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CHAPTER 1 Using the Robot Safely
(10)Use caution on Z-axis movement when air supply is stopped. (2-
axis robots with air-driven Z-axis)
WARNING
The Z-axis may suddenly drop when the air pressure to the Z-axis air cylinder
solenoid valve is reduced, creating a hazardous situation.
Turn off the controller and place a prop or support under the Z-axis before
cutting off the air supply.
(11) Use the following caution items when disassembling or replac-
ing the pneumatic equipment.
WARNING
Air or parts may fly outwards if pneumatic equipment is disassembled or parts
replaced while air is still supplied.
•Do service work after first turning off the controller and reducing the air pres-
sure.
•Before reducing the air pressure, place a support stand under the Z-axis (2-
axis robots with air driven Z-axis) since it will drop under its own weight.
(12)Cautions for removing Z-axis brake or Z-axis motor
WARNING
The Z-axis can drop and cause a hazard when the Z-axis brake or Z-axis motor
is removed.
•Turn off the controller and set a support stand under the Z-axis before re-
moving the motor.
•Use caution not to allow hands or body to be squeezed or crushed by moving
parts on the Z-axis or between the Z-axis and the installation base.
(13)Use the following caution during inspection of controller.
WARNING
•When you need to touch the terminals or connectors on the outside of the
controller during inspection, always first turn off the controller power switch
and also the power source in order to prevent possible electrical shock.
•Never touch any internal parts of the controller.
For precautions on handling the controller, refer to the "YAMAHA robot control-
ler owner's manual".