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6.2 Working environment
Avoid installation in the following places as the equipment's life and operation will be affected by the ambi-
ent environment conditions. When using in the following conditions, the customer must pay special atten-
tion 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.
CAUTION
(2) Noise
• Where a surge voltage exceeding 2000V, 5kHz (equivalent to EN61000-4-4) may be applied on the pri-
mary voltage. 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 75% RH or below 45% RH, or condensation may occur.
• 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 3.5G or less during trans-
portation and 0.1G or less during operation.)
CAUTION
(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) The robot has brakes. If the robot is moved with an excessive external force while the brake is applied,
the robot accuracy may decrease, a backlash may occur, or the reduction gear may be damaged.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly,
the accuracy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the wrist section could inter-
fere with the base section. Take care to prevent interference during jog.
(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on
the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first
start after being stored for one month or longer, lubricants may not be spread enough. Such condition
may lower the positioning accuracy, cause servo and overload alarms, and early wearing of the moving
parts. To avoid such situation, perform warm-up operation of the machine at a low speed (at about 20%
of normal operation speed). Move the robot arm from the lower to the upper limit of the movable range
with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually.
Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUC-
TION MANUAL/Detailed explanations of functions and operations".)
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 or overvoltage error may occur.
If the robot is installed on equipment such as an automated guided vehicle (AGV),
turn the robot servos OFF while the AGV is moving. Robot servos cannot be turned
OFF with RT VisualBox.
6 Safety
Working environment 6-103
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