Installation Precautions

Insuring the Proper Installation Environment

The standard and cleanroom types should not be installed in any environment where:

• there are flammable, explosive atmosphere
• there are any acidic, alkaline or other corrosive material,
• there are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise.
• it may likely be submerged in fluid or exposed to water splash,
• there are any shavings from metal processing or other conductive material flying about,
• there is a mist,
• there is conductive pollution.
• outdoor.

Service Space

• To avoid injury or damages to workers or property due to falling, packing or unpacking shall be done on a flat space.
• The robot and peripheral equipment should be installed so that sufficient service space is maintained for safe teaching, maintenance, and inspection.
• To avoid collision with worker's head, the end of COBOTTA's installation space shall be at least 450mm away from the workbench end.
• Some robot posture may cause risks of pinching with peripheral devices, so do not place any obstacles around the center of 2nd- and 3rd-axis.
• If any sharp portions exist near the robot, be sure to perform risk assessment. Based on the risk assessment result, take necessary preventive measures, such as to eliminate sharp portion, to prevent the human body's access to the area where the risk of trapping or pinching exists.
• Depending on the way of COBOTTA operation, a COBOTTA could be a danger. (E.g.; carrying a sharp object by COBOTTA). For such operation, as a result of risk assessment, any preventive measures for personnel entry in the COBOTTA motion area may be required. About necessary protective measures, refer to "Protective Stop Input Signals".

Install a Manipulation Device Outside of the Robot Restricted Space

A manipulation device (such as a tablet) should be installed outside the robot's restricted space and in a place where you can observe all of the robot's movements and operate the robot easily.

The emergency stop boxes should be installed so as to be able to distinguish each combination of the emergency stop switch and the robot to prevent pressing wrong emergency stop switches when emergency stop execution.

Restricted space

portion of the maximum space restricted by limiting devices that establish limits which will not be exceeded. (Quoted from the ISO 10218-1: 2011.)

Positioning of Gauges

Pressure gauges, oil pressure gauges and other gauges should be installed in an easy-to-check location.

Protection of Electrical Wiring and Hydraulic/Pneumatic Piping

• If there is any possibility of the electrical wiring or hydraulic/pneumatic piping being damaged, protect them with a cover or similar item.
• Be careful not to apply too much pressure on the joint.

Grounding Resistance

The protective grounding resistance of the outlet should not be more than 100Ω.

Installation of Circuit Breaker and Leakage Current Breaker

• When using the circuit breaker as the main disconnecting switch, provide some measures to prevent damages (such as electric shock) due to leakage current and grounding fault (such as by using leakage current breaker). For the countermeasure, refer to EN 60204-1.
  
• To prevent the damages (such as electric shock) due to leakage current and grounding fault, it is recommended to connect the AC power of COBOTTA to the leakage breaker with a rated breaking capacity of 10 A.
• Leakage current values of COBOTTA are as follows:

  Leakage current values	Use at AC 90 V: 0.08 mA Use at AC 264 V: 0.12 mA

Positioning of Emergency Stop Switches

To immediately stop the operation of robot in an emergency situation, install an emergency stop switch (including the emergency stop box) at a position which fulfills the following requirements according to ISO 13850.

• Where the operator can easily operate
• Where it is close to the program start button

Precautions for Transporting and Installation of the Robot Unit

• Transporting should be handled by at least two people, while wearing a helmet, safety shoes, and gloves.
• Be sure to hold both the base part and arm part with both hands for transport.
  If you hold a robot in any other ways (such as, hold a robot with one hand, hold a base part only, hold an arm part only), unexpected axis may move, leading to the robot failure. Also, the robot may drop easily. If the robot drops, it might hit workers and he or she might get injury.
• Be careful not to get injured or damaged by falling or tumbling down of unfixed robot (4 kg) or AC adapter (860 g). Fasten the robot at the beginning of installation operation. When removal, release the robot from the fixed-state at the last of removal.
• Robot shall be installed in the flat surface which is parallel to the floor.
• For safety transport, it is recommended to use COBOTTA-dedicated package where your COBOTTA has been packed at the delivery. Because the package box absorbs shocks, it reduces the damage and injuries even if it should fall accidentally during transport.

Precautions for Relocating the Robot Unit

After the installation complete, when you relocate the robot to different place, to ensure safety transporting, use a COBOTTA-dedicated package where your COBOTTA has been packed at the delivery. The box is designed to absorb the shock of impact during transport. Using this box, in case of drop, the box can reduce the damage on the products as well as the level of injury of workers.

Setting-up a Safety Fence

If the result of risk assessment indicates that safeguards are required, safeguards shall be installed so that neither workers nor third person can easily enter the safeguaded space.

Example

• The fence should be constructed so that it cannot be easily moved or removed.
• The fence should be constructed so that it cannot be easily damaged or deformed through external force.
• Establish the exit/entrance to the fence. Construct the fence so that neither operator nor third person can easily get past it by climbing over the fence.
• The fence should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it.
• Take any one of the following protections for the entrance/ exit of the fence:
  • Place a door, rope or chain across the entrance/exit of the fence, and fit it with an interlock that ensures the emergency stop device operates automatically if it is opened or removed.
  • Post a warning notice at the entrance/exit of the fence stating "In operation--Entry forbidden" or "Work in progress--Do not operate" and ensure that workers follow these instructions at all times.
• When making a test run, before setting up the fence, place an overseer in a position outside the robot's restricted space and one in which he/she can see all of the robot's movements. The overseer should prevent workers from entering the robot's restricted space and be devoted solely to that task.

No Robot Modification Allowed

Never modify the robot unit, AC adapter or other devices.

Cleaning of Tools

If your robot uses welding guns, paint spray nozzles, or other end-effectors requiring cleaning, it is recommended that the cleaning process be carried out automatically.

Lighting

Install appropriate lighting equipment for the robot installation area (especially, the area used for repair and maintenance work, teaching, cooperative operation).

Also, make sure that the lighting does not generate other hazards. (For example, workers are dazzled by the reflection or blinking of lighting)

If the lighting is inappropriate, when a worker performs any operation (teaching, cooperative motion, maintenance, etc.) near the robot, he or she could stumble on or hit a part of robot, leading to unexpected injury.

Protection from Objects Thrown by the End-effector

COBOTTA's gripper may not be able to support workpiece during the power-off.

If there is any risk of workers being injured in the event that the object being held by the end-effector is dropped or thrown by the end-effector, consider the size, weight, temperature and chemical nature of the object and take appropriate safeguards to ensure safety.

Changing the Configuration

When the components of the robot system or optional devices (including hardware software) have been changed or added, do the initial test. For details about the initial test, refer to "Initial Test after Installation or Parts Replacement" of "Precautions while Robot is Running".