Safety
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• When the power supplies of the robot and the YRC1000are turned ON at start-up, be
sure to confirm the following:
– Safety protection devices such as the emergency stop circuit, the safety plug, etc.
operate normally.
– Each axis operates normally in the TEACH mode.
– The robot operates normally at the speed limit or less in the TEACH mode (Speed
limit: 250 mm/s at the TCP or the flange).
– The teaching function and the playback function operate normally.
• The manipulator may stop its movement while waiting for a condition to be satisfied
during operation. In this case, the robot starts its movement again immediately after the
condition is satisfied, thus it is dangerous to come close to the robot even if it is not
moving. Make sure to clearly indicate that the robot is in operation by using a pilot lamp
and/or an audible alert so that the operator does not come close to the robot, or make
sure that the robot stops its operation if the operator comes close to it.
• Install safety fences around the robot to prevent any accidental contact with the robot
while the power is ON.Display a warning sign stating “Off-Limits During Operation” at
the entrance of the safety fence.
The gate of the safety fence must be equipped with a safety interlock (safety plug) to
turn the servo power OFF when the gate opens. Make sure that the interlock operates
properly before use.
For details of installation, refer to chapter 15.9 "Installation of safety plug".
• For areas not enclosed by safety fences, use a photoelectric sensor, a safety light
curtain, etc. to make sure that the robot stops its operation if the operator enters its
operating range.
CAUTION!
Risk of injury from collisions of objects or equipment
Do not store items and equipment near the robot and robot control.
Keep the tools at appropriate locations outside the barrier.
Keep the equipment at appropriate locations outside the barrier.
Tools and loose equipment must not be deposited on the floor around the robot, robot
controller and other components.
2.5.5 Operating safety
DANGER!
Death and fire hazard caused by short circuiting
Switching on the power supply during tool installation may result in electric shock.
Before fixing a tool (e.g. welding torch), make sure the power supply to the robot
controller is turned off.
Lock the switch, and display a warning sign.
Never exceed the rated capacity of the robot (the robot capacity can be found in the
"Technical Data" section of this manual).
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