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CHAPTER1 Cautions To Ensure Safety
1-1 Basic safety points
Besides reading this instruction manual and the controller user’s manual, also be sure to
handle the equipment correctly while paying sufficient attention to safety.
Points regarding safety in this instruction manual only list items involving this product.
Please refer to the controller instruction manual for information regarding safety when
using this unit with the controller.
It is not possible to detail all safety items within the limited space of this manual. So it is
essential that the user have a full knowledge of basic safety rules and also that the opera-
tor makes correct judgments on safety procedures during operation.
Industrial robots are highly programmable, mechanical devices that provide a large de-
gree of freedom when performing various manipulative tasks. Failure to take necessary
safety measures or mishandling due to not following the instruction in this manual may
result in trouble or damage to the robot and injury to personnel (robot operator or service
personnel) including fatal accidents.
Important caution points in this manual are from hereon indicated by the term:
!
CAUTION
1-2 System design safety points
!
CAUTION
Ethernet communications protocol specifications do not guarantee real-time op-
eration. So relying only on the Ethernet in situations such as robot emergency stop
can be extremely dangerous. Install safety interlock circuits using the emergency
stop terminal in the parallel I/O of the controller to ensure quick and effective
emergency stops.
!
CAUTION
To find the current status of the network system and controller when communica-
tion errors occur on the Ethernet system, refer beforehand to this manual and the
instruction manual for equipment used by the other party. Also install safety in-
terlock circuit so that systems including a controller will function reliably and
safely when communication errors occur.
!
CAUTION
Do not bundle control lines or communication cables together or in close contact
with main circuit or motor/actuator lines. As a general rule, maintain a gap of at
least 100mm. Noise in signal lines may cause faulty operation.