Mitsubishi Electric CR750 Series User manual

CR750/CR751seriescontroller
Robot Safety Option
Instruction Manual
4F-SF001-01
Mitsubishi Industrial Robot
BFP-A3372-C

Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q controller. Failure to
observe this may result in property damage or bodily injury because the Handy GOT
can automatically operate the robot regardless of whether the operation rights are
enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc.)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.

■ Revision history
Date of print
Manual No.
Details of revisions
2015-02-06
BFP-A3372
First print
2015-02-13
BFP-A3372-A
The safety performance items in "Table 1-2 List of specifications"
was added.
The risk matters (7)(8) in "Chapter 1.5.1 residual risk (Common)"
was added.
2015-04-09
BFP-A3372-B
The name of “Wiring unit”was changed to “Extended safety unit”.
The chapter 8 was added.
The Table in the section 4.3.3 was removed.
2015-06-04
BFP-A3372-C
"1.2.1 Combination of software version" is added.
Figures "Enable/disable setting", "Speed monitoring setting" are
modified in "Fig. 4.1 Parameter editing screen for the parameters"
Specifications in the Version Combination B is added to “SLS
function”in “Table 4-2 Correspondence of the monitoring mode to
the contents of monitoring”
Specifications in the Version Combination B is added to the "4.3.4
SLS function (Speed monitoring function)"
The parameters SFPFCSIG, SLSMONSP, SLSLMTOV, SLSCOMP
are added to "5.1.1 Parameter List"
The figure of “(1) Enable/disable setting screen”in “5.1.2 Parameter
details”is changed.
The parameter SFPFCSIG is added to "Table 5.2 Safety monitoring
function parameters in the Enable/disable setting screen"
The screen image for Version Combination B is added to
"(4) Speed monitoring setting screen" in "5.1.2 Parameter details".
The parameters SLSMONSP, SLSLMTOV, SLSCOMP are added to
"Table 5-5 Safety monitoring function parameters in the speed
monitoring setting screen"
"5.1.3 CRC output for the parameter file." is added.
Descriptions are added to the countermeasure column for H2370
error in "6.1 List of errors related to the safety monitoring function"

■ Introduction
Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. The "robot safety option",
used together with external devices such as a safety switch or light curtain, enhances the robot safety
function.
Before using the "robot safety option", make sure to read and fully understand the contents of this manual.
The manual is intended for use on the assumption that you understand basic operations and functions of the
Mitsubishi industrial robot. For the basic operation of the robot, refer to the separate "Instruction
Manual/Detailed explanations of functions and operations".
■Symbols in this manual
Danger
Incorrect handling may result in imminent danger, leading to death or serious
injury.
Warning
Incorrect handling may lead to death or serious injury.
Caution
Incorrect handling may result in property damage, or danger leading to
impairment of the user.
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
The details of this manual are subject to change without notice. We kindly ask for your
understanding.
Specification values are based on our standard test methods.
An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your service provider.
This document is original.
All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
We omit ® and TM in this document.
Copyright(C) 2015 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

TABLE OF CONTENTS
1 Function and configuration....................................................................................................................1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 System configuration .............................................................................................................................. 1-1
1.2.1 Combination of software version ..................................................................................................... 1-2
1.3 Functional block diagram ....................................................................................................................... 1-2
1.4 Specifications........................................................................................................................................... 1-3
1.5 Risk assessment...................................................................................................................................... 1-4
1.5.1 Residual risks (common)................................................................................................................... 1-4
1.5.2 Residual risk (for each function) ...................................................................................................... 1-4
2 Installation................................................................................................................................................2-6
2.1 Confirming the product........................................................................................................................... 2-6
2.2 Installation and connection .................................................................................................................... 2-6
2.2.1 Fixing of the extended safety unit .................................................................................................... 2-6
2.2.2 Connecting with the robot controller ............................................................................................... 2-7
2.2.3 Connecting cables to the wiring connector .................................................................................... 2-8
2.2.4 Connecting the wiring connector to the extended safety unit ...................................................... 2-9
2.3 Check items.............................................................................................................................................. 2-9
2.4 Long life parts ........................................................................................................................................ 2-10
2.5 Maintenance ........................................................................................................................................... 2-10
3 Signals and wiring.................................................................................................................................3-11
3.1 Description of signals ............................................................................................................................3-11
3.1.1 Electrical specifications ...................................................................................................................3-11
3.1.2 Signal operation ............................................................................................................................... 3-12
3.2 Connectors and signal assignment..................................................................................................... 3-13
3.3 Input signal connection example ......................................................................................................... 3-14
3.4 Measures against static electricity / noise.......................................................................................... 3-15
4 Safety monitoring function ..................................................................................................................4-16
4.1 Safety monitoring function overview................................................................................................... 4-16
4.2 Startup..................................................................................................................................................... 4-16
4.2.1 Connecting RT ToolBox2................................................................................................................. 4-16
4.2.2 Password setting.............................................................................................................................. 4-16
4.2.3 Enable/disable .................................................................................................................................. 4-19
4.2.4 Parameter setting ............................................................................................................................. 4-19
4.2.5 Test operation................................................................................................................................... 4-21
4.3 Safety monitoring function ................................................................................................................... 4-22

