Table of Contents
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1. Safety
1. Safety............................................................................................ 1-1
1.1. Introduction ............................................................................................ 1-2
1.2. Relevant Safety Regulations ................................................................. 1-4
1.3. Safety Training....................................................................................... 1-4
1.4. Safety Related Nameplate..................................................................... 1-5
1.4.1. Safety Marking.................................................................................... 1-5
1.4.2. Safety Nameplate ...............................................................................1-6
1.5. Definition of Safety Functions ................................................................ 1-7
1.6. Installation ............................................................................................. 1-8
1.6.1. Safety Fence....................................................................................... 1-8
1.6.2. Placement of Robot & Peripheral Equipment.................................... 1-10
1.6.3. Installing the Robot ........................................................................... 1-12
1.6.4. Space for Robot Installation .............................................................. 1-14
1.7. Safety Operation for Robot Handling ................................................... 1-15
1.7.1. Safety Precautions for Robot Handling............................................. 1-15
1.7.2. Safety Precautions for Operating Test.............................................. 1-18
1.7.3. Safety Precautions for Automatic Operation..................................... 1-19
1.8. Safety Precautions for Access to Safety Fence ................................... 1-20
1.9. Safety Precautions for Maintenance and Repair.................................. 1-21
1.9.3. Necessary Actions after Maintenance and Repair ............................ 1-23
1.10. Safety Functions ................................................................................ 1-24
1.10.1. Operating a Safety Circuit............................................................... 1-24
1.10.2. Emergency stop.............................................................................. 1-26
1.10.3. Operating Speed............................................................................. 1-29
1.10.4. Connecting the Safety Devices....................................................... 1-29
1.10.5. Restricting the working Envelope.................................................... 1-30
1.10.6. Monitoring Function ........................................................................ 1-30
1.11. Safety Related to End Effectors......................................................... 1-31
1.11.1. Gripper ............................................................................................ 1-31
1.11.2. Tool / Workpiece..............................................................................1-32
1.11.3. Pneumatic and Hydraulic Systems ................................................. 1-32
1.12. Liabilities ............................................................................................ 1-33
2. Specifications .............................................................................. 2-1
2.1. Robot Machinery Part ............................................................................ 2-2
2.2. Location of Robot Identification Plate .................................................... 2-3
2.3. Basic Specifications............................................................................... 2-4
2.4. Robot Dimension and Working Envelope .............................................. 2-6
Contents
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