Yamaha FLIP-X Series, User Manual

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Chapter 1 About Safety
1-12
1-7 Work Within the Safeguard Enclosure
(1) Work within the safeguard enclosure
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) Soft limit settings
2) Teaching
For item 1), follow the precautions and procedure for each section. To perform item 2), 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 enclosure.
1. Make sure that no hazards are present within the safeguard enclosure by a visual check.
2. Check that the programming unit MPB or DPB 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 enclo-
sure.
1-8 Automatic Operation
Automatic operation described here includes all operations in AUTO mode.
(1) Check the following before starting automatic operation.
1. No one is within the safeguard enclosure.
2. The programming unit and tools are in their specified locations.
3. The alarm or error lamps on the robot and peripheral equipment do not flash.
4. The safeguard enclosure is securely installed with safety interlocks actuated.
(2) Observe the following during automatic operation or in cases where an error occurs.
1) After automatic operation has started, check the operation status and warning lamp to
ensure that the robot is in automatic operation.
2) Never enter the safeguard enclosure during automatic operation.
3) If an error occurs in the robot or peripheral equipment, observe the following procedure
before entering the safeguard enclosure.
1. Press the emergency stop button to set the robot to emergency stop.
2. Place a sign on the start switch, indicating that the robot is being inspected in order to
keep any other person from touching the start switch and restarting the robot.
1-9 Adjustment and Inspection
Do not attempt any installation, adjustment, inspection or maintenance unless it is described in
this manual.
1-10 Repair and Modification
Do not attempt any repair, parts replacement and modification unless described in this manual.
These works require technical knowledge and skill, and may also involve work hazards.