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                                                                         Fanuc	robot	programming	manual
   Fanuc	robot	tcp	programming	manual	pdf.	Fanuc	robot	(o	robotics)	programming	manual	pdf.	Fanuc	robot	programming	manual	pdf.	Fanuc	welding	robot	programming	manual.	Fanuc	robot	tp	programming	manual.	Fanuc	robot	r30ib	programming	manual.	Fanuc	robot	programming	manual	free	download.	Fanuc	robot	pmc	programming	manual.
  An	example	of	three	motion	commands	in	a	program	on	the	EDIT	screen.	Travel	commands	are	used	to	direct	the	robot	to	perform	the	movement	activities.	Within	the	movement	instructions	are	the	variables	and	choices	that	details	where	the	robot	has	to	move,	as	it	should	calculate	the	route,	how	fast	it	moves,	and	what	you	should	do	when	you
  approach	your	destination.	Syntax	The	syntax	move	instruction	is	shown	in	the	following	table.	Line	#	Movement	Type	Location	Type	Location	Number	of	speed	termination	Movement	Type	Options	1	JP	[1]	10%	FINE	ACC100	2	L	PR	[2]	110	mm	/	s	CNT50	EV	3	LP	[34]	250mm	/	s	PURPOSES	4	CP	[3].	PR	..	[6]	2	sec	fine	offset,	PR	[]	5	6	7	Proposal	type
  L	(linear)	a	shift	from	one	point	to	another	in	a	straight	line.	This	is	a	kind	of	slow	motion,	but	very	accurate.	J	(Joint)	the	shift	from	point	to	point	without	the	need	to	maintain	a	straight	line.	It	does	not	need	to	maintain	a	specific	location,	so	it's	the	kind	of	more	rapid	movement	to	achieve	a	position	and	involves	a	minimum	amount	of	wear	on	the
  robot	joints	and	gears.	The	programs	should	ideally	start	with	a	joint	move	to	a	known	starting	point.	Do	not	use	joint	when	the	path	can	be	blocked	by	objects	or	devices.	C	(Circular)	-	They	move	in	a	circle.	The	circle	always	start	at	the	current	position	of	the	robot,	and	flows	through	the	two	positions	indicated	in	the	instructions.	The	first	circle
  education	position	is	the	midpoint,	and	the	second	position	is	the	end	point.	Limit	the	use	at	180	degrees.	Always	be	certain	destination	of	the	previous	movement	instruction	is	the	intended	starting	point	for	your	circle,	otherwise	you	will	encounter	the	error:	"the	angle	of	the	circle	too	big."	circular	instructions	to	overflow	into	the	next	line	on	the
  screen,	exactly	as	shown	in	the	above	table.	A	(Circular	Arc)	Ã	¢	curved	paths	calculated	from	a	large	number	of	positions.	This	is	not	covered	in	any	laboratory	or	assignment,	and	will	appear	only	as	extra	credit	if	at	all.	Position	Type	P	A	(position)	direct	position	in	space.	Typically	registered	jogging	by	point	and	setting	the	position	value.	Each
  position	is	unique	for	the	program	is	in.	P	[1]	in	a	program	has	no	relation	to	P	[1]	to	another.	PR	(position	register)	A	corresponds	to	the	default	position	in	which	position	can	be	found.	position	registers	are	"global"	variables	that	remain	the	same	in	all	programs.	PR	[1]	used	in	a	program	is	equal	to	PR	[1]	in	another.	Modify	the	contents	of	a	position
  register	will	affect	all	future	uses,	in	all	programs.	number	of	position	location	numbers	are	assigned	in	the	order	in	which	they	are	placed.	They	serve	as	places	to	store	location	information.	When	a	move	instruction	is	added	to	a	program,	it	is	automatically	assigned	the	available	position	number,	and	the	location	is	recorded	as	if	the	robot	is
  currently.	This	makes	it	convenient	to	first	jog	to	the	position	you	want	to	record,	then	add	the	motion	instruction,	as	there	will	need	to	"touch	up"	at	all.	For	an	understanding	of	the	position	variables	content,	see	DATA.	Appears	@	symbol	of	the	movement	instructions,	while	the	robot	is	current	(or	very	close	to)	the	position	that	the	position	has	been
  recorded.	It's	not	part	of	the	motion	instruction	syntax,	just	an	indicator	to	help.	Speed	​​The	speed	units	are	first	selected	and	then	the	value	is	entered.	Units	The	valid	unit	for	Motion	Type	Units	J	L	C	A	Description	mm	/	sec	x	x	x	cm	/	min	x	x	x	inch	/	min	x	x	x	deg	/	sec	x	x	x	sec	x	x	x	x	msec	x	x	x	x%	x	XX%	-	The	robot	will	move	to	a	percentage	of	its
  speed	and	given	payload.	XXMM	/	S	-	The	robot	will	move	at	a	speed	determined	by	the	extremity	speed	of	the	instrument.	Velocities	-	By	default,	the	entered	value	would	be	a	direct	speed,	accepting	numeric	values.	Registry	-	The	key	log	will	allow	you	to	insert	a	log	as	a	speed	variable.	Direct	-	The	contents	of	the	register	at	the	beginning	of	the
  instruction	will	be	used	as	the	value	of	the	speed.	Indirect	-	The	contents	of	the	internal	register	will	determine	which	external	register	of	content	content	Be	used	as	a	speed	value.	Type	Termination	This	determines	what	to	do	when	approaching	the	destination	point	indicated	in	the	motion	instruction.	Belle	when	the	completion	of	a	motion
  education,	the	robot	will	reach	each	point.	If	the	next	point	is	at	a	corner	compared	to	the	path	to	reach	the	current	point,	the	robot	accelerate	and	decelerate	in	order	to	ensure	the	point	is	actually	reached.	For	a	very	short	period	of	time,	the	robot	will	come	to	a	complete	arrest.	For	this	reason,	most	beautiful	instructions	take	further	time	and	are
