YASKAWA DX200 - Setting the Second Home Position (Check Point)

6 Operations After Replacing Parts
6.4 Setting the Second Home Position (Check Point)
6-13
6.4 Setting the Second Home Position (Check Point)
WARNING
• Be aware of safety hazards when performing the position
confirmation of the second home position (check point).
Abnormality of the PG system may be a cause for alarm. The
manipulator may operate in an unexpected manner, and there is a risk
of damage to equipment or injury to personnel.
• Before operating the manipulator, check that the SERVO ON
lamp goes out when the emergency stop buttons on the front
door of DX200 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be
stopped in case of an emergency.
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when
going inside.
Also, display the sign that the operation is being performed
inside the safeguarding and make sure no one closes the
safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no
one is in the P-point maximum envelope of the manipulator,
and be sure that you are in a safe place when:
– Turning ON the DX200 power.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result from contact with the manipulator if persons enter the
P-point maximum envelope of the manipulator.
• Always press the emergency stop button immediately if there
are problems.
Emergency stop buttons are attached on the right of the front door of
the DX200 and the programming pendant.