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1. Safety
1-9
② The safety fence should be a fixed type in principle, using harmless materials
that do not have any broken surface or projecting part.
③ Install the safety fence with an entrance gate, and register the safety plug at
the gate so that it does not open unless pulling the plug out. Interlock the
robot to be MOTORS OFF when the safety plug is pulled out., or wire the
robot to be MOTORS OFF when the safety fence is open. (Refer to “11.
Connecting the Other Signals”, Hi4a Controller Manual)
④ When intending to operate the robot with the safety plug pulled out, wire the
robot as a low-speed play mode. (Refer to “11. Connecting the Other Signals”,
Hi4a Controller Manual)
⑤ For immediate emergency stop, install emergency stop button wihin
operator’s easily accessible distance.
⑥ If the safety fence is not installed, install other devices substituting for the
safety plug in the whole place within the robot’s working envelope, such as
photoelectric switch and mat switch. These devices may stop the robot
automatically when a person enters the working envelope.
⑦ The robot’s working envelope(dangerous zone) should be distinguished from
other zones by painting its floor.