安全ガイド 第 6 版
Contents
1. DER EA HDZ UOR 7 2 7 104 apam oO Ss 150 4 150 3 150 32. No 4 1 H M ROR
3. 7 2 72 2 2
4. 100mm Z 300mm 9 1 RCS27RCS2CR SS8 RCS3 RCS3CR RCS3P RCS3PCR A H 300mm 3 n 7 100mm EX SHO yb A 300mm 3 X H 100mm 80W ISAISPA ISB ISPB SSPA ISDB ISDBCR SSDACR ISDAVISPDA ISWA ISPWA IF FS NS 7 2 300mm 1 3 1 CT4 IX 5 yb IX NNN NNW NNC 3515 H IX NNN NNW NNC 5000 H 60010 H 70010 H 80 H IX NSN5016 H 6016 H IX TNN UNN 3015 H 3515 H IX HNN INN 5000 H 6000 H 700 0 H 80010 H mi 2
5. D 100O 4 2 e
6. fi B B ea ak He a A R gig amp MN SHATLT ST 424 0103 577 1 TEL 054 364 5105 FAX 054 364 2589 105 0014 3 24 7 AF TEL 03 5419 1601 FAX 03 3455 5707 530 0002 2 5 3 TSS 4F TEL 06 6457 1171 FAX 06 6457 1185 460 0008 5 28 12 BF TEL 052 269 2931 FAX 052 269 2933 020 0062 6 7 0r21 7F TEL 019 623 9700 FAX 019 623 9701 980 0802 14 15 4F TEL 022 723 2031 FAX 022 723
7. 10 77 7 r 2 11 O lt 7 7 2 2
8. Ox ih No 2 7 7 7 24V 1 7 2
9. 419 X19 2 4179 1 BE
10. 2 1 ATT O 7 OF 7 X179 3 7 AC 7 7 27 0 5mm AWG20
11. 2 O O 47 79 7 2 7 2
12. 150 3 36 31 PRE 151 150 5 150 5 7 150 5 pees 150 5 150 5 BA ila re TEn ISO DIS12100 4 REAR REM E ISO IEC 547 C ISO10218 MOK yh
13. 2 gt 7 7 9 97 1t
14. 4 79 0 1 O 72 2 TIT SE AUT anv X No 9 O
15. 920 0024 3 1 32 A 2F TEL 076 234 3116 FAX 076 234 3107 612 8401 22 11 3F TEL 075 646 0757 FAX 075 646 0758 673 0898 8 34 BF TEL 078 913 6333 FAX 078 913 6339 700 0973 311 114 OMOTO ROOT BLD 101 TEL 086 805 2611 FAX 086 244 6767 730 0802 2 1 9 5F TEL 082 532 1750 FAX 082 532 1751 790 0905 4 9 22 21 IF TEL 089 986 8562 FAX 089 986 8563 812 0013 3 13 21 WING 7F TEL 092 415 4466 FAX 092 415 4467 870 0823 1 11 1 2F TEL 097 543 7745 FAX 097 543 7746 862 0954 1 38 33 1F TEL 096 386 5210 FAX 096 386 5112 24 7 00AM 7 00AM 8 00AM 5 00PM 0800 888 0088 FAX 080
16. JIS B 8433 BAVC yb y 59 36 31 32 y 150 51 340 y 1 2 VY 3 4 97 BOW Sector y X Y Z 300mm 300mm
17. Disposal When the product becomes no longer usable or necessary dispose of it properly as an industrial waste When removing the actuator for disposal pay attention to drop of components when detaching screws Do not put the product in a fire when disposing of it The product may burst or generate toxic gases Precautions e Do not come close to the product or the harnesses if you are a person who requires a support of medical devices such as a pacemaker Doing so may affect the performance of your medical device e See Overseas Specifications Compliance Manual to check whether complies if necessary e For the handling of actuators and controllers follow the dedicated instruction manual of each unit to ensure the safety Caution Indications The safety precautions are divided into Danger Warning Caution and Notice according to the warning level as follows and described in the Instruction Manual for each model No Work Description 11 Other Level Degree of Risk Damage This indicates an imminently hazardous situation which if the product is not handled correctly will result in death or serious injury Danger This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning This indicates a potentially hazardous situation which if the product is not handled cor
18. 2032 940 0082 3 5 17 2F TEL 0258 31 8320 FAX 0258 31 8321 321 0953 5 1 16 3F TEL 028 614 3651 FAX 028 614 3653 360 0847 1 312 OF TEL 048 530 6555 FAX 048 530 6556 300 1207 5 3 2 2F TEL 029 830 8312 FAX 029 830 8313 190 0023 3 14 2B0SEN 2F TEL 042 522 9881 FAX 042 522 9882 243 0014 1 10 6 3F TEL 046 226 7131 FAX 046 226 7133 390 0852 943 401 TEL 0263 40 3710 FAX 0263 40 3715 400 0031 2 12 1 3F TEL 055 230 2626 FAX 055 230 2636 424 0103 577 1 TEL 054 364 6293 FAX 054 364 2589 430 0936 125 WT 47 7F TEL 053 459 1780 FAX 053 458 1318 446 0056 1 9 2 3F TEL 0566 71 1888 FAX 0566 71 1877
19. the prevention of condensation power turning ON Failure to do so may start up the machine The common safety precautions for the use of any of our robots in each operation e Store the products with a consideration not to fall them over or suddenly and cause an injury or damage to the product drop due to an act of God such as earthquake e Take the safety measure not to start up the machine only with No Work Description Precautions 4 Installation and 1 Installation of Robot Main Body and Controller etc the emergency stop cancellation or recovery after the power 1 Model Selection e This product has not been planned and designed for the application where high level of safety is required so the guarantee of the protection of human life is impossible Accordingly do not use it in any of the following applications 1 Medical equipment used to maintain control or otherwise affect human life or physical health 2 Mechanisms and machinery designed for the purpose of moving or transporting people For vehicle railway facility or air navigation facility 3 Important safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location
20. 0 888 0099 http www iai robot co jp MO0194 6A Precautions No Work Description Precautions No Work Description 2 Transportation e When carrying a heavy object do the work with two or more 4 Installation and 3 Grounding Quality and Innovation persons or utilize equipment such as crane Start e The grounding operation should be performed to prevent an Safety Guide Fifth Edition 1 Make sure to read this Guide thoroughly before use of the robot 2 Please follow this Guide and take necessary measures to ensure safety in the design and production of the system by use of the robot 3 Please ensure that this Guide is ultimately delivered to the customer who uses the product Using or copying all or a part of this SAFETY GUIDE without permission is prohibited Information Please read the SAFETY GUIDE contained on the CD ROM before handling the product The SAFETY GUIDE is written to prevent injury to the customer or damage to the customer s property To ensure your safe use of our product thoroughly read the bundled Instruction Manual CD DVD or download the corresponding Instruction Manual from our homepage as well as reading this SAFETY GUIDE so the use of the product shall be performed properly To ensure that you use the product correctly thoroughly read the corresponding manual Please have a copy of the product m
