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Chapter 1 Using the Robot Safely
(12)Use caution when disassembling and replacing the motor
WARNING
When disassembling or assembling the motor for a ball-screw drive type
robot, a strong magnetic attraction force will be present between the motor
stator (fixed coil) and rotor (rotating magnet), causing a risk of pinching
hands, etc.
A YAMAHA-trained operator must carry out this work using the YAMAHA-
recommended jigs.
(13)Use caution when removing the Z-axis brake
WARNING
The Z-axis will naturally drop when the brake is removed, causing a haz-
ardous situation.
• Prop up the Z-axis with a support stand, etc., before turning the control
power OFF and removing the brake.
• Be careful not to let your body get caught between the Z-axis drive
section and Z-axis installation base, etc.
(14)Take the following safety precautions during inspection of the
controller
WARNING
• If the terminals or connectors on the outside of the controller must be
touched during inspection, etc., always first turn the controller power
OFF and the power source to prevent possible electrical shock.
• Refer to the "YAMAHA Robot Controller Instruction Manual" for pre-
cautions on handling the controller. Never touch any internal parts of
the controller.
(15)Consult YAMAHA for corrective action when the robot is dam-
aged or malfunctions occur.
WARNING
If any part of the robot is damaged or any malfunction occurs, continuing
the operation may be very dangerous. Please consult your YAMAHA sales
office or dealer for corrective action.
Damage or Trouble Possible Danger
Damage to machine harness or robot cable Electrical shock, malfunction of robot
Damage to exterior of robot Flying outward of damaged parts during
robot operation
Abnormal operation of robot (positioning error,
excessive vibration, etc.)
Malfunction of robot
Z-axis brake trouble
Dropping of load