PRECAUTIONS IN PROGRAMMING (1) Use a limit switch or other sensor to
detect a dangerous condition and, if necessary, design the program to stop
the robot when the sensor signal is received. (2) Design the program to stop
the robot when an abnormality occurs in any other robots or peripheral
equipment, even though the robot itself is normal. (3) For a system in which
the robot and its peripheral equipment are in synchronous motion, particular
care must be taken in programming so that they do not interfere with each
other. (4) Provide a suitable interface between the robot and its peripheral
equipment so that the robot can detect the states of all devices in the
system and can be stopped according to the states. 4.2 PRECAUTIONS FOR
MECHANISM (1) Keep the component cells of the robot system clean,
operate the robot where insulated from the influence of oil, water, and dust.
(2) Don’t use unconfirmed liquid for cutting fluid and cleaning fluid. (3)
Adopt limit switches or mechanical stoppers to limit the robot motion, and
avoid the robot from collisions against peripheral equipment or tools. (4)
Observe the following precautions about the mechanical unit cables. Failure
to follow precautions may cause problems. • Use mechanical unit cable that
have required user interface. • Do not add user cable or hose to inside of
the mechanical unit. • Please do not obstruct the movement of the
mechanical unit when cables are added to outside of mechanical unit. • In
the case of the model that a cable is exposed, please do not perform
remodeling (Adding a protective cover and fix an outside cable more)
obstructing the behavior of the outcrop of the cable. • When installing user
peripheral equipment on the robot mechanical unit, please pay attention
that the device does not interfere with the robot itself. (5) The frequent
power-off stop for the robot during operation causes the trouble of the robot.
Please avoid the system construction that power-off stop would be operated
routinely. (Refer to bad case example.) Please perform power-off stop after
reducing the speed of the robot and stopping it by hold stop or cycle stop
when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in "SAFETY
PRECAUTIONS" for detail of stop type.) (Bad case example) • Whenever poor
product is generated, a line stops by emergency stop and power-off of the
robot is incurred. • When alteration is necessary, safety switch is operated
by opening safety fence and power-off stop is incurred for the robot during
operation. • An operator pushes the emergency stop button frequently, and
a line stops. • An area sensor or a mat switch connected to safety signal
operates routinely and power-off stop is incurred for the robot. • Power-off
stop is regularly incurred due to an inappropriate setting for Dual Check
Safety (DCS). (6) Power-off stop of Robot is executed when collision
detection alarm (SRVO-050) etc. occurs. Please try to avoid unnecessary
power-off stops. It may cause the trouble of the robot, too. So remove the
causes of the alarm. SAFETY PRECAUTIONS B-83234EN/03 s-11 5 SAFETY OF
THE ROBOT MECHANICAL UNIT 5.1 PRECAUTIONS IN OPERATION (1) When
operating the robot in the jog mode, set it at an appropriate speed so that
the operator can manage the robot in any eventuality. (2) Before pressing
the jog key, be sure you know in advance w
The following three robot stop types exist: Power-Off Stop (Category 0
following IEC 60204-1) Servo power is turned off and the robot stops
immediately. Servo power is turned off when the robot is moving, and the
motion path of the deceleration is uncontrolled. The following processing is
performed at Power-Off stop. - An alarm is generated and servo power is
turned off. - The robot operation is stopped immediately. Execution of the
program is paused. Frequent Power-Off stop of the robot during operation
can cause mechanical problems of the robot. Avoid system designs that
require routine or frequent Power-Off stop conditions. Controlled stop
(Category 1 following IEC 60204-1) The robot is decelerated until it stops,
and servo power is turned off. The following processing is performed at
Controlled stop. - The alarm "SRVO-199 Controlled stop" occurs along with a
decelerated stop. Execution of the program is paused. - An alarm is
generated and servo power is turned off. Hold (Category 2 following IEC
60204-1) The robot is decelerated until it stops, and servo power remains
on. The following processing is performed at Hold. - The robot operation is
decelerated until it stops. Execution of the program is paused. WARNING 1
The stopping distance and time of Controlled stop is longer than those of
Power-Off stop. A risk assessment for the whole robot system which takes
into consideration the increased stopping distance and stopping time is
necessary when Controlled stop is used. Please refer to the operator's
manual of a particular robot model for the data of stopping distance and
time. 2 In multi arm system, the longest stopping distance and time of
Controlled Stop among each robot are adopted as those for the system. A
risk assessment for the whole robot system which takes into consideration a
possibility that the stopping distance and time increase, is necessary on the
multi arm system. 3 In the system which has extended axis, the longer
stopping distance and time of Controlled Stop among robot and extended
axis are adopted as those for the system. A risk assessment for the whole
robot system which takes into consideration a possibility that the stopping
distance and time increase, is necessary on the system which has extended
axis. Please refer to the extended axis setup procedure of the controller
operator’s manual for considering the stopping distance and time of the
extended axis. 4 In case of Controlled stop, motor power shutdown is
delayed for a maximum of 2 seconds. In this case, a risk assessment for the
whole robot system is necessary, including the 2 seconds delay. SAFETY
PRECAUTIONS B-83234EN/03 s-13 When the emergency stop button is
pressed or the FENCE is open, the stop type of robot is Power-Off stop or
Controlled stop. The configuration of stop type for each situation is called
stop pattern. The stop pattern is different according to the controller type or
option configuration. There are the following 3 Stop patterns. Stop pattern
Mode Emergency stop button External Emergency stop FENCE open SVOFF
input Servo disconnect AUTO P-Stop P-Stop C-Stop C-Stop P-Stop A T1 P-Stop
P-Stop - C-Stop P-Stop T2 P-Stop P-Stop - C-Stop P-Stop AUTO P-Stop P-Stop
P-Stop P-Stop P-Stop B T1 P-Stop P-Stop - P-Stop P-Stop T2 P-Stop P-Stop - P-
Stop P-Stop AUTO C-Stop C-Stop C-Stop C-Stop C-Stop C T1 P-Stop P-Stop -
C-Stop P-Stop T2 P-Stop P-Stop - C-Stop P-Stop P-Stop: Power-Off stop C-
Stop: Controlled sto
