Precautions while Robot is Running 2

Release of Residual Air Pressure

Before disassembling or replacing pneumatic parts, first release any residual air pressure in the drive cylinder.

Initial Test (Commissioning)

After installation, parts replacement, or program teaching, be sure to conduct an initial test (commissioning).

Ensure that no one is around or within the safeguarded space, and then conduct an initial test by following the procedures below.

1. Check if each function works properly in Manual mode without causing an error or a dangerous situation.
2. In verifying a program, use Teach Check mode and increase the speed gradually from low speed.
3. Execute an automatic operation in Auto mode to check if each function works properly without causing an error or a dangerous situation. In checking the operation, start the program at the lowest speed (10% of the program speed) and increase the speed gradually.

Precautions for Test Runs

Whenever possible, have the worker stay outside of the safeguarded space when performing test runs.

Perform initial test and periodical check-up to confirm whether the protective measure is effective.

Protective measure includes emergency stop switches, signal related to the safeguarded space (auto enable signal, protective stop signal), mechanical stopper and others.

Precautions for Automatic Operation

1. At start-up

   Before selecting the automatic mode, ensure that all safety protective functions are working.
   Stay out of the safeguarded space with a safety fence when starting the robot; in particular, take extra caution in Internal automatic operation.
   Before starting the robot, check the following items as well as setting the signals to be used and perform signaling practice with all related workers.

   • Check that there is no one inside the safeguarded space (with a safety fence).
   • Check that the teach pendant and tools are in their designated places.
   • Check that no lamps indicating a malfunction on the robot or related equipment are lit.
2. Check that the display lamp indicating automatic operation is lit during automatic operation.
3. Steps to be taken when a malfunction occurs

   Stop the robot's operation by activating the emergency stop device when it is necessary to enter the safeguarded space with a safety fence to perform emergency maintenance in the case of malfunction of the robots or related equipment.

   Take any necessary steps such as posting a notice on the start switch to indicate work is in progress to prevent anyone from accessing the robot.

Precaution for Power Switch

• Make sure to shutdown the power supply before installation, assembling (electrical wiring, mounting tool or end-effector, air piping), daily inspection, repair or parts replacement.
• A power switch of the controller is the second circuit breaker. Residual current exists inside of the controller after turn off the switch. In operation, be sure to disconnect the power connector or turn off the circuit breaker of the equipment to make sure that the power supply to the controller is shut off.
• Also, make sure to lockout to prevent turning on power supply by other workers.

• When the optional robot protective jacket for food processing is used, be careful when taking the jacket off of the robot because the robot unit surface may be extremely hot right after stopping. Wait for a certain period of time before taking the robot jacket off after the robot stops.

  To start working with the robot immediately after stopping, wear thick long gloves to prevent direct contact with the robot.

Precautions in Cleaning

• Make sure to turn off the power breaker of the installation before cleaning of the robot, cables and other parts.
• When the optional robot protective jacket for food processing is used, if detergent or disinfectant is used to wash or sterilize the robot jacket, be sure to check its "SDS (Safety Data Sheet)" and "Precautions for Use" for appropriate cleaning. Also, be careful not to be burnt when using hot water.

Safety Storage of Pendants

To prevent misuse, please store unused teach pendant or mini-pendant in a controlled area.

Precautions in Repairs

1. Do not perform repairs outside of the designated range.
2. Under no circumstances should the interlock mechanism be removed.
3. When opening the robot controller's cover for battery replacement or any other reasons, always turn the robot controller power off and disconnect the power cable.
4. Use only spare tools specified in this manual.

Action During Emergencies and Malfunctions

Decide on actions to be taken by personnel when emergencies or malfunctions occur, and train them in advance.

In case of being caught by the robot, axis can be moved by hand to escape.

In addition, when the axis do not move due to the brake, use the brake release unit or the teach pendant to release the brake.

Regarding release of the brake, see the INSTALLATION & MAINTENANCE GUIDE for each robot.

To prevent injury, please be careful not to apply too much force when pressing the axis, especially for axis which does not equip the brake.

Mechanical Stoppers

When the robot has collided with a mechanical stopper, contact us for inspection and repairs before using the robot because the robot may be damaged.