Related Manuals for Kuka Sunrise Cabinet Med
Summary of Contents for Kuka Sunrise Cabinet Med
- Page 1 Controller KUKA Sunrise Cabinet Med Instructions for Use Issued: 26.11.2021 GA KUKA Sunrise Cabinet Med V5 KUKA Deutschland GmbH...
- Page 2 Translation of the original documentation Publication: Pub GA KUKA Sunrise Cabinet Med (PDF) en PB8035 Book structure: GA KUKA Sunrise Cabinet Med V5.1 BS7388 Version: GA KUKA Sunrise Cabinet Med V5 2/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 3: Table Of Contents
Velocity monitoring in T1..................3.5.2.3 Software limit switches..................Service phases of the robot system..............Additional protective equipment................3.7.1 Jog mode....................... 3.7.2 Labeling on the LBR Med..................3.7.3 External safeguards....................Safety measures....................GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 3/114... - Page 4 Installing the robot controller................. Connecting the connecting cables................ Plugging in the KUKA smartPAD................Connecting the PE equipotential bonding............Reversing the battery discharge protection measures......... Configuring and connecting connector X11............4/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
- Page 5 Decommissioning, storage and disposal..........12.1 Decommissioning....................12.2 Storage........................12.3 Disposal......................... Appendix....................107 13.1 Applied standards and directives................KUKA Service................... 109 14.1 Requesting support....................14.2 KUKA Customer Support..................Index GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 5/114...
- Page 6 KUKA Sunrise Cabinet Med 6/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 7: Introduction
This documentation may not be forwarded to the medical product manu- facturer’s customer as Instructions for Use. For optimal use of KUKA products, we recommend the training courses offered by KUKA College. Information about the training program can be found at www.kuka.com or can be obtained directly from our subsidia- ries. -
Page 8: Trademarks
Certified body test certification: CB Test Certificate CBTR Certified body test report: CB Test Report CCU_SR Cabinet Control Unit, Small Robot Cardial Floating CIB_SR Cabinet Interface Board, Small Robot 8/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 9 Control hardware for operating robots. Hereinafter called “robot con- Cabinet troller” in these Instructions for Use. KUKA Sunrise.OS KUKA Sunrise.Operating System System Software for robots which are operated with the robot con- troller KUKA Sunrise Cabinet GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 9/114...
- Page 10 (robot arm and the associated electrical in- stallations), robot controller and connecting cables. Hereinafter also called “robot system” in these Instructions for Use. Identifier for KUKA products that are supplied to medical device manufacturers. ME sytems...
- Page 11 Bus system for connecting additional devices to a computer Tool Applied part or medical instrument mounted on the robot via the media flange. External axis (linear unit, Posiflex) GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 11/114...
- Page 12 KUKA Sunrise Cabinet Med 12/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 13: Product Description
Fig. 2-1: Overview of robot system (LBR Med) Connecting cable to KUKA smartPAD KUKA smartPAD teach pendant Robot Connecting cable to KUKA Sunrise Cabinet Med robot controller KUKA Sunrise Cabinet Med robot controller GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 13/114... -
Page 14: Kuka Sunrise Cabinet Med
KUKA Sunrise Cabinet Med KUKA Sunrise Cabinet Med Overview The KUKA Sunrise Cabinet Med robot controller consists of the following components: • Control PC • smartPAD control panel • Connection panel The robot controller can be installed in a 19" rack. -
Page 15: Control Pc
‒ Teach pendant connected • Power supply fan monitoring • Control box internal temperature • The following components are connected to the KPC via the KUKA Controller Bus: ‒ Power Drive System • The following operator panels and service devices are connected to the control PC via the KUKA System Bus: ‒... -
Page 16: Low-Voltage Power Supply
The batteries are charged via the CCU_SR and the charge is checked and indicated. Description of interfaces Overview The connection panel of the KUKA Sunrise Cabinet Med robot controller consists as standard of connections for the following cables: • Device connection cable • Robot cable •... -
Page 17: Motherboard D3445-K Pc Interfaces
2.7.1 Motherboard D3445-K PC interfaces Overview Fig. 2-4: Motherboard D3445-K interfaces 4 USB 2.0 ports Display port DVI-D GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 17/114... -
Page 18: Cooling
Air inlet Air outlet Intended use The KUKA Sunrise Cabinet Med robot controller is intended solely for op- erating the LBR Med. The KUKA Sunrise Cabinet Med robot controller is integrated into a medical device by a medical device manufacturer. - Page 19 Misuse Any use or application deviating from the intended use is deemed to be misuse and is not allowed. KUKA Deutschland GmbH is not liable for any damage resulting from such misuse. The risk lies entirely with the medical device manufacturer/user.
