Yamaha RCX222, User Manual

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Safety Instructions
S-19
Working inside safety enclosures 4.
Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective
function is operating correctly (see the previous section 2.3).
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DANGER
Never enter within the movement range while within the safety enclosure.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
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WARNING
When work is required within the safety enclosure, place a sign "Work in progress" in order to keep other persons
from operating the controller switch or operation panel.
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WARNING
When work within the safety enclosure is required, always turn off the controller power except for the following
cases:
Exception
Work with power turned on, but robot in emergency stop
Origin position setting SCARA robots
Follow the precautions and procedure described in "Adjusting the
origin".
Standard coordinate setting SCARA robots
Follow the precautions and procedure described in "Setting the
standard coordinates".
Soft limit settings
SCARA robots
Follow the precautions and procedure described in "Setting the soft
limits".
Cartesian robots
Single-axis robots Follow the precautions and procedure described in "Soft limit" in
each controller manual.
Work with power turned on
Teaching
SCARA robots
Cartesian robots
Single-axis robots
Refer to "5. Teaching within safety enclosure" described below.
Teaching within the safety enclosure 5.
When performing teaching within the safety enclosure, check or perform the following points from outside the safety
enclosure .
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DANGER
Never enter within the movement range while within the safety enclosure.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
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WARNING
• Make a visual check to ensure that no hazards are present within the safety enclosure.
• Check that the programming box or handy terminal operates correctly.
• Check that no failures are found in the robot.
• Check that emergency stop works correctly.
• Select teaching mode and disable automatic operation.