MODEL:
Line
Tracker
Touch
Sensor
OWNERS
MANUAL
IMPORTANT:
Read
and
understand
the
entire
contents
of
this
manual,
with
special
emphasis
on
the
safety
material
throughout
the
manual,
before
MILLER
ELECTRIC
Mfg.
Co.
AMIi.~Ud..Cw~y
installing,
operating,
or
maintaining
this
equipment.
This
unit
and
these
Instructions
are
for
use
only
by
persons
trained
and
experienced
In
the
safe
P0
~
1079
Ap~eton,
WI
54912
liSA
operation
of
welding
equipment.
Do
not
allow
untrained
persons
to
install,
Tel.
414-734-9821
operate,
or
maintain
this
unit.
Contact
your
distributor
if
you
do
not
fuiiy
understand
these
instructions.
Millerfi
September
1991
FORM:
OM-146
806
ST-148
804
PRINTED
IN
U.S.A
Ii
LIMITED
WARRANTY
EFFECTIVE:
AUGUST
6,
1990
This
warranty
supersedes
all
previous
MILLER
warranties
and
is
exclusive
with
no
other
guarantees
or
warranties
expressed
or
implied.
LIMITED
WARRANTY
Subject
to
the
terms
and
conditions
hereof,
MILLER
Electric
Mfg.
Co.,
Appleton,
Wisconsin
war
rants
to
its
Distributor/Dealer
that
all
new
and
unused
Equipment
furnished
by
MILLER
is
free
from
defect
in
workmanship
and
material
as
of
the
time
and
place
of
delivery
by
MILLER.
No
warranty
is
made
by
MILLER
with
respect
to
engines,
trade
accessories
or
other
items
manufactured
by
others.
Such
engines,
trade
accessories
and
other
items
are
sold
subject
to
the
warranties
ot
their
respective
manutacturers,
if
any.
All
engines
are
warrantied
by
their
manufacturer
for
two
years
from
date
of
original
purchase,
except
Deutz
engines
which
have
a
one
year,
2000
hour
warranty.
Except
as
specified
below,
MILLERs
warranty
does
not
apply
to
components
having
normal
useful
life
of
less
than
one
(1)
year,
such
as
spot
welder
tips,
relay
and
contactor
points,
MILLERMATIC
parts
that
come
in
contact
with
the
welding
wire
including
nozzles
and
nozzle
insulators
where
failure
does
not
result
from
defect
in
workmanship
or
material.
MILLER
shall
be
required
to
honor
warranty
claims
on
war
ranted
Equipment
in
the
event
of
failure
resulting
from
a
defect
within
the
following
periods
from
the
date
of
delivery
of
Equipment
to
the
original
user:
1.
Arc
welders,
power
sources,
robots,
and
1
year
components
2.
Load
banks
1
year
3.
Original
main
power
rectifiers
3
years
(labor
1
year
only)
4.
All
welding
guns,
feeder/guns
and
torches
.
.
. .
90
days
5.
All
other
MILLERMATIC
Feeders
1
year
6.
Replacement
or
repair
parts,
exclusive
of
labor
60
days
7.
Batteries
6
months
provided
that
MILLER
is
notified
in
writing
within
thirty
(30)
days
of
the
date
of
such
failure.
As
a
matter
of
general
policy
only,
MILLER
may
honor
claims
submitted
by
the
original
user
within
the
foregoing
periods.
In
the
case
of
MILLERs
breach
of
warranty
or
any
other
duty
with
respect
to
the
quality
of
any
goods,
the
exclusive
remedies
therefore
shall
be.
at
MILLERs
option
(1)
repair
or
(2)
replace
ment
or,
where
authorized
in
writing
by
MILLER
in
appropriate
cases,
(3)
the
reasonable
cost
of
repair
or
replacement
at
an
authorized
MILLER
service
station
or
(4)
payment
of
or
credit
for
the
purchase
price
(less
reasonable
depreciation
based
upon
actual
use)
upon
return
of
the
goods
at
Customers
risk
and
expense.
