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7. Work Within the Safeguard Enclosure
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 time during soft limit setting and teaching operation. Follow the applicable parts
of cautions and procedures in the user's manual for soft limit setting. Read the below for
teaching operation.
Teaching operation within a safety enclosure
(1) Check or perform the following points from outside the safeguard enclosure.
q Make sure that no hazards are present within the safeguard enclosure by a visual
check.
w Check that the programming unit MPB or RPB operates correctly.
e Check that no failures are found in the robot.
r Check that emergency stop works correctly.
t Select teaching mode and prohibit automatic operation.
(2) Never enter the movable range of the robot while within the safeguard enclosure.
8. Automatic Operation
(1) Check the following before starting automatic operation.
q No one is within the safeguard enclosure.
w The programming unit or tools, etc., are in their specified location.
e The alarm or error lamps, etc., on the robot and peripheral devices do not flash.
r The safeguard enclosure is securely installed with safety interlocks, etc.,
actuated.
(2) Observe the following during automatic operation or in cases where an error occurs.
1) After automatic operation has started, check the operation status and warning
lamps to ensure that the robot is in automatic operation.
2) Never enter the safeguard enclosure during automatic operation.
3) If an error occurs in the robot or peripheral devices, observe the following
procedures before entering the safeguard enclosure.
q Press the emergency stop button to set the robot to emergency stop.
w Place a sign on the start switch indicating that the robot is being inspected in
order to keep any other person from touching the start switch and restarting
the robot.
7. Work Within the Safeguard Enclosure
Chapter
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