User's Manual

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CHAPTER 1 Using the Robot Safely
(6) Use caution when releasing the Z-axis (vertical axis) brake.
WARNING
The Z-axis will slide down when the Z-axis brake is released, causing a hazard-
ous situation.
• Press the emergency stop button and prop up the Z-axis with a support stand
before releasing the brake.
•Use caution not to let your body get caught between the Z-axis and installa-
tion base when releasing the brake to perform direct teach.
(7) Provide safety measures for end effector (gripper, etc.).
WARNING
•End effectors must be designed and manufactured so that they cause no
hazards (for example, loosening of workpiece) even if power (electricity, air
pressure, etc.) is shut off or power fluctuations occur.
• If there is a possible danger that the object gripped by the end effector may
fly off or drop, then provide appropriate safety protection taking into account
the object size, weight, temperature and chemical properties.
(8) Be cautious of possible Z-axis movement when the controller is
turned off or emergency stop is triggered. (2-axis robots with
air-driven Z-axis)
WARNING
The Z-axis moves up when the power to the controller or PLC is turned off, the
program is reset, emergency 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 moving parts of the
Z-axis.
•Keep the usual robot position in mind so that the Z-axis will not interfere with
obstacles during raising of the Z-axis, except in case of emergency stop.
(9) Use the following caution items when the Z-axis is interfering
with peripheral equipment. (2-axis robots with air driven Z-axis)
WARNING
When the Z-axis comes to a stop due to obstructions from peripheral equip-
ment, the Z-axis may move suddenly when the obstruction is removed, causing
injury such as pinched or crushed hands.
•Turn off the controller and reduce the air pressure before attempting to re-
move the obstruction.
•Before reducing the air pressure, place a support stand under the Z-axis
because it will drop under its own weight.