Yamaha YK-XR Series User manual
Ver.1.09
EWFK155120
E66
Ver. 1.20
YAMAHASCARAROBOT
InstallationManual
YK-XR Series
YK400XR
CONTENTS YK-XR
Installation Manual
T-1
Safety Instructions
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-8
3.2 Warning symbols S-9
4. Important precautions for each stage of the robot life cycle S-10
4.1 Precautions for using robots and controllers S-10
4.2 Essential precautions for the linear conveyor module S-11
4.3 Design S-12
4.3.1 Precautions for robots S-12
4.3.2 Precautions for robot controllers S-12
4.4 Moving and installation S-13
4.4.1 Precautions for robots S-13
4.4.2 Precautions for robot controllers S-14
4.5 Safety measures S-16
4.5.1 Safety measures S-16
4.5.2 Installing a safety enclosure S-17
4.6 Operation S-18
4.6.1 Trial operation S-18
4.6.2 Automatic operation S-20
4.6.3 Precautions during operation S-20
4.7 Inspection and maintenance S-22
4.7.1 Before inspection and maintenance work S-22
4.7.2 Precautions during service work S-23
4.8 Disposal S-24
5. Emergency action when a person is caught by robot S-25
6. Cautionsregardingstrongmagneticelds S-25
7. Using the robot safely S-26
7.1 Movement range S-26
7.2 Robot protective functions S-27
7.3 Residual risk S-28
7.4 Special training for industrial robot operation S-28
CONTENTS YK-XR
Installation Manual
T-2
T-3
Warranty
Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction iv
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement 1-1
1.2 Part names 1-2
2. Robot controller 1-3
3. Robot initialization number list 1-4
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Installation environments 2-1
1.2 Installation base 2-2
2. Installation 2-3
2.1 Unpacking 2-3
2.2 Checking the product 2-4
2.3 Moving the robot 2-5
2.4 Installing the robot 2-6
3. Protective bonding 2-7
4. Robot cable connection 2-8
5. User wiring and user tubing 2-9
6. Attaching the end effector 2-11
6.1 Accelerationcoefcientvs.momentofinertia 2-11
6.1.1 R-axis tolerable moment of inertia and acceleration coefficient 2-11
6.1.2 Parameter setting according to R-axis moment of inertial of load 2-11
6.2 Equation for moment of inertia calculation 2-12
6.3 Example of moment of inertia calculation 2-15
6.4 Attaching the end effector 2-17
6.5 Gripping force of end effector 2-19
T-2
CONTENTS YK-XR
Installation Manual
T-3
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers 2-20
7.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-21
7.2 Robot overrun during impacts with X-axis or Y-axis mechanical stopper 2-23
8. Working envelope 2-24
9. Stopping time and stopping distance at emergency stop 2-27
10.
Installing the user wiring and tubing newly 2-30
11.
Passing the wiring and tubing in the user wiring/tubing through spline type 2-31
12.