4.3.1 Monitoring mode .............................................................................................................................. 4-22
4.3.2 STO function..................................................................................................................................... 4-25
4.3.3 SS1 function...................................................................................................................................... 4-25
4.3.4 SLS function (Speed monitoring function).................................................................................... 4-26
4.3.5 SLP function (Position monitoring function)................................................................................. 4-32
4.3.6 STR function (Torque monitoring function)................................................................................... 4-40
4.3.7 Duplex input monitoring function................................................................................................... 4-43
5 Parameters.............................................................................................................................................5-44
5.1 Safety monitoring function parameters............................................................................................... 5-44
5.1.1 Parameter List................................................................................................................................... 5-44
5.1.2 Parameter details.............................................................................................................................. 5-45
5.1.3 CRC output of the parameter file.................................................................................................... 5-54
6 Troubleshooting ....................................................................................................................................6-55
6.1 List of errors related to the safety monitoring function..................................................................... 6-55
6.2 Errors involving change in specification ............................................................................................ 6-58
7 Dimensional outline drawings.............................................................................................................7-59
7.1 Dimensional outline of the extended safety unit................................................................................ 7-59
8 Maximum elapsed time/maximum motion angle...............................................................................8-60
8.1 Overview ................................................................................................................................................. 8-60
8.2 Symbol definition................................................................................................................................... 8-60
8.3 Robot arm extention rate............................................................................................................................ 8-61
8.3.1 RV-F series........................................................................................................................................ 8-61
8.3.2 RH-FH series..................................................................................................................................... 8-62
8.4 Stopping time/stopping angle ..................................................................................................................... 8-63
8.4.1 RV-2F.................................................................................................................................................. 8-63
8.4.2 RV-4F.................................................................................................................................................. 8-69
8.4.3 RV-4FL ............................................................................................................................................... 8-75
8.4.4 RV-4FJL ............................................................................................................................................. 8-81
8.4.5 RV-7F.................................................................................................................................................. 8-87
8.4.6 RV-7FL ............................................................................................................................................... 8-93
8.4.7 RV-7FLL............................................................................................................................................. 8-99
8.4.8 RV-13F.............................................................................................................................................. 8-105
8.4.9 RV-13FL ............................................................................................................................................8-111
8.4.10 RV-20F.............................................................................................................................................8-117

8.4.11 RH-3FH .......................................................................................................................................... 8-123
8.4.12 RH-6FH .......................................................................................................................................... 8-127
8.4.13 RH-12FH ........................................................................................................................................ 8-131
8.4.14 RH-20FH ........................................................................................................................................ 8-135
8.4.15 RH-3FHR........................................................................................................................................ 8-139
8.4.16 RH-1FHR........................................................................................................................................ 8-143

1 Function and configuration
Overview 1-1
1 Function and configuration
1.1 Overview
This manual provides descriptions on the robot safety option. For the robot arm or robot controller, refer to the
corresponding manuals.
Using the robot safety option extends the safety monitoring function of robots. The option can be used with safety
switches, light curtains, etc. connected.
1.2 System configuration
Fig.1-1 System configuration
Table 1-1 System configuration
Item
Details
Remarks
Robot arm
Vertical
multiple-joint type
RV-F series
RV-2F, RV-4F, RV-4FL, RV-4FJL,
RV-7F, RV-7FL, RV-7FLL,
RV-13F, RV-13FL, RV-20F
Additional axes and user mechanisms
are not included in the system.
Horizontal
multiple-joint type
RH-F series
RH-3FH, RH-6FH, RH-12FH,
RH-20FH, RH-3FHR, RH-1FHR
Robot controller
CR750-Q/CR751-Q
Ver.R6 or later(*)
CR750-D/CR751-D
Ver.S6 or later(*)
MELSOFT RT
ToolBox2
3D-11C-WINJ
3D-11C-WINE
Ver.3.30G or later(*)
Install the software to a personal
computer.
The software is used to enable the
safety monitoring function.
Separate purchase is required.
MELSOFT RT
ToolBox2 mini
3D-12C-WINJ
3D-12C-WINE
Ver.3.30G or later(*)
Robot safety option
4F-SF001-01
The option explained in this instruction
manual.
External device
Light curtain, safety switch, etc.
To be prepared by the customer
according to the system configuration.
(*) Refer to “1.2.1 Combination of software version.”
Robot arm
Robot controller
Robot safety option
(The figure above shows
the extended safety unit.)
Personal computer
RT ToolBox2
External device
(light curtain, etc.)

