Yamaha 4-axis model, 3-axis model 12Use caution when disassembling and replacing the motor

Chapter 1 Using the Robot Safely

(12)Use caution when disassembling and replacing the motor

WARNING

When disassembling or assembling the motor for a ball-screw drive type robot, a strong magnetic attraction force will be present between the motor stator (fixed coil) and rotor (rotating magnet), causing a risk of pinching hands, etc.

A YAMAHA-trained operator must carry out this work using the YAMAHA- recommended jigs.

(13)Use caution when removing the Z-axis brake

WARNING

The Z-axis will naturally drop when the brake is removed, causing a haz- ardous situation.

•Prop up the Z-axis with a support stand, etc., before turning the control power OFF and removing the brake.

•Be careful not to let your body get caught between the Z-axis drive section and Z-axis installation base, etc.

(14)Take the following safety precautions during inspection of the controller

WARNING

•If the terminals or connectors on the outside of the controller must be touched during inspection, etc., always first turn the controller power OFF and the power source to prevent possible electrical shock.

•Refer to the "YAMAHA Robot Controller Instruction Manual" for pre- cautions on handling the controller. Never touch any internal parts of the controller.

(15)Consult YAMAHA for corrective action when the robot is dam- aged or malfunctions occur.

WARNING

If any part of the robot is damaged or any malfunction occurs, continuing the operation may be very dangerous. Please consult your YAMAHA sales office or dealer for corrective action.

Damage or Trouble	Possible Danger
Damage to machine harness or robot cable	Electrical shock, malfunction of robot
Damage to exterior of robot	Flying outward of damaged parts during
	robot operation
Abnormal operation of robot (positioning error,	Malfunction of robot
excessive vibration, etc.)
Z-axis brake trouble	Dropping of load

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