Epson RT3B-401SS Safety Manual page 27

■ When operating the Manipulator, make sure that:
- No one is inside the safety guard of the Manipulator
- The Manipulator and related equipment are not in an abnormal state
■ Whenever possible, only one person should operate the robot system.
If it is necessary to operate the robot system with more than one
person, ensure that all people involved communicate with each other
as to what they are doing and take all necessary safety precautions.
■ SCARA robot
Joint #1, #2, and #4:
Joint #3:
■ 6-Axis robot
Each Joint:
CAUTION
■ Vibration (resonance) may occur continuously depending on the
combination of robot motion speed, Arm orientation, and end effector
load of the Manipulator. Vibration arises from natural vibration
frequency of the Arm and can be controlled by following measures.
- Changing the Manipulator speed
- Changing the teach points
- Changing the end effector load
■ When mounting Manipulator on the mobile platform, be sure to stop
Manipulator while the mobile platform is in operation. Manipulator
stops when motors on all axes are turned OFF (servo free status). If
you cannot turn OFF the motor, set power mode to "Low" and perform
exclusive control of mobile platform and Manipulator so that they do
not move simultaneously.
■ Manipulator may be warmed up due to motor heat or similar causes.
Do not touch the Manipulator until temperature falls. Also, make sure
the temperature of the Manipulator falls and is not hot when you touch
it. Then perform teaching or maintenance.
Safety Manual Rev.4
If the joints are operated repeatedly with the operating angle less
than 5 degrees, the Manipulator may get damaged early due to the
bearings are not being covered with grease during movement. To
prevent early breakdown, move each joint larger than 50 degrees for
about once an hour.
If the up-and-down motion of the hand is less than 10 mm, move the
joint a half of the maximum stroke for about once an hour.
If the joints are operated repeatedly with the operating angle less
than 5 degrees, the Manipulator may get damaged early due to the
bearings are not being covered with grease during movement. To
prevent early breakdown, move each joint larger than 30 degrees for
about once an hour.
Safety Precautions
13