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4.3
Design
4.3.1
Precautions for robots
1.
Restricting the robot moving speed
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WARNING
Restriction on the robot moving speed is not a safety-related function.
To reduce the risk of collision between the robot and workers, the user must take the necessary protective
measures such as enable devices according to risk assessment by the user.
2.
Restricting the movement range
See "7.1 Movement range" for details on the robot's movement range.
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WARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
robot (or available as options).
c
CAUTION
If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as
option), the robot may be damaged.
3.
Provide safety measures for end effector (gripper, etc.)
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WARNING
• End effectors must be designed and manufactured so that they cause no hazards (such as a loose workpiece
or load) even if power (electricity, air pressure, etc.) is shut off or power fluctuations occur.
• If the object gripped by the end effector might possibly fly off or drop, then provide appropriate safety
protection taking into account the object size, weight, temperature, and chemical properties.
4.
Provide adequate lighting
Provide enough lighting to ensure safety during work.
5.
Install an operation status light
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WARNING
Install a signal light (signal tower) at an easy-to-see position so that the operator will be aware of the robot stop
status (temporarily stopped, emergency stop, error stop, etc.).
4.3.2
Precautions for robot controllers
1.
Emergency stop input terminal
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DANGER
Each robot controller has an emergency stop input terminal to trigger emergency stop. Using this terminal, install
a safety circuit so that the system including the robot controller will work safely.
For the robot driver without emergency stop input terminal, construct a safety circuit including the emergency
stop function using an external circuit.
2.
Maintain clearance
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CAUTION
Do not bundle control lines or communication cables together or in close to the main power supply or power
lines. Usually separate these by at least 100mm. Failure to follow this instruction may cause malfunction due to
noise.
S-12
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