Mitsubishi Electric SD Series Operating and installation instructions

MITSUBISHI ELECTRI
C
INDUSTRIAL AUTOMATION
MITSUBISHI ELECTRI
C
MELFA
Industrial robots
Installation description
RV-SD/RH-SDH
RV-SQ/RH-SQH
Art. No.: 231407
06 01 2010
Version A

Short operating instructions
Industrial robot RV-SD/RH-SDH, RV-SQ/RH-SQH
Article No.: 231407
Version Changes / Additions / Corrections
A
11/2009 pdp – gb —

About this manual
The texts, figures, diagrams and examples contained in this manual
are exclusively intended to explain the installation, operation and
control of the industrial robots described in this manual.
If questions arise concerning the installation and operation of the
units described in this manual then please do not hesitate to
contact your responsible sales office or sales partner
(see cover page).
Current information as well as answers to frequently asked questions
are located on the internet at: http://www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make
technical alterations to this manual at any time without notice.
© 11/2009

SD-/SQ series I
Safety instructions
Target group
This manual is aimed solely at recognised, trained professional electricians acquainted with the safety
standards valid within automation technology. Planning, installation, startup, maintenance and
checking of the robot and its accessories may only be carried out by approved, trained professional
electricians acquainted with the safety standards of automation technology. Any interference/
tampering with the hardware and software of our products not described in this manual may only be
carried out by our expert personnel.
Use in accordance to the instructions
The industrial robot series SD and SQ are only intended to be used within the scope described in this
manual. Make sure that all technical data contained in the manual is observed. The products have
been developed, produced, tested and documented taking into consideration all relevant safety
standards. In normal conditions, there are no dangers or hazards to property or persons when the
handling instructions and safety instructions for planning, assembly and correct operation are
observed. Unqualified tampering in the hardware or software or non-observance of the warning
instructions contained in this manual or attached to the product may result in serious damage/injury
to property and persons. Only those auxiliary units and expansion units recommended by
MITSUBISHI ELECTRIC may be used together with the SD and SQ robot systems.
Any and all other use is determined as not in accordance to the instructions.
The industrial robots may only be switched on after all protective equipment has been installed and
tested for correct function. This includes:
●the electrical connection and attachment of external EMERGENCY-STOP switches,
●the housing of the robot by separating protective equipment and
●the electrical connection and attachment of the door contact pushbutton.
A function test at a reduced speed of (T1) maximum 250mm/s can be carried out in "Manual"
operating mode with the keyswitch in the "Manual" position. This test can be carried out with the
protective housing opened (open door contact circuit).
PDANGER:
To simplify the drawings, the robots are shown without separating protective equipment in the
following description. Automatic mode is forbidden without separating protective equipment
or suitable safety light barriers. Non-observance of this may result in serious injuries of the
persons located within the working area of the robot.

II
Safety-relevant regulations
During planning, installation, startup, maintenance and testing/checking of the units, the safety and
accident-prevention regulations valid for the case in question must be observed.
Furthermore, the following regulations must be observed (without claim to completeness):
●German VDE regulations
– VDE 0100
Regulations on the installation of high voltage systems with a rated voltage above 1000 V
– VDE 0105
Operation of high voltage systems
– VDE 0113
Electrical plants with electronic equipment
– VDE 0160
Fitting of high voltage systems and electrical equipment
– VDE 0550/0551
Regulations for transformers
– VDE 0700
Safety of electrical devices for domestic and similar uses
– VDE 0860
Safety regulations for mains-operated electronic devices and their accessories for domestic
and similar uses
●Fire-protection regulations
●Accident-prevention regulations
–VBGNo.4
Electrical plants and equipment
EATTENTION:
A safety manual is included with the robot. This manual deals with the safety aspects of
installation/set up, startup and maintenance. You must always work through this manual
thoroughly before installation/set up, startup or any other work with or on the robot. All
specifications and details contained within it must be observed at all times without exception!
If this manual is not included with the delivery then please immediately contact your Mitsubishi
sales partner.

SD-/SQ series III
Comments on the hazard instructions
There are instructions within this manual that are important for the correct and safe handling of the
robot.
The individual instructions mean the following:
PDANGER:
Means that there is a danger to life and health of the user, e.g. from electrical voltage, e.g. when
the appropriate safety measures have not been taken.
EATTENTION:
Is a warning of possible damages to the robot, its periphery or other valuable property if the
appropriate safety measures are not taken.

