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Precautions for handling
6Safety
(6) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise
resistance and to prevent electric shocks.
(7) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(8) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config
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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.
(9) 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.
(10) 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.
(11) 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.
(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during
a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro
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gram data may be destroyed.
(13) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is
shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation
path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper
depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent
any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce
interference.
(14) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(15) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting
is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis
which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes
about once every day the 30 degree or more, or the 20mm or more.
(16) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for trans
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border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mit-
subishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if
the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Mis
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cellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having
to carry out transport safety measures as the customer’s consignor. Note that some transportation compa
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nies may request an indication that the batteries are not dangerous goods be included on the invoice. For ship-
ping requirement details, please contact your transportation company.
(17) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
(18) Collision detection function is valid condition for both of automatic and jog operation at shipping.
So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing dam
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age. Therefore, please use in the valid condition.
(19) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis
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infecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod
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ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect
wood from insects before packing products.