- Page 20 KUKA Sunrise Cabinet Med 20/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 21: Safety
• Power supply to an applied part via the data cables of the integrated energy supply system (e.g. Power over Ethernet) • Operation by persons without the relevant training GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 21/114... -
Page 22: Cb Test Certificate And Cb Test Report
No modifications may be carried out on the LBR Med without the authori- zation of KUKA Deutschland GmbH. Additional components (tools, soft- ware, etc.) not supplied by KUKA Deutschland GmbH may be integrated into the LBR Med. The user is liable for any damage these components may cause to the LBR Med or to other material property. -
Page 23: Terms In The "Safety" Chapter
Note: This operating mode can only be selected in conjunction with the smartPAD. KUKA smartPAD see “smartPAD” KUKA smartPAD-2 see “smartPAD” Safety zone The safety zone is situated outside the danger zone. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 23/114... - Page 24 Note: With manual guidance in T1, the velocity is not reduced, but rather limited through a safety-oriented velocity monitoring in ac- cordance with the safety configuration. Note: This operating mode can only be selected in conjunction with the smartPAD. 24/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 25: Groups Of Persons
Instruction must be carried out regularly. Instruction is also re- quired after particular incidents or technical modifications. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 25/114... -
Page 26: Workspace, Safety Zone And Danger Zone
If there are no physi- cal safeguards present, the requirements for collaborative operation must be examined and met where applicable in accordance with EN ISO 10218. 26/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 27: Triggers For Safety-Oriented Stop Reactions
“Safety configuration” chapter of the operating and programming in- structions of the system software for system integrators. Permanently defined triggers The following triggers for stop reactions are permanently defined: GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 27/114... -
Page 28: Safety Functions
Safety stop 1 User-specific triggers When creating a new Sunrise project, the system automatically generates a project-specific safety configuration. This contains the following user- specific stop reaction triggers preconfigured by KUKA (in addition to the permanently defined triggers): T1, CRR T2, AUT... -
Page 29: Safety-Oriented Functions
The following safety-oriented functions are preconfigured and can be inte- grated via the safety interface of the robot controller: • Operator safety (= connection for the monitoring of physical safe- guards) GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 29/114... -
Page 30: Emergency Stop Device
The enabling devices of the robot are the enabling switches on the smart- PAD teach pendant as standard. • smartPAD: 3 enabling switches • smartPAD-2: 4 enabling switches The enabling switches have 3 positions: 30/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 31: Operator Safety" Signal
• The robot stops with a safety stop 1 (path-maintaining). By default, operator safety is not active in the modes T1 (Manual Re- duced Velocity) and CRR, i.e. the signal is not evaluated. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 31/114... -
Page 32: External Emergency Stop Device
External safe operational stop The safe operational stop is a standstill monitoring function. It does not stop the robot motion, but monitors whether the robot axes are stationary. 32/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 33: Non-Safety-Oriented Functions
• A position sensor is not mastered or referenced. • An axis torque sensor is not refer- enced. Once the operating mode has been switched to CRR, the robot can be moved again. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 33/114... -
Page 34: Velocity Monitoring In T1
250 mm/s in T1 is not subjected to safety-oriented monitoring. If the application requires safety-oriented velocity monitoring in T1, this can be added in the safety configuration. The safety option KUKA Sun- rise.SafeOperation provides the monitoring function Cartesian velocity monitoring for this purpose. -
Page 35: Additional Protective Equipment
• They must be examined according to requirements and meet EN ISO 14120 where applicable. • They prevent access of persons to the danger zone and cannot be easily circumvented. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 35/114... -
Page 36: Safety Measures
In the absence of operational safety functions or safeguards, the robot can cause death, severe injuries or damage to property. • If safety functions or safeguards are dismantled or deactivated, do not operate the robot. 36/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 37 The correct functioning of all safety functions must also be tested. New or modified programs must always be tested first in Manual Reduced Velocity mode (T1). GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 37/114...
