Epson C12 Series Manipulator Manual page 20

Setup & Operation 1. Safety
■ Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■ If the joints are operated repeatedly with the operating angle less than 5 degrees,
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move the joints larger
than 30 degrees for about five to ten times a day.
CAUTION
■ Vibration (resonance) may occur continuously depending on the combination of
robot motion speed, Arm orientation, and end effector load. Vibration arises from
natural vibration frequency of the Arm and can be controlled by following
measures.
6
Changing Manipulator speed
Changing the teach points
Changing the end effector load
C12 Rev.3