MILLERs
option
of
repair
or
replacement
will
be
FOB.,
Factory
at
Appleton,
Wisconsin,
or
FOB.
at
a
MILLER
authorized
service
facility,
therefore,
no
compensation
for
transportation
costs
of
any
kind
will
be
allowed.
Upon
receipt
of
notice
of
apparent
defect
or
failure,
MILLER
shall
instruct
the
claimant
on
the
warranty
claim
procedures
to
be
followed.
ANY
EXPRESS
WARRANTY
NOT
PROVIDED
HEREIN
AND
ANY
IMPLIED
WARRANTY,
GUARANTY
OR
REPRE
SENTATION
AS
TO
PERFORMANCE,
AND
ANY
REMEDY
FOR
BREACH
OF
CONTRACT
WHICH,
BUT
FOR
THIS
PROVISION,
MIGHT
ARISE
BY
IMPLICATION,
OPERATION
OF
LAW,
CUSTOM
OF
TRADE
OR
COURSE
OF
DEALING,
INCLUDING
ANY
IMPLIED
WARRANTY
OF
MERCHAN
TABILITY
OR
OF
F!TNESS
FOR
PARTICULAR
PURPOSE,
WITH
RESPECT TO
ANY
AND
ALL
EQUIPMENT
FURNISHED
BY
MILLER
IS
EXCLUDED
AND
DISCLAIMED
BY
MILLER.
EXCEPT
AS
EXPRESSLY
PROVIDED
BY
MILLER
IN
WRITING,
MILLER
PRODUCTS
ARE
INTENDED
FOR
ULTIMATE
PURCHASE
BY
COMMERCIAL/INDUSTRIAL
USERS
AND
FOR
OPERATION
BY
PERSONS
TRAINED
AND
EXPERIENCED
IN
THE
USE
AND
MAINTENANCE
OF
WELDING
EQUIPMENT
AND
NOT
FOR
CONSUMERS
OR
CONSUMER
USE.
MILLERS
WARRANTIES
DO NOT
EXTEND
TO,
AND
NO
RESELLER
IS
AUTHORIZED
TO
EXTEND
MILLERS
WARRANTIES
TO,
ANY
CONSUMER.
OM-148
RO~
RECEIVING-HANDLING
Before
unpacking
equipment,
check
carton
for
any
damage
that
may
have
occurred
during
shipment.
File
any
claims
for
loss
or
damage
with
the
delivering
carrier.
Assistance
for
fil
ing
or
settling
claims
may
be
obtained
from
the
distributor
and/or
the
equipment
manufactur
ers
Transportation
Department.
When
requesting
information
about
this
equipment,
always
provide
the
Model
De
scription
and
Serial
or
Style
Number
Use
the
following
spaces
to
record
the
Model
Designation
and
Serial
or
Style
Number
of
your
unit.
The
information
is
located
on
the
rating
label
or
the
nameplate.
Model
__________
Serial
or
Style
No.
Date
of
Purchase
TABLE
OF
CONTENTS
S~A1FE1y
SPECIFICATIONS
.
INSTALLATION
TEACHING
&
OPERATION
MAINTENANCE
&
TROUBLESHOOTING
ERRORCODES....
PARTS
LIST
SECTION
1
SECTION
2
SECTION
3
SECTION
5
SECTION
6
SECTION
7
SECTION
4
MISCELLANEOUS
.
SECTION
8
Millerfi
September
1991
FORM:
OM.146
806
MODEL:
Line
Tracker
Touch
Sensor
IMPORTANT:
Read
and
understand
the
entire
contents
of
this
manual,
with
special
emphasis
on
the
safety
material
throughout
the
manual,
before
MILLER
ELECTRIC
Mfg.
Co.
AMerGroupLtd.,Company
installing,
operating,
or
maintaining
this
equipment.
This
unit
and
these
instructions
are
for
use
only
by
persons
trained
and
experienced
in
the
safe
P.O.
Box
1079
Appleton,
WI
54912
USA
operation
of
robotic
equipment.
Do
not
allow
untrained
persons
to
install,
Tel.
414-734-9821
operate,
or
maintain
this
unit.
Contact
your
distributor
if
you
do
not
fully
understand
these
instructions.
