ST Robotics DEUCALEON R17HS, User Manual

Page: 4 / 28

R17 Robot Manual
page 4
2. IMPORTANT DOS AND DON'TS
(1) DON'T ever disconnect or connect the robot while the controller is switched on. This
will result in damage to the electronics and the connectors themselves. Warranty claims
will not be accepted for damage resulting from this.
On the R17HS or R17HSW do not leave the motor cable disconnected but the power
cable connected or vice versa.
(2) DO be very careful not to "crash" i.e. drive any joint against a solid object so that it
stalls. Depending on the speed damage may result. At lower speeds the motors generate
higher torques so can do more damage. DON'T drive the waist against the stop.
(3) For the above reason DON’T use CALIBRATE unless you are sure the robot will not
crash into something in the workspace.
(4) DON'T use CALIBRATE unless you are sure the robot is in the valid position for
calibration including taking into account any complex end effector fitted.
(5) DON'T back-drive the 6
th
axis; damage can result.
(6) DO have your hand poised over the emergency stop button whenever testing a
program. Remember that because of its geometry a revolute arm will describe wide arcs
from far apart points, and may collide with objects within its reach.
(7) DO take appropriate measures to assess the risks and protect personnel from injury
(see next section)
(8) DON’T continuously rotate an electric gripper – it will break the internal wiring.
(9) DON’T leave the robot switched on but not moving for very long periods of time (say
more than a week) as motor heat can damage the belts.
(10) DON’T try to save a project if the controller is switched off.
(11) DO make a back-up of the computer disk supplied as soon as possible.
(12) DO warm up the robot for best repeatability. After switching on from cold run the
robot some simple all axes routine for 10-20 minutes.