Yamaha RCX240 Owner's manual

Supporting Supplement Manual ENGLISH E
YAMAHA ROBOT CONTROLLER
CEmarking
RCX240/RCX221/RCX222
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
E115-Ver. 1.01

Introduction 1
Introduction
Thanks for purchasing the YAMAHA robot controller RCX240/RCX221/RCX222.
This manual describes the CE marking for the RCX240/RCX221/RCX222. When shipping
the RCX240/RCX221/RCX222 to Europe or when using it in Europe, always read this
manual thoroughly to use the controller correctly.
This manual describes only the items related to CE marking. For operations and
programming of the robot controller, refer to the user's manuals that come with the robot
controller.
Even after reading this manual, keep it in a safe, easily accessible place so that it can be
referred to when needed.
• This manual should be used with the robot and controller and considered an integral
part of them.
• When the robot and controller are moved, transferred, or sold, send this manual to the
new user along with the robot and controller. Be sure to explain to the new user the
need to read through this manual.
• Specifications of the robot and controller models other than standard models may be
omitted in this manual. In that case, refer to the specifications of standard models.
• For details on specific operation of the robot controller, refer to the user's manuals that
come with the robot controller.
NOTES
◆
The contents of this manual are subject to change without prior notice.
◆
While every effort has been made to ensure the contents of this manual are
correct, please contact us if you find any part of this manual to be unclear,
confusing or inaccurate.
YAMAHA MOTOR CO., LTD.
IM Operations

MEMO
2Introduction

General contents i
General contents General contents
Introduction
Chapter 1 USING THE ROBOT SAFELY
1.1 Safety information 1-1
1.2 Particularly important cautions 1-2
1.2.1 System design safety points 1-2
1.2.2 Installation safety points 1-3
1.2.3 Wiring safety points 1-4
1.2.4 Start-up and maintenance safety points 1-5
1.2.5 Safety precautions during robot operation 1-7
1.2.6 Precautions for disposal 1-8
1.3 Safety measures for robots 1-8
1.3.1 Safety measures for SCARA type robots 1-8
1.3.2 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots 1-8
1.4 Motor overload precautions 1-8
1.5 Warning labels and marks 1-9
1.5.1 Warning labels 1-9
1.5.2 Warning marks 1-9
1.6 Industrial robot operating and maintenance
personnel 1-10
1.7 Make daily and periodic inspections 1-10
Chapter 2 CE MARKING
2.1 CE Marking 2-1
2.2 Safety standards 2-1
2.2.1 Cautions regarding compliance with EC Directives 2-1
2.2.2 CE marking 2-1
2.2.3 Applicable EC Directives and their related standards 2-2
2.2.4 Robots subject to CE Marking 2-2
2.2.5
Cautions regarding the official language of EU countries 2-2
2.3 Usage conditions 2-3

ii General contents
Chapter 3 SYSTEM OVERVIEW
3.1 System overview 3-1
3.1.1 Main system configuration 3-1
3.2 Control system configuration 3-3
3.2.1 Basic configuration 3-3
3.2.2 Power supply and emergency stop system circuit
configuration 3-6
3.3 Programming box (RPB-E) 3-7
3.3.1 Part names and functions 3-7
3.3.2 RPB connector 3-9
3.4 SERVICE mode 3-11
3.4.1 What is SERVICE mode? 3-11
3.4.2 Flow for enabling the SERVICE mode functions 3-13
3.4.3 SERVICE mode parameter settings 3-13
3.4.3.1 SERVICE mode level 3-14
3.4.3.2 Limitations on operating speed during SERVICE mode 3-14
3.4.3.3 Operation device control during SERVICE mode 3-14
Chapter 4 EMC COUNTERMEASURE
4.1 EMC countermeasure examples 4-1
4.1.1 RCX240 4-2
4.1.1.1 Configuration 4-2
4.1.1.2 Countermeasure components 4-3
4.1.2 RCX221/RCX222 4-8
4.1.2.1 Configuration 4-8
4.1.2.2 Countermeasure components 4-9
Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES
5.1 External safety circuit examples 5-1
5.1.1 Performance level 5-1
5.1.2 Circuit examples for the RCX240 5-2
5.1.2.1 Category 4 5-4
5.1.2.2 Category 3 5-5
5.1.2.3 Category 2 5-6
5.1.2.4 Overview of circuit operation 5-7
5.1.3 Circuit examples for the RCX221/RCX222 5-8
5.1.3.1 Category 4 5-10
5.1.3.2 Category 3 5-11
5.1.3.3 Category 2 5-12
5.1.3.4 Overview of circuit operation 5-13

