Operation Safety
The following items are safety precautions for operator personnel:
WARNING
- Make sure to read the “Safety Manual” before operating. Operating the robot system without understanding the safety precautions is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
- Do not enter the work envelope of the Manipulator while the power to the robot system is turned ON. Entering the work envelope with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.
- Before operating the robot system, make sure that no one is inside the safeguarded area. The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area. The motion of the Manipulator is always in restricted (low speed and low power) status to secure the safety of an operator. However, operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly.
- Immediately press the emergency stop switch whenever the Manipulator moves abnormally while the robot system is operated. Continuing the operation while the Manipulator moves abnormally is extremely hazardous and may result in serious bodily injury and/or severe equipment damage.
- If you are to mount the Manipulator on the mobile platform and press the Emergency Stop switch to stop the Manipulator, be sure to design the system so that the mobile platform also stops. If the mobile platform does not stop and it keeps moving, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage.
- Do not operate the Manipulator when the mobile platform is moving. When using the Manipulator, it must be surrounded by the safeguards. Operating the Manipulator while the mobile platform is moving may result in serious bodily injury and/or severe equipment damage.
WARNING
- To shut off power to the robot system, disconnect the power plug from the power source. Be sure to connect the power cable to a power receptacle. DO NOT connect it directly to a factory power source.
CAUTION
- Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.
- If the joints are operated repeatedly with the operating angle less than 5 degrees, they may get damaged early because the bearings are likely to cause oil film shortage in such situation. If it is operated repeatedly, it may lead to an early breakdown. To prevent early breakdown, move each joint larger than 30 degrees for about once an hour.
- Vibration (resonance) may occur continuously depending on the combination of robot motion speed, Arm orientation, and hand load. Vibration arises from natural vibration frequency of the Arm and can be controlled by following measures.
- Changing the Manipulator speed
- Changing the teach points
- Changing the hand load
- The Manipulator may be heated due to motor heat etc. Do not touch the Manipulator until the temperature falls. After confirming that the temperature of the Manipulator has fallen and is not hot when you touch it, perform teaching or maintenance.
- When mounting the Manipulator on the mobile platform, be sure to stop the Manipulator while the mobile platform is in operation. The Manipulator stops when motors on all axes are turned OFF (servo free status). If you cannot turn OFF the motor, set power mode to “Low” and perform exclusive control of the mobile platform and Manipulator so that they do not move simultaneously.