  difficult	on	the	robot	components.	Continuous	(CNT)	when	the	completion	of	a	motion	education,	the	robot	decelerates	while	approaching	the	point	and	"out	shift"	the	angle	as	it	goes	from	point	to	point	in	percentage.	The	following	number	The	CNT	option	represents	the	percentage	of	speeds	is	allowed	to	slow	down	to,	to	make	a	"best	effort"	to	go
  towards	the	point.	Continuous	movement	is	healthy	for	robot	and	robot	tools,	as	acceleration	is	more	extensive.	CNT100	would	mean	100%	of	its	calculated	speed	(expressed	velocity	at	variable	and	system	speed)	during	the	execution	of	the	associated	instruction.	Instead	of	going	to	the	point,	stop,	then	go	to	the	next	step	of	the	instructions	-	will
  make	a	"best	effort"	to	reach	the	intermediate	point	without	compromising	the	speed.	CNT50	would	mean	that	you	will	choose	a	better	path	given	the	possibility	of	reducing	at	50%	of	its	otherwise	calculated	speed.	CNT0	is	very	similar	fine	but	it	is	computationally	distinct,	therefore	a	slight	difference	could	occur.	Movement	Edit	This	is	the
  modification	movement	menu.	The	empty	space	up	to	the	right	on	a	movement	instruction	line	calls	the	[Choice]	option.	By	pressing	this	key,	you	open	a	movement	editing	menu,	which	allows	you	to	add	more	changes	and	special	options	for	your	motion	education.	No	options	-	Select	this	item	when	you	want	to	remove	(or	simply	not	add)	the	selected
  change.	Common	wrist	ACC	-	acceleration.	Use	this	to	limit	acceleration	of	movement	instruction.	Without	this	modifier,	the	robot	will	use	normal	calculations	to	determine	acceleration	and	speed	(such	as	payload,	joint	limitation,	speed	variables)	Skip,	LBL	[]	This	modifier	is	added	to	a	movement	instruction	to	skip	successive	lines	if	a	condition	is	to
  be	true.	The	movement	line	to	which	it	is	added	to	complete	before	evaluating	the	condition.	It	simply	establishes	an	interrupt	time	the	movement	education	finishes,	to	stop	where	it	happens	to	be,	even	at	half	movement,	to	switch	to	another	part	of	the	program	instead.	This	condition	could	be	initialized	with	the	line	jumps	RI	conditions	[8]	=	On
  before	time.	Offset	/	Offset	Frames,	PR	[]	-	plywood	from	a	position	registry.	Whatever	in	the	position	registry	for	it	will	be	added	with	the	content	of	the	position	used	for	the	movement	instruction	the	offset.	The	result	affects	only	movement	instruction,	position	register	and	the	variable	position	for	the	instruction	will	not	be	changed.	JP	[1]	100%	Fine
  Translation	PR	[3]	with	100,100,100,0,0,0	in	P	[1]	and	10,20,30,0,0,0	in	PR	[3]	actually	go	to	point	110,120,130,0,	0.0	Incremental	tool_offset	tool_offset,	PR	[Offset	position	of	the	instruction	in	the	tool	reference	system	from	any	values	​​include	proposed	position	register.	Useful	for	special	rotation	offsets.	Time	of	first	/	hour	after	values	​​valid	for	the
  time	after	are	the	"real"	data	type,	0.000-0.500.	Values	​​valid	for	time	before	are	the	"real"	type	of	data	,,	000-30,000.	This	change	allows	an	action	takes	place	in	a	time	specified	before	or	after	completing	the	associated	instruction.	followed	are	valid	actions	to	be	chosen	following	the	trigger:	call	program	call	()	do	[]	=	...	ro	[]	=	...	go	[]	=	...
  point_logic	ao	[]	=	...	skip,	lbl,	PR	Distance	FIRST	VOPPSET	VOPPSET,	VR	[]	DO	[]	=	...	/	RO	[]	=	...	/	go	[]	=	...	/	ao	[]	=	...	PTH	Add	animation	highlighted	in	the	red	circle	is	the	Point	function	key.	The	shown	menu	opens,	with	the	default	movement	movement	list	You	can	enter	your	program	to	customize	later.	On	the	Edit	screen	you	can	add	a	line	by
  hitting	the	point	and	selecting	one	of	the	options.	These	are	predetermined	"predefined"	movement	instructions	that	you	can	use	to	quickly	position	many	similar	lines.	Once	opened,	hit	"ed_def"	at	the	bottom	left	of	the	screen	the	list	of	default	motors	for	editing	will	be	displayed.	Fanuc	Robotics	Fanuc	Servomotor	Series	Alpha	Maintenance	Manual
  Marmalpse018E	Rev.	B	B-65165E	/	02	This	publication	contains	proprietary	information	by	Fanuc	Robotics	North	America,	Inc.	furnished	only	for	customer	use.	No	other	uses	are	authorized	without	the	expressed	authorization	of	Fanuc	Robotics	North	America,	Inc.	Fanuc	Robotics	North	America,	Inc.	3900	W.	Hamlin	Road	Rochester	Hills,	Michigan
  48309	-	3253	The	descriptions	and	specifications	contained	in	this	manual	were	in	force	The	time	this	manual	has	been	approved	for	printing.	Fanuc	Robotics	North	America,	Inc,	hereinafter	called	Fanuc	Robotics,	reserves	the	right	to	interrupt	the	models	at	any	time	or	change	the	specifications	or	design	without	notice	and	without	incurring
  obligations.	Fanuc	Robotics	manuals	have	descriptions,	specifications,	drawings,	diagrams,	material	bills,	parts,	connections	and	/	or	procedures	for	installation,	disassembly,	connection,	operation	and	programming	of	products	and	/	or	Fanuc	systems	Robotics	and	/	or	systems.	These	systems	consist	of	robots,	prolonged	axes,	robot	controllers,
  application	software,	KarelÃ	â	¢	programming	language,	intuition	vision	equipment	and	special	tools.	Fanguc	Robotics	recommends	that	only	people	who	have	been	trained	in	one	or	more	approved	fanuc	robotics	training	courses	are	authorized	to	install,	use,	use,	perform	active	procedures,	repair	and	/	or	maintain	Fanuc	and	/	or	robotic	systems.
