Yamaha YK-XR Series, Installation Manual, Page: 29 / 158

Safety Instructions
S-21
Use caution when releasing the Z-axis (vertical axis) brake 3.
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WARNING
The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate
safety measures in consideration by taking the weight and shape into account.
• Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so
that it will not slide down.
• Be careful not to let your body get caught between the vertical axis and the installation base when performing
tasks (direct teaching, etc.) with the brake released.
Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered 4.
(air-driven Z-axis)
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WARNING
The Z-axis starts moving upward when power to the controller or PLC is turned off, the program is reset, emergen -
cy 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 robot parts moving along the Z-axis.
• Keep the usual robot position in mind so as to prevent the Z-axis from hanging up or binding on obstacles
during raising of the Z-axis except in case of emergency stop.
Take protective measures when the Z-axis interferes with peripheral equipment (air-driven Z-axis) 5.
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WARNING
When the Z-axis comes to a stop due to obstruction from peripheral equipment, the Z-axis may move suddenly
after 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 under the Z-axis because the Z-axis will drop under its own
weight.
Be careful of Z-axis movement when air supply is stopped (air-driven Z-axis) 6.
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WARNING
The Z-axis will slide downward when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating
a hazardous situation.
Turn off the controller and place a support under the Z-axis before cutting off the air supply.
Make correct parameter settings 7.
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CAUTION
The robot must be operated with the correct tolerable moment of inertia and acceleration coefficients that
match the manipulator tip mass and moment of inertia. Failure to follow this instruction will lead to a premature
end to the drive unit service life, damage to robot parts, or cause residual vibration during positioning.
If the X-axis, Y-axis or R-axis rotation angle is small 8.
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CAUTION
If the X-axis, Y-axis or R-axis rotation angle is set smaller than 5 degrees, then it will always move within the same
position. This restricted position makes it difficult for an oil film to form on the joint support bearing, and so may
possibly damage the bearing. In this type of operation, add a range of motion so that the joint moves through 90
degrees or more, about 5 times a day.