1 Function and configuration
1-2 Functional block diagram
1.2.1 Combination of software version
Depending on the combination of versions of Robot Controller and RT ToolBox2, features are partially modified
or added in the safety monitoring function. In this document, the combination is described as shown in the
following table.
Software Version Combination
Description in this document
Robot Controller
RT ToolBox2 / RT ToolBox2 mini
Ver.R6b or later(CR750-Q/CR751-Q)
Ver.S6b or later (CR750-D/CR751-D)
Ver.3.40S or later
Version Combination B
Combination except for “Version Combination B”
Version Combination A
1.3 Functional block diagram
Extended safety unit
Robot controller
Safety input
signal
processing
Signal
generation for
connection
check
Peripheral
devices
Signal
processing
Robot arm
Safety
monitoring
function
Control
Motor
Encoder
Additional
axis
Encoder
etc.
CNUSR21CNUSR22
CNUSR2
CN1
CN2
CN1
CN2
Note: Safety switch, light curtain, etc.
Safety input
signal
(Note)
Robot safety option
Fig. 1-2 Functional Block Diagram

1 Function and configuration
Specifications 1-3
1.4 Specifications
Table 1-2 List of specifications
Item
Details
Remarks
Safety
function
STO
The function to electrically block the
driving energy to the motor of the
robot arm
Corresponds to stop category 0 of
IEC 60204-1
SS1
The function to control the motor
speed of the robot to decelerate
Corresponds to stop category 1 of
IEC 60204-1
SLS
The function to monitor whether the
TCP speed does not exceed the
monitoring speed
EN61800-5-2 compliant
SLP
The function to monitor whether a
fixed monitoring position does not
exceed the position monitoring
plane
EN61800-5-2 compliant
STR
The function to monitor whether the
torque feedback does not exceed
the allowable torque width
EN61800-5-2 compliant
Safety
performance
Related standart
ENISO10218-1(2011)
EN62061(2006)
ENISO13849-1(2008)
IEC61508 (2010)
EN61800-5-1 , EN61800-5-2
IEC61326-3-1 ,EN60204
Performance
SIL 2, Category 3 PL d
Mean time to the occurrence of a
dangerous failure
MTTFd ≧100 [year]
Diagnostic coverage
DC≧90[%]
Average probability of
dangerous failure per hour
SLS,SLP
PFH = 3.37×10-7 [1/h]
STR
PFH = 3.48×10-7 [1/h]
STO
PFH = 3.84×10-8 [1/h]
Extended
safety unit
Structure (IP rating)
IP20
Environment
Operating
temperature range
0 to 40C
It must be kept away from heat
appliances and other heat
sources.
Relative humidity
45 to 85%
Non-condensing
Vibration
During transportation: 34 m/s2
During operation: 5 m/s2or lower
Atmosphere
No corrosive gas / flammable gas /
oil mist / dust
Installation
environment
Indoors.
Place where no intense
electromagnetic is generated.
No roughness or tilt on the
installation surface.
No direct sunlight
Do not install the unit on surfaces
with high roughness.
Input signal
Dedicated stop input
(SKIP)
One channel
The function is installed to the
robot controller as standard.
Encoder input for
tracking
For one robot
The function is installed to the
robot controller as standard.
Safety input
Two channels (duplex)
It is a unique signal for the robot
safety option.
Output signal
Contactor control
output for the
additional axis
2 bits
The function is installed to the
robot controller as standard.
Robot error output
2 bits
The function is installed to the
robot controller as standard.
Mass
About 600 g
Mass of the extended safety unit

