YASKAWA ArcWorld 50 Guida utente
Part Number: 183574-1CD
Revision: 0
ArcWorld® 50/50S and 52/52S
SYSTEM MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
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Copyright © 2019, 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 the 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, 2019
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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For Your Safety
ArcWorld 50/50S and 52/
52S
Safety
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.
Carelessness contributes to serious accidents in the work area.
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
• Teaching, operations, and maintenance of the Robot must conform
to:
– Industrial Safety and Health Law
– Order for Enforcement of the Industrial Safety and Health Law
– Industrial Safety and Health Regulations
– Technical Standards for Electrical Facilities
Other related laws and regulations 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 2006/42/EC
• Prepare:
– SAFETY WORK REGULATIONS
based on concrete policies for safety management complying
with related laws and regulations.
• Observe:
– JIS B 8433-1: 2015 “Robots for industrial environments-Safety
requirements” (ISO 10218-1: 2011) for safe operation of the
robot. (JIS B 8433 is for Japan only)
• Reinforce:
– SAFETY MANAGEMENT SYSTEM
by designating authorized operators and safety managers for the
Robot, as well as giving continuing safety education and training.
• Teaching, operation, and maintenance of the Robot are specified as
“Hazardous Operations” in the Industrial Safety and Health Act (for
Japan only).
Personnel engaged in these operations must receive special
training offered by YASKAWA.
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ArcWorld 50/50S and 52/
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment.
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
DANGER
• Personnel engaged in operation, maintenance, or management of
the Robot must receive required training before using the Robot.
For more information on training, contact Customer Support.
• Make sure to have and follow all manuals, read them thoroughly
and understand the contents of them.
Confirm that you have all required manuals. If any of the manuals are
missing, contact Customer Support.
• Read and understand these instructions throughly before installing,
operating, or maintaining the Robot.
Any matter not described in this manual must be regarded as
“prohibited” or “improper”.
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WARNING
• Safe operation of this equipment is the users responsibility.
– The 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.
Not following all national codes, safety standards and local codes can
result in death or serious injury
• Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or
location.
– The following safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• EMERGENCY STOP button
Not providing additional safety measures as required can result in
death or serious injury.
• Check all safety equipment frequently for proper operation.
– Repair or replace any non-functioning safety equipment
immediately.
If safety equipment does not operate properly death or serious injury
can result.
CAUTION
• Only trained personnel familiar with the operation, manuals,
electrical design, and interconnections of this equipment should
program, or maintain the system.
Any personnel involved with the operation of the equipment must
understand potential dangers of operation.
NOTICE
• The drawings and photos in this manual are examples. Differences
may exist between them and the delivered product.
• YASKAWA may modify this model without notice due to product
improvements, modifications, or changes in specifications. If such
modification is made, the manual number will also be revised.
• Some operations require standard passwords and while others
require special passwords.
• If a manual is damaged or lost, contact Customer Support to order a
new copy. Make sure to tell Customer Support the Part Number
listed on the front cover.
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Notes for Safe Operation
ArcWorld 50/50S and 52/
52S
Notes for Safe Operation
Read this manual carefully before installing, operating, maintaining, or
inspecting the system.
In this instruction, Safe Operations 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.
WARNING Indicates a potentially hazardous
situation which, if not avoided, MAY
result in death or serious injury.
CAUTION
Indicates a hazardous situation,
which if not avoided, MAY result in
minor to moderate injury.
CAUTION Indicate a situation which if not
avoided may result in equipment
damage.
NOTICE Indicates practices not related to
personal injury.
NOTICE
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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ArcWorld Explanation of Safety Labels
ArcWorld 50/50S and 52/
52S
ArcWorld Explanation of Safety Labels
The following labels are attached to the ArcWorld. Always follow these
safety labels.
Fig. : ArcWorld Label Locations
Collaborative Motion Label
Collaboration is a special type of operation between a person and Robot
sharing a common workspace.
Robot Labels
Refer to Robot Documentation for details.
1
2
4
5
3
6
7
9
3
8
10
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ArcWorld Explanation of Safety Labels
ArcWorld 50/50S and 52/
52S
High Voltage Label
This label indicates that hazardous voltages are present and there is a
danger of getting electrical shock.
Controller Labels
Refer to Controller Documentation for details.
Power Supply Labels
Refer to Manufacturer’s Power Supply Documentation for details.
Fuse Use Label
This label advises to replace fuses with the same type and rating.
Manipulator and Controller Same Order Number
This label is a reminder when installing the ArcWorld to make sure that the
Manipulator and Controller have the same Order Number.
Arc Flash Hazard Label
This label is supplied to inform to use appropriate personal protective
equipment.
!
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ArcWorld Explanation of Safety Labels
ArcWorld 50/50S and 52/
52S
Securely Lock Door Latches
This label is supplied to remind users to have doors securely latched
before applying power.
High Voltage Lockout/Tagout
Use a device to ensure that power remains off while repairs or
adjustments are being made.
!
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Installation and Wiring Safety
ArcWorld 50/50S and 52/
52S
Installation and Wiring Safety
Review the Robot and Controller Instructions for details on installation and
wiring.
In planning installation, adapt an easy to observe arrangement to ensure
safety. Take safety into consideration when planning the installation.
Observe the following when installing the Robot:
DANGER
• 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 Support.
• 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 motion of the Robot's arm.
• Any person who programs, teaches, operates, maintains or repairs
the included system MUST be trained and demonstrates
competence to safely perform assigned tasks.
Failure to observe these safety precautions may result in death or
serious injury from unexpected movements.
WARNING
• Run the piping, wiring, and cables for the Controller, Robot,
Positioner control panel, peripheral devices, etc. in a pit so that they
are not stepped on by personnel or run over by a forklift.
Failure to observe this Warning may cause personnel to trip over
exposed piping, wiring, or a cables, which may result in personal injury.
Additionally it may also cause damage to piping, wiring, or cables, and
unexpected movement of the Robot, which may result in personal injury
and/or equipment damage.
SAFETY
FIRST
Piping Lead
Cable Channnel
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