Freeing A Person Caught By The Robot - Yamaha RCX240 User Manual

8. Freeing a person caught by the robot

8. Freeing a person caught by the robot
1
If a person should get caught between the robot and mechanical part such as the installation base,
or get captured by the robot, free the person by following the instructions below.
(1) For axis not equipped with a brake
Put the robot into the emergency stop status to shut off the power to the robot. Then move the
2
axis by pushing it with hands.
(2) For axis equipped with a brake
The power to the robot can be shut off by putting the controller into the emergency stop status,
but the axis cannot be moved due to the action of the brake. Release the brake by following the
3
procedure below, then move the axis by pushing it with hands.
w
WARNING
THE VERTICAL AXIS OF THE VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAkE
IS RELEASED, CAUSING A HAzARDOUS SITUATION.
4
• prop up tHe verticAl Axis witH A support stAnd before releAsing tHe brAke.
• be cAreful not to let Your bodY get cAugHt between tHe verticAl Axis
5
1 Press
The display changes to the "UTILITY" mode screen and a confirmation message appears
on the guideline. (When the controller is not in the emergency stop status, this message
will not appear. In this case, skip step 2 and go to step 3.)
6
7
8
2 Press the
It is not necessary to release the emergency stop button on the RPB and the external
9
emergency stop before this operation.
3 Press
10
1-10
Chapter 1 USING THE ROBOT SAFELY
AND THE SUPPORT STAND WHEN RELEASING THE BRAkE.
( + ).
Emergency stop screen
(Yes) key to cancel the internal emergency stop flag.
(MOTOR) in "UTILITY" mode.