Safety Instructions
S-14
6. Using the robot safely
6.1
Robot protective functions
1.
Soft limits
Soft limits can be set on each axis to limit the working envelope in manual operation after return-to-origin and during automatic
operation. The working envelope is the area limited by soft limits.
WARNING
SoFT LIMIT FUNCTIoN IS NoT A SAFETY-RELATED FUNCTIoN INTENDED To pRoTECT THE HUMAN BoDY.
ENSURE SAFETY BY INSTALLINg A SAFETY ENCLoSURE AND So oN.
2.
α-axis, β-axis or γ-axis brakes
An electromagnetic brake is installed on the α-axis, β-axis and γ-axis to prevent them from sliding downward when the servo is
OFF.
WARNING
THE
α
-AxIS
, β
-AxIS oR
γ
-AxIS WILL SLIDE DoWNWARD WHEN THE BRAKE IS RELEASED, CAUSINg A HAzARDoUS
SITUATIoN .TAKE ADEqUATE SAFETY MEASURES BY TAKINg THE WEIgHT AND SHApE INTo ACCoUNT.
• BEFoRE RELEASINg THE BRAKE AFTER pRESSINg THE EMERgENCY STop BUTToN, pLACE A SUppoRT UNDER
THE
α
-AxIS
, β
-AxIS oR
γ
-AxIS So THAT IT WILL NoT SLIDE DoWN.
• WHEN pERFoRMINg TASKS (DIRECT TEACHINg, ETC.) WITH THE BRAKE RELEASED, BE CAREFUL NoT To LET
YoUR BoDY gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE.
6.2
Residual risk
To ensure safe and correct use of oMRoN robots, System integrators and/or end users implement the machinery safety
design that conforms to ISo12100 or JIS9700-1/2.
Residual risks for oMRoN robots are described in the DANgER or WARNINg instructions provided in each chapter
and section. So, read them carefully.
6.3
Special training for industrial robot operation
operators or persons who handle the robot for tasks such as for teaching, programming, movement checks, inspections,
adjustments, and repairs must receive appropriate training and also have the skills needed to perform the job correctly
and safely. They must also 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 safety standards for
industrial robots.