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2.4 Robot Behavior
Do not place objects on the robot.
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Do not exceed the maximum payload capacity.
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Do not exceed the maximum recommended limits given in technical specifications.
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Refer to Payload Specifications on page 156.
Do not drop the robot, put weights on it or otherwise operate it irresponsibly.
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Do not use unauthorized parts.
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Qualification of Personnel
It is the end-user's responsibility to ensure that all personnel who will work with or around
robots have attended an appropriate Omron training course and have a working knowledge of
the system. The user must provide the necessary additional training for all personnel who will
be working with the system.
As noted in this and the Robot Safety Guide (Cat. No. I590), certain procedures should be per-
formed only by skilled or instructed persons. For a description of the level of qualification, we
use the standard terms:
Skilled persons have technical knowledge or sufficient experience to enable them to
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avoid the dangers, electrical and/or mechanical
Instructed persons are adequately advised or supervised by skilled persons to enable
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them to avoid the dangers, electrical and/or mechanical
All personnel must observe industry-prescribed safety practices during the installation, oper-
ation, and testing of all electrically-powered equipment.
IMPORTANT: Before working with the robot, every entrusted person must con-
firm that they:
Have the necessary qualifications
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Have received the guides (both this document, and the Robot Safety Guide (Cat. No. I590))
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Have read the guides
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Understand the guides
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Will work in the manner specified by the guides
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2.4 Robot Behavior
Hardstops
If the robot runs into one of its hardstops, its motion will stop completely, an envelope error
will be generated, and power to the robot motors will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until the error has been cleared.
The robot's hardstops are capable of stopping the robot at any speed, load, and maximum or
minimum extension.
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iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A
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