Omron SCARA R6Y-XC Series, User Manual, Page: 16 / 203

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CHAPTER 1 Using the Robot Safely
(6) Use caution when releasing the Z-axis (vertical axis) brake.
(7) Provide safety measures for end effector (gripper, etc.).
(8) Be cautious of possible Z-axis movement when the controller is turned
off or emergency stop is triggered. (2-axis robots with air-driven Z-
axis)
(9) Use the following caution items when the Z-axis is interfering with
peripheral equipment. (2-axis robots with air driven Z-axis)
WARNING
THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS
RELEASED, CAUSING A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS
WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE
Z-AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO
PERFORM DIRECT TEACH.
WARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO
THAT THEY CAUSE NO HAZARDS (FOR EXAMPLE, LOOSENING OF
WORKPIECE) EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS
SHUT OFF OR POWER FLUCTUATIONS OCCUR.
• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY
THE END EFFECTOR MAY FLY OFF OR DROP, THEN PROVIDE
APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE
OBJECT SIZE, WEIGHT, TEMPERATURE AND CHEMICAL PROPERTIES.
WARNING
THE Z-AXIS MOVES UP WHEN THE POWER TO THE CONTROLLER OR
PLC IS TURNED OFF, THE PROGRAM IS RESET, EMERGENCY STOP IS
TRIGGERED, OR AIR IS SUPPLIED TO THE SOLENOID VALVE FOR THE
Z-AXIS AIR CYLINDER.
• DO NOT LET HANDS OR FINGERS GET CAUGHT AND SQUEEZED BY
MOVING PARTS OF THE Z-AXIS.
• KEEP THE USUAL ROBOT POSITION IN MIND SO THAT THE Z-AXIS
WILL NOT INTERFERE WITH OBSTACLES DURING RAISING OF THE
Z-AXIS, EXCEPT IN CASE OF EMERGENCY STOP.
WARNING
WHEN THE Z-AXIS COMES TO A STOP DUE TO OBSTRUCTIONS FROM
PERIPHERAL EQUIPMENT, THE Z-AXIS MAY MOVE SUDDENLY WHEN
THE OBSTRUCTION IS REMOVED, CAUSING INJURY SUCH AS
PINCHED OR CRUSHED HANDS.
• TURN OFF THE CONTROLLER AND REDUCE THE AIR PRESSURE
BEFORE ATTEMPTING TO REMOVE THE OBSTRUCTION.
•BEFORE REDUCING THE AIR PRESSURE, PLACE A SUPPORT STAND
UNDER THE Z-AXIS BECAUSE IT WILL DROP UNDER ITS OWN
WEIGHT.