  their	respective	components.	The	approved	training	requires	that	the	selected	courses	are	relevant	to	the	type	of	system	installed	and	application	performed	at	the	customer's	website.	WARNING	This	equipment	generates,	uses	and	can	radiate	radiofrequency	energy	and	if	not	installed	and	used	according	to	the	instruction	manual,	it	can	cause
  interference	to	radio	communications.	As	temporarily	permitted	by	the	regulation,	it	has	not	been	tested	for	the	compliance	with	the	limits	for	class	A	processing	devices	pursuant	to	Submission	J	of	Part	15	of	the	FCC	standards,	which	are	designed	to	provide	reasonable	protection	against	this	interference.	It	is	likely	that	the	operation	of	the
  equipment	in	a	residential	area	causes	an	interference,	in	which	case	the	user,	at	spend	on	him,	will	be	required	to	take	any	measure	to	be	necessary	to	correct	interference.	Fanuc	Robotics	leads	courses	on	its	systems	and	products	on	a	regularly	scheduled	basis	at	its	headquarters	of	Rochester	Hills,	Michigan.	For	more	information	contact	Fanuc
  Robotics	North	America,	Inc.	Training	Department	3900	W.	Hamlin	Road	Rochester	Hills,	Michigan	48309-3253	www.fanucrobotics.com	Send	your	reviews	and	recommendations	on	this	manual	at:	[Protected	Email]	Copyright	Â	£	2002	by	Fanuc	Robotics	North	America,	Inc.	All	rights	reserved	The	information	illustrated	or	contained	in	this	document
  must	not	be	reproduced,	copied,	translated	into	another	language	or	transmitted	in	another	way	or	in	any	way	without	the	prior	written	consent	of	Fanuc	North	America	robotics,	inc.	AccustatÃ	â	¢,	ArctoolÃ	¢	â,¬,	dispensantoolÃ	â	¢,	Fanuc	Laser	DrillÃ	â	¢,	KarelÃ	â	¢,	InsightÃ	¢	â	¢,	Intuition	II	...,	PaintoTolat	â	¢,	PaintWorksÃ	â	¢,	Pallololea	ƒ	â	¢,
  socketsÃ	â	¢,	palettools	â	¢	badÃ	¢	â,¬,	TorchmateÃ	â	¢	and	Yagtoolat	registered	trademarks	of	fanuc	robotics.	Fanuc	Robotics	reserves	all	property	rights,	including	but	not	to	the	trademark	of	trade	and	the	rights	of	trade	names,	in	the	following	names:	AccuairÃ	"accucialÃ"	accufchopÃ	£	"accuflowÃ	£"	accufithÃ	£	"accusationsÃ"	arc	mate	£	"arc
  mate	sr.	Ã	£"	arc	mate	system	1Ã	"	ARC	SYSTEM	MATE	SYSTEM	2Ã	"Arc	Mate	System	3Ã"	Arc	Mate	System	4Ã	"Arc	Mate	System	5Ã"	ArcWorks	proÃ	£	"AssistittoolÃ"	AutoNormal	"AutotcpÃ"	BelltoolÃ	"BodyworksÃ"	Cal	Mateã	£	""	Process	FinderÃ	Center	FinderÃ	Clean	Walla	CollisionGuardÃ	DispenseToolÃ	F-100A-F	200iÃ	FabToolÃ	FANUC
  LASER	drilla	FlexibellÃ	FlexToolÃ	HandlingToolÃ	HandlingWorksÃ	INSIGHTÃ	INSIGHT	IIa	IntelliTrakÃ	integrated	SolutionÃ	Intelligent	Assist	DeviceÃ	IPC	-Integrated	pump	ControlA	IPD	integral	pneumatic	dispense	ISA	integrated	Servo	ApplicatorÃ	integrated	ISD	Servo	dispense	laser	Mate	system	3A	4A	Mate	laser	system	LaserProÃ	LaserToolÃ	LR
  Toola	MIG	EyeÃ	MotionPartsÃ	NoBotsÃ	paint	Sticka	PaintProÃ	PaintTool	100A	PAINTWorksÃ	Paintworks	IIa	Paintworks	IIIA	PalletMateÃ	PalletMate	PCA	PCA	PalletTool	PayloadIDÃ	RecipToolÃ	RemovalToolÃ	Robo	Robo	chopa	SprayÃ	S-S-420iA	430iA	ShapeGenÃ	SoftFloatÃ	sofa	PARTSÃ	SpotTool	Conventions	A	+	SR	SR	MATEA	ShotToolÃ
  SureWeldÃ	SYSTEM	R-J2	check	SYSTEM	RJ3	check	SYSTEM	R-J3iB	monitor	TCP	MATEA	TurboMoveÃ	TorchMateÃ	visLOCÃ	VISPRO-3DA	visTRACÃ	WebServerÃ	WebTPÃ	YagToolÃ	present	in	the	manual	clude	information	essential	for	the	safety	of	personnel,	equipment,	software	and	data.	This	information	is	indicated	by	headers	and	boxes	in	the
  text.	WARNING	WARNING	Information	appears	below	concerns	the	protection	of	staff.	And	'it	packed	and	bold	to	set	it	apart	from	the	rest	of	the	text.	WARNING	WARNING	Information	appearing	in	relation	to	the	protection	of	the	equipment,	software	and	data.	E	'packaged	to	set	it	apart	from	the	rest	of	the	text.	NOTE	The	information	displayed
  next	NOTE	concerns	related	information	or	helpful	tips.	MARMALPSE01801E	REV	B-1	Safety	FANUC	Robotics	is	not,	and	is	not	represented	as	an	expert	in	security	systems,	safety	devices,	or	specific	safety	aspects	of	your	company	and	/	or	its	workforce.	It	is	responsibility	of	the	owner,	the	employer	or	the	user	to	take	all	necessary	measures	to
  ensure	the	safety	of	all	personnel	in	the	workplace.	The	appropriate	level	of	security	for	your	application	and	installation	can	be	best	determined	by	professional	security	system.	FANUC	Robotics,	therefore,	recommends	that	each	customer	consult	with	these	professionals	in	order	to	provide	a	working	environment	that	allows	the	safe	application,	use
  and	operation	of	FANUC	robot	systems.	According	to	the	standard	of	ANSI	/	RIA	R15.06	industry,	it	is	recommended	the	owner	or	user	to	consult	the	rules	to	ensure	compliance	with	its	demands	for	robotics	system	design,	the	usability,	operation,	maintenance	and	service.	In	addition,	as	an	owner,	employer	or	a	robotic	system	user,	it	is	your
  responsibility	to	organize	the	training	of	the	operator	of	a	robot	system	to	recognize	and	respond	to	the	known	hazards	associated	with	your	robotic	system	and	to	be	aware	of	the	recommended	operating	procedures	for	your	particular	installation	of	applications	and	robots.	FANUC	Robotics,	therefore,	recommended	that	all	staff	wanting	to	work,	the
  program,	repair,	or	otherwise	use	the	robotic	system	to	be	trained	in	a	training	course	approved	FANUC	Robotics	and	become	familiar	with	the	proper	functioning	of	the	system.	The	persons	responsible	for	programming	the	System	¢	including	the	design,	implementation	and	debugging	ProgramsA	applications	must	be	familiar	with	the	recommended
