Yamaha YK250XGC User manual
Ver.1.09
EWHM127100
E52
Ver. 1.00
YAMAHASCARAROBOT
InstallationManual
YK-XG Series
Clean room models
YK250XGC / YK350XGC / YK400XGC / YK500XGLC / YK600XGLC
Dust/drip proof models
YK250XGP / YK350XGP / YK400XGP / YK500XGLP / YK600XGLP
CONTENTS YK-XG
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 S-3
3.1.2 Supplied warning labels S-5
3.2 Warning symbols S-6
4. Major precautions for each stage of use S-7
4.1 Precautions for using robots and controllers S-7
4.2 Design S-8
4.2.1 Precautions for robots S-8
4.2.2 Precautions for robot controllers S-8
4.3 Moving and installation S-9
4.3.1 Precautions for robots S-9
4.3.2 Precautions for robot controllers S-10
4.4 Safety measures S-12
4.4.1 Safety measures S-12
4.4.2 Installing a safety enclosure S-13
4.5 Operation S-14
4.5.1 Trial operation S-14
4.5.2 Automatic operation S-16
4.5.3 Precautions during operation S-16
4.6 Inspection and maintenance S-18
4.6.1 Before inspection and maintenance work S-18
4.6.2 Precautions during service work S-19
4.7 Disposal S-20
5. Emergency action when a person is caught by robot S-21
6. Using the robot safely S-22
6.1 Robot safety functions S-22
6.2 Special training for industrial robot operation S-23
Warranty
CONTENTS YK-XG
Installation Manual
T-2
T-3
Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction iii
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement 1-1
1.2 Part names 1-2
2. Robot initialization number list 1-3
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Sucking from the base rear side of the clean room model 2-1
1.2
Protection ratings for moisture and dust on dust/drip proof models 2-2
2. Installation 2-3
2.1 Checking the product 2-3
2.2 Moving the robot 2-4
3. User wiring and user tubing 2-6
4. Limiting the movement range with X- and Y-axis mechanical stoppers 2-9
4.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-10
5. Limiting the movement range with Z-axis mechanical stopper 2-13
6.
Working envelope and mechanical stopper positions for maximum working envelope
2-13
7. Installing the user wiring and tubing newly 2-14
8. Passing the user wiring and tubing through the spline 2-15
9. Detaching or attaching the covers 2-16
10.
Installingthetoolange 2-21
Chapter 3 Robot settings
1. Overview 3-1
T-2
CONTENTS YK-XG
Installation Manual
T-3
2. Adjusting the origin 3-2
3. Standard coordinate setting using a standard coordinate setup jig 3-3
Chapter 4 Periodic inspecition
1. List of inspection items 4-1
Chapter 5 Specications
1. Manipulator 5-1
1.1 Basicspecication 5-1
1.2 External view and dimensions 5-2
1.2.1 YK250XGC(P) 5-2
1.2.2 YK350XGC(P) 5-4
1.2.3 YK400XGC(P) 5-6
1.2.4 YK500XGLC(P) 5-8
1.2.5 YK600XGLC(P) 5-10
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 S-3
3.1.2 Supplied warning labels S-5
3.2 Warning symbols S-6
4. Major precautions for each stage of use S-7
4.1 Precautions for using robots and controllers S-7
4.2 Design S-8
4.2.1 Precautions for robots S-8
4.2.2 Precautions for robot controllers S-8
4.3 Moving and installation S-9
4.3.1 Precautions for robots S-9
4.3.2 Precautions for robot controllers S-10
4.4 Safety measures S-12
4.4.1 Safety measures S-12
4.4.2 Installing a safety enclosure S-13
4.5 Operation S-14
4.5.1 Trial operation S-14
4.5.2 Automatic operation S-16
4.5.3 Precautions during operation S-16
4.6 Inspection and maintenance S-18
4.6.1 Before inspection and maintenance work S-18
4.6.2 Precautions during service work S-19
4.7 Disposal S-20
5.
Emergency action when a person is caught by robot
S-21
6. Using the robot safely S-22
6.1 Robot safety functions S-22
6.2 Special training for industrial robot operation S-23
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
controllers, 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.
Before using this product, read this manual and related manuals and take safety precautions to ensure correct
handling.
The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that
includes 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
instructions.
• Forspecificsafetyinformationandstandards,refertotheapplicablelocalregulationsandcomplywith
the instructions.
• ThismanualandwarninglabelssuppliedwithorattachedtotherobotarewritteninEnglish.Unlessthe
robotoperatorsorservicepersonnelunderstandEnglish,donotpermitthemtohandletherobot.
