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Commissioning
Bosch Rexroth AG, APAS assistant K1100-10i V01.00.00 - V01.00.99, 3 842 565 050/2019-11
7 Commissioning
The following work is part of the scope of delivery and/or the condition as delivered
and has been performed by Bosch Rexroth:
• Commissioning of the machine data configuration
• Definition of the hardware options
• Definition of the security ID of the PROFINET device
• Definition of the software limit switches
• Definition of long texts for the inputs and outputs of the APAS system
• Setup of the KLI interface
• Setup of the security configuration (password is provided separately upon delivery)
Modifications applied by the integrator are his/her responsibility! Settings
reserved for the APAS assistant must not be changed and must be reset to the
specified values prior to the release of the application.
The integrator must comply with the following requirements:
• Preparation of the application-specific risk assessment
• Electrical testing as per EN 60204 following the integration
• Release of the application by the competent safety specialist
• The product is not damaged.
7.1 Setting up the sensor skin
A requirement for the setup and maintenance of the sensor skin is the
participation in the advanced course "Sensor skin maintenance"
[BCI-SP-AP015] by the BCI Training Center or personal instruction recognized
as equivalent by the manufacturer.
Application-specific parametrization of the sensor skin is performed with the
diagnosis software Sensorskin Monitor V1.3.2.0 or higher. A profile in the
diagnosis software with the correct total number of sensor elements must
be used for the parametrization. The result of the parametrization must be
verified and documented with the functional test integrated into the diagnosis
software. The documentation report must be retained.
Make sure that parametrization of all sensors is performed in such a way that the
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robot will safely stop when someone or something comes close to the robot.
Observe the effective range of the sensor skin during setup.
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Use the provided training document to set up the sensor skin.
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Following parametrization, check if all sensors are fully functional (functional test)
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and if the specified switching distances of the sensor skin are met (range test).
Use suitable test equipment for this and document the results of the test.
7.2 Commissioning robot and controller
Observe the information in the vendor documentation installation and
operating instructions KUKA.SafeOperation 3.4 V6 of KUKA Roboter GmbH.
Perform adjustment referencing of the axes one to five.
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