General contents iii
Chapter 6 SPECIFICATIONS
6.1 Controller 6-1
6.1.1 Basic specifications 6-1
6.1.1.1 RCX240 6-1
6.1.1.2 RCX221 6-3
6.1.1.3 RCX222 6-5
6.1.2 Basic functions 6-7
6.1.3 External view 6-8
6.1.3.1 RCX240 6-8
6.1.3.2 RCX221 6-11
6.1.3.3 RCX221HP 6-12
6.1.3.4 RCX222 6-13
6.1.3.5 RCX222HP 6-14
6.2 Programming box 6-15
6.2.1 Basic specifications 6-15
6.2.1.1 RPB-E 6-15
6.2.2 External view 6-16
6.2.2.1 RPB-E 6-16

MEMO
iv General contents

Chapter 1 USING THE ROBOT SAFELY
Contents
1.1 Safety information 1-1
1.2 Particularly important cautions 1-2
1.2.1 System design safety points 1-2
1.2.2 Installation safety points 1-3
1.2.3 Wiring safety points 1-4
1.2.4 Start-up and maintenance safety points 1-5
1.2.5 Safety precautions during robot operation 1-7
1.2.6 Precautions for disposal 1-8
1.3 Safety measures for robots 1-8
1.3.1 Safety measures for SCARA type robots 1-8
1.3.2 Safety measures for single-axis robots, Cartesian
robots, and pick & place robots 1-8
1.4 Motor overload precautions 1-8
1.5 Warning labels and marks 1-9
1.5.1 Warning labels 1-9
1.5.2 Warning marks 1-9
1.6 Industrial robot operating and maintenance
personnel 1-10
1.7 Make daily and periodic inspections 1-10

4
1
2
3
5
6
Chapter 1 USING THE ROBOT SAFELY 1-1
1.1 Safety information
Before using the YAMAHA robot controller, be sure to read this manual and related
manuals, and follow their instructions to use the robot controller safely and correctly.
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure
safety of the user's final system that includes YAMAHA robots and controllers, please take
appropriate safety measures as required by the user's individual system.
Industrial robots are highly programmable machines that provide a large degree of
freedom in movement. To use YAMAHA robots and controllers safely and correctly, be sure
to comply with the safety instructions and precautions described in this chapter. Failure
to take necessary safety measures or incorrect handling may result not only in trouble or
damage to the robot and controller, but also in serious accidents involving injury or death
to personnel (robot installer, operator, or service personnel).
This manual describes safety precautions and operating points using the following symbols
and signal words.
wDANGER
"DANGER" INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, WILL RESULT IN DEATH OR SERIOUS INJURY.
wWARNING
"WARNING" INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, COULD RESULT IN DEATH OR SERIOUS INJURY.
cCAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury or damage to the equipment or loss
of data.
nNOTE
Explains key points in the operation in a simple and clear manner.
Use any of the following approaches to this manual when installing, operating and
adjusting the YAMAHA robot and/or controller so that you can quickly refer to this manual
when needed.
1. Keep the printed version of this manual (available for an additional fee) handy for
ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them
handy for ready reference.
1.1 Safety information