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Page 38: Security
• Eliminate the fault and carry out a function test. 3.8.2 IT security KUKA products must only be used in perfect technical condition in accord- ance with their intended use and only by safety-conscious persons. In particular, safety-conscious use includes being operated in an IT envi- ronment which meets the current security-relevant standards and for which there is an overall concept for IT security. -
Page 39: Start-Up And Recommissioning
The passwords must only be communicated to authorized personnel. Do not impair safety functions Additional components (e.g. cables and hoses) not supplied by KUKA may be integrated into the LBR Med or the medical device. The medical device manufacturer is responsible for ensuring that these components do not impair or disable safety functions. - Page 40 Start-up is incomplete, for example, if not all safety functions have yet been implemented, or if a function test of the safety functions has not yet been carried out. Test of the functional capability of the brakes: 40/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 41: Manual Mode
‒ Eye-contact between all persons must be possible at all times. • The system integrator must be so positioned that he can see into the danger area and get out of harm’s way. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 41/114... -
Page 42: Automatic Mode
• Switch off the LBR Med and secure it (e.g. with a padlock) to prevent it from being switched on again. If it is necessary to carry out work 42/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 43 GmbH must be informed beforehand as to the application for which the LBR Med was used and under what conditions. Information must also be provided as to the possible types of contamination. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 43/114...
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Page 44: Decommissioning, Storage And Disposal
• Suitability of the drape used: For use in a sterile environment, a drape can be used to avoid the risk of contamination and infection. The suitability of the drape used 44/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 45 • Leakage currents in the overall system: The medical product manufacturer must ensure that the limit values for leakage currents are not exceeded. The leakage currents must be GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 45/114...
- Page 46 ‒ Secure communications protocol (CRC, time stamp, packet counter) ‒ Standard protocol for starting, pausing and restarting the appli- cation ‒ Excessive loading of the IT network via network nodes. Possible remedies: 46/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
- Page 47 The medical product manufacturer must evaluate this through its risk management and take the appropriate measures. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 47/114...
- Page 48 KUKA Sunrise Cabinet Med 48/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 49: Technical Data
• up to a maximum of 3000 m above mean sea level with a derating of 5%/1000 m Air pressure during storage and 500 hPa to 1060 hPa transportation GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 49/114... - Page 50 Hard drive KUKA smartPAD Supply voltage 20 … 27.1 V DC Dimensions (WxHxD) approx. 33x26x8 cm Display Touch-sensitive color display 600x800 pixels Display size 8.4" Interfaces Weight 1.1 kg 50/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 51: Cabinet Interface Board, Small Robot
Cable length, terminal - < 50 m, or < 100 m wire length (outgoing sensor and incoming lines) Cable cross-section, test > 0.5 mm output - input connection GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 51/114... -
Page 52: Dimensions
This must be rated for the maximum current of 15 mA. Dimensions The dimensions of the robot controller are indicated in the diagram (>>> Fig. 4-1). Fig. 4-1: Dimensions Top view Side view Front view 52/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 53: Dimensions Of Handle Brackets
Dimensions of the smartPAD holder (optional) The diagram shows the dimensions and drilling locations for mounting on the safety fence. Fig. 4-3: Dimensions and drilling locations for smartPAD holder GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 53/114... -
Page 54: Plates And Labels
KUKA Xpert. Electric shock hazard The Instructions for Use and safety regulations must be read and understood before work is carried out on the robot control- ler. 54/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 55: Reach Duty To Communicate Information Acc. To Art. 33 Of Regulation (Ec) 1907/2006
REACH candidate/SVHC substance name CAS number CR 2032 button cell 1,2-Dimethoxyethane; Ethylene glycol dimeth- 110-71-4 yl ether (EGDME) 2.5 inch SSD hard Silicic acid, lead salt 11120-22-2 drive; SATA GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 55/114... - Page 56 KUKA Sunrise Cabinet Med 56/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 57: Planning
Damage to property due to radio interference If the smartPAD-2 is connected, emissions class B is not achieved. Ra- dio interference can occur during residential use. • Create awareness for the hazard. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 57/114... -
Page 58: Installation Conditions
• In the case of a vertical mounting position of the robot controller, fas- tening by means of screws is required. Fig. 5-1: Dimensions Top view Side view Front view 58/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 59: Connection Conditions
Injuries due to electrical voltage and material damage to the power supply units may result. • Operate the robot controller only on a grounded-neutral power sup- ply system. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 59/114... -
Page 60: Power Supply Connection
