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■ 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.
■ Joint #1, #2, and #4:
If the joints are operated repeatedly with the operating angle less than 5 degrees,
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move the joints larger
than 50 degrees for about five to ten times a day.
Joint #3:
If the up-and-down motion of the hand is less than 50 mm, move the joint a half of
CAUTION
the maximum stroke for five to ten times a day.
■ Vibration (resonance) may occur continuously in low speed Manipulator motion
(Speed: approx. 5 to 20%) depending on combination of Arm orientation and end
effector load. Vibration arises from natural vibration frequency of the Arm and
can be controlled by following measures.
LS20-B Rev.4
Changing Manipulator speed
Changing the teach points
Changing the end effector load
Setup & Operation 1. Safety
7
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