IV
General hazard instructions and safety measures
The following hazard instructions should be understood as general regulations for handling the robot
system. These instructions must always be observed in the planning, installation and operation of the
robot system.
General safety instructions during handling
Detailed information on safety and protection is contained in the safety manual.
PDANGER:
●The safety and accident-prevention regulations that apply to the specific use must be
observed. Installation, wiring and opening of assemblies, components and devices/units
must be carried out when the system is disconnected (dead).
●Regularly check the live cable and lines to which the devices/units are connected for
insulation faults or breaks. If you detect a fault in the wiring/cable then you must
immediately switch off the devices and disconnect power from the cable and then replace
the defective cable.
●Before startup, check whether the permissible mains voltage range accords to the local
mains voltage rating.
●Take appropriate measures to restart any interrupted program after voltage failures and
malfunctions. No hazardous/dangerous operating conditions must arise when doing this,
even temporarily. If necessary, force an "EMERGENCY-STOP".
●EMERGENCY-STOP equipment compliant to EN 60204/IEC 204 VDE 0113 must remain
effective during all applications. Unlocking the EMERGENCY-STOP equipment must never
result in uncontrolled movements of the robot arm.
PDANGER:
●Some of the robot arms are made of plastic. The robot arm does not take attachments of
components or gross force effects in these parts. The covers are oil-resistant.
●The robot axles are fitted with brakes. You should not apply any manual pressure to the
robot joints to avoid damage to the gear reduction.
●Even when the robot arm is within its normal working area, the wrist (articulated arm robot)
or spindle (SCARA robot) may nevertheless collide. Pay special attention to this situation in
jog mode.
●The robot arm is comprised of precision parts that require suitable lubrication. During a cold
start at low temperatures, a servo alarm may be triggered or positional accuracy may be
lost. In such a situation, you should first operate the robot arm in standby.
●The robot arm and the control unit require a class 3 grounding to permanently prevent risk
of electrical shock and disturbances.
●All details and specifications in the manuals are only valid if you carry out the maintenance
work stipulated in the technical manual.

SD-/SQ series V
PDANGER:
●Before using the robot together with a linear unit or a lifting table, you must replace the lines
with a highly-flexible alternative (trailing cable) to ensure that no cable break results in the
standard connection cables.
●If mounting an articulated robot on to the wall, then you must limit the range of movement
of the J1 axle.
●Make sure that the workpiece does not collide with any units in its immediate vicinity during
robot movements because such collision may shift the position of the workpiece.
●If the axles are moved with a very high level of accuracy then the position of the workpiece
may be shifted. Make sure that there are no collisions between the workpiece or units in its
immediate vicinity..
●Do not fix any adhesive tape or labels to the robot arm or to the control unit. The adhesive
tape may damage the coated surface. The IEC IP protection indicated by the appropriate
symbol can then no longer be guaranteed.
●If heavy loads are moved by the robot and the robot is moved at high speeds, the surface of
the robot may become hot. Touching the robot arm in these circumstances will not result in
burns but minor injuries may occur.
●Do not switch off the power supply to stop the robot. If the voltage is regularly interrupted
when the robot is moving a heavy load or is moving at high speeds then the reduction
gearing may be damaged or the gear tolerance may be negatively affected (backlash).
●If the J1, J2 and J3 axles collide with the mechanical end stops when an articulated robot is
in automatic mode then the plastic buffers of the end stops must be replaced. Otherwise, the
reduction gearing may be severely damaged on the next collision. Please contact your
Mitsubishi partner to replace the buffers.
●When the power supply is interrupted then the brakes grip the robot arm. If this happens,
the robot arm may deviate from its predefined travel path. Depending on where automatic
operation has been interrupted, this may result in difficulties with the mechanical end stops.
Take suitable measures to ensure that any collision of the robot arm with the peripheral
devices is prevented.
●Do not carry out any surge voltage test. If any test is run accidentally then this may result in
a malfunction. The surge voltage test is not covered by the warranty. If it is nevertheless run,
then set the leakage current to 100 mA. If the leakage current has been set to just 10 mA, then
a smaller measured value is displayed, owing to the leakage current of the installed AC filter.
●If no cable is connected then always place the protection cap onto the SSCNET-III connection
of SQ-Series devices. Otherwise, impurities may impair transmission behaviour and result in
malfunction.
●Do not remove the SSCNET-III cable from SQ-Series devices as long as the power supply of
the CPU system or of the drive unit is still switched on.
Never look directly into the light emitted from the robot CPU or the SSCNET-III connections
of the drive unit, or into the open end of the SSCNET-III cable. The light emitted from these
complies with the IEC60825-1 standard of laser class 1 and may result in an irritation to the
eyes if viewed directly.

