Precautions for Automatic Operation

The following items are safety precautions for personnel running a program to perform automatic operation.

WARNING

  • Do not carelessly enter the work envelope during automatic operation. This is extremely hazardous and may cause serious safety problems because the Manipulator may move, even if it seems to be stopped.
  • If the Manipulator stops for an unknown reason during automatic operation, absolutely do not approach the stopped Manipulator. If you need to approach the Manipulator, press the emergency stop switch or shut off the main power supply before approaching. When shutting off the main power supply, be very careful not to create new hazards.
  • When interrupting a program and restarting the robot system during automatic operation, make sure that no new hazards are created in relation to peripheral equipment before starting the program.
  • Before operating the robot system, make sure that no one is inside the safety barriers. If the Manipulator makes an unexpected movement, it is extremely hazardous and may cause serious safety problems.
  • If the Manipulator moves abnormally during operation of the robot system, immediately press the emergency stop switch. Continuing the abnormal operation is extremely hazardous and may result in serious injury to operators and/or severe damage.
  • The interlocks of the safeguards must be functioning when performing work. Performing work in a state where the switch does not turn ON or OFF, such as if it is covered with tape (in a state where the switch is disabled), is extremely hazardous because the safety function of the safeguard will not be activated. This may cause serious safety problems.
  • If a person is pinched or trapped by the Manipulator due to malfunction or abnormality, use the brake release function to move the Manipulator and escape.

    • SCARA robot

      Move joints without electromagnetic brakes directly by hand. For joints with brakes (Joints #3 and #4), press the brake release switch on the Manipulator and move the Manipulator by hand for the Controller main power supply.

    • 6-Axis robot

      If there is a brake release unit:
      Use the brake release unit to release the electromagnetic brake of the Manipulator and operate the Manipulator by hand. When doing so, be careful of the arm falling.

      If there is no brake release unit:
      Release the electromagnetic brake of the Manipulator from the Epson RC+ command window and operate the Manipulator by hand. When doing so, be careful of the arm falling.

  • Do not move the Manipulator while the movable platform ( linear axis, movable cart, AGV, etc.) is in motion. When in use, the Manipulator must always be surrounded by a safety fence. Operating the Manipulator while the movable platform is in motion may result in serious injury to operators and/or severe damage.
  • Do not touch the Manipulator or Controller while they are in operation. When operating, the Manipulator and Controller may be hot and may cause burns.

WARNING

  • To perform the power supply lockout, remove the power plug.
  • Do not open the cover of the Controller or Manipulator except during maintenance. There is a high-voltage charging section inside, and there is a risk of electric shock even when the power is turned off.
  • Do not touch or operate the Controller with wet hands. Touching or operating the product with wet hands may cause electric shock or malfunction.

CAUTION

  • SCARA robot
    • Joints #1, #2, and #4:
      If the Manipulator is operated repeatedly with an operating angle of 5° or less, the bearings used in the joints are likely to cause oil film shortage. Repeated operation may cause premature damage. To prevent premature damage, operate the Manipulator to move each joint to an angle of 50° or more about once per hour.
    • Joint #3:
      If the up-and-down motion of the hand is 10 mm or less, move the hand about half or more of its maximum stroke about once per hour.
  • 6-Axis robot
    If the Manipulator is operated repeatedly with each joint having an operating angle of 5° or less, the bearings used in the joints are likely to cause oil film shortage. Repeated operation may cause premature damage. To prevent premature damage, operate the Manipulator to move each joint to an angle of 30° or more about once per hour.
  • Depending on the combination of the Manipulator motion speed, arm orientation, and hand load, vibration (resonance) may occur continuously throughout operation. Vibration occurs due to the natural vibration frequency of the arm and can be reduced by taking the following measures:
    • Changing the speed of the Manipulator
    • Changing the teach points
    • Changing the hand load
  • If installing the Manipulator on a movable platform, stop the Manipulator when the movable platform is moving or operating. The Manipulator can be stopped by setting the motors of all axes to off (non-energized state). If a motor cannot be turned off, set the power mode to Low and ensure that the movable platform and Manipulator are exclusive and do not move at the same time.
  • Immediately after operation is stopped, the Manipulator may be hot due to heat generated by the motor. Do not touch the Manipulator until the temperature has dropped. Operations such as teaching and maintenance should be performed only after the Manipulator temperature has dropped and it does not feel hot to the touch.
  • 6-Axis robot
    • Normally, release the brakes of joints one at a time. If the brakes of two or more joints must be released simultaneously due to unavoidable reasons, use extreme care. Releasing the brakes of two or more joints simultaneously may cause the arm to fall in an unexpected direction, resulting in hands or fingers getting caught or damage or failure of the robot.
    • Be careful of the arm falling when releasing the brake. While the brake release switch is being pressed, the robot arm will fall by its own weight. The arm falling may result in hands or fingers getting caught or robot damage or breakdown.
    • Before releasing the brake using the software, be sure to keep the emergency stop switch in an easily accessible location so that you can immediately press it if necessary. Otherwise, if the emergency stop switch is not easily accessible, you will be unable to immediately stop the arm falling due to an erroneous operation, which could lead to robot damage or breakdown.
  • If there is a brake release unit and external short connector
    Operating the Manipulator without a brake release unit or external short connector connected may cause the brake to fail to release, possibly damaging the brake.
    After using the brake release unit, be sure to connect the external short circuit connector to the Manipulator or make sure to leave the connector for the brake release unit connected.

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