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Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations, make sure to stop the
Manipulator using the E-STOP of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating, the
following problems may occur.
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
If there is a position gap, perform calibration by referring to "C series Maintenance Manual
16. Calibration".
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
- To stop the Manipulator operating the program except in emergency, use Pause (halt) or
- For the safeguard, do not use the E-STOP circuit.
To check brake problems, refer to "Regular Inspection 1. Regular Inspection for C4
Manipulator".
Free running distance in emergency
The Manipulator in operation cannot stop immediately after the Emergency Stop switch is
pressed. In addition, time and distance of the free running vary by following factors:
For time and distance of the Manipulator free running, refer to Appendix B: Time and
Distance of Free Running in Emergency.
C series Rev.2
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
case of emergencies.
STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does not
function.
Hand weight
Workpiece weight SPEED Setting
WEIGHT Setting
ACCEL Setting
Posture etc.
C4 Manipulator 1. Safety
7
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