SECTION
1
SAFETY
PRINTED
IN
U.S.A
TABLE
OF
CONTENTS
SECTION
1SAFETY
Section
No
Page
No.
1.1
General
Information
And
Safety
1.1
1.1.1
General
1.1
1.1.2
Safety
1.1
1.2
Safety
Alert
Symbol
And
Signal
Words
1.1
1.3
General
Safety
Requirements
1.1
1.4
Safety
Requirements
For
Installation
1.2
1.5
Operator
Safety
Requirements
1.3
1.6
Safety
Procedures
During
Teaching
(Programming)
1.4
1
.7
Safety
Checks
After
Entering
A
Program
1
.4
1.8
Safety
Procedures
Before
Automatic
Operation
1.4
1.9
Safety
Procedures
During
Automatic
Operation
1.5
1.10
Safety
Procedures
At
End
Of
Work
1.5
1.11
Safety
Procedures
During
Inspection,
Maintenance,
Adjustment,
And
Servicing
Procedures
1.6
1.12
Arc
Welding
Safety
Procedures
1.7
1.1
GENERAL
INFORMATION
AND
SAFETY
1.1.1
General
Information
presented
in
this
manual
and
on
various
labels,
tags,
and
plates
on
the
unit
pertains
to
equipment
design,
installation,
operation,
maintenance,
and
troubleshooting
which
should
be
read,
understood,
and
followed
for
the
safe
and
effective
use
of
this
equip
ment.
1.1.2
Safety
The
installation,
operation,
maintenance,
and
troubleshooting
of
arc
welding
robots
require
practices
and
procedures
which
ensure
personal
safety
and
the
safety
of
others.
There
fore,
this
equipment
is
to
be
installed,
operated,
and
maintained
only
by
qualified
persons
in
accordance
with
the
ANSI/RIA
document,
American
National
Standard
For
Industrial
Ro
bots
And
Robot
Systems
Safety
Requirements
included
in
the
robot
Owners
Manu~l,
and
all
other
safety
material
found
in
this
Section
and
throughout
the
entire
manual.
In
addi
tion,
follow
all
other
codes
as
applicable
to
the
application.
See
the
welding
power
source
manual
for
the
Standards
Booklet
Index
regarding
operation
of
arc
welding
power
sources
and
welding
equipment.
1.2
SAFETY
ALERT
SYMBOL
AND
SIGNAL
WORDS
The
following
safety
alert
symbol
and
signal
words
are
used
throughout
this
manual
to
call
attention
to
and
identify
different
levels
of
hazard
and
special
instructions.
a
This
safety
alert
symbol
is
used
with
the
signal
words
WARNING
and
CAUTION
to
call
attention
to
the
safety
statements.
a
WARNING
statements
identify
procedures
or
practices
which
must
be
followed
to
avoid
serious
personal
injury
or
loss
of
life.
a
CAUTION
statements
identify
procedures
or
practices
which
must
be
followed
to
avoid
minor
personal
injury
or
damage
to
this
equipment.
IMPORTANT
statements
identify
special
instructions
necessary
for
the
most
efficient
op
eration
of
this
equipment.
1.3
GENERAL
SAFETY
REQUIREMENTS
1)
Turn
off
Robot
Control
BEFORE
touching
the
welding
wire,
drive
rolls,
gun,
or
any
metal
parts
in
contact
with
the
welding
wire.
2)
KEEP
OUT
of
robot
work
envelope
when
main
power
is
on.
3)
STAY
ALERT
when
near
robot.
1.1
4)
KEEP
INFORMED
about
status
of
robot
and
general
working
conditions.
5)
HAVE
AN
EMERGENCY
STOP
BUTTON
IN
HAND
whenever
you
are
near
robot.
6)
UNDERSTAND
AND
BE
FAMILIAR
WITH
ROBOTIC
MOVEMENTS.
Robots
are
unique
industrial
devices
and
can
present
unexpected
hazards
to
personnel
be
cause
of
their
movements.
Unpredictable
robot
motion
can
occur
in
even
the
best
designed
areas
of
operation.
7)
NEVER
stand
with
your
back
toward
the
robot.
