SAFETY PRECAUTIONS B-83144EN/01
s - 6
1.2.2 Safety of the Teach Pendant Operator
While teaching the robot, the operator must enter the work area of the robot. The operator must ensure the
safety of the teach pendant operator especially.
(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal operating
condition.
(3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and other
conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN switch on
the teach pendant) before entering the area.
(4) The programmer must be extremely careful not to let anyone else enter the robot work area.
Our operator panel is provided with an emergency stop button and a key switch (mode switch)
for selecting the automatic operation mode (AUTO) and the teach modes (T1 and T2). Before
entering the inside of the safety fence for the purpose of teaching, set the switch to a teach
mode, remove the key from the mode switch to prevent other people from changing the
operation mode carelessly, then open the safety gate. If the safety gate is opened with the
automatic operation mode set, the robot enters the emergency stop state. After the switch is set
to a teach mode, the safety gate is disabled. The programmer should understand that the
safety gate is disabled and is responsible for keeping other people from entering the inside of
the safety fence. (In case of
R-30iA Mate Controller standard specification, there is no mode switch. The
automatic operation mode and the teach mode is selected by teach pendant enable switch.
)
Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button.
These button and switch function as follows:
(1) Emergency stop button: Causes an emergency stop when pressed.
(2) DEADMAN switch: Functions differently depending on the mode switch setting status.
(a) Automatic operation mode: The DEADMAN switch is disabled.
(b) Teach mode: Causes an emergency stop when the operator releases the DEADMAN
switch or when the operator presses the switch strongly.
Note)The DEADMAN switch is provided to place the robot in the emergency stop state when
the operator releases the teach pendant or presses the pendant strongly in case of emergency.
The R-30iA/ R-30iA Mate employs a 3-position DEADMAN switch, which allows the robot to
operate when the 3-position DEADMAN switch is pressed to its intermediate point. When the
operator releases the DEADMAN switch or presses the switch strongly, the robot enters the
emergency stop state.
The operator’s intention of starting teaching is determined by the controller through the dual
operation of setting the teach pendant enable/disable switch to the enable position and
pressing the DEADMAN switch. The operator should make sure that the robot could operate in
such conditions and be responsible in carrying out tasks safely.
The teach pendant, operator panel, and peripheral device interface send each robot start
signal. However the validity of each signal changes as follows depending on the mode switch
and the DEADMAN switch of the operator panel, the teach pendant enable switch and the
remote condition on the software.
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