• CautionsregardingtheofficiallanguageofEUcountries
ForequipmentthatwillbeinstalledinEUcountries,thelanguageusedforthemanuals,warninglabels,
operationscreencharacters,andCEdeclarationsisEnglishonly.
WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,
messages in Japanese or other languages might be added.
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
procedures.
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,operateoradjusttherobotandcontrollerwhileviewingtheCD-ROMversionofthe
manual on your computer screen.
3. Install, operate or adjust the robot and controller while referring to a printout of the necessary
pagesfromtheCD-ROMversionofthemanual.
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.
THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR
SERIOUS INJURY.
THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR
SERIOUS INJURY.
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or
damage to the equipment.
Explains the key point in the operation in a simple and clear manner.
Safety Instructions
S-3
3. Warning labels
Warning labels shown below are attached to the robot body and controller to alert the operator to potential
hazards. To ensure correct use, read the warning labels and comply with the instructions.
3.1 Warning labels
IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN THE NECESSARY PRECAUTIONS MAY NOT BE TAKEN,
RESULTING IN AN ACIDENT.
CLEARLY SEEN FROM OUTSIDE THE SAFETY ENCLOSURE.
3.1.1 Warning label messages
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.
Warning label 1 (SCARA robots, Cartesian robots)1.
SERIOUS INJURY MAY RESULT FROM CONTACT WITH A MOVING ROBOT.
Instructions on this label
• Alwaysinstallasafetyenclosuretokeepallpersons
awayfromtherobotmovementrangeandprevent
injuryfromcontactingthemovingpartoftherobot.
• Installaninterlockthattriggersemergencystop
whenthedoororgateofthesafetyenclosureis
opened.
• Thesafetyenclosureshouldbedesignedsothatno
onecanenterinsideexceptfromthedoororgate
equippedwithaninterlockdevice.
• Warninglabel1thatcomessuppliedwitharobot
shouldbeaffixedtoaneasy-to-seelocationonthe
doororgateofthesafetyenclosure.
90K41-001470
Warning label 2 (SCARA robots, Cartesian robots, single-axis robots*)2.
* Warning label 2 is not attached to some small single-axis robots, but is supplied with the robots.
MOVING PARTS CAN PINCH OR CRUSH HANDS.
KEEP HANDS AWAY FROM THE MOVABLE PARTS OF THE ROBOT.
Instructions on this label
Usecautiontopreventhandsandfingersfrombeing
pinchedorcrushedbythemovablepartsoftherobot
whentransportingormovingtherobotorduring
teaching.
90K41-001460
Safety Instructions
S-4
Warning label 3 (SCARA robots, Cartesian robots)3.
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.
90K41-001290
Warning label 4 (SCARA robots)4.
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
"Read instruction manual" label (Controller)*5.
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.
Connectorsmustbeattachedwhilefacingacertain
direction,soinserteachconnectorinthecorrect
direction.
93005-X0-00
* This label is attached near the power input connector on the front panel.
Safety Instructions
S-5
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
Warning
label 4 *1
*1: For the label positions, see the SCARA robot user's manual ("1.2 Part names" in Chapter 1).
*2: This label is not attached to some small single-axis robots, but is supplied with the robots.
Safety Instructions
S-6
3.2 Warning symbols
Warning symbols shown below are printed on the robot and controller to alert the operator to potential
hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated
by the symbols.
Electrical shock hazard symbol1.
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.
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.
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-7
4. Major precautions for each stage of use
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.
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 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 manual carefully to understand its contents before attempting the robot operation or maintenance.
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 standards for industrial
robots.
OPERATION BY AN UNTRAINED PERSON IS EXTREMELY HAZARDOUS.
SKILLS, AND MAY ALSO INVOLVE HAZARDS IF ATTEMPTED BY AN UNSKILLED PERSON. THESE TASKS MUST BE
PERFORMED ONLY BY PERSONS WHO HAVE ENOUGH ABILITY AND QUALIFICATIONS IN ACCORDANCE WITH
LOCAL LAWS AND REGULATIONS. FOR DETAILED INFORMATION, PLEASE CONTACT YOUR DISTRIBUTOR WHERE YOU
PURCHASED THE PRODUCT.
Safety Instructions
S-8
4.2 Design
4.2.1 Precautions for robots
Provide safety measures for end effector (gripper, etc.)1.
OCCUR.