21. IAI Quality and Innovation 6 Safety Guide Fifth Edition 1 7 2 3 3 1 Make sure to read this Guide thoroughly before use of the robot 2 Please follow this Guide and take necessary measures to ensure safety in the design and production of the system by use of the robot 3 Please ensure that this Guide is ultimately delivered to the customer who uses the product Using or copying all or a part of this SAFETY GUIDE without permission is prohibited Ot No O
22. R 7 CD DVD 7 7
23. anuals saved for reference on the PC or have a hard copy available at the machine e When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers e When in transportation consider well about the positions to hold weight and weight balance and pay special attention to the carried object so it would not get hit or dropped Transport it using an appropriate transportation measure The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts Follow the instructions in the instruction manual for each model Do not step or sit on the package e Do not put any heavy thing that can deform the package on it When using a crane capable of 1t or more of weight have an operator who has qualifications for crane operation and sling work e When using a crane or equivalent equipments make sure not to hang a load that weighs more than the equipment s capability limit e Use a hook that is suitable for the load Consider the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane e e e Do not stand under the load that is hung up with a crane e electric shock or electrostatic charge enhance the noise resistance ability and control the unn
24. ction fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready state and there is no alarm indication Make sure to operate automatic operation start from outside of the safety protection fence In the case that there is any abnormal heating smoke offensive smell or abnormal noise in the product immediately stop the machine and turn OFF the power switch Failure to do so may result in a fire or damage to the product When a power failure occurs turn OFF the power switch Failure to do so may cause an injury or damage to the product due to a sudden motion of the product in the recovery operation from the power failure Maintenance and Inspection When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers Perform the work out of the safety protection fence if possible In the case that the operation is to be performed unavoidably inside the safety protection fence prepare the Stipulations for the Operation and make sure that all the workers acknowledge and understand them well When the work is to be performed inside the safety protection fence basically turn OFF the power switch When the operation is to be performed inside the safety protection fence the worker should have an emergency stop switch at hand with him so that t
25. d person can not operate the switches carelessly Place a sign Under Operation at the position easy to see When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity Safety protection Fence In the case that there is no safety protection fence the movable range should be indicated No Work Description Precautions Trial Operation When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers After the teaching or programming operation perform the check operation one step by one step and then shift to the automatic operation When the check operation is to be performed inside the safety protection fence perform the check operation using the previously specified work procedure like the teaching operation Make sure to perform the programmed operation check at the safety speed Failure to do so may result in an accident due to unexpected motion caused by a program error etc Do not touch the terminal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety prote
26. ecessary electromagnetic radiation e For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel make sure to use a twisted pair cable with wire thickness 0 5mm AWG20 or equivalent or more for grounding work For security grounding it is necessary to select an appropriate wire thickness suitable for the load Perform wiring that satisfies the specifications electrical equipment technical standards e Perform Class D Grounding former Class 3 Grounding with ground resistance 100Q or below 4 Safety Measures e When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers When the product is under operation or in the ready mode take the safety measures such as the installation of safety and protection fence so that nobody can enter the area within the robot s movable range When the robot under operation is touched it may result in death or serious injury Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit 3 Storage and The storage and preservation environment conforms to the operation H Preservation installation environment However especially give consideration e Take the safety measure not to start up the unit only with the Safety Precautions for Our Products to