  planning	procedures	for	the	application	and	the	robot	installation.	The	following	guidelines	are	provided	to	emphasize	the	importance	of	workplace	safety.	Security-2	RECITAL	OF	SAFETY	FOR	YOUR	INSTALLATION	ROBOT	MARMALPSE01801E	REV	B	Safety	is	essential	whenever	robots	are	used.	Keep	in	mind	the	following	factors	regarding	safety:
  Ã	Â	·	Ã	Â	·	Ã	Â	·	Ã	Â	·	Ã	Â	·	Ã	Â	·	keep	people	and	security	equipment	Personal	safety	is	always	of	primary	importance	Every	situation.	However,	equipment	must	be	kept	safe,	too.	When	priority	how	to	apply	security	to	the	robotic	system,	consider	the	following:	Ã,	Â	·	Ã,	â	·	Ã,	Â	·	Ã,	Â	·	Ã,	Â	·	Using	safety	devices	Improve	Devices	external	people	Robot
  (s)	Tooling	piece	always	Give	adequate	attention	to	the	work	area	surrounding	the	robot.	The	safety	of	the	work	area	can	be	to	be	With	the	installation	of	some	or	all	the	following	devices:	Ã,	â	·	Ã,	Â	·	Ã,	â	·	Ã,	Â	·	Ã,	Â	·	Ã	Â	·	Ã	Â	Â	·	Ã	Â	Â	·	Ã	Â	Â	·	Configuration	of	a	safety	workcell	the	safety	of	people	and	safety	equipment	improving	technical	devices
  for	safe	teaching	and	manual	operation	of	robot	(s)	techniques	for	automatic	robot	safety	operation	(s)	adjust	the	programmed	processing	of	the	robot	and	workcell	correct	maintenance	of	the	robot	safety	barriers,	barriers,	or	chains	Photoelectric	barriers	interlock	pressure	mats	markings	that	warns	mechanical	lights	emergency	stops	keys	Stop
  Deadman	passes	a	safe	work	cell	is	essential	for	people	and	protected	equipment.	Observe	the	following	guidelines	to	ensure	that	the	workcell	is	safely	set.	These	suggestions	aim	to	integrate	and	not	replace	the	laws,	regulations,	existing	federal,	state	and	local	regulations,	and	security	guidelines.	Ã,	Â	·	sponsor	your	staff	for	the	current	training
  recognized	fanuc	robotics	training	(s)	related	to	your	application.	Never	allow	the	staff	not	trained	to	work	the	robots.	Security-3	Marmalpse01801e	Rev	B	Ã,	Â	·	Install	a	locking	device	that	uses	an	access	code	to	prevent	unauthorized	persons	to	use	the	robot.	Ã,	Â	·	Use	TIEA	ANTIA	GOOD	to	prevent	the	operator	from	circumventing	safety	measures.
  Ã,	Â	·	Arrange	the	work	cell	so	the	operator	overlooks	the	work	cell	and	can	see	what	is	happening	inside	the	cell.	Ã,	Â	·	Clearly	identify	the	work	area	of	​​each	robot	in	the	system	with	floor	markings,	signs,	and	special	barriers.	The	work	envelope	is	the	area	defined	by	the	maximum	robot	range	of	the	robot,	including	any	tool	attached	to	the	wrist
  flange	that	extends	this	interval.	Ã,	Â	·	Position	All	controllers	outside	the	robot	work	area.	Ã,	Â	·	They	do	not	rely	on	the	software	as	a	primary	safety	element.	Ã,	Â	·	Mount	an	adequate	number	of	emergency	buttons	or	switches	easily	reachable	by	the	operator	and	critical	points	inside	and	around	the	external	part	of	the	work	cell.	Ã,	Â	·	Install
  flashing	lights	and	/	or	acoustic	signaling	devices	that	activate	whenever	the	robot	is	running,	which	is,	whenever	the	power	is	applied	to	the	servo	drive	system.	The	audible	warning	devices	exceed	the	level	of	environmental	noise	to	the	end	of	use	of	the	application.	Ã,	Â	·	If	possible,	install	security	barriers	for	protection	against	unauthorized	access
  by	staff	in	the	work	envelope.	Ã,	Â	·	Install	special	protections	that	prevents	the	operator	from	reaching	in	restricted	areas	of	the	work	envelope.	Ã,	Â	·	Use	interlocks.	Ã,	Â	·	Presence	use	devices	or	proximity	sensors	such	as	photoelectric	barriers,	mats	and	vision	systems	and	capacity	to	improve	safety.	Ã,	Â	·	Periodically	check	the	safety	joints	or
  safety	joints	that	can	possibly	be	installed	between	the	flange	of	the	wrist	robot	and	utensils.	If	the	tool	hits	an	object,	these	devices	move,	remove	power	from	the	system	and	help	to	minimize	tools	to	tools	and	robots.	Safety-4	Safe	stay,	while	teaching	or	manually	operate	the	robot	Marmalpse018E	and	REV	B	Ã,	Â	·	Make	sure	all	external	devices	are
  properly	filtered,	on	the	ground,	shielded,	and	deleted	to	avoid	dangerous	movement	due	to	the	effects	of	electroÃ	¢	Magnetic	interference	(EMI),	Radio	frequency	interference	(RFI)	and	Static	Download	ElectroÃ	¢	(ESD).	Ã,	Â	·	Making	provisions	for	Lockout	/	Tagout	power	on	the	control	unit.	Ã,	Â	·	Eliminate	crushing	points.	Crushing	points	are
  areas	where	staff	could	get	trapped	between	a	moving	robot	and	other	equipment.	Â	·	Provide	enough	space	inside	the	work	cell	to	allow	staff	to	teach	the	robot	and	maintain	safely.	Ã,	Â	·	Program	the	robot	to	load	and	download	material	safely.	Ã,	Â	·	If	high	voltage	electrostatic	are	present,	make	sure	to	provide	appropriate	interlocks,	warning	and
  headlights.	Ã,	Â	·	If	the	materials	are	applied	to	dangerously	high	pressure,	provide	electrical	interlocks	for	blocking	the	material	and	pressure	flow.	Inform	all	the	staff	who	must	teach	the	robot	or	in	any	case	manually	operate	the	robot	to	observe	the	following	rules:	Ã,	Â	·	Ã,	Â	·	Ã,	Â	·	Ã	Â	·	Ã,	Â	·	Do	not	wear	watches,	rings,	ties,	scarves	,	wide	clothes
  or	you	could	get	to	get	In	movement	machines.	Know	if	an	intrinsically	safe	programming	terminal	is	used	if	you	work	in	a	dangerous	environment.	First	teaching,	visually	inspect	the	robot	envelope	and	work	to	make	sure	there	are	no	potentially	dangerous	conditions.	The	work	area	is	the	area	defined	by	the	maximum	range	of	motion	of	the	robot.
