Omron Scara R6Y - XP Series User manual

ZX-T Series
Cat. No. I143E-EN-01
R6Y - XP series
USER´S MANUAL
Cat. No. I143E-EN-01 Note: Specifications subject to change without notice.
Authorized Distributor:
Printed in Europe
Cat. No. I143E-EN-01 SCARA Robot, R6Y - XP series USERS MANUAL
SCARA Robots
XP Series

 Copyright
The following shall be described in the Copyright section and the description
shall not be changed without permission.
OMRON,2010
All rights reserved. No part of this publication may be reproduced, stored in
a retrieval system, or transmitted, in any form, or by any means, mechanical,
electronic, photocopying, recording, or otherwise, without the prior written per-
mission of OMRON.
No patent liability is assumed with respect to the use of the information con-
tained herein. Moreover, because OMRON is constantly striving to improve
its high-quality products, the information contained in this manual is subject
to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, OMRON assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use
of the information contained in this publication.
 Introduction
This user’s manual was prepared for XP series dust/drip proof models
(R6YXP250 to R6YXP1000) of the OMRON industrial robots.
This user’s manual describes the safety measures, handling, adjustment and
maintenance of XP series robots for correct, safe and effective use. Be sure to
read this manual carefully before installing the robot. Even after you have read
this manual, keep it in a safe and convenient place for future reference.
This user’s manual should be used with the robot and considered an integral
part of it. When the robot is moved, transferred or sold, send this manual to the
new user along with the robot. Be sure to explain to the new user the need to
read through this manual.
For the operating or maintenance procedures not described in this manual,
please refer to the description of standard models listed in the "OMRON
SCARA Robot User's Manual". Also refer to that manual for precautions and
warranty. If there are any obscure points in handling the robot, be sure to
contact OMRON sales ofce or dealer.
For details on specific operation and programming of the robot, refer to the
separate “OMRON Robot Controller User’s Manual”.

 Disclaimers
CHANGE IN SPECIFICATIONS
Product specications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change model numbers when published ratings or
features are changed, or when significant construction changes are made. However, some
specications of the products may be changed without any notice. When in doubt, special
model numbers may be assigned to x or establish key specications for your application on
your request. Please consult with your OMRON representative at any time to conrm actual
specications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even
when tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining
suitability and does not constitute a warranty. It may represent the result of OMRON’s
test conditions, and the users must correlate it to actual application requirements. Actual
performance is subject to the OMRON Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical, or proofreading errors, or
omissions.

CONTENTS
CHAPTER1 UsingtheRobotSafely
1 Safety Information ..............................................................1-1
2 Essential Caution Items .......................................................1-2
3 Special Training for Industrial Robot Operation .................1-8
4 Robot Safety Functions .......................................................1-9
5 Safety Measures for the System ........................................1-10
6 Trial Operation .................................................................. 1-11
7 Work Within the Safeguard Enclosure ..............................1-12
8 Automatic Operation .........................................................1-13
9 Adjustment and Inspection ................................................1-13
10 Repair and Modication ....................................................1-13
11 Warranty ............................................................................1-14
12 CE Marking .......................................................................1-16
CHAPTER2 Functions
1 Robot Manipulator ..............................................................2-1
CHAPTER3 Installation
1 Robot Installation Conditions .............................................3-1
1-1 Protection rating for moisture and dust on dust/drip proof models ................3-1
2 User Wiring Connectors and User Tubing ..........................3-2
3 Air Purge Tubing .................................................................3-6
4 Exhaust Port ........................................................................3-7

CHAPTER4 Adjustment
1 Removing the Robot Covers ...............................................4-1
1-1 Removing the Y-axis arm upper cover (R6YXP250 to R6YXP400) ..............4-2
1-2 Removing the Y-axis arm upper cover (R6YXP500, R6YXP600) ................. 4-6
1-3 Removing the Y-axis arm upper cover (R6YXP700 to R6YXP1000) ..........4-10
2 Origin Position Stickers ....................................................4-14
3 Adjusting the Z-axis Machine Reference ..........................4-15
CHAPTER5 Specications
1 Robot Manipulator ..............................................................5-1
1-1 Basic specications .........................................................................................5-1

