Yamaha YP-X Series, Owner'S Manual

Page: 24 / 110

CHAPTER 1 Using the Robot Safely
1-12
7 Work Within The Safeguards
(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 serv-
iced in order to keep any other person from inadvertently touching the con-
troller switch or operation panel, except for the following cases.
1) Soft limit settings
2) Teaching
For items 1), follow the precautions and procedure for each section. To per-
form 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 enclo-
sure.
q
Make sure that no hazards are present within the safeguard enclosure
by visual check.
w
Check that the programming unit MPB or TPB operates correctly.
e
Check that no failures are found in the robot.
r
Check that emergency stop works correctly.
t
Select teaching mode and prohibit automatic operation.
2) Never enter the movement range of the manipulator while within the safe-
guard enclosure.