  These	include	utensils	attached	to	the	wrist	flange	that	extends	this	interval.	The	area	near	the	robot	must	be	clean	and	free	of	oil,	water,	or	debris.	Immediately	reports	insecure	working	conditions	to	the	supervisor	or	safety	department.	Fanuc	Robotics	recommends	that	nobody	enter	the	work	area	of	​​a	robot	that	is	up,	except	for	robot	teaching
  operations.	However,	if	you	need	to	enter	the	work	envelope,	make	sure	all	the	guarantees	are	in	place,	check	the	Deadman	Teach	Pendant	switch	for	proper	operation,	and	place	the	robot	in	learning	mode.	Take	the	Teach	Pendant	with	you,	turn	it	on,	and	be	ready	to	release	the	Deadman	switch.	Only	the	person	with	programming	terminal	should	be
  in	the	work	area.	Security-5	Marmalpse01801E	REV	B	Warning	non-bypass,	belt,	or	otherwise	disable	a	safety	device,	for	example	a	end-of-stroke	switch,	for	any	operational	convenience.	Deactivation	of	a	safety	device	is	known	for	provoking	serious	injuries	and	death.	Ã,	Â	·	Ã,	Â	·	Ã,	Â	·	Knowing	the	path	that	can	be	used	to	escape	from	a	moving
  robot;	Verify	that	the	escape	path	is	never	blocked.	Isolate	the	robot	from	all	remote	control	signals	that	can	cause	movement	while	data	is	taught.	Test	any	program	executed	to	be	for	the	first	time	as	follows:	Warning	stay	outside	the	robot's	work	area	whenever	a	program	is	executed.	Otherwise	you	can	cause	injury.	-	Ã,	Â	·	Safe	stay	during
  automatic	operation	use	low	movement	speeds,	the	only	step	for	at	least	one	complete	cycle.	-	Using	a	low	movement	speed,	try	running	the	continuous	program	for	at	least	one	complete	cycle.	-	Using	the	programmed	speed,	tests	to	run	the	program	continuously	for	at	least	one	complete	cycle.	Make	sure	all	the	staff	is	outside	the	work	area	before
  performing	production.	Inform	all	the	staff	operating	the	robot	during	the	production	of	observing	the	following	rules:	Ã,	Â	·	Make	sure	all	safety	measures	are	present	and	active.	Ã,	Â	·	Know	the	entire	work	cell	area.	Workcell	includes	the	robot	and	its	work	area,	in	addition	to	the	area	occupied	by	all	external	devices	and	other	equipment	with	which
  the	robot	interacts.	Ã,	Â	·	Understand	the	complete	task	The	robot	is	programmed	to	perform	automatic	operation	before	starting.	Ã,	Â	·	Make	sure	all	the	staff	is	outside	the	work	area	before	using	the	robot.	Safety-6	Stay	Safe	During	the	inspection	Stay	Safe	during	maintenance	Marmalpse01801e	Rev	B	Ã,	Â	·	Never	enter	or	allow	others	to	enter	the
  work	envelope	during	automatic	robot	operation.	Ã,	Â	·	Know	the	position	and	the	status	of	all	signals	Switches,	sensors,	and	control	that	could	cause	the	robot	to	move.	Ã,	Â	·	Know	where	the	emergency	stop	buttons	are	both	on	the	control	of	the	robot	and	external	control	devices.	Be	prepared	to	press	these	keys	in	an	emergency.	Ã,	Â	·	Never	give
  for	granted	that	a	program	is	complete	if	the	robot	is	not	moving.	The	robot	could	be	waiting	for	an	input	signal	that	will	allow	you	to	continue	the	activity.	Ã,	Â	·	If	the	robot	is	running	in	a	model,	do	not	take	it	for	granted	that	it	will	continue	to	work	in	the	same	model.	Ã,	Â	·	Never	try	to	stop	the	robot,	or	break	His	movement,	with	your	body.	The
  only	way	to	stop	the	robot	movement	is	immediately	to	press	an	emergency	stop	button	located	on	the	control	panel,	Teach	Pendant,	or	emergency	stop	stations	throughout	the	work	cell.	By	inspecting	the	robot,	make	sure	it's,	Â	·	Turn	off	the	controller.	Ã,	Â	·	Block	out	and	tags	the	power	source	to	the	regulator	according	to	the	policies	of	your
  system.	Ã,	Â	·	Turn	off	the	source	of	compressed	air	and	relieve	air	pressure.	Ã,	Â	·	If	the	robot	movement	is	not	necessary	for	controlling	electrical	circuits,	press	the	emergency	stop	button	on	the	operator	panel.	Ã,	Â	·	Don't	wear	watches,	rings,	ties,	ties,	Or	wide	clothes	that	could	get	caught	in	movement	machines.	Ã,	Â	·	If	you	need	the	power	to
  control	the	movement	of	the	robot	or	electrical	circuits,	be	ready	to	press	the	emergency	stop	button,	in	case	of	emergency.	Ã,	Â	·	Keep	in	mind	that	when	removing	a	servomotor	or	brake,	the	robot	arm	associated	with	cadrÃ	if	it	is	not	supported	or	resting	on	a	hard	stop.	Support	the	arm	on	a	solid	support	before	releasing	the	brake.	When
  maintaining	the	robot	system,	observe	the	following	rules:	Safety-7	Marmalpse01801E	REV	B	Ã,	Â	·	Do	not	insert	the	work	envelope,	while	the	robot	or	a	program	is	in	operation.	Ã,	Â	·	Before	entering	the	processing	envelope,	visually	inspect	the	work	cell	to	make	sure	that	no	dangerous	conditions	exist.	Ã,	Â	·	Don't	wear	watches,	rings,	ties,	scarves,
  wide	clothes	or	that	could	get	caught	in	movement	machines.	Ã,	Â	·	Consider	all	or	any	superimposed	volumes	of	work	of	adjacent	robots	when	standing	in	a	work	envelope.	Ã,	Â	·	Test	programming	terminal	for	correct	operation	before	entering	the	work	area.	Ã,	Â	·	If	you	need	to	enter	the	robot	work	envelope,	while	the	power	is	turned	on,	you	need
  to	be	sure	that	you	are	in	control	of	the	robot.	Be	sure	to	take	programming	terminal	with	you,	press	the	DeadMan	switch,	and	turn	programming	terminal	up.	Be	ready	to	release	the	Deadman	switch	to	turn	off	servo	to	the	robot	immediately.	Ã,	Â	·	If	possible,	perform	maintenance	with	the	power	supply.	Before	opening	the	programmer	front	panel