27. he unit can be stopped any time in an emergency When the operation is to be performed inside the safety protection fence in addition to the workers arrange a watchman so that the machine can be stopped any time in an emergency Also keep watch on the operation so that any third person can not operate the switches carelessly Place a sign Under Operation at the position easy to see For the grease for the guide or ball screw use appropriate grease according to the Instruction Manual for each model Do not perform the dielectric strength test Failure to do so may result in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untightened screws and make sure to put the product back to the original condition after maintenance and inspection works Use in incomplete condition may cause damage to the product or an injury Safety protection Fence In the case that there is no safety protection fence the movable range should be indicated Modification and Dismantle Do not modify disassemble assemble or use of maintenance parts not specified based at your own discretion 10
28. l the workers acknowledge and understand them well ae exposed to significant amount of dust salt or iron e When the direct current power 24V is connected take the e When the operation is to be performed inside the safety 8 Location subject to direct vibration or impact is equipped with a brake If selecting a model with no brake the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece For an actuator used in vertical orientation select a model which great care of the directions of positive and negative poles If the connection direction is not correct it might cause a fire product breakdown or malfunction e Connect the cable connector securely so that there is no disconnection or looseness Failure to do so may cause a fire electric shock or malfunction of the product e Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire protection fence the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency When the operation is to be performed inside the safety protection fence in addition to the workers arrange a watchman so that the machine can be stopped any time in an emergency Also keep watch on the operation so that any thir
29. rectly may result in minor injury or property damage Caution This indicates lower possibility for the injury but should be kept to use this product properly Notice Notice IAI Quality and Innovation IA I Corporation Head Office 577 1 Obane Shimizu KU Shizuoka City Shizuoka 424 0103 Japan TEL 81 54 364 5105 FAX 81 54 364 2589 website www iai robot co jp Technical Support available in USA Europe and China IA I America Inc Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 TEL 678 354 9470 FAX 678 354 9471 website www intelligentactuator com IA I Industrieroboter GmbH Ober der R th 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 IAI Shanghai Co Ltd SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com IAI Robot Thailand Co Ltd 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna Bangna Bangkok 10260 Thailand TEL 66 2 361 4458 FAX 66 2 361 4456 Manual No M0194 6A
30. ric shock or malfunction due to leakage or continuity error Perform the wiring for the product after turning OFF the power to failure Failure to do so may result in an electric shock or injury due to unexpected power input e When the installation or adjustment operation is to be performed give clear warnings such as Under Operation Do not turn ON the power etc Sudden power input may cause an electric shock or injury e Take the measure so that the work part is not dropped in power failure or emergency stop Wear protection gloves goggle or safety shoes as necessary to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity Teaching e When the work is carried out with 2 or more persons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers Perform the teaching operation from outside the safety protection fence if possible In the case that the operation is to be performed unavoidably inside the safety protection fence prepare the Stipulations for the Operation and make sure that tad sila AET aR the unit so that there is no wiring error al
31. with the ambient temperature or relative humidity exceeding the specification range 4 Location where radiant heat is added from direct sunlight or other large heat source 5 Location where condensation occurs due to abrupt temperature changes 6 Location where there is any corrosive gas sulfuric acid or Start e Make sure to securely hold and fix the product including the work part A fall drop or abnormal motion of the product may cause a damage or injury Also be equipped for a fall over or drop due to an act of God such as earthquake e Do not get on or put anything on the product Failure to do so may cause an accidental fall injury or damage to the product due to a drop of anything malfunction of the product performance degradation or shortening of its life e When using the product in any of the places specified below provide a sufficient shield 1 Location where electric noise is generated 2 Location where high electrical or magnetic field is present 3 Location with the mains or power lines passing nearby 4 Location where the product may come in contact with water oil or chemical droplets 2 Cable Wiring e Use our company s genuine cables for connecting between the actuator and controller and for the teaching tool e Do not scratch on the cable Do not bend it forcibly Do not pull it Do not coil it around Do not insert it Do not put any heavy thing on it Failure to do so may cause a fire elect
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