CHAPTER1
UsingtheRobotSafely
1 Safety Information ..................................................................... 1-1
2 Essential Caution Items .............................................................. 1-2
3 Special Training for Industrial Robot Operation ........................ 1-8
4 Robot Safety Functions .............................................................. 1-9
5 Safety Measures for the System ............................................... 1-10
6 Trial Operation ..........................................................................1-11
7 Work Within the Safeguard Enclosure ..................................... 1-12
8 Automatic Operation ................................................................ 1-13
9 Adjustment and Inspection ....................................................... 1-13
10 Repair and Modication ........................................................... 1-13
11 Warranty ................................................................................... 1-14
12 CE Marking .............................................................................. 1-16

1-1
CHAPTER 1 Using the Robot Safely
1 SafetyInformation
Industrial robots are highly programmable, mechanical devices that provide
a large degree of freedom when performing various manipulative tasks. To
ensure correct and safe use of OMRON industrial robots, carefully read this
manual and make yourself well acquainted with the contents. FOLLOW THE
WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS
MANUAL. Failure to take necessary safety measures or mishandling due to not
following the instructions in this manual may result in trouble or damage to the
robot and injury to personnel (robot operator or service personnel) including
fatal accidents. Warning information in this manual is shown classied into the
following items.
Refer to the instruction manual by any of the following methods to operate or
adjust the robot safely and correctly.
1. Operate or adjust the robot while referring to the printed version of the
instruction manual (available for an additional fee).
2. Operate or adjust the robot while viewing the CD-ROM version of the
instruction manual on your computer screen.
3. Operate or adjust the robot while referring to a printout of the necessary
pages from the CD-ROM version of the instruction manual.
It is not possible to detail all safety items within the limited space of this
manual. So it is essential that the user have a full knowledge of basic safety
rules and also that the operator makes correct judgments on safety procedures
during operation. This manual and warning labels supplied with or afxed to
the robot are written in English. If the robot operator or service personnel does
not understand English, do not permit him to handle the robot.
DANGER
FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN
SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR, A BYSTANDER
OR A PERSON INSPECTING OR REPAIRING THE ROBOT.
ADDITIONALLY, THERE MAY BE SEVERE PROPERTY DAMAGE.
WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN
SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR, A BYSTANDER
OR A PERSON INSPECTING OR REPAIRING THE ROBOT.
ADDITIONALLY, THERE MAY BE SEVERE PROPERTY DAMAGE..
CAUTION
FAILURE TO FOLLOW CAUTION INSTRUCTIONS MAY RESULT IN
INJURY TO THE ROBOT OPERATOR, A BYSTANDER OR A PERSON
INSPECTING OR REPAIRING THE ROBOT, OR DAMAGE TO THE ROBOT
AND/OR ROBOT CONTROLLER.
NOTE
Explains the key point in the operation in a simple and clear manner.

1-2
CHAPTER 1 Using the Robot Safely
2 EssentialCautionItems
Particularly important cautions for handling or operating the robot are
described below. In addition, safety information about installation, operation,
inspection and maintenance is provided in each chapter. Be sure to comply with
these instructions to ensure safe use of the robot.
(1) Observethefollowingcautionsduringautomaticoperation.
Warning labels 1 (Fig. 1-1) are afxed to the robot. See Fig. 2-1 and
Fig. 2-2 for the locations of warning labels.
• Install a safeguard enclosure (protective enclosure) to keep any person
from entering within the movement range of the robot and suffering
injury due to being struck by moving parts.
• Install a safety interlock that triggers emergency stop when the door or
panel is opened.
• Install safeguards so that no one can enter inside except from doors or
panels equipped with safety interlocks.
• The warning labels shown in Fig. 1-1 are supplied with the robot and
should be afxed to a conspicuous spot on doors or panels equipped with
safety interlocks.
(2) Use caution to prevent hands or fingers from being pinched or
crushed.
Warning labels 2 (Fig. 1-2) are afxed to the robot. See Fig. 2-1 and Fig.
2-2 for the locations of warning labels.
Be careful not to let hands or ngers be pinched or crushed by the moving
parts of the robot during transportation or teaching.
DANGER
Serious injury or death
will result from impact
with moving robot.
• Keep outside of guard
during operation.
• Lock out power before
approaching robot.
Moving parts can
pinch or crush.
Keep hands away
from robot arms.
WARNING
■Fig.1-1Warninglabel1 ■Fig.1-2Warninglabel2
DANGER
SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH
MOVING ROBOT.
• KEEP OUTSIDE OF GUARD DURING OPERATION.
• LOCK OUT POWER BEFORE APPROACHING ROBOT.
WARNING
MOVING PARTS CAN PINCH OR CRUSH.
KEEP HANDS AWAY FROM ROBOT ARMS.

