Yamaha YK-X Series User Manual page 17

(9) 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.
(10) 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.
(11) Use caution on Z-axis movement when air supply is stopped. (2-
axis robots with air-driven Z-axis)
WARNING
The Z-axis may suddenly drop when the air pressure to the Z-axis air cylinder
solenoid valve is reduced, creating a hazardous situation.
Turn off the controller and place a prop or support under the Z-axis before
cutting off the air supply.
(12) Use the following caution items when disassembling or replac-
ing the pneumatic equipment.
WARNING
Air or parts may fly outwards if pneumatic equipment is disassembled or parts
replaced while air is still supplied.
• Do service work after first turning off the controller and reducing the air pres-
sure.
• Before reducing the air pressure, place a support stand under the Z-axis (2-
axis robots with air driven Z-axis) since it will drop under its own weight.
CHAPTER 1 Using the Robot Safely
1-5