  or	enter	the	processing	envelope,	turn	off	and	lock	the	phase	3A	power	supply	source.	Ã,	Â	·	Keep	in	mind	that	when	removing	a	servomotor	or	brake,	the	robot	arm	associated	with	cadrÃ	if	it	is	not	supported	or	resting	on	a	hard	stop.	Support	the	arm	on	a	solid	support	before	releasing	the	brake.	Leather	voltage	warning	is	present	in	the	controller
  when	connected	to	a	power	source.	Be	very	careful	to	avoid	electric	shock.	High	voltage	on	the	input	side	when	the	controller	is	connected	to	a	power	source.	By	turning	the	disconnect	switch	or	switch	in	the	OFF	position	it	removes	power	from	the	output	side	of	the	device	only.	Ã,	Â	·	exit	or	block	all	the	stored	energy.	Before	intervening	on	the
  pneumatic	system,	interrupt	the	air	supply	system	and	eliminate	air	lines.	Security-8	Marmalpse01801E	REV	B	Ã,	Â	·	Separate	the	robot	from	all	the	remote	control	signals.	If	maintenance	must	be	performed	when	the	power	is	turned	on,	make	sure	the	person	inside	the	work	envelope	has	the	exclusive	control	of	the	robot.	The	Teach	Pendant	must	be
  held	by	this	person.	Ã,	Â	·	Make	sure	personnel	cannot	remain	trapped	between	the	moving	robot	and	other	equipment.	Know	the	path	that	can	be	used	to	escape	from	a	moving	robot.	Make	sure	the	escape	route	is	never	blocked.	Ã,	Â	·	Use	blocks,	mechanical	stops,	and	pins	to	prevent	dangerous	movement	from	the	robot.	Make	sure	these	devices	do
  not	create	crushing	points	that	could	trap	staff.	WARNING	Do	not	attempt	to	remove	any	mechanical	component	of	the	robot	first	carefully	reading	and	understanding	the	procedures	described	in	the	appropriate	manual.	This	could	cause	serious	personal	injury	and	destruction	of	the	components.	Ã,	Â	·	Keep	in	mind	that	when	removing	a	servomotor
  or	brake,	the	robot	arm	associated	with	cadrÃ	if	it	is	not	supported	or	resting	on	a	hard	stop.	Support	the	arm	on	a	solid	support	before	releasing	the	brake.	Ã,	Â	·	In	case	of	replacement	or	installation	of	components,	make	sure	that	dirt	and	debris	do	not	enter	the	system.	Ã,	Â	·	Use	only	parts	For	replacement.	For	fires	Avoid	and	damage	to	the	parts
  of	the	controller,	never	use	the	unspecified	fuses.	Ã,	Â	·	Before	restarting	a	robot,	make	sure	no	one	is	inside	the	work	envelope;	Make	sure	the	robot	and	all	external	devices	normally	work.	Maintenance	Machine	tools	and	external	devices	Safe	Certain	Programming	and	mechanical	measures	are	useful	in	keeping	machine	tools	and	other	safe	external
  devices.	Some	of	these	measures	are	reported	below.	Make	sure	you	know	all	the	connected	measures	for	the	safe	use	of	these	devices.	Programming	Precautions	for	security	Security	The	following	security	measures	programming	to	avoid	damage	to	machine	tools	and	other	external	devices.	Safety-9	Precautions	Marmalpse01801E	REV	B	Security
  Mechanical	Ã,	Â	·	Check-Backa	Limit	Switches	into	the	work	cell	to	make	sure	they	are	not	lacking.	Ã,	Â	·	Implement	a	bankruptcy	RoutinesÃ	¢	in	programs	that	will	provide	the	appropriate	robot	actions	if	an	external	device	or	another	robot	in	the	work	cell	fails.	Ã,	Â	·	Use	the	handshake	protocol	for	synchronization	robot	and	operations	of	external
  devices.	Ã,	Â	·	Program	the	robot	controls	the	condition	of	all	external	devices	during	an	operating	cycle.	Implement	the	following	mechanical	safety	measures	to	prevent	damage	to	machine	tools	and	other	external	devices.	Ã,	Â	·	Make	sure	the	work	cell	is	clean	and	free	of	oil,	water	and	debris.	Ã,	Â	·	Limits	use	software,	limit	switches,	and
  mechanical	hardstops	to	prevent	unwanted	robot	movements	in	the	work	area	of	​​machine	tools	and	external	devices.	Keeping	the	Safe	Robot	Observe	the	following	operator	and	programming	the	guidelines	to	avoid	damaging	the	robot.	Operating	safety	standards	The	following	measures	are	designed	to	prevent	damage	to	the	robot	during	operation.
  Programming	security	precautions	is,	Â	·	Use	a	low	override	speed	to	increase	control	over	the	robot	while	jogging	the	robot.	Ã,	Â	·	Displaying	the	robot	movement	will	you	will	keep	you	before	pressing	the	directional	keys	on	the	programming	terminal.	Ã,	Â	·	Make	sure	the	work	area	is	clean	and	free	of	oil,	water,	or	debris.	Ã,	Â	·	Use	circuit	breakers
  to	avoid	the	risk	of	electric	overload.	The	following	safety	measures	are	designed	to	prevent	damage	to	the	robot	during	programming:	Ã,	Â	·	Establish	interference	zones	to	avoid	collisions	when	two	or	more	robots	share	a	work	area.	Safety-10	Marmalpse01801e	REV	B	Ã,	Â	·	Make	sure	the	program	ends	with	the	nearby	robot	or	in	a	rest	position.	Ã,
  Â	·	Be	aware	of	the	signals	or	other	operations	that	could	trigger	the	operation	of	equipment	with	consequent	personal	injuries	or	damage	to	the	equipment.	Ã,	Â	·	In	application	delivery,	be	aware	of	all	the	safety	guidelines	with	respect	to	dispensing	materials.	Note	Any	deviation	from	the	security	methods	and	practices	described	in	this	manual	must
  comply	with	the	approved	standards	of	your	company.	If	you	have	any	questions,	consult	the	supervisor.	Safety	considerations	for	painting	technical	robots	process	installations	are	sometimes	required	to	enter	the	paint	cabin,	for	example,	during	daily	or	routine	calibration	or	during	the	teaching	of	new	paths	for	a	robot.	Personal	maintenance	must
  also	work	inside	the	painting	booth	periodically.	Whenever	the	staff	are	working	inside	the	painting	booth,	ventilation	systems	must	be	used.	Instructions	on	the	correct	use	of	ventilation	equipment	is	generally	provided	by	the	supervisor	painting	department.	Although	the	dangers	of	paint	cabins	have	been	minimized,	there	are	still	potential	dangers.
