1. Safety

②The safety fence should be a fixed type in principle, using harmless materials that do not have any broken surface or projecting part.

③Install the safety fence with an entrance gate, and register the safety plug at the gate so that it does not open unless pulling the plug out. Interlock the robot to be MOTORS OFF when the safety plug is pulled out., or wire the robot to be MOTORS OFF when the safety fence is open. (Refer to “11. Connecting the Other Signals”, Hi4a Controller Manual)

④When intending to operate the robot with the safety plug pulled out, wire the robot as a low-speed play mode. (Refer to “11. Connecting the Other Signals”, Hi4a Controller Manual)

⑤For immediate emergency stop, install emergency stop button wihin operator’s easily accessible distance.

⑥If the safety fence is not installed, install other devices substituting for the safety plug in the whole place within the robot’s working envelope, such as photoelectric switch and mat switch. These devices may stop the robot automatically when a person enters the working envelope.

⑦The robot’s working envelope(dangerous zone) should be distinguished from other zones by painting its floor.

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