IF THE OBJECT GRIPPED BY THE END EFFECTOR MIGHT POSSIBLY FLY OFF OR DROP, THEN PROVIDE APPROPRIATE
SAFETY PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE, WEIGHT, TEMPERATURE, AND CHEMICAL PROPERTIES.
Provide adequate lighting2.
Provide enough lighting to ensure safety during work.
Install an operation status light3.
Do not use robots for tasks requiring motor thrust4.
These tasks may cause the robot to malfunction.
Clean work tools5.
Work tools such as welding guns and paint nozzles mounted on the robot manipulator tip should preferably be cleaned
automatically when needed.
4.2.2 Precautions for robot controllers
Emergency stop input terminal1.
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.
Maintain clearance2.
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.
Safety Instructions
S-9
4.3 Moving and installation
4.3.1 Precautions for robots
Installation environment
■
Do not use in strong magnetic fields1.
DO NOT USE THE ROBOT NEAR EQUIPMENT OR IN LOCATIONS THAT GENERATE STRONG MAGNETIC FIELDS. THE
ROBOT MAY BREAKDOWN OR MALFUNCTION IF USED IN SUCH LOCATIONS.
Do not use in locations subject to possible electromagnetic interference, etc.2.
DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE, ELECTROSTATIC DISCHARGE
OR RADIO FREQUENCY INTERFERENCE. THE ROBOT MAY MALFUNCTION IF USED IN SUCH LOCATIONS CREATING
HAZARDOUS SITUATIONS.
Do not use in locations exposed to flammable gases3.
LIQUID. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH,
OR LEAD TO FIRE.
Moving
■
Use caution to prevent pinching or crushing of hands or fingers1.
MOVING PARTS CAN PINCH OR CRUSH HANDS OR FINGERS.
KEEP HANDS AWAY FROM THE MOVABLE PARTS OF THE ROBOT.
As instructed in Warning label 2, use caution to prevent hands or fingers from being pinched or crushed by movable
parts when transporting or moving the robot. For details on warning labels, see "3. Warning labels" in "Safety
instructions."
Take safety measures when moving the robot2.
To ensure safety when moving a SCARA robot with an arm length of 500mm or more, use the eyebolts that come
supplied with the robot.
Refer to the robot manual for details.
Installation
■
Protect electrical wiring and hydraulic/pneumatic hoses1.
Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage.
Wiring
■
Protective measures against electrical shock1.
ALWAYS GROUND THE ROBOT TO PREVENT ELECTRICAL SHOCK.
Safety Instructions
S-10
Adjustment
■
Adjustment that requires removing a cover1.
YAMAHA ROBOT CONTROLLERS ARE NOT DESIGNED TO BE EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS
EXPOSED TO EXPLOSIVE OR INFLAMMABLE GASES, GASOLINE OR SOLVENT. FAI LURE TO FOLLOW THIS INSTRUCTION
MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE. FOR DETAILED INFORMATION,
PLEASE CONTACT YOUR DISTRIBUTOR WHERE YOU PURCHASED THE PRODUCT.
4.3.2 Precautions for robot controllers
Installation environment
■
Installation environment1.
YAMAHA ROBOTS AND ROBOT CONTROLLERS ARE NOT DESIGNED TO BE EXPLOSION-PROOF. DO NOT USE THEM IN
LOCATIONS EXPOSED TO EXPLOSIVE OR INFLAMMABLE GASES, GASOLINE OR SOLVENT. FAILURE TO FOLLOW THIS
INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, AND LEAD TO FIRE.
MANUAL. OPERATION OUTSIDE THE SPECIFIED ENVIRONMENTAL RANGE MAY CAUSE ELECTRICAL SHOCK, FIRE,
MALFUNCTION OR PRODUCT DAMAGE OR DETERIORATION.
ROBOT MOVEMENT RANGE YET WHERE IT IS EASY TO OPERATE AND VIEW ROBOT MOVEMENT.
INSPECTION, ETC.) SAFELY. LIMITED SPACE NOT ONLY MAKES IT DIFFICULT TO PERFORM WORK BUT CAN ALSO
CAUSE INJURY.
CONTROLLER UPSIDE DOWN OR IN A TILTED POSITION.
CLEARANCE MAY CAUSE MALFUNCTION, BREAKDOWN OR FIRE.
Installation
■
To install the robot controller, observe the installation conditions and method described in the manual.
Installation1.
SECURELY TIGHTEN THE SCREWS FOR THE L-SHAPED BRACKETS USED TO INSTALL THE ROBOT CONTROLLER. IF NOT
SECURELY TIGHTENED, THE SCREWS MAY COME LOOSE CAUSING THE CONTROLLER TO DROP.