Detaching or attaching the covers 2-32
Chapter 3 Robot settings
1. Overview 3-1
2. Adjusting the origin 3-2
2.1 Return-to-origin method 3-3
2.1.1 Stroke end method 3-3
2.1.2 Mark method 3-4
2.1.3 Sensor method (X-axis, Y-axis) 3-4
2.2 Machine reference 3-5
2.3 Return-to-origin procedures 3-6
2.3.1 Stroke end method 3-6
2.3.2 Sensor method (X-axis, Y-axis) 3-7
2.4 Adjusting the machine reference value 3-9
2.4.1 Stroke end method 3-9
2.4.2 Mark method 3-13
2.4.2.1 Absolute reset in servo on state (re-reset) 3-14
2.4.2.2 Absolute reset in servo off state (re-reset) 3-16
2.4.2.3 Absolute reset in servo on state (new reset) 3-19
2.4.2.4 Absolute reset in servo off state (new reset) 3-21
2.4.3 Sensor method (X-axis, Y-axis) 3-23
3. Setting the soft limits 3-27
3.1 Setting the X-axis and Y-axis soft limits 3-27
3.2 Setting the Z-axis soft limits 3-28
3.3 Setting the R-axis soft limits 3-28
3.4
Relation between the X, Y, and R-axis movement angle, the Z-axis movement distance and the number of pulses
3-28
4. Setting the standard coordinates 3-29
4.1 Standard coordinate setting using a standard coordinate setup jig 3-30
CONTENTS YK-XR
Installation Manual
T-4
5. Afxingthestickersfororiginpositions,movementdirections,andaxisnames 3-32
Chapter 4 Periodic inspecition
1. Overview 4-1
2. List of inspection items 4-2
Chapter 5 Harmonic drive replacement period
1. Overview 5-1
2. Replacement period 5-2
Chapter 6 Increasing the robot operating speed
1. Increasing the robot operating speed 6-1
1.1 Increasing speed by arch motion 6-1
1.2 Increasing the speed with the WEIGHT statement 6-3
1.3 Increasing the speed by the tolerance parameter 6-4
1.4 Increasing the speed by the OUT effective position parameter 6-5
Chapter 7 Torque limit designated Z-axis pushing action
1. Torque limit designated Z-axis pushing action 7-1
Chapter 8 Specications
1. Manipulator 8-1
1.1 Basicspecication 8-1
1.2 External view and dimensions 8-2
1.3 Robot inner wiring diagram 8-4
1.4 Wiring table 8-5
Contents
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-8
3.2 Warning symbols S-9
4.
Important precautions for each stage of the robot life cycle
S-10
4.1 Precautions for using robots and controllers S-10
4.2 Essential precautions for the linear conveyor module S-11
4.3 Design S-12
4.3.1 Precautions for robots S-12
4.3.2 Precautions for robot controllers S-12
4.4 Moving and installation S-13
4.4.1 Precautions for robots S-13
4.4.2 Precautions for robot controllers S-14
4.5 Safety measures S-16
4.5.1 Safety measures S-16
4.5.2 Installing a safety enclosure S-17
4.6 Operation S-18
4.6.1 Trial operation S-18
4.6.2 Automatic operation S-20
4.6.3 Precautions during operation S-20
4.7 Inspection and maintenance S-22
4.7.1 Before inspection and maintenance work S-22
4.7.2 Precautions during service work S-23
4.8 Disposal S-24
5.
Emergency action when a person is caught by robot
S-25
6. Cautions regarding strong magnetic fields S-25
7. Using the robot safely S-26
7.1 Movement range S-26
7.2 Robot protective functions S-27
7.3 Residual risk S-28
7.4 Special training for industrial robot operation S-28
Safety Instructions
Safety Instructions
S-1
1. Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when
performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and con-
trollers*, carefully read and comply with the safety instructions and precautions in this "Safety Instructions"
guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the
robot and controller, and also may cause personal injury (to installation personnel, robot operator or service
personnel) including fatal accidents.
* The descriptions about the controller stated in this manual also include the contents of the robot driver.
Before using this product, read this manual and related manuals and take safety precautions to ensure cor-
rect handling.
The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that in-
cludes YAMAHA robots, please take appropriate safety measures as required by the user’s individual system.
To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instruc-
tions.
• Forspecificsafetyinformationandstandards,refertotheapplicablelocalregulationsandcomplywith
the instructions.
• WarninglabelsattachedtotherobotsarewritteninEnglish,Japanese,ChineseandKorean.Thismanual
isavailableinEnglishorJapanese(orsomepartsinChinese).Unlesstherobotoperatorsorservice
personnel understand these languages, do not permit them to handle the robot.
• CautionsregardingtheofficiallanguageofEUcountries
ForequipmentthatwillbeinstalledinEUcountries,thelanguageusedforthemanuals,warninglabels,
operationscreencharacters,andCEdeclarationsisEnglishonly.
WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,
messagesinJapaneseorotherlanguagesmightbeadded.