3.4 mm clearance, 5.0 mm creepage distance and 3000 V dielectric strength. When connecting devices to the interfaces of the robot controller, the medical product manufacturer must verify compliance with the permissible 60/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 61: Interface X11
In the cabling for the output signals and test signals in the system, suit- able measures must be taken to prevent a cross-connection between the output signals of a channel (e.g. separate cabling). GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 61/114... -
Page 62: X11 Safety Interface
Input 6 A Safe input 6 (CIB_SR.6) Test output B Input 6 B Test output A Input 7 A Safe input 7 (CIB_SR.7) Test output B Input 7 B 62/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 63: Wiring Example For E-Stop Circuit And Safeguard
2 x MOOP for safe isolation according to EN 61010-1. 5.6.1.3 Wiring example for E-STOP circuit and safeguard Description The EMERGENCY STOP devices are connected to X11 in the robot con- troller. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 63/114... -
Page 64: Wiring Example For Safe Inputs And Outputs
The following diagram illustrates the connection of a safe input to a float- ing contact provided by the customer. Fig. 5-5: Connection schematic for safe input 1 Safe input CIB_SR 2 CIB_SR 3 Robot controller 4 Interface X11 64/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 65 Offset between switch-off pulses of both channels (53 ms) TA/A Test output channel A TA/B Test output channel B SIN_X_A Input X, channel A SIN_X_B Input X, channel B GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 65/114...
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Page 66: Kuka Extension Bus X65
The EtherCAT line is routed out of the robot controller. The devices in the EtherCAT line must be configured with WorkVisual and transferred to the controller using Sunrise Workbench. Necessary equipment • RJ45 connector 66/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 67: Kuka Line Interface X66
Interface X66 can also be used for Profinet/ProfiSafe as well as for the Automatic External connection via UDP. Necessary equipment • Connector RJ45 GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 67/114... -
Page 68: X69 Kuka Service Interface
Description Interface X69 is intended for connecting a notebook for the purpose of di- agnosis, WorkVisual configuration, update, etc., via the KSI (KUKA Serv- ice Interface). The service notebook does not have to be connected to the shop network for this. -
Page 69: X55 External Power Supply (Optional)
TFPI_I 5.6.5 X55 External power supply (optional) Description The Sunrise Cabinet Med internally generates a direct voltage of 27 V. An external device can be supplied with the internally generated voltage via the optional connector X55. Necessary equipment • Male insert, HAN 8D Fig. -
Page 70: Pe Equipotential Bonding
2 MOOPs. 5.6.6 PE equipotential bonding Description The robot controller can be grounded by means of the PE equipotential bonding rail at the installation site. 70/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 71: Transportation
• The housing of the robot controller must be closed. • No cables may be connected to the robot controller. Procedure • Transport the robot controller using the carrying handles. Fig. 6-1: Transportation without trolley Carrying handles GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 71/114... - Page 72 KUKA Sunrise Cabinet Med 72/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 73: Start-Up And Recommissioning
Detailed information can be found in the “Safety” chapter. Configure the inputs/outputs between Detailed information can be found in the robot controller and the periphery. the field bus documentation. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 73/114... -
Page 74: Installing The Robot Controller
The following cables may be provided for additional applications: • Peripheral cables Procedure • Plug connecting cable connector X21 into the control box. Connector pin allocation X21 Description 48 V DC out1 48 V DC out2 74/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 75: Plugging In The Kuka Smartpad
TPFO_N TPFI_N Plugging in the KUKA smartPAD Procedure • Plug the KUKA smartPAD into X19 on the robot controller. If the smartPAD is disconnected, an EMERGENCY STOP is triggered. NOTICE Damage to property due to radio interference If the smartPAD-2 is connected, emissions class B is not achieved. Ra- dio interference can occur during residential use. -
Page 76: Configuring And Connecting Connector X11
7.8.1 Connecting the robot controller to the power supply with a mains con- nector Precondition • The robot controller is switched off. • The power cable is de-energized. 76/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 77: Connecting The Robot Controller To The Power Supply Without A Mains Connector
• It must be ensured that no persons or objects are present within the danger zone of the robot. • All safety devices and protective measures are complete and fully functional. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 77/114... - Page 78 The control PC begins to run up (load) the operating system and the control software. Information about operator control of the robot using the smartPAD can be found in the operating and programming instructions for system inte- grators. 78/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 79: Operation
Any use or application deviating from the intended use is deemed to be misuse and is not allowed. It will result in the loss of warranty and liability claims. KUKA is not liable for any damage resulting from such misuse. 8.1.1 smartPAD 8.1.1.1... - Page 80 Space Mouse No function Jog keys The jog keys can be used to move the robot manually. Key for setting the override 80/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
- Page 81 STOP keys: • The current function is displayed next to the key on the smartHMI. • If there is no display, the key is currently without function. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 81/114...
