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Contents
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
1.9.1. Safety Precautions for Hi4a Controller Maintenance and Repair......1-21
1.9.2. Safety Precautions for Robot System & Manipulator Maintenanace.1-22
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
1. Safety
2. Specifications