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3 / 57Issued: 23.08.2011 Version: Spez KR 5 scara V6 en
Contents
1 Product description ..................................................................................... 5
1.1 Overview of the robot system .................................................................................... 5
1.2 Description of the KR 5 scara robot ........................................................................... 5
2 Technical data .............................................................................................. 7
2.1 Basic data ..................................................................................................................7
2.2 Axis data .................................................................................................................... 8
2.3 Payloads ....................................................................................................................13
2.3.1 Mounting flange (optional) .................................................................................... 15
2.4 Loads acting on the foundation .................................................................................. 15
2.5 Additional data ........................................................................................................... 16
2.6 Plates and labels ........................................................................................................ 17
3 Safety ............................................................................................................ 19
3.1 General ...................................................................................................................... 19
3.1.1 Liability .................................................................................................................. 19
3.1.2 Intended use of the industrial robot ...................................................................... 19
3.1.3 EC declaration of conformity and declaration of incorporation ............................. 20
3.1.4 Terms used ........................................................................................................... 21
3.2 Personnel ...................................................................................................................21
3.3 Workspace, safety zone and danger zone ................................................................. 23
3.4 Triggers for stop reactions ......................................................................................... 23
3.5 Safety functions ......................................................................................................... 24
3.5.1 Overview of safety functions ................................................................................. 24
3.5.2 ESC safety logic ................................................................................................... 24
3.5.3 Mode selector switch ............................................................................................ 25
3.5.4 Operator safety ..................................................................................................... 26
3.5.5 EMERGENCY STOP device ................................................................................ 26
3.5.6 External EMERGENCY STOP device .................................................................. 27
3.5.7 Enabling device .................................................................................................... 27
3.6 Additional protective equipment ................................................................................. 28
3.6.1 Jog mode .............................................................................................................. 28
3.6.2 Software limit switches ......................................................................................... 28
3.6.3 Labeling on the industrial robot ............................................................................. 29
3.6.4 External safeguards .............................................................................................. 29
3.7 Overview of operating modes and safety functions ................................................... 30
3.8 Safety measures ........................................................................................................ 30
3.8.1 General safety measures ...................................................................................... 30
3.8.2 Transportation ....................................................................................................... 31
3.8.3 Start-up and recommissioning .............................................................................. 32
3.8.4 Virus protection and network security ................................................................... 33
3.8.5 Manual mode ........................................................................................................ 33
3.8.6 Simulation ............................................................................................................. 34
3.8.7 Automatic mode .................................................................................................... 34
3.8.8 Maintenance and repair ........................................................................................ 35
3.8.9 Decommissioning, storage and disposal .............................................................. 36
3.8.10 Safety measures for “single point of control” ........................................................ 36
Contents