YASKAWA Motoman DX200 Guía de inicio rápido

MANUAL NO. R-AN-A307

Part Number: 165841-1CD

Revision: 2

DX200

NOTES FOR SAFE OPERATION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and

retain for future reference.

MOTOMAN INSTRUCTIONS

DX200 NOTES FOR SAFE OPERATION

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL (for each purpose)

DX200 MAINTENANCE MANUAL

The operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

165841-1CD

R-AN-A307

DX200 Notes for Safe

Operation

YASKAWA customers to assist in the operation of Motoman robots,

related equipment and software This manual is copyrighted property of

YASKAWA and may not be sold or redistributed in any way. You are

welcome to copy this document to your computer or mobile device for

easy access but you may not copy the PDF files to another website, blog,

cloud storage site or any other means of storing or distributing online

content.

Printed in the United States of America

First Printing, 2016

YASKAWA America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200

www.motoman.com

165841-1CD

R-AN-A307

1 Safety Information

1.1 Definition of Terms Used Often in This Manual

DX200 Notes for Safe

Operation

1 Safety Information

1.1 Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.

The manipulator usually consists of the controller, the programming

pendant, and manipulator cable.

In this manual, the equipment is designated as follows.

MANDATORY

• Read this manual and other related documents carefully before

installation, operation, maintenance, or inspection of the DX200.

• In this manual, the Notes for Safe Operation are classified as

"DANGER", "WARNING", "CAUTION", "MANDATORY" or

"PROHIBITED."

• Note, however, this instruction manual does not sufficiently provide

all the safety precautions. For your safety, be sure to ensure safety

measures or management before the operation.

CAUTION

• Some drawings in this manual are shown with the protective covers

or shields removed for clarity. Be sure all covers and shields are

replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the

delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in

specifications. If such modification is made, the manual number will

also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed

on the back cover. Be sure to tell the representative the manual

number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product’s warranty.

Equipment Manual Designation

DX200 Controller DX200

DX200 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator Cable

1 Safety Information

1.2 Notes for Safe Operation

165841-1CD

R-AN-A307

DX200 Notes for Safe

Operation

1.2 Notes for Safe Operation

In this manual, the Notes for Safe Operation are classified as "DANGER",

"WARNING", "CAUTION", "MANDATORY" or "PROHIBITED."

Even items described as "CAUTION" may result in a serious accident in

some situations. At any rate, be sure to follow these important items.

DANGER

Indicates an imminent hazardous

situation which, if not avoided,

could result in death or serious

injury to personnel.

WARNING

Indicates a potentially hazardous

situation which, if not avoided,

could result in death or serious

injury to personnel.

CAUTION

Indicates a potentially hazardous

situation which, if not avoided,

could result in minor or moderate

injury to personnel and damage to

equipment. It may also be used to

alert against unsafe practices.

MANDATORY

Always be sure to follow explicitly

the items listed under this heading.

PROHIBITED

Must never be performed.

NOTE

To ensure safe and efficient operation at all times, be sure

to follow all instructions, even

if not designated as “DANGER”, “WARNING” and

“CAUTION”.

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1 Safety Information

1.3 Safety

DX200 Notes for Safe

Operation

Explanation of Warning Labels

The following warning labels are attached to the manipulator and DX200.

Fully comply with the precautions on the warning labels.

1.3 Safety

1.3.1 For Your Safety

Robots generally have requirements which are different from other

manufacturing equipment, such as larger working areas, high-speed

operation, rapid arm movements, etc., which can pose safety hazards.

Read and understand the instruction manuals and related documents, and

observe all precautions in order to avoid the risk of injury to personnel and

damage to equipment.

It is the user’s responsibility to ensure that all local, state, and national

codes, regulations rules, or laws relating to safety and safe operating

conditions are met and followed.

DANGER

• The label described below is attached to the manipulator.

Observe the precations on the warning labels.

Failure to observe this caution may result in injury or damage to

equipment.

• The following warning labels are attached to DX200.

Observe the precautions on the warning labels.

Failure to observe this warning may result in injury or damage to

equipment.

WARNING

Do not enter

robot

work area.

WARNING

Moving parts

may cause

injury

WARNING

High Voltage

Do not open the door

with power ON.

Internal Breaker

WARNING

High Voltage

Do not open the cover.

WARNING

May cause

electric shock.

Ground the earth

terminal based on

local and national

electric code.

1 Safety Information

1.3 Safety

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DX200 Notes for Safe

Operation

1.3.2 Special Training

MANDATORY

• Teaching maintenance of the robot must conform to:

– Industrial Safety and Health Law

– Enforcement Order of Industrial Safety and Health Law

– Ordinance of Industrial Safety and Health Law

– Other related laws are:

• Occupational Safety and Health Act in USA

– Factory Act (Gewerbeordnung) in Germany

– Health and Safety at Work, etc. Act in UK

– EC Machinery Directive 98/37/EC

• Prepare

– SAFETY WORK REGULATIONS

based on concrete policies for safety management complying with

related laws.