4
1
2
3
5
6
1-2 Chapter 1 USING THE ROBOT SAFELY
To use YAMAHA robots and controllers safely and correctly, always comply with the safety
rules and instructions.
Please note, however, this supplementary manual cannot cover all items regarding safety.
So it is extremely important that the operator or user have knowledge of safety and make
correct decisions regarding safety.
1.2 Particularly important cautions
Particularly important cautions for handling and operating the robot and controller are
described below. Additional cautions are also described in each chapter. Be sure to
comply with those instructions to ensure safety.
1.2.1 System design safety points
wDANGER
• YAMAHA ROBOT CONTROLLERS AND ROBOTS ARE DESIGNED AND
MANUFACTURED FOR GENERAL-PURPOSE INDUSTRIAL EQUIPMENT. THEY
SHOULD NOT BE USED IN THE FOLLOWING APPLICATIONS:
• MEDICAL EQUIPMENT OR SYSTEMS WHICH WILL AFFECT HUMAN LIFE
• EQUIPMENT DESIGNED TO CARRY OR TRANSPORT PERSONS
• EQUIPMENT OR SYSTEMS WHICH WILL SERIOUSLY AFFECT SOCIETY OR
PUBLIC POLICY
• USE IN ENVIRONMENTS SUBJECT TO VIBRATION, SUCH AS VEHICLES
AND SHIPS
• EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO
TRIGGER EMERGENCY STOP. USING THIS TERMINAL, CONFIGURE A SAFETY
CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL
WORK SAFELY.
wWARNING
• TO CHECK THE OPERATING STATUS OF THE ROBOT CONTROLLER, REFER TO
THIS MANUAL AND RELATED USER'S MANUAL. BUILD THE SYSTEM INCLUDING
THE ROBOT CONTROLLER SO THAT IT WILL ALWAYS WORK SAFELY.
• INSTALL A SIGNAL LIGHT (SIGNAL TOWER, ETC.) AT AN EASY-TO-SEE
POSITION SO THAT THE OPERATOR WILL KNOW THE STOP STATUS OF THE
ROBOT (TEMPORARY STOP, EMERGENCY STOP, ERROR STOP, ETC.).
cCAUTION
• Do not bundle control lines or communication cables together or in close
contact with the main power supply circuit or power lines. As a general
rule, separate them by at least 100mm. Failure to follow this instruction
may cause malfunctions due to noise.
1.2 Particularly important cautions

4
1
2
3
5
6
Chapter 1 USING THE ROBOT SAFELY 1-3
1.2.2 Installation safety points
wWARNING
• ALWAYS GROUND THE GROUND TERMINAL OF THE POWER TERMINAL BLOCK
TO AVOID ELECTRICAL SHOCK.
• SECURELY INSTALL THE CONNECTORS INTO THE ROBOT CONTROLLER, AND
WHEN WIRING THE CONNECTORS, MAKE THE CRIMP, PRESS-CONTACT OR
SOLDER CONNECTIONS CORRECTLY, USING THE TOOL SPECIFIED BY THE
MANUFACTURER.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL
PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
• YAMAHA ROBOTS AND ROBOT CONTROLLERS ARE NOT DESIGNED TO BE
EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO
INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE
EXPLOSION OR FIRE. FAILURE TO OBSERVE THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE.
• USE THE ROBOT CONTROLLER WITHIN THE ENVIRONMENT SPECIFICATIONS
LISTED IN THIS MANUAL.
USING THE CONTROLLER IN AN ENVIRONMENT OUTSIDE THE SPECIFICATION
RANGE MAY CAUSE ELECTRICAL SHOCK, MALFUNCTIONS, PRODUCT
DAMAGE OR DETERIORATED PERFORMANCE.
• INSTALL THE ROBOT CONTROLLER AND PROGRAMMING BOX AT A
LOCATION OUTSIDE THE ROBOT'S WORKING ENVELOPE YET WHERE IT IS EASY
TO OPERATE THE ROBOT AND VIEW ITS MOTION.
• INSTALL THE CONTROLLER IN LOCATIONS WITH ENOUGH SPACE TO PERFORM
WORK (TEACHING, INSPECTION, ETC.) SAFELY. LIMITED SPACE NOT ONLY
MAKES IT DIFFICULT TO PERFORM WORK, BUT CAN ALSO BE A CAUSE OF
INJURY.
• INSTALL THE ROBOT CONTROLLER IN A STABLE, LEVEL LOCATION AND
SECURE IT FIRMLY. AVOID INSTALLING THE ROBOT CONTROLLER UPSIDE
DOWN OR IN A TILTED POSITION.
• PROVIDE SUFFICIENT CLEARANCE AROUND THE ROBOT CONTROLLER FOR
GOOD VENTILATION. POOR VENTILATION MAY CAUSE MALFUNCTION,
BREAKDOWN OR FIRE.
• NEVER DIRECTLY TOUCH THE CONDUCTIVE SECTIONS AND ELECTRONIC
PARTS OTHER THAN THE CONNECTORS, ROTARY SWITCHES, AND DIP
SWITCHES ON THE OUTSIDE PANEL OF THE ROBOT CONTROLLER.
• SECURELY TIGHTEN THE SCREWS ON THE L-SHAPED BRACKETS TO INSTALL THE
ROBOT CONTROLLER. IF NOT SECURELY TIGHTENED, THE SCREWS MAY
BECOME LOOSE CAUSING THE CONTROLLER TO DROP.
• SECURELY INSTALL EACH CONNECTION CABLE CONNECTOR INTO THE
RECEPTACLES OR SOCKETS. POOR CONNECTIONS MAY CAUSE EQUIPMENT
MALFUNCTIONS.
1.2 Particularly important cautions

