Installation and Commissioning - Continued
4.1.25 Calibration operations must be carried out with extreme care as specified in the User Manual, and
must be completed by checking the correct machine position.
4.1.26 Only the original disks, supplied by COMAU S.p.A. with the robot, must be used to load or update
the system software (e.g. after replacing cards). After loading the software, always run a safety
test cycle from outside the protected area. When loading the system software, follow the proce
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dure described in the Product User Manual to the letter.
4.1.27 Make sure that the safety barrier around the protected area has been cerrectly fitted .
4.2 Operation during Programming
4.2.1 The robot must be programmed by authorized personnel only.
4.2.2 Before programming, the operator must check the robot system to ensure there are no potentially
dangerous anomalous conditions and (ensure) that there is nobody inside the protected area.
4.2.3 Whenever possible, programming must be carried out from outside the protected area.
4.2.4 Whenever work must be carried out inside the protected area, the operator outside the protected
area must make sure that all the necessary protections have been installed and are operational
and in particular that the portable programming unit functions correctly (reduced speed, enable
pushbutton, emergency stop, etc.).
4.2.5 The operator can enter the protected area during programming only if he has the programming
terminal.
4.2.6 During programming, only the operator with the programming terminal may remain within the pro-
tected area. If the presence of another operator is absolutely necessary, he must have a further
three-position safety device connected to the control system.
4.2.7 During programming, the operator must keep far enough away from the robot to be able to avoid
any unexpected movements from the robot, and in a position to avoid being caught between the
robot and parts of the surrounding structure( pillars, safety barrier, etc.), or between moving parts
of the robot.
4.2.8 During programming, the operator must not approach any parts of the robot that may drop or lift
due to the gravity.
4.2.9 The motors must always be activated (Drive On) from outside the robot's work envelope after
checking there is noone inside the area involved. The Drive On operation is concluded when the
relevant machine status message is displayed.
4.2.10 Programmed cycle testing at working speed (a function that is included only if specific request is
made), in situations which require close visual observation with the operator inside the protected
area, must only be carried out after a complete test cycle has been run at reduced speed. Testing
must be controlled from a safe distance.
4.2.11 Be extremely careful when programming from the portable programming terminal: the hardware
and software safety devices are in operation, but robot movement is under the operator's control.
4.2.12 The first time a new program is run, the robot may move along an unexpected path.The modifica
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tion of steps in the program (e.g. shifting one step from one part of the program to another, incor
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rect recording of a step, modification of the robot position outside the path that joins two steps in
the program), may give rise to movements that were not envisaged by the operator during pro
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gram testing.
In both cases, it is extremely important to proceed with caution, and remain outside the robot's
work envelope.
SAFETY REGULATIONS C3G Plus
1-4 02/1299
SAFETY REGULATIONS
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