1-3
CHAPTER 1 Using the Robot Safely
(3) Followtheinstructionsonwarninglabelsandinthismanual.
Warning label 3 (Fig. 1-3) is afxed to the robot. See Fig. 2-1 and Fig. 2-2
for the locations of warning labels.
• Be sure to read the warning label and this manual carefully and make
your thoroughly understand the contents before attempting installation
and operation of the robot.
• Before starting the robot operation, even after you have read through
this manual, read again the corresponding procedures and cautions in
this manual as well as descriptions in this chapter (Chapter 1, "Using the
Robot Safely").
• Never install, adjust, inspect or service the robot in any manner that does
not comply with the instructions in this manual.
Improper Installation or operation can
result in serious injury or death.
Read user's (owner's) manual and all
warning labels before operation.
WARNING
■Fig.1-3Warninglabel3
(4) Donotusetherobotinenvironmentscontaininginammablegas,etc.
(5) Do not use the robot in locations possibly subject to electromagnetic
interference,etc.
WARNING
IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS
INJURY OR DEATH.
READ USER’S MANUAL AND ALL WARNING LABELS BEFORE
OPERATION.
WARNING
• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN
ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES
ARE PRESENT.
• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING
INFLAMMABLE GAS, DUST OR LIQUIDS. EXPLOSIONS OR FIRE COULD
OTHERWISE RESULT.
WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO
ELECTROMAGNETIC INTERFERENCE, ELECTROSTATIC DISCHARGE
OR RADIO FREQUENCY INTERFERENCE. MALFUNCTION MAY
OTHERWISE OCCUR.

1-4
CHAPTER 1 Using the Robot Safely
(6) UsecautionwhenreleasingtheZ-axis(verticalaxis)brake.
(7) Providesafetymeasuresforendeffector(gripper,etc.).
(8) BecautiousofpossibleZ-axismovementwhenthecontrolleristurned
offoremergencystopistriggered.(2-axisrobotswithair-driven 
Z-axis)
(9) Use the following caution items when the Z-axis is interfering with
peripheralequipment.(2-axisrobotswithairdrivenZ-axis)
WARNING
THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS
RELEASED, CAUSING A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS
WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE
Z-AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO
PERFORM DIRECT TEACH.
WARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO
THAT THEY CAUSE NO HAZARDS (FOR EXAMPLE, LOOSENING OF
WORKPIECE) EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS
SHUT OFF OR POWER FLUCTUATIONS OCCUR.
• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY
THE END EFFECTOR MAY FLY OFF OR DROP, THEN PROVIDE
APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE
OBJECT SIZE, WEIGHT, TEMPERATURE AND CHEMICAL PROPERTIES.
WARNING
THE Z-AXIS MOVES UP WHEN THE POWER TO THE CONTROLLER OR
PLC IS TURNED OFF, THE PROGRAM IS RESET, EMERGENCY STOP IS
TRIGGERED, OR AIR IS SUPPLIED TO THE SOLENOID VALVE FOR THE
Z-AXIS AIR CYLINDER.
• DO NOT LET HANDS OR FINGERS GET CAUGHT AND SQUEEZED BY
MOVING PARTS OF THE Z-AXIS.
• KEEP THE USUAL ROBOT POSITION IN MIND SO THAT THE Z-AXIS
WILL NOT INTERFERE WITH OBSTACLES DURING RAISING OF THE
Z-AXIS, EXCEPT IN CASE OF EMERGENCY STOP.
WARNING
WHEN THE Z-AXIS COMES TO A STOP DUE TO OBSTRUCTIONS FROM
PERIPHERAL EQUIPMENT, THE Z-AXIS MAY MOVE SUDDENLY WHEN
THE OBSTRUCTION IS REMOVED, CAUSING INJURY SUCH AS
PINCHED OR CRUSHED HANDS.
• TURN OFF THE CONTROLLER AND REDUCE THE AIR PRESSURE
BEFORE ATTEMPTING TO REMOVE THE OBSTRUCTION.
•BEFORE REDUCING THE AIR PRESSURE, PLACE A SUPPORT STAND
UNDER THE Z-AXIS BECAUSE IT WILL DROP UNDER ITS OWN
WEIGHT.

