Maintenance Manual for Collaborative Robot
English
English
  • Maintenance Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety
    • 1.1 Safety requirements
      • 1.1.1 Applicable standards
      • 1.1.2 Safety performance
    • 1.2 Safety measures
      • 1.2.1 Safety functions
      • 1.2.2 Safety training
      • 1.2.3 Safety labels
      • 1.2.4 Emergency stop
        • 1.2.4.1 Emergency stop switches
        • 1.2.4.2 Connecting to emergency stop devices of external systems
    • 1.3 Risk assement
    • 1.4 Potential risk
    • 1.5 Validity and responsibilities
  • 2. Introduction to the product
    • 2.1 Intended uses of the product
    • 2.2 Product components
    • 2.3 Part names
      • 2.3.1 Manipulator
      • 2.3.2 Controller
      • 2.3.3 Teach pendant
    • 2.4 Nameplate
  • 3. Product installation
    • 3.1 Environment of installation and preparation
      • 3.1.1 Environments of installation and use
      • 3.1.2 Spaces of the robot system
      • 3.1.3 Allowable limit of wrist axis load
      • 3.1.4 Payload
    • 3.2 Product installation
      • 3.2.1 Composition of robot systems
      • 3.2.2 Robot and controller installation
        • 3.2.2.1 Mounting plate installation
      • 3.2.3 Tool connection
      • 3.2.4 Wiring
      • 3.2.5 Power on
    • 3.3 Robot interface
      • 3.3.1 Tool flange connection point
        • 3.3.1.1 T4071017041-001 (TE) pin map
        • 3.3.1.2 T41171130012-001 (TE) pin map
        • 3.3.1.3 Air hose
      • 3.3.2 External device interface
        • 3.3.2.1 Terminal block (TB1): common analog I/O signals
        • 3.3.2.2 Terminal block (TB2): dedicated safety signal input
        • 3.3.2.3 Terminal block (TB3): system signal I/O
        • 3.3.2.4 D-sub 25-pin connector (SDIO): common digital I/O
        • 3.3.2.5 D-sub 9-pin connector (COM1, COM2): serial communication (RS485, 422)
    • 3.4 Stopping distance and time
      • 3.4.1 STOP 0
      • 3.4.2 STOP1
    • 3.5 Safety setting
    • 3.6 Programming and restarting
    • 3.7 Axis limiting devices
    • 3.8 Movement without drive power
    • 3.9 Other safety precautions
  • 4. Maintenance
    • 4.1 Checking of the collaborative robot
      • 4.1.1 Check sheet
      • 4.1.2 Wiring check
      • 4.1.3 Bolt check
    • 4.2 Maintenance of the collaborative robot
      • 4.2.1 Replacement of internal wiring
      • 4.2.2 Replacement of the integrated driving module
        • 4.2.2.1 Replacement timing
        • 4.2.2.2 Weight of the integrated driving module
        • 4.2.2.3 Tools and parts
        • 4.2.2.4 Recommended posture in disassembling the integrated driving module
        • 4.2.2.5 Method for replacing the integrated driving module
      • 4.2.3 Encoder backup battery replacement
      • 4.2.4 Grease replacement
    • 4.3 Controller check and maintenance
      • 4.3.1 Internal structure
      • 4.3.2 Safety control module
        • 4.3.2.1 Connection and display
        • 4.3.2.2 Connection of I/O signals for the robot system (TBSYS1)
        • 4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)
        • 4.3.2.4 Connection of common digital I/O signals (TBDIO)
        • 4.3.2.5 Connection of common digital I/O signals (TBAIO)
        • 4.3.2.6 Information on major components
      • 4.3.3 Power precharge module (PPM)
        • 4.3.3.1 Connection and display
        • 4.3.3.2 Information on major components
      • 4.3.4 Regenerative discharge module (RDM)
        • 4.3.4.1 Connection and display
        • 4.3.4.2 Information on major components
      • 4.3.5 Microcomputer module
      • 4.3.6 Power supply
      • 4.3.7 Teach pendant
      • 4.3.8 PCI communication card (optional)
        • 4.3.8.1 Connect pin map
  • 5. Moving and storing
    • 5.1 Moving method
      • 5.1.1 Recommended posture
      • 5.1.2 Packaging box
      • 5.1.3 Cautions
    • 5.2 Storing method
    • 5.3 Disposal
  • 6. Appendix
    • 6.1 Block diagrams
      • 6.1.1 YL012 S-axis
      • 6.1.2 YL012 H-axis
      • 6.1.3 YL012 V-axis
      • 6.1.4 YL012 R-axis
      • 6.1.5 YL012 B-axis
      • 6.1.6 YL012 R1-axis
      • 6.1.7 YL012 tool flange
      • 6.1.8 Power connector
    • 6.2 System specifications
      • 6.2.1 Collaborative robot
      • 6.2.2 Controller
      • 6.2.3 Teach pendant
  • Certifications
  • Attachment
    • Rules on Occupational Safety and Health Standards, and Notice for Safety Inspection
  • Quality Assurance
Powered by GitBook
On this page

Was this helpful?

  1. 3. Product installation

3.8 Movement without drive power

Previous3.7 Axis limiting devicesNext3.9 Other safety precautions

Last updated 3 years ago

Was this helpful?

In case of emergency or occurrence of abnormal situations, you can configure the setting in such a way that the drive power of the robot is cut off and the axes can be moved for any workers isolated in the hazard area to make an emergency escape.

[Caution]

  • If you release an axis of the robot when driving power is not applied to the robot, the axis may sag or drop. For safety, hold the axis using a device such as a crane that can support the axis before releasing it.

  • To prepare for emergencies and abnormal situations, all workers that install, use, and repair the robot system must undergo training in movement without driving power

Movement without drive power can be used by using the [Brake Release Function] menu of the teach pendant.

  1. Return the safety input with the robot motor powered off.

  2. Touch the [Set up > 3 : Robot parameter > 36 : Brake Release Function] menu on the teach pendant screen.

  3. Check the robot’s condition and release the brake on the desired axis.

  • To release the brake for each asxis, touch the [Lock] button of the desired axis. The brake of the corresponding axis is released only while touching the [Lock] button. When you release the [Lock] button, the brake is locked again.

  • To release the brakes for all axes at once, touch the [All brake release on] button. If you touch the [All brake release off] button, the brakes of all axes are locked at once.

[Caution]: You can release the brake of the axis only in the [Brake Release Function] menu of the teach pendant. All brakes are locked as soon as you leave this menu.