8)
NEVER
place
yourself
between
robot
work
stations
if
more
than
one
work
station
is
used.
9)
THOROUGHLY
TRAIN
ALL
PERSONNEL
in
robot
operation
and
safety.
1.4
SAFETY
REQUIREMENTS
FOR
INSTALLATION
(Figure
1.1)
The
robot
cell
requires
initial
safety
considerations
that
are
vital
for
both
personnel
and
equipment.
Make
safety
provisions
part
of
the
basic
cell
design.
Implement
the
following
during
installation:
1)
Brightly
mark
floor
with
distinctive
areas
identifying
Zones
1
and
2
on
Figure
1.1.
2)
Route
all
cables
and
hoses
so
that
they
will
not
be
damaged
and
will
not
clutter
the
cell
floor
space.
3)
Protect
welding
system
components
from
spatter,
slag,
heat,
and
the
general
welding
environment
by
locating
equipment
to
minimize
exposure.
4)
If
any
welding
components
must
be
located
in
a
high-exposure
area,
provide
proper
guards
or
shields
to
minimize
dirt
and
spatter.
5)
Consider
all
necessary
jig
requirements
to
include
turntables,
sliding
trays,
etc.,
that
will
become
a
part
of
the
application
so
that
the
operator
does
not
have
to
enter
the
work
envelope
(Zone
1).
6)
Install
pressure-sensitive
floor
mats,
proximity
devices,
limit
switches,
light
cur
tains,
etc.,
to
suit
the
application
and
number
of
work
stations
so
that
Emergency
Stop
will
occur
if
there
is
any
intrusion
or
violation
of
the
robot
work
envelope.
7)
Install
chain
fences
and
light
barriers
around
other
cell
portions
that
are
not
to
be
violated.
8)
Locate
Program
Module
and
Operation
Module
outside
robot
work
envelope.
9)
Provide
proper
Electrostatic
Discharge
(ESD)
protection
for
electronic
compo
nents
in
Robot
Control
and
Program
Module.
1.2
10)
MAINTAIN
SAFE
INTEGRITY
OF
CELL
AT
ALL
TIMES.
ZONE
1
Robot
Work
Envelope
(Area)
ZONE
2
Operator
Work
Area
ZONE
3
Outer
Area
Of
Robotic
Cell
IMPORTANT:
See
Section
2
for
vertical
space
requirements
of
robot.
so~oo
Figure
1.1
Layout
Considerations
For
A
Typical
Robotic
Cell
1.5
OPERATOR
SAFETY
REQUIREMENTS
1)
Provide
proper
ventilation
for
welding
areas.
Supply
fresh
air
if
required
or
use
ap
proved
breathing
device.
I-..
ZONE
3
~~1
1.3
2)
Wear
approved
head
and
body
protection
(this
includes,
but
is
not
limited
to,
pro
tective
headgear,
gloves,
and
safety
shoes).
3)
Install
approved
filter
lens
into
welding
helmet
to
protect
eyes
from
arc
rays.
4)
Press
an
EMERGENCY
STOP
button
before
entering
robot
area.
5)
Stay
alert
for
unexpected
robot
motion
or
movement.
6)
Provide
arc
guard
curtains
or
shields
around
the
welding
area so
that
arc
rays
do
not
injure
operator
or
other
personnel.
7)
Keep
robotic
cell
clean,
neat,
and
orderly.
8)
Close
and
secure
all
access
doors
and
panels
on
components.
1.6
SAFETY
PROCEDURES
DURING
TEACHING
(PROGRAMMING)
Teaching/programming
often
requires
the
operator
to
enter
the
robot
work
envelope.
As
a
result,
always
do
the
following
during
teaching
procedures:
1)
Move
robot
slowly
(see
Section
5
Teaching
for
speed
entry
information).
2)
Always
assign
and
position
a
watchperson,
with
an
Emergency
Stop
button
in
hand,
to
be
present
and
ready
during
teaching
operations.
3)
If
jig
motion
was
programmed
to
operate
from
external
output
control,
the
jig
could
energize
during
teaching.
Be
careful
and
alert
for
jig
motion.
