Omron SCARA R6Y-XC Series, User Manual, Page: 24 / 203

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CHAPTER 1 Using the Robot Safely
7 Work Within the Safeguard Enclosure
(1) When work is required inside the safeguard enclosure, always turn off the
controller and place a sign indicating that the robot is being adjusted or
serviced in order to keep any other person from touching the controller
switch or operation panel, except for the following cases.
1) Origin position setting (See Section 3 in Chapter 4.)
2) Soft limit settings (See Section 4 in Chapter 4.)
3) Standard coordinate settings (See Section 5 in Chapter 4.)
4) Teaching
For items 1) to 3), follow the precautions and procedure for each section.
To perform item 4), refer to the description in (2) below.
(2) Teaching
When performing teaching within the safeguard enclosure, comply with the
instructions listed below.
1) Check or perform the following points from outside the safeguard enclo-
sure.
1. Make sure that no hazards are present within the safeguard enclosure
by a visual check.
2. Check that the programming box (PB) operates correctly.
3. Check that no failures are found in the robot.
4. Check that emergency stop works correctly.
5. Select teaching mode and prohibit automatic operation.
2) Never enter the movement range of the manipulator while within the
safeguard enclosure.