It is not possible to list all safety items in detail within the limited space of this manual. So please note that
it is essential that the user have a full knowledge of safety and also make correct judgments on safety proce-
dures.
Refer to the manual by any of the following methods when installing, operating or adjusting the robot
and controller.
1. Install, operate or adjust the robot and controller while referring to the printed version of the
manual (available for an additional fee).
2. Install, operate or adjust the robot and controller while viewing the disc version of the manual
on your computer screen.
3. Install, operate or adjust the robot and controller while referring to a printout of the necessary
pages from the disc version of the manual.
Safety Instructions
S-2
2. Signal words used in this manual
This manual uses the following safety alert symbols and signal words to provide safety instructions that must
be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure
you understand the meaning of each symbol and signal word and then read this manual.
wDANGER
This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.
wWARNING
This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
cCAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or
damage to the equipment.
nNOTE
Explains the key point in the operation in a simple and clear manner.
Safety Instructions
S-3
3. Warning labels
Warninglabelsshownbelowareattachedtotherobotbodyandcontrollertoalerttheoperatortopotential
hazards. To ensure correct use, read the warning labels and comply with the instructions.
3.1 Warning labels
wWARNING
If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an
accident.
outside the safety enclosure.
3.1.1 Warning label messages on robot and controller
Word messages on the danger, warning and caution labels are concise and brief instructions. For more specific
instructions, read and follow the "Instructions on this label" described on the right of each label shown below.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
Warning label 1 (SCARA robots, Cartesian robots)
■
wDANGER
Serious injury may result from contact with a moving robot.
Instructions on this label
• Alwaysinstallasafetyenclosuretokeepallpersons
awayfromtherobotmovementrangeandprevent
injuryfromcontactingthemovingpartoftherobot.
•
Installaninterlockthattriggersemergencystopwhen
thedoororgateofthesafetyenclosureisopened.
• Thesafetyenclosureshouldbedesignedsothatno
onecanenterinsideexceptfromthedoororgate
equippedwithaninterlockdevice.
• Warninglabel1thatcomessuppliedwitharobot
shouldbeaffixedtoaneasy-to-seelocationonthe
doororgateofthesafetyenclosure.
Potential hazard to human body Seriousinjurymayresultfromcontactwithamovingrobot.
To avoid hazard •Keepoutsideoftherobotsafetyenclosureduringoperation.
•Presstheemergencystopbuttonbeforeenteringthesafetyenclosure.
90K41-001470
Warning label 2 (SCARA robots, Cartesian robots, single-axis robots*)
■
* Warning label 2 is not attached to some small single-axis robots, but is supplied with the robots.
wWARNING
Moving parts can pinch or crush hands.
Instructions on this label
Usecautiontopreventhandsandfingersfrombeing
pinchedorcrushedbythemovablepartsoftherobot
whentransportingormovingtherobotorduring
teaching.
Potential hazard to human body Movingpartscanpinchorcrushhands.
To avoid hazard Keephandsawayfromthemovablepartsoftherobot.
90K41-001460
Safety Instructions
S-4
Warning label 3 (SCARA robots, Cartesian robots, controllers*)
■
* Some models
wWARNING
Improper installation or operation may cause serious injury.
Before installing or operating the robot, read the manual and instructions on the warning labels and understand
the contents.
Instructions on this label
• Besuretoreadthewarninglabelandthismanual
carefullytomakeyoucompletelyunderstandthe
contentsbeforeattemptinginstallationandoperation
oftherobot.
• Beforestartingtherobotoperation,evenafteryou
havereadthroughthismanual,readagainthe
correspondingproceduresand"Safetyinstructions"
inthismanual.
• Neverinstall,adjust,inspectorservicetherobotin
anymannerthatdoesnotcomplywiththe
instructionsinthismanual.
Potential hazard to human body Improperinstallationoroperationmaycauseseriousinjury.
To avoid hazard Beforeinstallingoroperatingtherobot,readthemanualandinstructionsonthe
warninglabelsandunderstandthecontents.