1.7
SAFETY
CHECKS
AFTER
ENTERING
A
PROGRAM
1)
Have
all
unauthorized
persons
leave
the
robotic
cell.
2)
Check
the
operation
of
all
warning
devices,
such
as
lamps
or
horns.
3)
Check
and
be
sure
that
the
robot
moves
normally
through
its
program
sequences
using
the
block
operation
mode
(either
step
or
continuous).
4)
Check
movement
of
all
jigs,
and
be
sure
their
operation
is
normal.
5)
Check
for
proper
operation
of
all
EMERGENCY
STOP
buttons.
1.8
SAFETY
PROCEDURES
BEFORE
AUTOMATIC
OPERATION
Before
starting
automatic
robot
operation,
do
the
following:
1)
Verify
that
the
Operation
Module
or
optional
Start
Modules
used
have
the
correct
program
number
allocated.
1.4
2)
Have
all
unauthorized
persons
leave
the
robotic
cell
area.
3)
Close
and
secure
all
gates
and
guard
doors,
and
energize
light
fences,
barriers,
and
curtains
as
applicable
for
the
entire
specific
cell.
4)
Place
all
jigs
in
their
normal,
start-work
positions.
5)
Place
the
robot
in
the
axes
origin
or
work
origin
position
as
required
for
the
opera
tion.
6)
Remove
all
tools
from
the
robot
work
envelope.
7)
Place
welding
workpiece(s)
into
proper
position(s).
8)
Place
all
equipment
switches
in
the
proper
positions.
1.9
SAFETY
PROCEDURES
DURING
AUTOMATIC
OPERATION
During
automatic
operation,
do
the
following:
1)
Turn
off
main
power
or
press
an
EMERGENCY
STOP
button
BEFORE
entering
the
robot
work
envelope.
Entry
may
be
required
for
nozzle,
tip,
wire,
or
gas
adjust
ments
or
replacements.
DO
NOT
ENTER
WORK
ENVELOPE
UNLESS
AN
EMERGENCY
STOP
BUTTON
IS
PRESSED!
2)
3)
4)
Be
alert
for
jig
movement
initiated
by
an
external
control
signal
during
operation.
Do
not
allow
unauthorized
persons
to
operate
controls.
If
two
or
more
Start
Modules
are
used,
be
sure
that
the
operators
fully
understand
all
procedures
and
cooperate
with
each
other.
5)
Press
an
EMERGENCY
STOP
button
if
any
problem
occurs.
6)
Since
this
is
an
arc
welding
operation,
protect
operator(s)
from
arc
rays,
fumes,
and
hot
parts.
7)
Be
sure
that
the
Automatic
mode
can
only
be
selected
at
a
safe
location
outside
the
work
envelope.
1.10
SAFETY
PROCEDURES
AT
END
OF
WORK
1)
Place
robot
welding
gun/torch
into
an
area
from
which
movement
to
axes
origin
or
work
origin
position
is
possible
without
striking
any
objects.
This
may
require
man
ual
operation
with
Program
Module.
1.5
2)
Press
and
reset
an
EMERGENCY
STOP
button
to
turn
off
robot
Servo
power.
3)
Turn
off
welding
power
source
and
all
associated
equipment.
This
includes
jig
power
supplies
as
applicable.
4)
Place
line
disconnect
switches
for
Robot
Control
and
welding
power
source
in
the
OFF
positions.
5)
Allow
robot
and
all
equipment
to
cool.
6)
Clean
robot,
jigs,
and
entire
cell
area.
7)
Install
protective
covers
over
all
equipment
AFTER
proper
cooling
has
occurred
to
reduce
dust
and
dirt
entry.
1.11
SAFETY
PROCEDURES
DURING
INSPECTION,
MAINTENANCE,
ADJUST
MENT,
AND
SERVICING
PROCEDURES
Since
these
procedures
can
involve
entering
the
robot
work
envelope
and
may
require
that
the
main
power
and
servo
power
are
turned
on,
be
sure
to
always
do
the
following
during
any
maintenance,
adjustment,
or
repair
procedures:
1)
Train
all
service
personnel
in
the
functions,
operations,
and
jig
movements
of
the
specific
robotic
cell.
