Contents

1. Safety............................................................................................

1-1

1. Safety

1.1. Introduction............................................................................................

1-2

1.2. Relevant Safety Regulations .................................................................

1-4

1.3. Safety Training.......................................................................................

1-4

1.4. Safety Related Nameplate.....................................................................

1-5

1.4.1. Safety Marking....................................................................................

1-5

1.4.2. Safety Nameplate ...............................................................................

1-6

1.5. Definition of Safety Functions ................................................................

1-7

1.6. Installation .............................................................................................

1-8

1.6.1. Safety Fence.......................................................................................

1-8

1.6.2. Placement of Robot & Peripheral Equipment....................................

1-10

1.6.3. Installing the Robot...........................................................................

1-12

1.6.4. Space for Robot Installation..............................................................

1-14

1.7. Safety Operation for Robot Handling...................................................

1-15

1.7.1. Safety Precautions for Robot Handling.............................................

1-15

1.7.2. Safety Precautions for Operating Test..............................................

1-18

1.7.3. Safety Precautions for Automatic Operation.....................................

1-19

1.8. Safety Precautions for Access to Safety Fence...................................

1-20

1.9. Safety Precautions for Maintenance and Repair..................................

1-21

1.9.1. Safety Precautions for Hi4a Controller Maintenance and Repair......

1-21

1.9.2. Safety Precautions for Robot System & Manipulator Maintenanace.1-22

1.9.3. Necessary Actions after Maintenance and Repair............................

1-23

1.10. Safety Functions................................................................................

1-24

1.10.1. Operating a Safety Circuit...............................................................

1-24

1.10.2. Emergency stop..............................................................................

1-26

1.10.3. Operating Speed.............................................................................

1-29

1.10.4. Connecting the Safety Devices.......................................................

1-29

1.10.5. Restricting the working Envelope....................................................

1-30

1.10.6. Monitoring Function ........................................................................

1-30

1.11. Safety Related to End Effectors.........................................................

1-31

1.11.1. Gripper............................................................................................

1-31

1.11.2. Tool / Workpiece..............................................................................

1-32

1.11.3. Pneumatic and Hydraulic Systems .................................................

1-32

1.12. Liabilities............................................................................................

1-33

2. Specifications..............................................................................

2-1

2. Specifications

2.1. Robot Machinery Part............................................................................

2-2

2.2. Location of Robot Identification Plate ....................................................

2-3

2.3. Basic Specifications...............................................................................

2-4

2.4. Robot Dimension and Working Envelope ..............................................

2-6

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