4
1
2
3
5
6
1-4 Chapter 1 USING THE ROBOT SAFELY
1.2.3 Wiring safety points
wWARNING
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL
PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
cCAUTION
• Make sure that no foreign matter such as cutting chips or wire scraps
enter the robot controller. Malfunctions, breakdown or fire may result if
they have entered.
• Always store the cables connected to the robot controller in a conduit or
clamp them securely in place. If the cables are not stored in a conduit or
properly clamped, excessive play or movement or mistakenly pulling on
the cable may damage the connector or cables, and poor cable contact
may cause equipment malfunctions.
• Do not modify the cables and do not place any heavy object on them.
Handle them carefully to avoid damage. Damaged cables may cause
malfunction or electrical shock.
• If there is a possibility that the cables connected to the robot controller
may be damaged, protect them with a cover, etc.
• Do not apply excessive loads or impacts to the connectors when making
cable connections. The connector pins may become bent or the internal
PC board may be damaged.
• When disconnecting the cable from the robot controller, detach by
gripping the connector itself and not by tugging on the cable. Loosen the
screws on the connector (if fastened with the screws), and then
disconnect the cable. Detaching by pulling on the cable itself may
damage the connector or cables, and poor cable contact may cause
equipment malfunctions.
1.2 Particularly important cautions

4
1
2
3
5
6
Chapter 1 USING THE ROBOT SAFELY 1-5
1.2.4 Start-up and maintenance safety points
wDANGER
• NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS
OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS
INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR
DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK
WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S
WORKING ENVELOPE.
• WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE
ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR
MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX
WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN
CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING
SPEED TO 3% OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH.
• CHECK THE FOLLOWING POINTS BEFORE OPERATING THE ROBOT.
• NO ONE IS WITHIN THE ROBOT'S WORKING ENVELOPE.
• THE PROGRAMMING BOX IS AT THE SPECIFIED POSITION.
• THERE IS NO ABNORMAL STATE IN THE ROBOT AND RELATED DEVICES.
wWARNING
• ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY
OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED
THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED.
• THE ROBOT AND ROBOT CONTROLLER ARE NOT DESIGNED TO BE
EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO
INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE
EXPLOSION OR FIRE. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE.
• DO NOT TOUCH ANY ELECTRICAL TERMINAL OF THE ROBOT CONTROLLER.
DOING SO MAY CAUSE ELECTRICAL SHOCK OR EQUIPMENT MALFUNCTIONS.
• ALWAYS CONNECT THE ROBOT AND ROBOT CONTROLLER IN THE CORRECT
COMBINATION. USING THEM IN AN INCORRECT COMBINATION MAY CAUSE
FIRE OR BREAKDOWN.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
CLEANING OR TIGHTENING THE TERMINAL SCREWS. FAILURE TO SHUT OFF
ALL PHASES MAY CAUSE ELECTRICAL SHOCK, PRODUCT DAMAGE OR
MALFUNCTIONS.
• DO NOT TOUCH THE ROBOT CONTROLLER AND ROBOT DURING OPERATION.
SOME PARTS IN THE ROBOT CONTROLLER OR ROBOT ARE HOT DURING
OPERATION. TOUCHING THEM MAY CAUSE BURNS.
• DO NOT HANDLE OR OPERATE THE ROBOT CONTROLLER OR PROGRAMMING
BOX WITH WET HANDS. TOUCHING THEM WITH WET HANDS MAY RESULT IN
ELECTRICAL SHOCK OR BREAKDOWN.
1.2 Particularly important cautions