  Therefore,	TODAYÃ	¢	s	highly	automated	coating	cabin	requires	process	and	maintenance	personnel	have	full	system	awareness	and	its	abilities.	They	must	understand	the	interaction	that	occurs	between	the	moving	vehicle	along	the	conveyor	and	robot	(s),	hood	/	bridge	devices	and	door	opening,	and	highÃ	¢	voltage	electrostatic	tools.	Robot	paint
  are	managed	in	three	ways:	Ã,	Â	·	Teaching	or	manual	mode,	Â	·	Automatic	mode,	including	automatic	operation	and	exercising	a	diagnostic	mode	during	both	automatic	mode	teaching	and,	the	cabin	robots	of	Painting	will	follow	a	predetermined	scheme	of	In	learning	mode,	the	technician	teaching	process	(programs)	paint	paths	with	programming
  terminal.	In	automatic	mode,	the	operation	of	the	robot	is	started	the	System	Operator	console	or	manual	control	panel	(MCP),	if	available,	and	can	be	monitored	by	outside	painting	cabin.	All	the	staff	must	remain	outside	the	cabin	or	in	a	safety	safe-11	area	designated	Marmalpse01801e	REV	B	inside	the	cabin	whenever	the	automatic	mode	is
  started	at	the	SOC	or	MCP.	In	the	automatic	mode,	the	robots	perform	route	movements	were	taught	during	the	learning	mode,	but	generally	a	a	speed	.	When	the	staff	and	maintenance	staff	perform	diagnostic	routines	that	require	them	to	remain	in	the	painting	booth,	they	must	remain	in	a	designated	secure	area.	Features	of	the	painting	system
  Safety	features	Process	technicians	and	maintenance	personnel	must	be	totally	familiar	with	equipment	and	its	abilities.	To	minimize	the	risk	of	injury	when	working	near	robots	and	related	equipment,	the	staff	must	strictly	comply	with	the	procedures	in	the	manuals.	This	section	provides	information	on	the	safety	features	included	in	the	paint
  system	and	also	explains	how	the	robot	interacts	with	other	equipment	in	the	system.	The	painting	system	includes	the	following	safety	features:	Ã,	Â	·	Most	paint	booths	have	red	warning	headlights	that	illuminate	when	robots	are	armed	and	ready	to	paint.	Your	stand	could	have	other	types	of	indicators.	Find	out	what	they	are.	Ã,	Â	·	Some	paint
  booths	have	a	blue	lighthouse	that,	when	illuminated,	indicates	that	electrostatic	devices	are	enabled.	Your	stand	could	have	other	types	of	indicators.	Find	out	what	they	are.	Ã,	Â	·	Emergency	stop	buttons	are	located	on	the	robot	controller	and	the	banner	pendant.	It	becomes	familiar	with	the	positions	of	all	the	stop	buttons	and	...	Ã,	Â	·	An
  intrinsically	safe	teaching	pendant	is	used	when	taits	in	atmospheres	for	dangerous	paint.	Ã,	Â	·	A	delayed	switch	is	located	on	each	teaching	pendant.	When	this	switch	is	kept	incoming,	and	the	Teach	pendant	is	turned	on,	the	power	supply	is	applied	to	the	Servo	robot	system.	If	the	committed	deadman	switch	is	released	during	robot	operation,	the
  power	supply	is	removed	from	the	servo	system,	all	the	axis	brakes	are	applied	and	the	robot	arrives	at	an	emergency	stop.	Even	the	security	interlocks	within	the	system	could	also	and	...	stop	other	robots.	Warning	An	emergency	stop	occurs	if	the	Deadman	switch	is	released	on	a	bypassed	robot.	Security-12	Marmalpse01801E	REV	B	Â	·	Overtravel
  by	Robot	Axes	is	prevented	from	the	limits	of	the	software.	All	the	main	and	minor	axes	are	regulated	by	the	limits	of	the	software.	The	switch	limits	and	Hardst	also	limit	trips	from	the	main	axes.	Ã,	Â	·	Emergency	stop	limits	and	photoelectric	eyes	may	be	part	of	the	system.	The	limits,	located	on	the	entrance	/	output	ports	of	each	cabin,	will	stop	the
  emergency	all	the	equipment	in	the	cabin	if	a	door	is	opened	while	the	system	works	in	automatic	or	manual	mode.	For	some	systems,	the	signals	to	these	switches	are	inactive	when	the	Switch	on	SCC	is	in	learning	mode.	When	present,	photoelectric	eyes	are	sometimes	used	to	monitor	unauthorized	intrusion	through	openings	of	input	/	output
  silhouette.	Ã,	stay	safe	during	the	operation	of	the	state	robot	system	status	is	monitored	by	the	computer.	Serious	conditions	involve	automatic	system	stop.	When	you	work	or	near	the	paint	cabin,	observe	the	following	rules,	as	well	as	all	the	rules	for	safe	operation	that	apply	to	all	robot	systems.	WARNING	Observe	all	safety	rules	and	guidelines	to
  avoid	injury.	NEST	WARNING	BYPASS,	CLOTHE	OR	SAFETY	ACCESS,	such	as	a	limit	switch,	for	any	operational	comfort.	Deactivation	is	known	that	a	safety	device	has	led	to	serious	injury	and	death.	Ã,	Â	·	Know	the	work	area	of	​​the	entire	Paint	Station	(Workcell).	Ã,	Â	·	Know	the	work	envelope	of	the	robot	and	cap	/	door	opening	devices.	Â	·	Be
  aware	of	the	envelopes	of	Overlapping	of	adjacent	robots.	Ã,	Â	·	Know	where	all	the	red-shaped	emergency	stop	buttons	are	found,	of	mushrooms.	Security-13	Marmalpse01801e	REV	B	Stay	safe	while	working	application	equipment	is,	Â	·	Knowing	the	position	and	status	of	all	switches,	sensors	and	/	or	control	signals	that	could	cause	the	motion	of
  the	robot,	transporter	and	Dell	'opening.	Ã,	Â	·	Make	sure	the	work	area	near	the	robot	is	clean	and	free	of	water,	oil	and	debris.	Report	unsafe	conditions	to	your	supervisor.	Ã,	Â	·	becomes	familiar	with	the	complete	activity	that	the	robot	will	be	performed	before	starting	the	automatic	mode.	Ã,	Â	·	Make	sure	all	the	staff	is	out	of	the	paint	booth
