Yamaha 4-axis model User Manual

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(1) When work is required in the safeguard enclosure, always turn the

controller power OFF and place a sign indicating that the robot is
being adjusted or serviced in order to keep any other personnel from
touching the controller power switch or operation panel, except for
the following cases.
1) Soft limit settings
2) Teaching

For item 1), follow the precautions and procedure for each section.
To perform item 2), refer to the description in (2) below.

(2) Teaching

When performing teaching within the safeguard enclosure, comply with the
instructions listed below.
1) Check or perform the following points from outside the safeguard enclo-

sure.
1. Make sure that no hazards are present within the safeguard enclosure

by a visual check.

2. Check that the programming unit MPB or TPB operates correctly.
3. Check that no failures are found in the robot.
4. Check that emergency stop works correctly.
5. Select teaching mode and prohibit automatic operation.

2) Never enter the movable range of the robot while within the safeguard

enclosure.