4
1
2
3
5
6
1-6 Chapter 1 USING THE ROBOT SAFELY
• IMMEDIATELY TURN OFF POWER IF UNUSUAL ODORS, NOISE OR SMOKE ARE
NOTICED DURING OPERATION. CONTINUOUS OPERATION UNDER SUCH A
CONDITION MAY RESULT IN ELECTRICAL SHOCK, FIRE OR BREAKDOWN.
STOP USING AND CONTACT OUR SALES OFFICE OR SALES REPRESENTATIVE.
• DO NOT DISASSEMBLE OR MODIFY ANY PART IN THE ROBOT CONTROLLER
AND PROGRAMMING BOX. DO NOT OPEN ANY COVER. FAILURE TO
FOLLOW THIS INSTRUCTION MAY CAUSE ELECTRICAL SHOCK, BREAKDOWN,
MALFUNCTION, INJURY, OR FIRE.
• IF A COMPONENT USED IN THE ROBOT OR CONTROLLER NEEDS TO BE
REPLACED OR REPAIRED, ALWAYS FOLLOW THE INSTRUCTIONS FROM
YAMAHA. INSPECTION AND MAINTENANCE OF THE CONTROLLER OR ROBOT
BY ANY PERSON WHO DOES NOT HAVE THE REQUIRED KNOWLEDGE AND
EXPERTISE IS DANGEROUS AND MUST BE AVOIDED.
• WHEN PERFORMING MAINTENANCE OR INSPECTION OF THE ROBOT
CONTROLLER UNDER OUR INSTRUCTIONS, WAIT AT LEAST 30 MINUTES AFTER
TURNING THE POWER OFF. SOME COMPONENTS IN THE ROBOT
CONTROLLER MAY BE HOT OR STILL RETAIN A HIGH VOLTAGE SHORTLY AFTER
OPERATION, SO BURNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS
ARE TOUCHED.
• DURING STARTUP OR MAINTENANCE WORK, DISPLAY AN EASY TO
UNDERSTAND SIGN OR MESSAGE ON THE PROGRAMMING UNIT OR
OPERATION PANEL TO PREVENT ANYONE OTHER THAN PERSONNEL FOR THAT
WORK FROM MISTAKENLY OPERATING A START OR SELECTOR SWITCH. IF
NEEDED, TAKE OTHER MEASURES SUCH AS LOCKING THE COVER ON THE
OPERATION PANEL.
• DECIDE ON "WORK INSTRUCTIONS" IN CASES WHERE PERSONNEL MUST
WORK WITHIN THE ROBOT'S WORKING ENVELOPE TO PERFORM STARTUP OR
MAINTENANCE WORK. MAKE SURE THE WORKERS KNOW THESE "WORK
INSTRUCTIONS" WELL.
1.2 Particularly important cautions