1-5
CHAPTER 1 Using the Robot Safely
(10)Use caution on Z-axis movement when air supply is stopped. 
(2-axisrobotswithair-drivenZ-axis)
(11)Use the following caution items when disassembling or replacing the
pneumaticequipment.
(12)UsethefollowingcautionitemswhenremovingtheZ-axismotor.
(13)Usethefollowingcautionduringinspectionofcontroller.
For precautions on handling the controller, refer to the "OMRON Robot
Controller User's Manual".
WARNING
THE Z-AXIS MAY SUDDENLY DROP WHEN THE AIR PRESSURE TO THE
Z-AXIS AIR CYLINDER SOLENOID VALVE IS REDUCED, CREATING A
HAZARDOUS SITUATION.
TURN OFF THE CONTROLLER AND PLACE A PROP OR SUPPORT
UNDER THE Z-AXIS BEFORE CUTTING OFF THE AIR SUPPLY.
WARNING
AIR OR PARTS MAY FLY OUTWARDS IF PNEUMATIC EQUIPMENT IS
DISASSEMBLED OR PARTS REPLACED WHILE AIR IS STILL SUPPLIED.
• DO SERVICE WORK AFTER FIRST TURNING OFF THE CONTROLLER
AND REDUCING THE AIR PRESSURE.
• BEFORE REDUCING THE AIR PRESSURE, PLACE A SUPPORT STAND
UNDER THE Z-AXIS (2-AXIS ROBOTS WITH AIR DRIVEN Z-AXIS)
SINCE IT WILL DROP UNDER ITS OWN WEIGHT.
WARNING
THE Z-AXIS WILL DROP WHEN THE Z-AXIS MOTOR IS REMOVED,
POSSIBLY RESULTING IN INJURY.
• TURN OFF THE CONTROLLER AND SET A SUPPORT STAND UNDER
THE Z-AXIS BEFORE REMOVING THE MOTOR.
• USE CAUTION NOT TO ALLOW HANDS OR BODY TO BE SQUEEZED
OR CRUSHED BY MOVING PARTS ON THE Z-AXIS OR BETWEEN THE
Z-AXIS AND THE INSTALLATION BASE.
WARNING
• WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON
THE OUTSIDE OF THE CONTROLLER DURING INSPECTION, ALWAYS
FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE
POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL
SHOCK.
• NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER.

1-6
CHAPTER 1 Using the Robot Safely
(14)Consult us forcorrectiveaction whentherobotis damaged or
malfunctionoccurs.
Damage or Trouble Possible Danger
Damage to machine harness or robot cable Electrical shock, malfunction of robot
Damage to exterior of robot Flying outwards of damaged parts during
robot operation
Abnormal operation of robot
(positioning error, excessive vibration, etc.) Malfunction of robot
Z-axis brake trouble Dropping of load
(15)Usecautionnottotouchthecontrollerrearpanelcoolingfan.
(16)Use caution notto touch thehigh temperaturemotororspeed
reductiongearcasing.
(17)Donotremove,alterorstainthewarninglabels.
WARNING
IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION
OCCURS, CONTINUOUS OPERATION MAY BE VERY DANGEROUS.
PLEASE CONSULT OMRON DEALER FOR CORRECTIVE ACTION.
WARNING
• BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH
THE COOLING FAN WHILE IT IS ROTATING.
•WHEN REMOVING THE FAN COVER FOR INSPECTION, FIRST TURN
OFF THE CONTROLLER AND MAKE SURE THE FAN HAS STOPPED.
WARNING
THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY
HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF
THESE ARE TOUCHED.
BEFORE TOUCHING THESE PARTS DURING INSPECTIONS OR
SERVICING, TURN OFF THE CONTROLLER, WAIT FOR A WHILE AND
CHECK THAT THE TEMPERATURE HAS COOLED.
WARNING
IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE,
NECESSARY CAUTIONS MAY NOT BE TAKEN, RESULTING IN AN
ACCIDENT.
•DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE
ROBOT.
• DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY THE
DEVICE INSTALLED TO THE ROBOT BY THE USER.
• PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND
INSTRUCTIONS ON THE WARNING LABELS CAN BE CLEARLY SEEN
EVEN FROM THE OUTSIDE OF SAFEGUARDS.