1 Function and configuration
1-4 Risk assessment
1.5 Risk assessment
To ensure safety, the user needs to assess all the risks and determines residual risks for the mechanical system
as a whole. Companies or individuals who configure the system will accept full responsibility for installation and
authorization of the safety system. Assessment for all risks and safety level certification are required for the
equipment/system as a whole. The following shows residual risks related to the safety monitoring function of this
product.
1.5.1 Residual risks (common)
(1) If the origin settings or parameter settings or programs of a robot controller are incorrect, unexpected
operation may occur and safety cannot be ensured. Fully check whether operations are as intended.
(2) Until correct installation, wiring, and adjustment are achieved, safety cannot be ensured.
(3) Only a qualified person is given the authority to install, start, repair, adjust, etc. the equipment to which
devices are installed. Installing or operating the equipment should be done by a trained engineer.
(4) For the safety monitoring function, perform the wiring separately from other signal wirings.
(5) Protect cables by appropriate means (installing inside the control panel, using a cable guard, etc.).
(6) It is recommended to use switches, relays, sensors, etc. conforming to safety standards. For using switches,
relays, sensors, etc. not conforming to safety standards, sufficient verification of safety is necessary on the
customer side.
(7) The safety functions targets only the Robot controller and the robot arm.The safety functions not contain the
additional axis (robot additional axis and user mechanism). When the customer uses the additional axis, the
customer shall do ensure and the evaluation of the safety of the additional axis and the robot.
(8) In order to diagnose the failure of the controller, at least once every six months, please turn off the robot
controller’s power. The controller executes the fault diagnosis of the hardware when the power is turned on.
1.5.2 Residual risk (for each function)
(1) STO function
This function interrupts transmission of power to the motor installed in the robot arm, and may bring variation to
a posture of robot arms due to mechanical factors, such as break of timing belts or brake wear, etc. of the robot
arm. Periodic maintenance of the robot arm is required.
(2) SS1 function
This function controls and decelerates the motor speed installed to a robot arm. The movement cannot be
stopped immediately after deceleration is started.
(3) SLS function
This function monitors the TCP speed of the robot, not each part of the robot arm. Depending on the robot
posture, some parts of the robot arm may move at the speed higher than the monitoring speed.
As this function is activated only when the robot servo is turned ON, this function does not monitor the TCP
speed while the robot servo is turned OFF.
(4) SLP function
In the following cases, the monitoring position may exceed the position monitoring plane. The following shows
some concrete examples.
At the moment the position monitoring plane is applied, the robot position is beyond the plane.
At the moment the position monitoring plane is applied, the robot is moving near the plane at high
speed.
The robot posture changes with the robot brake released.
(5) STR function
This function monitors the motor torque for each axis of the robot, not the power generated at each part of the
robot.

1 Function and configuration
Risk assessment 1-5
(6) Duplex input monitoring function
This function only monitors whether the duplexed input signals match each other, and does not detect
malfunction or misconnection of the connected devices. The robot detects the mismatched signal when a
signal mismatch for 0.2 seconds or more occurs.

2 Installation
2-6 Confirming the product
2 Installation
2.1 Confirming the product
Please check to see if the package has all the necessary parts before use.
Table 2-1 List of items included in the package
Number
Item
Quantity
Outer appearance
Model name
1
Extended safety unit
1
U770B068G001
2
Connector for wiring
2
U770D007G51
3
Instruction manual
1
CD-ROM
BFP-A3374
2.2 Installation and connection
Make sure the power of the robot controller is turned OFF before fixing the extended
safety unit, connecting the robot controller and the extended safety unit, or installing the
connector to the extended safety unit.
Please pay attention to the orientation of insertion of the connector. The connector may
be broken if it is forcibly inserted in an incorrect orientation.
When an operator with static electricity installs/connects the product, the robot controller
or the extended safety unit may be broken. Start the work after all the charged static
electricity is removed.
2.2.1 Fixing of the extended safety unit
Fix the extended safety unit on the place with no vibration using the hole shown in the dimensional outline
drawing *1 (Fig. 7-1) with a screw M4.
CAUTION
CAUTION
CAUTION

2 Installation
Installation and connection 2-7
2.2.2 Connecting with the robot controller
Connect the cable connector installed to the extended safety unit to CNUSR2 of the robot controller.
Be careful in inserting the connector to the CR751 controller because CNUSR1 and
CNUSR2 have the same shape. Inserting an incorrect connector may lead to
malfunction of the controller.
(1) CR750 controller
Fig. 2-1 Connection to the CR750 controller
(2) CR751 controller
Fig. 2-2 Connection to the CR751 controller
CNUSR2
Connect
CNUSR2
Note: The shape is different depending on its
robot type.
Connect
CAUTION

2 Installation
2-8 Installation and connection
2.2.3 Connecting cables to the wiring connector
Misconnection of the cables to the wiring connector may lead to malfunction or abnormal
behavior of the robot. Be careful in connecting the cables to the wiring connector.
The following shows how to connect cables to the wiring connector. Use the cable of AWG#26 to 16 (0.15 to 1.5
mm2). And also use cables with shield to avoid influence of noise.
Tools
DIN standard flat head screwdriver (thickness: 0.4 mm, width: 2.5 mm)
Recommended tools: SZS 0-0.4x2.5 (Phoenix contact)
SZF 0-0.4x2.5 (Phoenix contact)
(1) Strip off the sheath of the cable.
(2) Loosen the screw.
(3) Insert the cable to the insertion port.
7 mm
CAUTION