R12 Robot Manual
page
4
2. IMPORTANT DOS AND DON'TS
(1) HANDLING – DO take care when carrying the robot by hand or moving the arm by hand.
DON’T push the covers in when handling – this can damage wiring under the covers.
(2)
DANGER -
HOT
– DON’T touch any of the motors. They can reach temperatures
approaching boiling point or more.
(3) DON'T ever disconnect
or connect
the robot while the controller is switched on. This will
result in damage to the connectors. Warranty claims will not be accepted for damage
resulting from this.
(4) DON'T back-drive the 6
th
axis; damage can result. Warranty claims will not be accepted
for damage resulting from this.
(5) 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. Avoid driving the waist against the stop.
(6) For the above reason DON’T use CALIBRATE unless you are sure the robot will not
crash into something in the workspace OR into itself, including taking into account any
complex end effector fitted.
(7) 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.
(8) DO take appropriate measures to assess the risks and protect personnel from injury (see
next section)
(9) DON'T remove an object from an electric gripper by hand when it is gripping the object. It
may snap shut and damage the mechanism. Warranty claims will not be accepted for
damage resulting from this.
(10) DO read the section on the electric gripper before you use it.
(11) 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.
(12) DON’T try to save a project if the controller is switched off.
(13) DO make a back-up of the computer disk supplied as soon as possible.
(14) DO warm up the robot for best repeatability. After switching on from cold run the robot
some simple routine for 10-20 minutes. See note (2).