1-7
CHAPTER 1 Using the Robot Safely
(18)Protectivebonding
(19)DonotallowanyobjecttoentertheX-axismotorcoolingfan.
(20)Besuretomakecorrectparametersettings.
(21)Donotusetherobotfortasksrequiringmotorthrust.
(22)IftheX,YorRaxisrotationangleissmall
WARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT
ELECTRICAL SHOCK.
WARNING
IF AN OBJECT SUCH AS A SMALL WORKPIECE WHICH THE END
EFFECTOR FAILED TO PICK UP, PENETRATES INTO THE COOLING FAN
FOR THE X-AXIS MOTOR, IT MAY REBOUND AND FLY AWAY FROM
THE FAN, POSSIBLY CAUSING BODILY INJURY OR DAMAGE TO THE
FAN.
• PROVIDE A PROPER PROTECTIVE WALL WHICH PREVENTS
WORKPIECES OR OTHER OBJECTS FROM ENTERING THE FAN.
• WHEN PROVIDING A PROTECTIVE WALL, ALLOW A SPACE OF AT
LEAST 100MM BETWEEN THE FAN VENT AND THE WALL TO ENSURE
AIR FLOW AND COOLING EFFECTS.
CAUTION
THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE
MOMENT OF INERTIA AND ACCELERATION COEFFICIENTS
ACCORDING TO THE MANIPULATOR TIP MASS AND MOMENT OF
INERTIA. IF THIS IS NOT OBSERVED, PREMATURE END TO THE LIFE
OF THE DRIVE UNITS, DAMAGE TO THE ROBOT PARTS OR RESIDUAL
VIBRATION DURING POSITIONING MAY RESULT.
CAUTION
AVOID USING THE XP SERIES ROBOTS FOR TASKS WHICH MAKE USE
OF MOTOR THRUST (PRESS-FITTING, BURR REMOVAL, ETC.). THESE
TASKS MAY CAUSE MALFUNCTIONS OF THE ROBOT.
CAUTION
IF THE X, Y OR R AXIS ROTATION ANGLE IS SMALLER THAN 5° SO
THAT IT ALWAYS MOVES IN THE SAME POSITION, AN OIL FILM IS
DIFFICULT TO BE FORMED ON THE JOINT SUPPORT BEARING,
POSSIBLY LEADING TO DAMAGE TO THE BEARING. IN THIS TYPE OF
OPERATION, ADD A MOVEMENT SO THAT THE JOINT MOVES
THROUGH 90° OR MORE, ABOUT 5 TIMES A DAY.

1-8
CHAPTER 1 Using the Robot Safely
3 SpecialTrainingforIndustrialRobotOperation
Companies or factories using industrial robots must make sure that every
person, who handles the robot such as for teaching, programming, movement
check, inspection, adjustment and repair, has received appropriate training and
also has the skills needed to perform the job correctly and safely.
Since the XP series robots fall under the industrial robot category, the user must
observe local regulations and safety standards for industrial robots, and pro-
vide special training for every person involved in robot-related tasks (teaching,
programming, movement check, inspection, adjustment, repair, etc.).