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Page 82: Rear View
The Start key is used to start a program. The Start Start key key is also used to manually address frames and to move the robot back onto the path. 82/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 83: Smartpad-2
6D mouse on the smartPAD-2 has no function. The firmware update for operation with the smartPAD-2 may only be carried out by KUKA Service. This update is only possible from KUKA Sunrise.OS Med 1.15.3 on- wards. 8.1.3 Disconnecting and connecting the smartPAD Description The information is applicable for both the smartPAD and the smartPAD-2. - Page 84 EMERGENCY STOP. Death, injuries or damage to property may result. • Disconnect a non-operational smartPAD and remove it from the sys- tem immediately. 84/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 85: Maintenance
(ESD) Electrostatic discharge during installation or removal work can result in destruction or partial damage to electronic components. • Observe the ESD guidelines. Fig. 9-1: Maintenance points GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 85/114... -
Page 86: Checking Ccu_Sr Relay Outputs
• Actuate the configured function of output 13 (default: Actuate Test mode). Activity Check the function of output 14 (default: “Automatic mode”). Procedure • Actuate the configured function of output 14 (default: Actuate Automat- ic mode). 86/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 87: Cleaning The Robot Controller
2. Clean the housing of the robot controller with a cloth soaked with a mild cleaning agent. 3. Clean cables, plastic parts and hoses with a solvent-free cleaning agent. 4. Replace damaged, illegible or missing identifications, labels and plates. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 87/114... - Page 88 KUKA Sunrise Cabinet Med 88/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 89: Repair
10.1 Repair and procurement of spare parts Repair Repairs to the robot controller may only be carried out by KUKA Customer Support personnel or by customers who have taken part in a relevant course of training. Repairs within modules may only be carried out by specially trained KUKA Customer Support personnel. -
Page 90: Exchanging The Motherboard Battery
Damage to or destruction of components due to electrostatic dis- charge (ESD) Electrostatic discharge during installation or removal work can result in destruction or partial damage to electronic components. • Observe the ESD guidelines. 90/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 91: Exchanging The Hard Drive
Damage to or destruction of components due to electrostatic dis- charge (ESD) Electrostatic discharge during installation or removal work can result in destruction or partial damage to electronic components. • Observe the ESD guidelines. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 91/114... -
Page 92: Exchanging The Batteries
Exchanging the batteries Precondition • The robot controller must be switched off and secured to prevent un- authorized persons from switching it on again. • Power supply lead disconnected. 92/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... - Page 93 The battery blocks must both be exchanged together. 5. Insert new battery blocks. 6. Fasten the Velcro strips. 7. Plug in the battery connection cables in accordance with the cable la- bels. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 93/114...
