库卡KUKA机器人资料safety-college-en

SafetyinstructionsforKUKAtrainingcells12/20051safety_college_en.pptProgrammingofrobotsWheneverpossible,programmingmustbecarriedoutwithallpersonsoutsidetheareadelimitedbysafeguards.Ifitisnecessarytocarryoutprogrammingwithpersonnelinsidethesafeguardedzone,thesafeguards(e.g.doorinterlock,non-contactsafeguard)maybedisabledbyselectingoperatingmodesinaccordancewith6.10(Modeselectionfacilities)ontheconditionthatadditionaltechnicalsafeguardsareprovidedasdescribedbelow.(SeeDINEN775–8.3ff)DINEN775-8.3:Programming12/20052safety_college_en.pptTestingrobotprogramsWhentestingprogramsatKUKACollege,alwaysexecutetheprogramin“T1”modefirstandthenin“T2”modeatreducedvelocity.

Allpersonsmustbeoutsidethecell!If,aspartofthetestprocedure,itisnecessarytocheckthereactionsoftherobotsystemtotheapplicationprogrambymeansofavisualinspection,thisshouldbecarriedoutwithallpersons

outsidetheareadelimitedbysafeguards.

Ifitisnecessarytotestprogramswithpersonnelinsidethesafeguardedarea,thenthefollowingapplies.Thetestingmustbecarriedoutfirstatreducedvelocity.

Thestipulationsin8.3(Programming)apply,unlessmotioncontrolrequiresonlyjogkeysoranenablingswitch.DINEN775-8.5:Testing12/20053safety_college_en.pptExceptionaloperatingmode“T2”fortestingrobotprogramsDuringprogramexecutionatKUKACollegein“T2”mode,nopersonsarepermittedinthecellandthegatetothecellmustremainclosed.DINEN775-8.5:TestingIfitisnecessarytotesttherobotmotionatfullworkingvelocity,thefollowingrequirementsmustbemet:Cancellationofthereducedvelocityusingfacilitiesthatrequireaconsciousactiononlyonthepartoftheprogrammer(e.g.useofakeyswitch).Anenablingswitchoradeviceprovidinganequivalentlevelofsafetymustbeusedbythepersonnelinsidethesafeguardedarea.Safeworkingproceduresmustbedefinedinordertominimizetheexposuretodangerofthepersonnelinsidethesafeguardedarea.TT12/20054safety_college_en.pptSafetyinstructionsforKUKAtrainingcellsAsageneralrule,enteringthemotionrangeoftherobotisonlypermittedwiththerobotoperatedin“T1”mode(atreducedvelocity)usingaKCP.Allpersonssituatedintheenvironmentoftherobot(atitsownoradjacentcells)mustbeinformedingoodtimethattherobotisabouttomove.Onleavingthetrainingcell,presstheEMERGENCYSTOPbuttonontheKCP,setoperatingmode“T1”andsecuretheKCPinitsholder.12/20055safety_college_en.pptSafetyinstructionsforKUKAtrainingcellsTherobotanditstoolingmustnevertouchorprojectbeyondthesafetyfence.Warning:memorydumpsfromKUKACollegemustnotbeloadedintomanufacturingsystems.ParticipantshavetofollowtheinstructionsofthetrainerParticipantshavetofollowallwarningandinformationsigns12/20056safety_college_en.pptSafetyinstructionsforKUKAtrainingcellsWarningwhenworkingwiththegrippersystematKUKACollege:Failuretoobservethesafetyregulationswhenworkingwiththegrippersystemmayresultincrushingandcutting!Onlythepersonoperatingthegrippermaymovethecubetothegripper.12/20057safety_college_en.pptSafetyinstructionsforKUKAtrainingcellsThefollowingadditionalrulesapplyforexternalaxes:FollowingaResetorBlockselection,thesystemmustbeswitchedto“T1”modeinordertopreventcollisionsbetween