90K41-001290
Warning label 4 (SCARA robots*)
■
* This label is not attached to omnidirectional type SCARA robots.
cCAUTION
Do not remove the parts on which Warning label 4 is attached.
Doing so may damage the ball screw.
Instructions on this label
TheZ-axisballscrewwillbedamagediftheupperend
mechanicalstopperontheZ-axissplineisremovedor
moved.Neverattempttoremoveormoveit.
90K41-001520
Warning label 5 (Cartesian robots*, single-axis robots*)
■
* Some robot models
wWARNING
Ground the controller to prevent electrical shock.
Ground terminal is located inside this cover.
Read the manual for details.
Instructions on this label
• Highvoltagesectioninside
• Topreventelectricalshock,besuretogroundthe
robotusingthegroundterminal.
Potential hazard to human body Electricalshock
To avoid hazard Groundthecontroller.
90K41-001480
Safety Instructions
S-5
Warming label 6 (Robot drivers RDV-X/RDV-P)
■
wWARNING
10 minutes or longer to prevent electrical shock. Otherwise, burn or electrical shock may result.
Instructions on this label
• Thisindicatesahighvoltageispresent.
Touchingtheterminalblockorconnectormaycause
electricalshock.
• Thisindicatesimportantinformationthatyoumust
knowisdescribedinthemanual.
Beforeusingtherobotdriver,besuretoreadthe
manualthoroughly.
• Besuretogroundthegroundterminaltoavoid
electricalshock.
• Usenonflammablemetalplatesforthematerialof
theinstallationwallsurface.
Otherwise,firemayresult.
Potential hazard to human body To avoid hazard
Electricalshock Donottouchtheterminalsectionfor10minutesafterpower-off.
Improperinstallationoroperationmaycause
seriousinjury.
Beforeinstallingoroperatingtherobot,readthemanualandinstructions
onthewarninglabelsandunderstandthecontents.
Electricalshock Besuretogroundthegroundterminal.
3T034156-1/NE63012
Warming label 7 (controllers TS-X/TS-P)
■
wWARNING
10 minutes to avoid burns or electrical shock.
cCAUTION
Instructions on this label
• Thisindicatesahighvoltageispresent.
Touchingtheterminalblockorconnectormaycause
electricalshock.
• Thisindicatestheareaaroundthissymbolmay
becomeveryhot.
Motorsandheatsinksbecomehotduringandshortly
afteroperation.Donottouchthemtoavoidburns.
• Thisindicatesimportantinformationthatyoumust
knowisdescribedinthemanual.
Beforeusingthecontroller,besuretoreadthe
manualthoroughly.
Whenaddingexternalsafetycircuitsorconnectinga
powersupplytothecontroller,readthemanual
carefullyandmakechecksbeforebeginningthe
work.
• Besuretogroundthegroundterminaltoavoid
electricalshock.
Potential hazard to human body To avoid hazard
Electricalshock Donottouchtheterminalsectionfor10minutesafterpower-off.
Donottouchthemtoavoidburns. Donottouchthemotorsandheatsinksduringpower-on.
Improperinstallationoroperationmaycause
seriousinjury.
Beforeinstallingoroperatingtherobot,readthemanualandinstructions
onthewarninglabelsandunderstandthecontents.
Electricalshock Besuretogroundthegroundterminal.
90K41-000950
Safety Instructions
S-6
Warming label 8 (controllers RCX240, controllers RCX340)
■
wWARNING
These are precautions for YAMAHA and distributors' service personnel.
Customers must not attempt to open the covers.
wWARNING
Wait at least 100 seconds after power-off before opening the covers.
Instructions on this label
• Waitatleast100secondsafterpower-off
beforeopeningthecovers(*).
• Somepartsinthecontrollerstillretainahigh
voltageevenafterpower-off,soelectrical
shockmayoccurifthosepartsaretouched.
Potential hazard to human body Electricalshock
To avoid hazard Waitatleast100secondsafterpower-offbeforeopeningthecovers(*).
* These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers.