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Page 94: Exchanging The Fans
• Use a sign to inform the individuals involved that the robot controller is switched off (e.g. by affixing a warning sign). 94/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 95: Installation Of Kuka Sunrise.os Med
6. Install and fasten the new fans with the fan holder. 7. Plug in the connecting cables. 10.7 Installation of KUKA Sunrise.OS Med Further information is contained in the operating and programming in- structions for KUKA Sunrise.OS Med. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 95/114... - Page 96 KUKA Sunrise Cabinet Med 96/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 97: Troubleshooting
Safety nodes state) Flashing at 2.5 Hz = Pre- Op (intermediate state on startup) Single signal = Safe Op Flashing at 10 Hz = boot (for firmware update) GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 97/114... - Page 98 PWRS/3.3V Green Off = no supply voltage • Check fuse F17.3. present • If the LED PWR/3.3V lights up, exchange the CCU_SR module. On = power supply present 98/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
- Page 99 Network cable not plugged in. KSB smart- Green • On = physical connec- PAD_MC 100 Mbit tion Orange • Flashing = data traffic 1 Gbit on the line Green GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 99/114...
- Page 100 Off = no supply voltage • Check infeed at X1. present • Controller in Sleep state Voltage, Pow- er Supply 2 On = power supply present (medium bat- tery backup) 100/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 101: Fuses On The Cabinet Control Unit, Small Robot
Instructions for Use or printed on the module. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 101/114... - Page 102 F305 Battery infeed 32 V/15 A F301 Without battery backup, spare 32 V/10 A Power supply unit fan 32 V/2 A F308 External power supply 32 V/7.5 A 102/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 103: Power Supply Connection Fuses
Fig. 11-4: Fuses Item Designation Description Fusing F21.1 Secondary-side fuse, DC/DC 3 A / 32 V DC converter GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 103/114... -
Page 104: Low-Voltage Power Supply Unit Fuses
Status indicator (red) for fuse • Off: fuse OK • On: fuse defective LED F1 Status indicator (red) for fuse • Off: fuse OK • On: fuse defective 104/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021... -
Page 105: Decommissioning, Storage And Disposal
12.3 Disposal When the robot controller reaches the end of its useful life, it can be dis- mantled, and the materials can be disposed of properly by type. GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 105/114... - Page 106 Electronics Fans Lithium bat- Backup batteries Must be disposed of as tery hazardous waste. Lead battery Plastics EPDM Seals, covers Cable straps Cable sheaths Flexible tube Adhesive labels 106/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 107: Appendix
Part 1: General requirements EN 62061:2005 + Safety of machinery: A1:2013 + A2:2015 Functional safety of safety-related electrical, electronic and pro- grammable electronic control systems GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 107/114... - Page 108 Measurement, Control, and Laboratory Use Part 1: General Requirements UL 61010-2-201:2018 Safety requirements for electrical equipment for measurement, control, and laboratory use Part 2-201: Particular requirements for control equipment 108/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 109: Kuka Service
‒ System Software diagnosis package Additionally for KUKA Sunrise: Existing projects including applica- tions For versions of KUKA System Software older than V8: Archive of the software (Diagnosis package is not yet available here.) ‒ Application used ‒ External axes used 14.2... - Page 110 KUKA Sunrise Cabinet Med 110/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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Page 111: Index
EN ISO 10218-1:2011........108 Outputs............51 EN ISO 12100:2010........108 CIB_SR, safe input.........64 EN ISO 13849-1:2015........108 CIB_SR, safe output........66 EN ISO 13849-2:2012........108 Cleaning work..........43 EN ISO 13850:2015........108 GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 111/114... - Page 112 KEI..............9 Operator safety........29, 31 Keyboard key..........81 Operators............26 KLI..............9 Options............. 13, 21 Knowledge and skills, required......7 Overload............36 KOI..............9 Overview, KUKA Sunrise Cabinet Med..14 KONI..............9 112/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
- Page 113 Transportation without trolley......71 Safety-oriented stop reactions....... 27 Troubleshooting..........97 Safety functions..........28 Safety instructions..........7 Safety interface, X11........62 Safety of machinery......107, 108 UL 61010-1:2018..........108 UL 61010-2-201:2018........108 GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021 www.kuka.com | 113/114...
- Page 114 Workspace......... 23, 26, 27 X11, configuring and connecting....76 X11, connector pin allocation......62 X11, contact diagram........61 X11, safety interface........62 X21, connector pin allocation......74 X65..............66 X69, KSI............68 114/114 | www.kuka.com GA KUKA Sunrise Cabinet Med V5 | Issued: 26.11.2021...
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