VI
Symbols used in the manual
The use of instructions
Instructions concerning important information is are marked separately and are displayed as follows:
Use of numbering in the figures
Numbering within the figures is displayed by white numbers within black circles and is explained in
a table following it using the same number, e.g.:
   
Use of handling instructions
Handling instructions are steps that must be carried out in their exact sequence during startup,
operation, maintenance and similar operations.
They are numbered consecutively (black numbers in white circles)):
Text
Text
Text
Use of footnotes in tables
Instructions in tables are explained in footnotes underneath the tables (in superscript). There is a
footnote character at the appropriate position in the table (in superscript).
If there are several footnotes for one table then these are numbered consecutively underneath the
table (black numbers in white circles, in superscript):

Text

Text

Text
NOTE Text of instruction

Table of contents
SD-/SQ series VII
TABLE OF CONTENTS
1Introduction
1.1 Name of model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Basic safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Environmental conditions for operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Performance Level (PL) compliant with EN ISO 13849-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
2System overview
2.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 SD series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.2 SQ series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.1 SD series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.2 SQ series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.3 Components of robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.3 Control units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.3.1 Control panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.3.2 CR2D components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.3.3 CR3D components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.3.4 CR2Q components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.3.5 CR3Q components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.4 Robot CPU (SQ series only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.5 Teaching Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.5.1 R28TB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.5.2 R32TB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
2.5.3 R46TB and R56TB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

Table of contents
VIII
3Installation
3.1 Unpacking the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Unpack the articulated arm robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Unpack the SCARA robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2 Transport robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.1 RV-3SD/3SDJ and RV-3SQ/3SQJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.2 RV-6SD/6SDL, RV-6SQ/6SQL, RV-12SD/12SDL and RV-12SQ/12SQL . . . . . . . . 3-6
3.2.3 RH-6SDH/6SQH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.4 RH-12SDH/18SDH and RH-12SQH/18SQH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3 Set up the robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.1 Set up the articulated arm robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.2 Set up the SCARA robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.4 Handling the control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.4.1 Transport control unit CR2D and drive unit DU2 . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.4.2 Transport control units CR3D and drive units DU3 . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.4.3 Set up control unit CR2D and drive unit DU2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.4.4 Set up control unit CR3D and drive unit DU3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.5 Installation of robot CPU Q172DRCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.5.1 Installation and removal of modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.6 Grounding the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
4Connection
4.1 Connection of the connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Connect the robot arm to the control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.2 Connection of robot CPU to the drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 Mains connection and grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 Control unit CR2D and drive unit DU2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 Control unit CR3D and drive unit DU3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3 EMERGENCY-STOP connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.4 Safety circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.5 Teaching Box connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

Table of contents
SD-/SQ series IX
5Startup
5.1 Calibrate the robot system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Work flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.2 Prepare the system for maintenance mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.3 Set the home position (zero point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
6Operation of Teaching Box (R32TB)
6.1 Menu tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Enter a character . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3 Select a menu item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.4 Move robot is JOG mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.4.1 JOG mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
7Troubleshooting and maintenance instructions
7.1 Faults in automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.3 Error diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.4 Replace the fuses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4.1 Fuses and error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4.2 Fuse for pneumatic gripper hand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4.3 Fuse of power supply of pneumatic gripper hand. . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.5 Instructions on maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
8Annex
8.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
8.1.1 Working areas of the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
8.1.2 Dimensions of the control units, the drive units and the CPU . . . . . . . . . . . . . 5-28
Index, certificates

Table of contents
X

Introduction
SD-/SQ series 1 - 1
1Introduction
Mitsubishi Electric Corporation
2-7-3 Marunouchi, Chiyoda-ku, Tokyo, Japan
Mitsubishi Electric Europe B.V.
Gothaer Straße 8, 40880 Ratingen, Germany
All rights reserved • We accept no liability for the correctness
of the information that describes the product features or the technical data.
This manual describes the unpacking, installation, connection and initial startup of the SD and SQ
series robots.
This manual is a translation of the original German manual from MITSUBISHI ELECTRIC B.V.
The operating steps shown in this manual refer to the Teaching Box R32TB.
This manual applies to the following robots and control units:
Series Model Construction Handling
weight [kg] Control unit
SD
RV-3SD/3SDJ
Vertical articulated
arm
3CR2D-711
RV-6SD/6SDL 6
RV-12SD/12SDL 12 CR3D-701M (IP54)
RH-6SDH
SCARA
6CR2D-741
RH-12SDH 12
RH-18SDH 18 CR2D-751
SQ
RV-3SQ/3SQJ
Vertical articulated
arm
3CR2Q-721
RV-6SQ/6SQL 6 CR2Q-711
RV-12SQ/12SQL 12 CR3Q-701
RH-6SQH
SCARA
6CR2Q-761
RH-12SQH 12 CR2Q-741
RH-18SQH 18 CR2Q-751
Tab. 1-1: Overview of robot models and control units

