2.7 Installation Impact and Trapping Points OMRON robots are capable of moving at high speeds. If a person is struck by a robot (impacted) or trapped (pinched) serious injury could occur. Robot configuration, joint speed, joint orientation, and attached payload all contribute to the total amount of energy available to cause injury. Hazards from Expelling a Part or Attached Tooling Any tooling, fixtures, end-effectors, etc., mounted to the tool flange, or one of the other axes of the robot, must be attached by sufficient means to resist being expelled from the robot.
Addi- tionally, any payload must be held by the end-effector in a manner that prevents the payload from being expelled accidentally. The safety barrier constructed around the robot must be designed to withstand the impact of any item expelled accidentally from the robot. Projectile energy can be calculated using the for- mula E =Ѕmv 2 . Additional Information : In the Projectile energy formula above: E = Energy m = Mass v = Velocity 2.7 Installation General Precautions Take precautions to ensure that the following situations do not occur: l Improper installation or programming of the robot system l Use of non-original cables or modified components in the system ! WARNING:
PERSONAL INJURY OR PROPERTY DAMAGE RISK. Do not attempt to lift the robot at any points other than the eyebolt(s) or slots, if provided. Do not attempt to extend the inner or outer joints of a SCARA, or articulated robot until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personal injury or equip- ment damage. NOTE: For the two following WARNINGs, UL 1740 2.45 defines: SINGLE POINT OF CONTROL - The ability to operate the robot such that initiation of robot motion from one source of control is only possible from that source and cannot be overridden from another source. 16 Robot Safety Guide 18304-000 Rev. F