• Observe

– JIS B 8433-1:2007 (ISO 10218-1:2006)

– INDUSTRIAL ROBOT- SAFETY REQUIREMENTS

for safe operation of the robot. (Japan Only)

(JIS B 8433)

• Reinforce the

– SAFETY MANAGEMENT SYSTEM

by designating authorized workers and safety managers, as well as

giving continuing safety education.

• Teaching and maintaining the robot are specified as "Hazardous

Operations" in the Industrial Safety and Health Law (Japan only).

Workers employed in these above operations are requested to attend

special training offered by YASKAWA.

MANDATORY

• Persons who teach or inspect the manipulator must undergo

required training before using the manipulator.

• For more information on training, inquire at the nearest YASKAWA

branch office.

The telephone numbers are listed on the back cover of instructions.

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R-AN-A307

1 Safety Information

1.3 Safety

DX200 Notes for Safe

Operation

1.3.3 Motoman Manual List

MANDATORY

• IIt is important to have and be familiar with all manuals concerning

the MOTOMAN.

You should have the four manuals listed below:

–MOTOMAN- INSTRUCTIONS

– DX200 INSTRUCTIONS

– DX200 MAINTENANCE MANUAL

– DX200 OPERATOR’S MANUAL

Confirm that you have all these manuals on hand.

If any manuals are missing, contact your salesman from YASKAWA’s

local branch office.

The relevant telephone numbers are listed on the back cover.

1 Safety Information

1.3 Safety

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DX200 Notes for Safe

Operation

1.3.4 Personnel Safety

The entire manipulator P-point maximum envelope is potentially

dangerous.

All personnel working with the MOTOMAN (safety administration,

installation, operation, and maintenance personnel) must always be

prepared and "Safety First" minded, to ensure the safety of all personnel.

WARNING

• Avoid any dangerous actions in the area where the MOTOMAN is

installed.

There is a danger of injury if there is contact with the manipulator or

peripheral equipment.

• Please take strict safety precautions by placing signs such as

"Flammable", "High Voltage", "Waiting", and "Off-limits to

Unauthorized Personnel" in necessary areas in the factory.

Failure to observe these cautions may result in fire, electric shock, or

injury due to contact with the manipulator and other equipment.

• Strictly observe the following items:

– Always wear approved work clothes (no loose-fitting clothes).

– Do not wear gloves when operating the MOTOMAN.

– Do not allow underwear, shirts, or neckties to hang out from the

work clothes.

– Do not wear large jewelry, such as earrings, rings, or pendants.

– Always wear protective safety equipment such as helmets, safety

shoes (with slip-proof soles), face shields, safety glasses, and

gloves as necessary.

Improper clothing may result in injury.

• Unauthorized persons should not approach the manipulator or

associated peripheral equipment.

Failure to observe this caution may result in injury due to contact with

DX200, controller, the workpiece, the positioner, etc.

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1 Safety Information

1.3 Safety

DX200 Notes for Safe

Operation

CAUTION

• Never forcibly move the

manipulator axes.

Failure to observe this caution may

result in injury or equipment damage.

• Never lean on DX200 or other

controllers, and avoid inadvertently

pushing buttons.

Failure to observe this caution may

result in injury or damage by

unexpected movement of the

manipulator.

• Never allow unauthorized personnel to touch the DX200 during

operation.

Failure to observe this caution may result in injury or damage resulting

from unexpected movement of the manipulator.

1 Safety Information

1.4 Motoman Safety

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DX200 Notes for Safe

Operation

1.4 Motoman Safety

1.4.1 Transporting

1.4.1.1 Transportation of the manipulator

CAUTION

• Crane, sling, and forklift operations must be performed only by

authorized personnel.

Failure to observe this caution may result in injury or damage.

• Avoid jarring, dropping, or hitting the controller during handling.

Excessive vibration or impacting the DX200 may adversely affect the

performance of the DX200.

• If storing the manipulator temporarily before installation, be sure to

place it on a stable and flat surface and take precautions to prevent

unauthorized personnel from touching it.

Failure to observe this precaution may result in injury of damage to

equipment.

CAUTION

• As a rule, when removing the manipulator from the package and

moving it, a crane should be used. The manipulator should be lifted

using wire rope threaded through attached eyebolts. Be sure the

manipulator is fixed with shipping bolts and brackets before

transporting, and lift it in the posture as shown in the figures below.

• Be sure to use wire that is strong enough to handle the weight of the

manipulator

• Transportation posture of the manipulator

Fig. : Transporting Position (An example: MOTOMAN-MA1440)

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