KUKA TouchSense 1.3操作手册翻译：针对KUKA System Software 5.2-5.6

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"TouchSense_en.pdf"文档是库卡(KUKA)公司发布的一款名为KUKA.TouchSense 1.3的触觉传感器技术手册，适用于KUKA System Software 5.2、5.3、5.4、5.5和5.6版本。该文档发行日期为2009年6月26日，由KUKA Roboter GmbH和KUKA System Technology部门提供。版权归属于KUKA Roboter GmbH，地址位于德国奥格斯堡的Zugspitzstraße 140。这份技术文档详细介绍了如何在库卡机器人系统中集成和使用TouchSense 1.3功能，它旨在增强人机交互和机器感知能力。用户手册涵盖了安装、配置、操作以及可能存在的功能特性。由于是针对特定软件版本编写的，因此只有与指定的软件兼容时才能确保完全有效。值得注意的是，虽然文档声称已经过检查以符合硬件和软件描述，但并不能排除所有潜在的不一致，因此KUKA Roboter GmbH并不保证完全符合性。文档内容会定期更新，以反映必要的修正和改进。同时，该文档提及的其他未在其中详细描述的功能可能是可操作的，但在没有明确说明的情况下，用户不应依赖这些额外功能，尤其是在更换或服务工作中。此外，未经KUKA Roboter GmbH的明确许可，不得复制或向第三方透露这份文档的内容。这体现了库卡公司对知识产权的保护和对用户责任的强调。整个文档包括了79页，翻译自原始操作指南，说明其不仅限于技术规格，也包含了实际操作指导。 "TouchSense_en.pdf"文档是库卡机器人系统中一款关键的触觉感知工具的用户参考，对于理解其工作原理、优化机器人性能和避免潜在问题具有重要意义。

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3. Safety

3 Safety

3.1 General

3.1.1 Liability

The device described in these operating instructions is an industrial robot –

called “robot system” in the following text – consisting of:

 Robot

 Robot controller

 Teach pendant

 Connecting cables

 External axes, e.g. linear unit, two-axis positioner, positioner (optional)

 Top-mounted cabinet (optional)

 Software

 Options, accessories

The robot system is built using state-of-the-art technology and in accordance

with the recognized safety rules. Nevertheless, impermissible misuse of the

robot system may constitute a risk to life and limb or cause damage to the ro-

bot system and to other material property.

The robot system may only be used in perfect technical condition in accord-

ance 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 sub-

ject to compliance with these operating instructions and with the declaration of

incorporation supplied together with the robot system. Any functional disor-

ders affecting the safety of the robot system must be rectified immediately.

Safety infor-

mation

Safety information cannot be held against KUKA Roboter GmbH. Even if all

safety instructions are followed, this is not a guarantee that the robot system

will not cause personal injuries or material damage.

No modifications may be carried out to the robot system without the authori-

zation of KUKA Roboter GmbH. Additional components (tools, software, etc.),

not supplied by KUKA Roboter GmbH, may be integrated into the robot sys-

tem. The user is liable for any damage these components may cause to the

robot system or to other material property.

In addition to the Safety chapter, the operating instructions contain further

safety instructions. These must be observed.

3.1.2 Representation of warnings and notes

Safety Warnings marked with this pictogram are relevant to safety and must be ob-

served.

Danger!

This warning means that death, severe physical injury or substantial material

damage will occur, if no precautions are taken.

Warning!

This warning means that death, severe physical injury or substantial material

damage may occur, if no precautions are taken.

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KUKA.TouchSense 1.3

Notes Notes marked with this pictogram contain tips to make your work easier or ref-

erences to further information.

3.1.3 Designated use of the robot system

The robot system is designed exclusively for the specified applications.

Using the system for any other or additional purpose is considered impermis-

sible misuse. The manufacturer cannot be held liable for any damage resulting

from such use. The risk lies entirely with the user.

Operating the robot system and its options within the limits of its designated

use also involves continuous observance of the operating instructions with

particular reference to the maintenance specifications.

Impermissible

misuse

Any use or application deviating from the designated use is deemed to be im-

permissible misuse; examples of such misuse include:

 Transportation of persons and animals

 Use as a climbing aid

 Operation outside the permissible operating parameters

 Use in potentially explosive environments

3.1.4 EC declaration of conformity and declaration of incorporation

This robot system is a partial or incomplete machine as defined by the EC Ma-

chinery Directive. The robot system may only be put into operation if the fol-

lowing preconditions are met:

 The robot system is integrated into an overall system.

Or: The robot system, together with other machines, constitutes an overall

system.

Or: All safety equipment and safeguards required for operation in the over-

all system as defined by the EC Machinery Directive have been added to

the robot system.

 The overall system complies with the EC Machinery Directive. This has

been confirmed by means of an assessment of conformity.

Declaration of

conformity

The system integrator must issue a declaration of conformity for the overall

system in accordance with the Machinery Directive. The declaration of con-

formity forms the basis for the CE mark for the system. The robot system must

be operated in accordance with the applicable national laws, regulations and

standards.

The robot controller is CE certified under the EMC Directive and the Low Volt-

age Directive.

Caution!

This warning means that minor physical injuries or minor material damage

may occur, if no precautions are taken.

Tips to make your work easier or references to further information.

Further information is contained in the technical data of the operating instruc-

tions for the robot system and its options.

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KUKA.TouchSense 1.3

3.2 Personnel

The following persons or groups of persons are defined for the robot system:

 User

 Personnel

User The user must observe the labor laws and regulations. This includes e.g.:

 The user must comply with his monitoring obligations.

 The user must carry out instruction at defined intervals.

Personnel Personnel 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 ex-

ist. Instruction must be repeated after particular incidents or technical modifi-

cations.

Personnel includes:

 System integrator

 Operators, subdivided into:

 Start-up, maintenance and service personnel

 Operating personnel

 Cleaning personnel

Workspace The robot is allowed to move within its workspace. The workspace is

derived from the individual axis ranges.

Operator

(User)

The user of the robot system can be the management, employer or del-

egated person responsible for use of the robot system.

Danger zone The danger zone consists of the workspace and the stopping distances.

KCP The KCP (KUKA Control Panel) teach pendant has all the operator con-

trol and display functions required for operating and programming the

robot system.

Robot system The robot system consists of the robot controller and robot, together

with any options (e.g. KUKA linear unit, two-axis positioner, other posi-

tioner, top-mounted cabinet).

Safety zone The safety zone is situated outside the danger zone.

Stop category 0 The drives are deactivated immediately and the brakes are applied. The

robot and any external axes (optional) perform path-oriented braking.

Note: This stop category is called STOP 0 in this document.

Stop category 1 The robot and any external axes (optional) brake with path-maintaining

braking. The drives are deactivated after 1 s and the brakes are applied.

Note: This stop category is called STOP 1 in this document.

Stop category 2 The drives are not deactivated and the brakes are not applied. The robot

and any external axes (optional) are braked with a normal braking ramp.

Note: This stop category is called STOP 2 in this document.

System integrator

(plant integrator)

System integrators are people who safely integrate the robot system

into a plant and commission it.

T1 Test mode, Manual Reduced Velocity (<= 250 mm/s)

T2 Test mode, Manual High Velocity (> 250 mm/s permissible)

External axis Motion axis which is not part of the robot but which is controlled using

the robot controller, e.g. KUKA linear unit, two-axis positioner, Posiflex

Term Description

All persons working with the robot system must have read and understood

the robot system documentation, including the safety chapter.

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