90K41-001390
Warning label 9 (single-axis linear motor robots)
■
cCAUTION
A magnetic scale is located inside this cover. Bringing a magnet close to it may cause malfunction.
Instructions on this label
• Topreventtherobotfromoperatingimproperlydue
tomagneticscalemalfunction,donotbringastrong
magnettothecover.
• Donotbringtoolsclosetothemagneticscale.
90K41-001510
Warning label 10 (single-axis linear motor robots)
■
cCAUTION
Powerful magnets are installed in the robot.
Do not attempt to disassemble the robot to avoid possible injury.
Do not bring any device that may malfunction due to magnetic fields close to the robot.
Instructions on this label
Besuretoread"6.Cautionsregardingstrongmagnetic
fields"in"Safetyinstructions"andmakesureyoufully
understanditscontentsbeforehandlingoroperating
therobot.
Potential hazard to human body Injuryordeathmayresultinsomecases.
To avoid hazard Makeyouunderstandtheprecautionsregardingstrongmagneticfields.
90K41-001500
Safety Instructions
S-7
Warning label 11 (Controller)*
■
* This label is attached to the front panel.
cCAUTION
Refer to the manual.
取扱説明書参照
READ INSTRUCTION
MANUAL
Instructions on this label
Thisindicatesimportantinformationthatyoumust
knowandisdescribedinthemanual.
Beforeusingthecontroller,besuretoreadthemanual
thoroughly.
Whenaddingexternalsafetycircuitsorconnectinga
powersupplytothecontroller,readthemanual
carefullyandmakechecksbeforebeginningthework.
Connectorshaveanorientation.Inserteachconnector
inthecorrectdirection.
93005-X0-00
Warning label 12 (single-axis robots, Cartesian robots*)
■
* Some robot models
wWARNING
If a load is applied to the motor cover, this may cause breakage.
The robot may drop at installation, causing personal injury.
Instructions on this label
• Donottransporttherobotbyholdingthemotor
cover.
Potential hazard to human body Personalinjurymayresult.
To avoid hazard Donotholdthemotorcover.
90K41-001850
Safety Instructions
S-8
3.1.2 Supplied warning labels
Some warning labels are not affixed to robots but included in the packing box. These warning labels should be
affixed to an easy-to-see location.
Warning label is attached to the robot body.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the
safety enclosure.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location.
SCARA
robots
Cartesian
robots
Single-axis
robots
Warning
label 1
*1
Warning
label 2 *1*2
Warning
label 3 *1
*1: See "Part names" in each SCARA robot manual for label positions.
*2: This label is not attached to some small single-axis robots, but is supplied with the robots.
Safety Instructions
S-9
3.2 Warning symbols
Warningsymbolsshownbelowareindicatedontherobotsandcontrollerstoalerttheoperatortopotential
hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated
by the symbols.
Electrical shock hazard symbol1.
wWARNING
Touching the terminal block or connector may cause electrical shock, so use caution.
Instructions by this symbol
Thisindicatesahighvoltageispresent.
Touchingtheterminalblockorconnectormaycause
electricalshock.
93006-X0-00
High temperature hazard symbol2.
wWARNING
Motors, heatsinks, and regenerative units become hot, so do not touch them.
Instructions by this symbol
Thisindicatestheareaaroundthissymbolmaybecome
veryhot.
Motors,heatsinks,andregenerativeunitsbecomehot
duringandshortlyafteroperation.Toavoidburnsbe
carefulnottotouchthosesections.
93008-X0-00
Caution symbol3.
cCAUTION
Always read the manual carefully before using the controller.
!
Instructions by this symbol
Thisindicatesimportantinformationthatyoumust
knowandisdescribedinthemanual.
Beforeusingthecontroller,besuretoreadthemanual
thoroughly.
Whenaddingexternalsafetycircuitsorconnectinga
powersupplytothecontroller,readthemanual
carefullyandmakechecksbeforebeginningthework.
Connectorsmustbeattachedwhilefacingacertain
direction,soinserteachconnectorinthecorrect
direction.