Connections2.
WORK. FAILURE TO DO THIS MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
ROTARY SWITCHES, AND DIP SWITCHES ON THE OUTSIDE PANEL OF THE ROBOT CONTROLLER. TOUCHING THEM
MAY CAUSE ELECTRICAL SHOCK OR BREAKDOWN.
CAUSE THE CONTROLLER OR ROBOT TO MALFUNCTION.
Safety Instructions
S-11
Wiring
■
Connection to robot controller1.
The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot
and controller combination, and connect them in the correct combination.
Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly
to match the motor type used in the robot connected to the controller.
Wiring safety points2.
ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING
WORK. FAILURE TO DO THIS MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
the connector pins or damage the internal PC board.
controller and/or the robot as possible, to prevent malfunction caused by noise.
Wiring method3.
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
CONNECTOR MANUFACTURER.
When disconnecting the cable from the robot controller, detach by gripping the connector itself and not by
cable. Trying to detach by pulling on the cable itself may damage the connector or cables, and poor cable
contact will cause the controller or robot to malfunction.
Precautions for cable routing and installation4.
the cable may damage the connector or cables, and poor cable contact will cause the controller or robot to
malfunction.
damage. Damaged cables may cause malfunction or electrical shock.
cover, etc.
supply circuits and power lines, etc. Bundling them together with power lines or close to power lines may
cause faulty operation due to noise.
Protective measures against electrical shock5.
BE SURE TO GROUND THE CONTROLLER USING THE GROUND TERMINAL ON THE POWER TERMINAL BLOCK. POOR
GROUNDING MAY CAUSE ELECTRICAL SHOCK.
Safety Instructions
S-12
4.4 Safety measures
4.4.1 Safety measures
Referring to warning labels and manual1.
MANUAL, AND COMPLY WITH THE INSTRUCTIONS.
TASKS REQUIRE SPECIALIZED TECHNICAL KNOWLEDGE AND SKILLS AND MAY ALSO INVOLVE HAZARDS. PLEASE
CONTACT YOUR DISTRIBUTOR FOR ADVICE.
For details on warning labels, see "3. Warning labels" in "Safety instructions."
Draw up "work instructions" and make the operators/workers understand them2.
DECIDE ON "WORK INSTRUCTIONS" IN CASES WHERE PERSONNEL MUST WORK WITHIN THE ROBOT MOVEMENT
RANGE TO PERFORM STARTUP OR MAINTENANCE WORK. MAKE SURE THE WORKERS COMPLETELY UNDERSTAND THESE
"WORK INSTRUCTIONS".
Decide on "work instructions" for the following items in cases where personnel must work within the robot movement
range to perform teaching, maintenance or inspection tasks. Make sure the workers completely understand these "work
instructions".
1. Robot operating procedures needed for tasks such as startup procedures and handling switches
2. Robot speeds used during tasks such as teaching
3. Methods for workers to signal each other when two or more workers perform tasks
4. Steps that the worker should take when a problem or emergency occurs
5. Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for
cancelling the problem or error state and safety checks in order to restart the robot.
6. In cases other than above, the following actions should be taken as needed to prevent hazardous situations due to
sudden or unexpected robot operation or faulty robot operation as listed below.
•Placeadisplaysignontheoperatorpanel
•Ensurethesafetyofworkersperformingtaskswithintherobotmovementrange
•Clearlyspecifypositionandpostureduringwork
Specify a position and posture where worker can constantly check robot movements and immediately move to
avoid trouble if an error/problem occurs
•Takenoisepreventionmeasures
•Usemethodsforsignalingoperatorsofrelatedequipment
•Usemethodstodecidethatanerrorhasoccurredandidentifythetypeoferror
Implement the "work instructions" according to the type of robot, installation location, and type of work task.
When drawing up the "work instructions" make an effort to include opinions from the workers involved, equipment
manufacturer technicians, and workplace safety consultants, etc.
Take safety measures3.
ON. FAILURE TO FOLLOW THIS WARNING MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH. INSTALL
A SAFETY ENCLOSURE OR A GATE INTERLOCK WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE
ROBOT MOVEMENT RANGE.
FOR TEACHING OR MAINTENANCE/INSPECTION TASKS, ALWAYS CARRY THE PROGRAMMING BOX WITH YOU SO
THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN CASE OF AN ABNORMAL OR HAZARDOUS
CONDITION. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR
DEATH.
This manual suits for next models
9
Table of contents
