Comau Robotics Product Instruction
12
GENERAL SAFETY REQUIREMENTS
1.2.4 Operating modes
Installation and Start-up
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The startup is only possible when the Robot and Control System has been correctly
and completely installed.
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The system installation and startup is exclusively the task of the authorised
personnel.
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The system installation and startup is only permitted inside a protected area of an
adequate size to house the Robot and the equipment it is outfitted with, without
passing beyond the protection barriers. It is also necessary to check that under
normal Robot movement conditions there is no collision with parts inside the
protected area (structural columns, power supply lines, etc.) or with the barriers. If
necessary, limit the Robot working areas with mechanical hard stop (see optional
assemblies). If necessary, limit the Robot working areas with mechanical hard stop
(see optional assemblies).
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Any fixed Robot control protections are to be located outside the protected area
and in a point where there is a full view of the Robot movements.
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The Robot installation area is to be as free as possible from materials that could
impede or limit visibility.
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During installation, the Robot and the Control Unit must be handled as described
in the relative Instruction Handbooks; if lifting is necessary, check that the eyebolts
are fixed correctly and use only adequate slings and equipment.
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Fix the Robot to mount holder, with all the provided bolts and pins, tightened to the
tightening torques given in the related Instruction Handbooks.
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If present, remove the fastening brackets from the axes and check that the fixing
of the Robot fixture is secured correctly.
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Check that the Robot guards are correctly secured and that there are no moving or
loose parts. Check that the Control Unit components are intact.
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Install the Control Unit outside the protected area: the Control Unit should not be
used as part of the fence.
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Check that the voltage value of the power mains is consistent with that indicated
on the nameplate of the Control Unit.
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Before electrically connect the Control Unit, check that the circuit breaker on the
power mains is locked in open position.
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The connection between the Control Unit and the power supply mains of the plant,
must be made through a cable of dimensions suitable for the power installed on the
Control Unit (for details refer to chapter “Power supply from the electric network:
features and connection” in the Control Unit Instruction Handbooks).
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Connect the ground cable (PE) then connect the power conductors to the main
switch.
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Connect the power supply cable, first connecting the ground cable to the circuit
breaker on the power mains line, after checking with a tester that the circuit breaker
terminals are not powered. It is recommended to connect the cable armor to the
ground.
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Connect the signals and power cables between the Control Unit and the Robot.