2)
Allow
only
trained
and
quallfied
persons
to
service
the
robot.
3)
Always
assign
and
position
a
watchperson,
with
an
EMERGENCY
STOP
button
in
hand,
to
be
present
and
ready
during
any
servicing
or
adjustment
procedures.
4)
Determine
in
advance
if
the
procedure(s)
requires
an
energized
robot.
When
power
is
not
required,
turn
it
off.
5)
Determine
in
advance
if
the
procedure
can
be
done
outside
the
work
envelope.
Always
work
outside
the
robot
work
envelope
whenever
possible.
6)
Turn
off
or
disable
all
jig(s)
and
external
equipment
not
required
for
the
specific
procedure.
7)
Provide
proper
Electrostatic
Discharge
(ESD)
protection
for
circuit
boards
in
Ro
bot
Control
and
Program
Module.
8)
When
the
procedure
is
finished,
always
correctly,
securely,
and
carefully
recon
nect
any
wires
and
reinstall
necessary
hardware,
plugs,
covers,
and
panels.
1.6
1.12
ARC
WELDING
SAFETY
PROCEDURES
Read,
understand,
and
comply
with
all
safety
rules
at
beginning
of
welding
power
source
manual
in
addition
to
the
following
before
beginning
arc
welding
operations.
1)
Prevent
electric
shock
as
follows:
a)
Install
and
ground
all
equipment
according
to
national,
regional,
and
local
codes.
b)
Do
not
touch
live
electrical
parts.
c)
Wear
dry
insulating
gloves
and
clothing;
be
sure
gloves
have
no
holes.
d)
Disconnect
input
power
before
installing,
inspecting,
maintaining,
or
servicing
any
equipment.
2)
Provide
proper
protection
from
fumes
and
gases
as
follows:
a)
Keep
your
head
out
of
the
fumes.
b)
Use
forced
exhaust
ventilation
at
the
arc.
C)
Ventilate
cell
to
prevent
buildup
of
fumes
and
gases.
d)
If
ventilation
is
inadequate,
use
approved
breathing
device.
e)
Read
and
follow
warning
labels
on
all
containers
of
welding
materials.
f)
Before
use,
read
and
understand
the
manufacturers
instructions,
Material
Safety
Data
Sheets
(MSDSs),
and
your
employers
safety
practices.
3)
Protect
eyes
and
skin
from
arc
rays;
protect
ears
from
noise
as
follows:
a)
Wear
properly
fitting
welding
helmet
with
proper
shade
of
filter
lens
(see
ANSI
Z49.1).
b)
Install
arc
protective
curtains
between
operator
and
the
arc.
c)
Install
protective
screens
or
barriers
at
appropriate
locations
to
protect
others
from
spatter,
flash,
and
glare.
d)
Wear
proper
safety
glasses
in
work
area
at
all
times.
e)
Wear
proper
ear
protection.
f)
Wear
proper
body
protection
to
include
woolen
clothing,
flame-proof
apron
and
gloves,
leather
leggings,
high
boots,
and
leather
arm
and
shoulder
gaunt.
lets.
1.7
4)
Prevent
fire
and
burns
caused
by
hot
metal,
spatter,
slag,
and
arc
sparks
as
fol
lows:
a)
Keep
flammable
materials
out
of
the
robotic
cell.
b)
Have
operator(s)
keep
their
sleeves,
pockets,
and
collars
down
and
buttoned
as
applicable.
Wear
pants
without
cuffs.
c)
Watch
for
fire.
d)
Have
a
fire
extinguisher
nearby,
and
know
how
to
use
it.
e)
Allow
equipment
and
work
to
cool
before
handling.
5)
Protect
compressed
gas
cylinders
from
excessive
heat,
mechanical
shocks,
and
arcs
as
follows:
a)
Fasten
cylinders
securely
so
they
cannot
fall
(use
insulated
chain
or
equiva
lent).
b)
Insulate
cylinders
from
mounts
so
that
they
are
never
grounded
or
part
of
an
electrical
circuit.
c)
Keep
cylinders
away
from
the
welding
arc
and
other
heat
sources.
d)
Locate
cylinders
away
from
personnel
and
vehicle
traffic
patterns.