  before	turning	the	power	of	the	robot	system.	Ã,	Â	·	Never	enter	the	work	envelope	or	painting	booth	It	turns	off	the	power	on	the	servo	robot	system.	Ã,	Â	·	Never	access	the	work	envelope	during	automatic	operation	unless	a	secure	area	has	been	designated.	Ã,	Â	·	Never	wear	watches,	rings,	ties,	scarves	or	loose	clothes	that	could	be	captured	in
  moving	machinery.	Ã,	Â	·	Remove	all	metal	objects,	such	as	rings,	watches	and	belts,	before	entering	a	cabin	when	electrostatic	devices	are	enabled.	Ã,	Â	·	Stay	out	of	the	areas	where	you	could	be	trapped	between	a	moving	robot,	a	conveyor	or	an	opening	device	and	another	object.	Ã,	Â	·	To	be	aware	of	the	signals	and	/	or	operations	that	could	cause
  the	trigger	of	weapons	or	bells.	Ã,	Â	·	Be	aware	of	all	safety	precautions	when	paint	distribution	is	required.	Ã,	Â	·	Follow	the	procedures	described	in	this	manual.	When	you	work	with	the	varnish	application	equipment,	observe	the	following	rules,	as	well	as	all	the	rules	for	safe	operation	that	apply	to	all	robot	systems.	Warning	When	working	with
  electrostatic	varnish	equipment,	follow	all	national	and	local	codes	and	all	safety	guidelines	within	your	organization.	The	following	standards	also	reports:	NFPA	33	Standard	for	the	spray	application	using	flammable	or	fuel	materials	and	NFPA	70	electrical	code.	Safety-14	Stay	safe	during	maintenance	Marmalpse018Egin	Rev	B	Ã,	earthing:	All
  electrically	conductive	objects	In	the	spraying	area	they	must	be	grounded.	This	includes	spraying	cabin,	robots,	transporters,	workstations,	couriers,	hooks,	paint	pressure	cookers,	as	well	as	solvent	containers.	The	grounding	is	defined	as	an	object	or	objects	must	be	electrically	connected	to	the	ground	with	a	resistance	of	no	more	than	1	megohms.
  Ã,	Â	·	Attilttolta	Voltage:	High	voltage	should	only	be	activated	during	the	actual	spraying	operations.	The	voltage	should	be	deactivated	when	the	painting	process	is	completed.	Never	leave	high	voltage	on	a	hood	cleaning	process.	Ã,	Â	·	Avoid	any	accumulation	of	fuel	vapors	or	coating.	Ã,	Â	·	Follow	all	the	cleaning	procedures	recommended	by	the
  manufacturer.	Ã,	Â	·	Make	sure	all	the	interlocks	are	operational.	Ã,	Â	·	Do	not	smoke.	Ã,	Â	·	publishes	all	the	warning	signs	relating	to	electrostatic	equipment	and	operation	of	electrostatic	equipment	based	on	the	NFPA	33	standard	for	the	spray	application	using	flammable	or	fuel	material.	Ã,	Â	·	Disables	all	the	pressure	of	the	air	and	paint	for	Bell.
  Ã,	Â	·	Check	that	the	lines	are	not	under	pressure.	When	maintaining	the	painter	system,	observe	the	following	rules	and	all	other	maintenance	safety	rules	applicable	to	all	robot	installations.	Only	qualified	staff,	trained	staff	or	maintenance	staff	should	perform	repair	work	on	a	robot.	Ã,	Â	·	The	processed	robots	work	in	a	potentially	explosive
  environment.	Use	caution	when	working	with	electrical	tools.	Ã,	Â	·	When	a	maintenance	technician	is	repairing	or	adjusting	a	robot,	the	work	area	is	under	control	of	this	technician.	All	the	staff	who	do	not	participate	in	maintenance	must	stay	out	of	the	area.	Ã,	Â	·	For	some	maintenance	procedures,	a	second	person	on	the	control	panel	within	the
  flow	rate	of	the	emergency	stop	button.	This	person	must	understand	the	robot	and	potential	associated	hazards.	Security-15	Marmalpse01801e	REV	B	Â	·	Make	sure	all	the	covers	and	inspection	plates	are	in	good	repair	and	in	place.	Ã,	Â	·	Always	returns	the	robot	at	the	position	Ã,	~	Ã,	Â	«Place	before	disarming	it.	Ã,	Â	·	Never	use	power	to
  facilitate	the	Of	any	component	from	the	robot.	Ã,	Â	·	during	robot	operations,	be	aware	of	the	robot	movements.	Excess	vibrations,	unusual	sounds	and	so	on,	can	warn	you	to	potential	problems.	Ã,	Â	·	When	possible,	turn	off	the	main	electrical	disconnection	before	cleaning	the	robot.	Ã,	Â	·	When	using	vinyl	resin	observes	the	following:	Ã,	Â	·	-	Wear
  eye	protection	and	protective	gloves	during	application	and	removal	-	adequate	ventilation	is	required.	Overexposure	could	cause	drowsiness	or	irritation	of	skin	and	eye.	-	If	there	is	a	skin	contact,	wash	with	water.	When	using	the	paint	removal	device,	observe	the	following:	-	eye	protection,	protective	rubber	gloves,	boots	and	apron	are	required
  while	cleaning	the	cabin.	cabin.	Adequate	ventilation	is	required.	Overexposure	could	cause	drowsiness.	-	If	there	is	a	contact	with	the	skin	or	eyes,	rinse	with	water	for	at	least	15	minutes.	Premise	B-65165E	/	02	Premise	Organization	of	parts	I	and	II	This	manual	describes	the	information	necessary	to	keep	Fanuc	Servoamplifier	products	Þ	±	series,
  for	example	a	power	supply	module,	module	servo	amplifier	and	chuck	amplifier	module.	Part	I	illustrates	the	start-up	procedure,	and	Part	II	focuses	on	troubleshooting.	The	abbreviations	listed	below	are	used	in	this	manual.	Product	Name	Fanuc	Series	0-TC	Fanuc	Series	0-MC	Fanuc	Series	15i,	15	Fanuc	16i	Series,	16	Fanuc	Series	18i,	18	Fanuc
  Series	20	Fanuc	Series	21i,	21	Fanuc	Power	Mate-Model	and	Fanuc	Power	Mate-Model	D	Fanuc	Power	MATE	Power	module	-Model	F	Power	ServoMplifier	Module	Chuck	Module	Amplifier	Module	Abbreviations	FS0-TC	FS0-MC	FS15i,	FS15	FS16i,	FS16	FS18I,	FS18	FS20	FS21i,	FS21	PM-E	​​â	€
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