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Chapter 1 Using the Robot Safely
(8) Movement of Z-axis at controller power shut off and emergency
stop (for ZAS)
WARNING
The Z-axis will start to rise when the controller power is shut off, the PLC
power is shut off, the program is reset, emergency stop is applied, and
when the supply of air to the Z-axis air cylinder’s solenoid valve is started.
• Take care not to pinch or crush hands, etc., in the Z-axis moving sec-
tions.
• If there are any interferences in the Z-axis' upward travel path, reevaluate
the robot position, except for emergencies.
(9) Pay attention to interference of Z-axis with peripheral devices
(for ZAS)
WARNING
If the Z-axis interferes with a peripheral device and stops, there is a risk of
pinching hands, etc., when the interfering object is removed as the Z-axis
will suddenly move.
• Turn the controller power OFF and stop the air supply before removing
the interfering object.
• The Z-axis will naturally drop, so prop it up with a support stand, etc.,
before stopping the air supply.
(10)Z-axis movement when air supply is stopped
WARNING
The Z-axis will drop when the air supply is stopped, creating a hazardous
situation.
Prop up the Z-axis with a support stand, etc., before turning the controller
power OFF and stopping the air supply.
(11) Use caution when disassembling and replacing the pneumatic
devices
WARNING
If the pneumatic devices are disassembled or replaced while the air is
supplied, the parts or air could scatter.
• Turn the controller power OFF, stop the air supply and release all re-
sidual pressure from the pneumatic devices before starting work.
• The Z-axis will naturally drop, so prop it up with a support stand, etc.,
before stopping the air supply.