Yamaha Robotics YK120X User Manual

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

controller and place a sign indicating that the robot is being adjusted or serv-
iced in order to keep any other person from touching the controller switch or
operation panel, except for the following cases.

1) Adjusting the Z-axis machine reference (See Section 3-4-1-5 in Chapter

4.)

2) Setting the Soft Limits (See Section 4 in Chapter 4.)
3) Setting the Standard Coordinates (See Section 5 in Chapter 4.)
4) Teaching

For items 1) to 3), follow the precautions and procedure for each section. To
perform item 4), 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 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 movement range of the manipulator while within the safe-

guard enclosure.