Mitsubishi Electric CR1DA-7A1-S15 Standard Specifications Manual Download

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6Safety

Working environment 6-106

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.

(1) Power supply

・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.

Please use the controller with an input power supply voltage fluctuation rate of 10% or
less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC
during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration error may occur.

(2) Noise

・ Where a surge voltage exceeding 2000V, 5kHz (equivalent to EN61000-4-4) may be applied on the primary volt

age. Near large inverters, high output frequency oscillator, large contactors and welding machines. Static noise
may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity

・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration

・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s

or less during transpor

tation and 5m/s

or less during operation.)

(5) Installation environment

・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
･ Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling

(1) This robot has brakes of all axes. The precision of the robot may drop, looseness may occur and the reduction

gears may be damaged if the robot is moved with force with the brakes applied.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu

racy may drop due to an excessive backlash, or the backed up data may be destroyed.

(3) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.

When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy
may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at
a low speed (about a half of normal operating speed).

(4) The robot arm and controller must be grounded with Class D grounding to secure the noise resistance and to

prevent electric shocks.

(5) The items described in these specifications are conditions for carrying out the periodic maintenance and

inspections described in the instruction manual.

(6) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config

uration may break due to the fixed installation specifications. In this case, use the machine cable extension (for
flexed)" factory shipment special specifications or options.

(7) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.

Take care to prevent interference with the workpiece or peripheral devices during operation.

(8) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive

power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the
coated surface may be damaged when such tape or label is peeled off.

(9) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It

would not result in burns, however, it may cause secondary accidents if touched carelessly.

CAUTION