Name of model Introduction
1 - 2
1.1 Name of model
Fig. 2-1: Model name of vertical articulated arm robot
Fig. 2-2: Name of model of the horizontal articulated arm robot (SCARA)
RV-3SD B J C -Sxx
Sxx: special model
SM**: specially protected control unit
empty: standard model
C: clean room model
empty: 6-axle model
J: 5-axle model
L: long arm model
empty: J4 and J6 are not equipped with a brake
B: all axles with brake
Series
SD: SD series
SQ: SQ series
Load bearing capacity in kg
RV: vertical articulated arm robot
RH-6SDH 35 20 C -SMxx
Sxx: special model
SM**: specially protected control unit
empty: standard model
C: clean room model
M: splash-proof model
Arm lengths of ballscrew
e.g.: 30: 300 mm, 35: 350 mm
Arm lengths
e.g.: 55: 500 mm, 70: 700 mm, 85: 850 mm
Series
SDH: SDH series
SQH: SQH series
Load bearing capacity in kg
RH: Horizontal articulated arm robot

Introduction Basic safety instructions
SD-/SQ series 1 - 3
1.2 Basic safety instructions
The MELFA robot has been constructed according to the state-of-the-art and has been configured for
operational safety. Nonetheless, dangers/hazards may arise from the robot if is is not operated by
trained personnel or at least by instructed personnel, or if it is used in an improper manner or not
compliant to its intended use.
In particular, this means:
●Danger to the life and limb of the user or of third-parties
●Impairments to the robot, other machines and other property of the user
EATTENTION:
Every person authorised within the company of the operator to install, startup, operate,
maintain and repair the robot must have read and understood the technical documentation for
the robot and must pay special attention to the supplied SAFETY MANUAL.
EATTENTION:
Strictly observe the safety regulations. The following, additional instructions are provided
within the scope of these introductory safety instructions:
The robot may only be operated by trained and authorised operating personnel.
Responsibilities for the various activities when operating the robot must be clearly defined and
observed to ensure that there are no unclarities or unclear duties regarding the safety aspects
For all work relating to the installation, startup, equipping/fitting, operation, changes to
operating conditions and modes of operation, maintenance, inspection and repairs, the switch-
off procedures stipulated in the manual must be observed.
The position of the EMERGENCY-STOP pushbutton must be known and the EMERGENCY-STOP
pushbutton must be accessible at all times.
No operating methods may be employed that impair the safety of the machine.
The operator must ensure that no unauthorized persons work at the robot (e.g. including
enabling of equipment against unauthorized use).
The company used must ensure that the robot is always operated in perfect condition.
The company using the robot must provide special training to the appropriate operating
personnel and obligate them to carry out all maintenance and inspection work only when the
robot and all of its peripheral equipment is switched off.
PDANGER:
The control unit must only (i.e. exclusively) be connected by a circuit breaker to the mains
supply. There is a risk of electrical shock if this is not observed.
A detailed description of the mains connection is contained in section 4.2.

Environmental conditions for operation Introduction
1 - 4
1.3 Environmental conditions for operation
Because the environmental conditions have a significant effect on the operational life of the
equipment, you should not install the robot system in the following conditions:
●Power supply
Do not use when
– the power supply of CR2 devices is below 180 V AC or above 253 V AC, and the power supply
of CR3 devices is below 360 V AC or above 480 V AC,
– transient power failures last more than 20 ms,
– the mains supply is unable to provide an output of at least 2.0 kVA (CR2) or 3.0 kVA (CR3).
●HF interference
Do not use when
– there are voltage peaks on the mains supply greater than 1000 V and longer than 1 μs,
– there are large frequency inverters, transformers, magnetic switches or welding devices in the
vicinity,
– there are radios or televisions in the vicinity.
●Temperature/Humidity
Do not use when
– the ambient temperature is above 40 °C or below 0 °C,
– the robot is subjected to direct sunlight,
– the air humidity is below 45 % or above 85 %,
– condensation can occur.
●Vibrations
Do not use when
– the robot is subjected to heavy vibrations or knocks,
– the maximum load of the robot is above 34 m/s² during transport and above 5 m/s² in
operation.
●Installation location
Do not use when
– subjected to strong electrical or magnetic fields,
– the stand space is very uneven,
– there is heavy contamination from dust and oil mist.
1.4 Performance Level (PL) compliant with EN ISO 13849-1
The robot systems listed in the following are compliant with
●Performance Level (PL): d
●Category: 3