93007-X0-00
Safety Instructions
S-10
4.
Important precautions for each stage of the robot life cycle
This section describes major precautions that must be observed when using robots and controllers. Be sure to
carefully read and comply with all of these precautions even if there is no alert symbol shown.
4.1 Precautions for using robots and controllers
General precautions for using robots and controllers are described below.
Applications where robots cannot be used1.
YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the
following applications.
wDANGER
YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used
for the following applications.
Qualification of operators/workers2.
Operators or persons who perform tasks for industrial robots (such as teaching, programming, movement check, inspec-
tion, adjustment, and repair) must receive appropriate training and also have the skills needed to perform the tasks
correctly and safely.
Those tasks must be performed by qualified persons who meet requirements established by local regulations and
standards for industrial robots. They must also read the manual carefully and understand its contents before attempting
the robot operation or maintenance.
wWARNING
robots.
above qualifications. Any attempt to perform such tasks by an unqualified person may cause an accident
resulting in serious injury or death.
Safety Instructions
S-11
4.2 Essential precautions for the linear conveyor module
The linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment
must be installed just as required for other YAMAHA robots.
This section describes essential precautions for handling the linear conveyor module. Precautions for each
stage in the robot life cycle are listed from the next section, so be sure to read the whole section of “Safety
Instruction” in this manual.
Slider ejection1.
wDANGER
The slider and workpieces ejected at high SPEED from the linear conveyor module may strike persons, causing
serious and POSSIBLY fatal injuries. Please comply with the following points.
conveyor guide
slider and workpieces from the linear conveyor are not ejected outside of the enclosure.
Preventing electrical shock2.
wDANGER
Always comply with the instructions in this manual when installing, operating and inspecting the linear conveyor
module. Failure to do so may lead to electrical shock, serious injury or even death. Please comply with the
following items:
the termination module.
power before starting maintenance tasks.
turn off the power.
Strong magnetic field3.
wWARNING
The linear conveyor module contains powerful permanent magnets and electromagnets that generate strong
magnetic fields. Always comply with the precautions listed in this manual when using the linear conveyor
module. Those persons wearing medical electronic devices such as cardiac pacemakers or hearing aids are at
particular risk of major injury or even death.
removing it from the linear conveyor module’s guide rails.
Do not place any tools near the slider magnets and the linear conveyor motor while the power is on.
High temperature hazard4.
wWARNING
The motor for the linear conveyor module is mounted on the module, and so it is easy to come into contact with.
To allow heat generated during operation to DISSIPATE, install the module on a base made from good heat
conducting material such as metal.
The motor reaches high temperatures during and IMMEDIATELY after operation, so touching it at those times may
cause burns.
Before touching the motor, first turn off the controller power, then wait a while and check that the temperature
has DROPPED sufficiently.
Safety Instructions
S-12
4.3 Design
4.3.1 Precautions for robots
Restricting the robot moving speed1.
wWARNING
Restriction on the robot moving speed is not a safety-related function.
To reduce the risk of collision between the robot and workers, the user must take the necessary protective
measures such as enable devices according to risk assessment by the user.
Restricting the movement range2.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
wWARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
cCAUTION
Provide safety measures for end effector (gripper, etc.)3.
wWARNING
protection taking into account the object size, weight, temperature, and chemical properties.
Provide adequate lighting4.
Provide enough lighting to ensure safety during work.
Install an operation status light5.
wWARNING
4.3.2 Precautions for robot controllers
Emergency stop input terminal1.
wDANGER
Each robot controller has an emergency stop input terminal to trigger emergency stop. Using this terminal, install
a safety circuit so that the system including the robot controller will work safely.
For the robot driver without emergency stop input terminal, construct a safety circuit including the emergency
Maintain clearance2.
cCAUTION
Do not bundle control lines or communication cables together or in close to the main power supply or power
lines. Usually separate these by at least 100mm. Failure to follow this instruction may cause malfunction due to
noise.
This manual suits for next models
1
Table of contents
Other Yamaha Robotics manuals