6)
Provide
impact
protection
to
all
persons
in
the
cell
as
follows:
a)
Always
wear
proper
protective
headgear,
such
as
safety
helmet,
when
in
the
robotic
cell.
b)
Wear
shatter-resistant
safety
glasses
at
all
times
when
in
the
cell.
7)
Since
magnetic
fields
from
high
currents
can
affect
pacemaker
operation,
have
wearers
consult
their
doctor
before
going
near
arc
welding
operations.
1.8
Millerfi
September
1991
FORM:
OM-146
806
MODEL:
Line
Tracker
Touch
Sensor
SECTION
2
SPECIFICATIONS
IMPORTANT:
Read
and
understand
the
entire
contents
of
this
manual,
with
special
emphasis
on
the
safety
material
throughout
the
manual,
before
MILLER
ELECTRIC
Mfg.
Co.
AMllorGroupLtd.,
Company
installing,
operating,
or
maintaining
this
equipment.
This
unit
and
these
instructions
are
for
use
only
by
persons
trained
and
experienced
in
the
safe
P.O.
Box
1079
Appleton
WI
54912
USA
operation
of
robotic
equipment.
Do
not
allow
untrained
persons
to
Install,
Tel.
414-734-9821
operate,
or
maintain
this
unit.
Contact
your
distributor
if
you
do
not
fully
understand
these
instructions.
PRINTED
IN
U.S.A
SAFETY
GUIDELINES
A.
ROBOTIC
SAFETY
Read,
understand,
and
comply
with
all
safety
rules
at
the
beginning
of
Section
1
Safety
in
addition
to
the
following
before
beginning
robotic
procedures
or
operations.
1)
KEEP
OUT
of
robot
work
envelope
when
main
power
is
on.
2)
STAY
ALERT
when
near
robot.
3)
KEEP
INFORMED
about
status
of
robot
and
general
working
conditions.
4)
HAVE
AN
EMERGENCY
STOP
BUTTON
IN
HAND
whenever
you
are
near
the
robot.
5)
UNDERSTAND
AND
BE
FAMILIAR
WITH
ROBOTIC
MOVEMENTS.
Robots
are
unique
industrial
devices
and
can
present
unexpected
hazards
to
personnel
be
cause
of
their
movements.
6)
UNPREDICTABLE
ROBOT
MOTION
can
occur
in
even
the
best
designed
areas
of
operation.
7)
NEVER
stand
with
your
back
toward
the
robot.
8)
NEVER
place
yourself
between
robot
work
stations
if
more
than
one
work
station
is
used.
9)
THOROUGHLY
TRAIN
ALL
PERSONNEL
in
robot
operation
and
safety.
10)
TEST
AND
VERIFY
that
ALL
safety
devices
and
components
used
in
the
robotic
cell
are
working
properly.
11)
TURN
OFF
robot
and
welding
power
source
input
power
before
entering
work
en
velope.
12)
Provide
proper
Electrostatic
Discharge
(ESD)
protection
for
circuit
boards
in
Ro
bot
Control
and
Program
Module.
B.
WELDING
SAFETY
Read,
understand,
and
comply
with
all
safety
rules
at
beginning
of
welding
power
source
manual
in
addition
to
the
following
before
beginning
arc
welding
operations.
1)
Prevent
electric
shock.
2)
Provide
proper
protection
from
fumes
and
gases.
3)
Protect
eyes
and
skin
from
arc
rays;
protect
ears
from
noise.
4)
Prevent
fire
and
burns
caused
by
hot
metal,
spatter,
slag,
and
arc
sparks.
5)
Protect
compressed
gas
cylinders
from
excessive
heat,
mechanical
shocks,
and
electric
arcs.
6)
Provide
impact
protection
to
all
persons
in
the
cell.
7)
Since
magnetic
fields
from
high
currents
can
affect
pacemaker
operation,
have
wearers
consult
their
doctor
before
going
near
arc
welding
operations.
8)
Turn
off
robot
and
welding
power
source
input
power
before
entering
work
enve
lope
or
working
on
welding
power
source.
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