Yamaha YK250XGC Installation Manual page 23

4. Working inside safety enclosures
Before starting work within the safety enclosure, always first confirm from outside the enclosure that each safety
function is operating correctly (see the previous section 2.3).
nEvER EnTER WIThIn ThE MOvEMEnT RangE WhIlE WIThIn ThE SafETy EnClOSURE.
WhEn WORk IS REqUIRED WIThIn ThE SafETy EnClOSURE, PlaCE a SIgn "WORk In PROgRESS" In ORDER TO kEEP
OThER PERSOnS fROM OPERaTIng ThE COnTROllER SWITCh OR OPERaTIOn PanEl.
WhEn WORk WIThIn ThE SafETy EnClOSURE IS REqUIRED, alWayS TURn Off ThE COnTROllER POWER ExCEPT fOR
ThE fOllOWIng CaSES:
Exception
Work with power turned on, but robot in emergency stop
Origin position setting
Reference coordinate setting
Soft limit settings
Work with power turned on
Teaching
5. Teaching within the safety enclosure
When performing teaching within the safety enclosure, check or perform the following points from outside the safety
enclosure.
nEvER EnTER WIThIn ThE MOvEMEnT RangE WhIlE WIThIn ThE SafETy EnClOSURE.
• maKe a visual checK to ensure that no hazarDs are Present within the safety enclosure.
• checK that the Programming box or hanDy terminal oPerates correctly.
• checK that no failures are founD in the robot.
• checK that emergency stoP worKs correctly.
• select teaching moDe anD Disable automatic oPeration.
Follow the precautions and procedure described in "2. Adjusting the
SCARA robots
origin position" in Chapter 3.
Follow the precautions and procedure described in "4. Setting the
SCARA robots
reference coordinates" in Chapter 3.
Follow the precautions and procedure described in "3. Setting the
SCARA robots
soft limits" in Chapter 3.
Cartesian robots Follow the precautions and procedure described in "Soft limit" in
each controller manual.
Single-axis robots
SCARA robots
Cartesian robots Refer to "5. Teaching within safety enclosure" described below.
Single-axis robots
S-15