Limitations On Robot Operating Speed - Yamaha RCX221 User Manual

Yamaha 2-axis robot controller

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Limitations on robot operating speed

A major purpose of robot operation while the operator is working within the safety

enclosure is maintenance and adjustment of the robot. If a dangerous situation should

occur, the operator can easily avoid it if the robot operating speed is maintained within

The robot operating speed in "SERVICE" mode is therefore basically limited to below 3%

of maximum speed. However, if the robot operating speed has to be set higher than the

safety range while the operator is still within the safety enclosure, this speed limitation

can be cancelled provided you take responsibility for your own safety.

When operating the robot without using the safety functions explained in

sections 8.2, 8.3 and 8.4 while the operator is still within the safety enclosure,

it is important to take even more stringent safety precautions.

8. "SERVICE" mode