1-9
CHAPTER 1 Using the Robot Safely
4 RobotSafetyFunctions
(1) Overloaddetection
This function detects an overload applied to the motor and shuts off the
servo power. If an overload error occurs, take the following measures.
1. Insert a timer in the program.
2. Reduce the acceleration coefcient.
(2) Overheatdetection
This function detects an abnormal temperature rise in the driver inside the
controller and shuts off the servo power. If an overheat error occurs, take
the following measures.
1. Insert a timer in the program.
2. Reduce the acceleration coefcient.
(3) Softlimits
Soft limits can be set on each axis to limit the working envelope in manual
operation after return-to-origin and during automatic operation.
Note: The working envelope is the area limited by soft limits.
(4) Mechanicalstoppers
If the servo power is suddenly shut off during high-speed operation by
emergency stop or safety functions, these mechanical stoppers prevent the
axis from exceeding the movement range. The movement ranges of the
X-axis arm can be limited as needed by use of mechanical stoppers. (Ex-
cluding the R6YXP250, R6YXP350 and R6YXP400)
On the Y-axis arm, mechanical stoppers are xed at both ends of the
maximum movement range.
The Z-axis has a mechanical stopper at the upper end and lower end.
No mechanical stopper is provided on the R-axis.
Note: The movement range is the area limited by mechanical stoppers.
(5) Z-axis(verticalaxis)brake
An electromagnetic brake is installed on the Z-axis to prevent the Z-axis
from sliding down when servo power is turned off. This brake is working
when the controller is off or the Z-axis servo power is off even when the
controller is on. The Z-axis brake can be released by means of the program-
ming unit or by a command in the program when the controller is on.
WARNING
AXIS MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO
POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER
SAFETY FUNCTIONS.
WARNING
THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS
RELEASED, CREATING A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP THE Z-AXIS WITH
A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN
THE Z-AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE
TO PERFORM DIRECT TEACH.

1-10
CHAPTER 1 Using the Robot Safely
5 SafetyMeasuresfortheSystem
Since the robot is commonly used in conjunction with an automated system,
dangerous situations are more likely to occur from the automated system than
from the robot itself. Accordingly, appropriate safety measures must be taken
on the part of the system manufacturer according to the individual system.
The system manufacturer should provide a proper instruction manual for safe,
correct operation and servicing of the system.

1-11
CHAPTER 1 Using the Robot Safely
6 TrialOperation
After making installations, adjustments, inspections, maintenance or repairs to
the robot, make a trial run using the following procedures.
(1) If a safeguard enclosure has not yet been provided right after installation of
the robot, rope off or chain off around the movement area of the manipula-
tor in place of the safeguard enclosure, and observe the following points.
1. Use sturdy, stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a sign to keep the operator or other personnel from entering the
movement range of the manipulator.
(2) Check the following points before turning on the controller.
1. Is the robot securely and correctly installed?
2. Are the electrical connections to the robot correct?
3. Are items such as air pressure correctly supplied?
4. Is the robot correctly connected to peripheral equipment?
5. Have safety measures (safeguard enclosure, etc.) been taken?
6. Does the installation environment meet the specied standards?
(3) After the controller is turned on, check the following points from outside
the safeguard enclosure.
1. Does the robot start and stop as intended? Can the operation mode be
selected correctly?
2. Does each axis move as intended within the soft limits?
3. Does the end effector move as intended?
4. Are the signal transmissions to the end effector and peripheral equip-
ment correct?
5. Does emergency stop work?
6. Are the teaching and playback functions normal?
7. Are the safeguard enclosure and interlock working as intended?
8. Does the robot move correctly during automatic operation?

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CHAPTER 1 Using the Robot Safely
7 WorkWithintheSafeguardEnclosure
(1) When work is required inside the safeguard enclosure, always turn off the
controller and place a sign indicating that the robot is being adjusted or
serviced in order to keep any other person from touching the controller
switch or operation panel, except for the following cases.
1) Origin position setting (See Section 3 in Chapter 4.)
2) Soft limit settings (See Section 4 in Chapter 4.)
3) Standard coordinate settings (See Section 5 in Chapter 4.)
4) Teaching
For items 1) to 3), follow the precautions and procedure for each section.
To perform item 4), refer to the description in (2) below.
(2) Teaching
When performing teaching within the safeguard enclosure, comply with the
instructions listed below.
1) Check or perform the following points from outside the safeguard
enclosure.
1. Make sure that no hazards are present within the safeguard enclosure
by a visual check.
2. Check that the programming unit PB operates correctly.
3. Check that no failures are found in the robot.
4. Check that emergency stop works correctly.
5. Select teaching mode and prohibit automatic operation.
2) Never enter the movement range of the manipulator while within the
safeguard enclosure.