Yamaha YK120X User Manual

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After making installations, adjustments, inspections, maintenance or repairs to
the robot, make a trial run using the following procedures.

(1) If a safeguard enclosure has not yet been provided right after installation of

the robot, rope off or chain off around the movement area of the manipulator
in place of the safeguard enclosure, and observe the following points.

1. Use sturdy, stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a sign to keep the operator or other personnel from entering the

movement range of the manipulator.

(2) Check the following points before turning on the controller.

1. Is the robot securely and correctly installed?
2. Are the electrical connections to the robot correct?
3. Are items such as air pressure correctly supplied?
4. Is the robot correctly connected to peripheral equipment?
5. Have safety measures (safeguard enclosure, etc.) been taken?
6. Does the installation environment meet the specified standards.

(3) After the controller is turned on, check the following points from outside the

safeguard enclosure.

1. Does the robot start and stop as intended? Can the operation mode be

selected correctly?

2. Does each axis move as intended within the soft limits?
3. Does the end effector move as intended?
4. Are the signal transmissions to the end effector and peripheral equipment

correct?

5. Does emergency stop work?
6. Are the teaching and playback functions normal?
7. Are the safeguard enclosure and interlock working as intended?
8. Does the robot move correctly during automatic operation?