4
1
2
3
5
6
Chapter 1 USING THE ROBOT SAFELY 1-7
cCAUTION
• When using ferrite cores for noise elimination, fit them to the power cable
as close to the robot controller and/or the robot as possible, to prevent
malfunctions due to noise.
• Back up the robot controller internal data in an external storage device.
The robot controller internal data (programs, point data, etc.) may be lost
or deleted for unexpected reasons. Always make a backup of the
internal data.
• Do not use thinner, benzene, and alcohol to wipe clean the surface of the
programming box. The surface sheet may be damaged or printed letters
or marks might be erased. Use a soft, dry cloth and gently wipe the
surface.
• Do not use a hard or pointed object to operate the keys on the
programming box. Malfunction or breakdown may result if the keys are
damaged. Use your fingers to operate the keys.
• Do not insert any SD memory card other than specified into the SD
memory card slot of the programming box. Malfunction or breakdown
may result if a wrong memory card is used.
• Do not leave the SD memory card inserted into the programming box.
Doing so may cause malfunction or breakdown. Insert the SD memory
card into the programming box only when making a data backup or
loading the backup data.
1.2.5 Safety precautions during robot operation
wDANGER
• NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS
OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS
INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR
DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK
WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S
WORKING ENVELOPE.
• WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE
ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR
MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX
WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN
CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING
SPEED TO 3% OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH.
wWARNING
• ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY
OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED
THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED.
1.2 Particularly important cautions

4
1
2
3
5
6
1-8 Chapter 1 USING THE ROBOT SAFELY
1.2.6 Precautions for disposal
cCAUTION
• When disposing of this product discard it as industrial waste. Take
appropriate measures in compliance with legal regulations in your
country or entrust its proper disposal to a company authorized to handle
industrial waste.
1.3 Safety measures for robots
1.3.1 Safety measures for SCARA type robots
(1) Safty measures during transportation:
To ensure safety, use the eyebolts that come with the robot.
Refer to the robot user's manual for details.
(2) Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.
1.3.2 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots
(1) Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.
1.4 Motor overload precautions
Since abnormal operation (such as overload) of the motor is detected by software, the
controller parameters must be set correctly to match the motor type used in the robot
connected to the controller.
Prior to shipping, the controller parameters are preset to match the robot model to be
used. However, please check the robot model again when connecting it to the controller.
1.3 Safety measures for robots

4
1
2
3
5
6
Chapter 1 USING THE ROBOT SAFELY 1-9
1.5 Warning labels and marks
1.5.1 Warning labels
The warning labels shown below are affixed to the controller. To use the YAMAHA robot
and controller safely and correctly, be sure to observe the instructions and caution on the
labels.
(1) "Read Instruction Manual" label
READ INSTRUCTION
MANUAL
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply
to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.
1.5.2 Warning marks
The following warning marks are shown on the controller. To use the YAMAHA robot and
controller safely and correctly, be sure to observe the instructions and caution of the
marks.
(1) "Electric Hazard" mark
This mark indicates that a high voltage is present.
This mark warns you of possible electrical shock. Do not touch the terminal block and
connectors to avoid electrical shock.
(2) "CAUTION" mark
!
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply
to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.
1.5 Warning labels and marks

4
1
2
3
5
6
1-10 Chapter 1 USING THE ROBOT SAFELY
(3) "High Temperature Hazard" mark
Indicates that the area around this mark may become very hot.
Heatsinks and regenerative unit become hot during and shortly after operation. Do not
touch them to avoid burns.
1.6 Industrial robot operating and maintenance personnel
Operators or persons who handle the robot such as for teaching, programming, movement
check, inspection, adjustment, and repair must receive appropriate training and also have
the skills needed to perform the job correctly and safely. They must read the user's manual
carefully to understand its contents before attempting the robot operation.
Tasks related to industrial robots (teaching, programming, movement check, inspection,
adjustment, repair, etc.) must be performed by qualified persons who meet requirements
established by local regulations and safety standards for industrial robots.
1.7 Make daily and periodic inspections
Always make sure that daily and periodic inspections are performed, and make a pre-work
check to ensure there are no problems with the robot or related equipment. If a problem
or abnormality is found, then promptly repair it or take other measures as necessary.
1.6 Industrial robot operating and maintenance personnel