YASKAWA RM2-755-RDR Manuale utente
Part Number: 183523-1CD
Revision: 1
RM2-755-RDR POSITIONER
INSTRUCTIONS
YASKAWA INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and
retain for future reference
MOTOMAN RM2-755-RDR POSTIONER INSTRUCTIONS
YASKAWA MH(T)-SERIES SIGMA-5 POSITIONER MANUAL
CONTROLLER MANUAL ASSEMBLY
OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
MAINTENANCE MANUAL
ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The operator’s manual above correspond to specific usage.
Be sure to use the appropriate manual.
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RM2-755-RDR Postioner
Copyright © 2019, 2018 YASKAWA America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to
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, 2018
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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Safety
Summary of Warning Information
RM2-755-RDR Postioner
Safety
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notice.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to Customer Support.
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the manipulator.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
DANGER Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
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Safety
Notes for Safe Operation
RM2-755-RDR Postioner
Even items described as “CAUTION” may result in a serious accident in
some situations.
WARNING
• This instruction manual is intended to explain mainly the
mechanical part of the Positioner concerning the actual operations,
proper maintenance, and inspection. It describes the safety and
handling, details on specifications, necessary items concerning
maintenance and inspection, and operating instructions and
maintenance procedures. Be sure to read and understand this
instruction manual thoroughly before installing and operating the
Positioner. Any matter not described in this manual must be
regarded as “prohibited” or “improper”.
• General information related to safety are described in Chapter 1.
“Safety” of the Controller instructions. To ensure correct and safe
operation, carefully read Chapter 1. “Safety” of the CONTROLLER
INSTRUCTIONS.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected movement of the Positioner.
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Safety
Notes for Safe Operation
RM2-755-RDR Postioner
WARNING
• Before operating the Positioner, check that servo power is turned
OFF by pressing the EMERGENCY STOP buttons. When servo
power is turned OFF, the SERVO ON LED on the Programming
Pendant is turned OFF.
Injury or damage to equipment may result if the Emergency Stop circuit
can not stop the Positioner during an emergency. The Positioner should
not be used if the EMERGENCY STOP buttons do not function
properly.
Fig. 1 : EMERGENCY STOP Button
• Release the EMERGENCY STOP button (refer to Fig. 2). Once this
button is released, clear the cell of all items which could interfere
with the operation of the manipulator. Then turn servo power ON.
Injury may result from unintentional or unexpected Positioner motion.
Fig. 2 : Release of EMERGENCY STOP Button
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the Positioner.
– View the Positioner from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that there is a safe place to retreat to in case of
emergency.
Improper or unintended Positioner operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the Positioner and that you are in a safe location before:
– Turning on the power for the Controller.
– Moving the Positioner with the Programming Pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
Positioner during operation. Always press an EMERGENCY STOP
button immediately if there is a problem.
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Safety
Notes for Safe Operation
RM2-755-RDR Postioner
WARNING
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact Customer Service
CAUTION
• Read and understand the Explanation of Warning Labels on the
Controller instructions before operating the Positioner.
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place 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 is not responsible for incidents arising from unauthorized
modifications to its products. Unauthorized modification voids the
product warranty.
• Perform the following inspection procedures prior to conducting
Positioner teaching. If a problem occurs, repair the problem
immediately, and make sure all other processes perform correctly.
– Check for problems with the Positioner’s movement.
– Check for damage to insulation and sheathing of external wires.
CAUTION
• Always return the Programming Pendant to the hook on the cabinet
of the Controller after use.
Damage to the Programming Pendant can occur if left in the
Positioner's work area, on the floor, or near fixtures.
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Safety
Notes for Safe Operation
RM2-755-RDR Postioner
NOTICE
• 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.
• To ensure safe and efficient operation at all times, be sure to follow
all instructions, even if not designated as “DANGER”, “WARNING”
or “CAUTION”.
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Explanation of Safety Labels
Notes for Safe Operation
RM2-755-RDR Postioner
Explanation of Safety Labels
The following labels are attached to the Positioner (refer to Fig. 3).
Always follow the safety labels.
Also, an identification label with important information is placed on the
body of the Positioner. Prior to operating the manipulator, confirm the
contents.
Fig. 3 : Safety Labels
Safety Label A:
WARNING
Moving parts
may cause
injury
WARNING
Do not enter
robot
work area.
Safety Label B:
Safety Label C:
WARNING
Arc flash
may injure
Safety Label E:
Safety Label D:
755/1664
18
A
B
C
A
B
C
D
E
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Explanation of Safety Labels
Programming, Operation, and Maintenance Safety
RM2-755-RDR Postioner
Programming, Operation, and Maintenance Safety
CAUTION
Anyone working near the system must become familiar with the
operation of this equipment.
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this equipment
should be permitted to program, or maintain the system. All personnel
involved with the operation of the equipment must understand potential
dangers of operation.
• Inspect the equipment to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil,
debris, etc.
• Be sure that all safeguards are in place. Check all safety
equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Check the EMERGENCY STOP buttons for proper operation
before programming. The equipment must be in Emergency Stop
(E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before
program changes are made. To avoid loss of information,
programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to
options, accessories, or equipment.
• Any modifications to the Controller unit can cause severe personal
injury or death, as well as damage to the system. Do not make
any modifications to the Controller unit. Making any changes
without the written permission from YASKAWA will void the
warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications to the software for maximum
performance. Care must be taken when making modifications. All
modifications made to the software will change the way the
equipment operates and can cause severe personal injury or
death, as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the Controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Explanation of Safety Labels
Safeguarding Tips
RM2-755-RDR Postioner
Safeguarding Tips
Mechanical Safety Devices
CAUTION
Anyone working near the system must become familiar with the
operation of this equipment. All personnel involved with the operation of
the equipment must understand potential dangers of operation.
General safeguarding tips are as follows:
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this
equipment, the operator's manuals, the system equipment, and options
and accessories should be permitted to operate this equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources
of Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
CAUTION
The safe operation of this equipment is ultimately the users
responsibility. Conditions under which the equipment will be operated
safely should be reviewed by the user. The user must be aware of the
various national codes, ANSI/RIA R15.06-2012 safety standards, and
other local codes that may pertain to the installation and use of this
equipment.
Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or location.
• Safety barriers
• Door interlocks
• EMERGENCY STOP button located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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