonlyauthorizedpersonnelarepermittedtoworkontherobotsystem.Theusermustclearlysetoutwhattheresponsibilitiesofoperatingpersonnelactuallyentailandgivethemtheauthoritytorefusetocarryoutinstructionsfromthirdpartieswhicharecontrarytosafetyprocedures.12/20057safety_general_en.pptSafetyregulations-UserTheresponsibilitiesinvolvedinoperationoftherobotsystemandinallotherworkperformedontherobotsystemorinitsimmediatevicinitymustbeclearlydefinedandobservedbytheuserinordertopreventanyuncertaintyregardingspheresofcompetenceinmattersofsafety.Theusershouldcheckatspecificintervalsselectedathisowndiscretionthatthepersonnelattendtotheirworkinasafety-consciousmanner,arefullyawareoftherisksinvolvedduringoperationandobservetheseoperatinginstructions.Donotallowpersonneltobetrainedorinstructedorpersonneltakingpartinageneraltrainingcoursetoworkonorwiththerobotsystemwithoutbeingpermanentlysupervisedbyanexperiencedperson.12/20058safety_general_en.pptSafetyregulations-OperatingpersonnelTheoperatingpersonnelareobligedtoinformtheuserimmediatelyofanychangestotherobotsystemwhichimpairitssafety.Theusermustensurethattherobotsystemisonlyeveroperatedinfaultlesscondition.12/20059safety_general_en.pptSafetyregulations-DangerareaWhenworkiscarriedoutinthedangerzoneoftherobot,thelattermayonly,ifabsolutelyessential,beoperatedatjogvelocityatthemost.Allpersonssituatedintheenvironmentoftherobotmustbeinformedingoodtimethattherobotisabouttomove.Whereverpossible,onlyonepersonshouldworkinthedangerzoneoftherobotatanytime.12/200510safety_general_en.pptSafetyregulations-DangerareaInsensor-assistedoperation,therobotisliabletoperformunexpectedmovementsandpathcorrectionsifthemainswitchonthecontrolcabinethasnotbeenturnedto“OFF”.Dueregardmustbepaidtohazardsposedbytheperipheralsystemcomponentsoftherobotsuchasgrippers,conveyors,feeddevicesorotherrobotsinamulti-robotsystem.12/200511safety_general_en.pptSafetymeasures-SafetyequipmentNofunctionalsafetyequipmentmaybedismantledortakenoutofoperationifthiswoulddirectlyorindirectlyaffecttherobotsystemandifexchange,adjustment,maintenanceorrepairiscarriedoutontherobotsystem.Ifitisnecessaryforsuchsafetyequipmentneverthelesstobedismantledduringtheabove-mentionedwork,theoverallinstallationintowhichtherobotsystemisintegratedmustbeshutdownintheexactmannerspecifiedintheoperatinginstructionsconcerned,andmeasuresmustbetakentopreventunintentionalorunauthorizedstart-up.12/200512safety_general_en.pptInstalledequipment,attachmentsandconversionAnyunauthorizedconversionormodificationoftherobotsystemisnotallowed.Nocustomer-specificequipmentmaybeinstalledwithouttheapprovalofthesalesrepresentativeofKUKARoboterGmbHresponsibleforyoursystem.Themaintenancecyclesprescribedintheseoperatinginstructionsmustbeadheredto.12/200513safety_general_en.pptSafetyfeaturesoftherobotsystem:

EmergencyStopbuttonEmergencyStopbuttonWhentriggeredinthetestmodes(T1orT2),theEMERGENCYSTOPfunctioncausespath-orientedbraking.

Intheautomaticmodes,anEmergencyStopcausespath-maintainingbraking.12/200514safety_general_en.pptSafetyfeaturesoftherobotsystem:

EnablingswitchesThethreethree-positionenablingswitchesontheKUKAControlPanel(KCP)EnablingswitchesAnyoftheenablingswitchescanbeusedtoswitchonthedrivesinmodeT1orT2.

Thisrequirestheswitchtobeheldinthemiddlepositionandtobekeptthereforthepurposeofmovingtherobot.

Releasingtheswitchorpressingitfullydowntriggerspath-orientedbraking.12/200515safety_general_en.pptSafetyfeaturesoftherobotsystem:

JogmodeInjogmode,allprogramscanbeexecutedmanuallyinthetestmodesatreducedvelocity.

However,programexecutionisonlypossibleaslongasthe“Start”keyishelddown.

Ifthe“Start”keyisreleased,therobotstopswithramp-downbraking.

Theprogramcanonlybecontinuedbypressingthe“Start”keyagain.“Start”keys12/200516safety_general_en.pptSafetyfeaturesoftherobotsystem:

OperatorsafetyOperatorsafetyIntheautomaticmodes,openingasafetygatewhiletherobotprogramisrunningcausespath-maintainingbraking.

InAutomaticmode,thedrivesarepreventedfrombeingswitchedonuntiltheconnectedguardisclosed.

OperatorsafetyhasnoeffectinTestmode.12/200517safety_general_en.pptKRC2braking

reactionsTermDrivesBrakesSoftwarePath-maintaining

brakingSwitchedoffafter

1s

hardwaredelayApplied

after

1sInthistimethecontrollerbrakestherobotonthepathusingasteeperstopramp.Path-

oriented

brakingSwitchedoff

immediatelyApplied

immediatelyThecontrollerattemptstobraketherobotonthepathwiththeremainingenergy.Ifthevoltageisnolongersufficient,therobotleavestheprogrammedpath.Ramp-

down

brakingRemainonRemaindisengagedNormalrampwhichisalsousedforaccelerationanddeceleration.VVt12/200518safety_general_en.pptReleasedeviceforrobotaxesTherobotcanbemovedafteramalfunctionviathemainaxisdrivemotorsand,dependingonthetypeofrobot,alsoviathewristaxisdrivemotorsinsomeinstances.

Thereleasedevicemayonlybeusedinexceptionalcircumstancesoremergencies.Thereleasedevicemayonlybeusediftherobotcontrolcabinethasbeenswitchedoff.Ifarobotaxishasbeenmovedbythereleasedevice,allrobotaxesmustberemastered.Themotorsreachtemperaturesduringoperationwhichcancauseburnstotheskin.

Appropriatesafetyprecautionsmustbetaken.12/200519safety_general_en.pptReleasedeviceforrobotaxesTherobotmayonlybemovedmanuallyusingthe(optional)releasedevicesuppliedbyKUKARoboterGmbH.

Thereleasedeviceispushedontotheaxleofthemotor(removeprotectivecap),whichcanthenbeturned.

Itisnecessarytoovercometheresistanceofthemechanicalmotorbrakeandanyotherloadsactingontheaxis.

Puttheprotectivecapbackonaftertheoperation.Axis2releasedevice12/200520safety_general_en.pptSafetylabelingAllplates,labels,symbolsandmarksconstitute

safety-relevantpartsoftherobots