Yamaha YK180X, YK120X owner manual Use caution when releasing the Z-axis vertical axis brake

CHAPTER 1 Using the Robot Safely

(6) Use caution when releasing the Z-axis (vertical axis) brake.

WARNING

The Z-axis will slide down when the Z-axis brake is released, causing a hazard- ous situation.

•Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake.

•Use caution not to let your body get caught between the Z-axis and installa- tion base when releasing the brake to perform direct teach.

(7) Provide safety measures for end effector (gripper, etc.).

WARNING

•End effectors must be designed and manufactured so that they cause no hazards (for example, loosening of workpiece) even if power (electricity, air pressure, etc.) is shut off or power fluctuations occur.

•If there is a possible danger that the object gripped by the end effector may fly off or drop, then provide appropriate safety protection taking into account the object size, weight, temperature and chemical properties.

(8)Be cautious of possible Z-axis movement when the controller is turned off or emergency stop is triggered. (2-axis robots with air-driven Z-axis)

WARNING

The Z-axis moves up when the power to the controller or PLC is turned off, the program is reset, emergency stop is triggered, or air is supplied to the solenoid valve for the Z-axis air cylinder.

•Do not let hands or fingers get caught and squeezed by moving parts of the Z-axis.

•Keep the usual robot position in mind so that the Z-axis will not interfere with obstacles during raising of the Z-axis, except in case of emergency stop.

(9)Use the following caution items when the Z-axis is interfering with peripheral equipment. (2-axis robots with air driven Z-axis)

WARNING

When the Z-axis comes to a stop due to obstructions from peripheral equip- ment, the Z-axis may move suddenly when the obstruction is removed, causing injury such as pinched or crushed hands.

•Turn off the controller and reduce the air pressure before attempting to re- move the obstruction.

•Before reducing the air pressure, place a support stand under the Z-axis because it will drop under its own weight.

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