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Installation Environment of the Robot Unit
The installation requirements for the robot unit are listed below. Prepare a highly rigid mount.
Do not electric-weld the equipment including the robot. A large current may flow through the motor encoder or robot controller, resulting in a failure. If electric welding is required, remove the robot unit and the robot controller from the equipment once.
Please note that the surface finishing of Protected type (IP67) or Dust- & splash-proof type (IP54) robot with DENSO standard colors may chip due to liquid splash or environment change.
| Item | Environments and Requirements |
|---|---|
| Flatness of the mount | 0.1/500 mm |
| Rigidity of the mount | Use steel materials. |
| Installation type | Floor-mount, overhead-mount, or wall-mount (*1) |
| Ambient temperature | In operation: 0 to 40°C In storage or transportation: -10 to 60°C(*2) (*3) |
| Humidity | In operation: 40 to 90% RH (No dew condensation allowed.) In storage or transportation: 40 to 75% RH (No dew condensation allowed.) |
| Vibration | In operation: 4.9 m/s² (0.5G) or below In storage or transportation: 29.4 m/s² (3G) or below |
| Altitude | In operation: 1,000 m or below |
| Safe installation environment | Refer to the SAFETY PRECAUTIONS, 3.1 "Insuring the proper installation environment." |
| Working space, etc. | • Sufficient service space must be available for inspection and disassembly. • Keep wiring space behind the robot, and fasten the wiring to the mounting face or beam so that the weight of the cables will not be directly applied to the connectors. Wiring space for motor and encoder cable must be at least
|
| Grounding conditions | Functional ground, wiring of 5.5 mm² or more |
*1 The motion range of the 1st axis is smaller when the robot unit is wall-mounted. For details, contact the DENSO sales representative.
*2 When using a robot out of allowable temparature range, contact the DENSO sales representative.
*3 Set the maximum allowable ambient temperature to [78: Ambient temperature] parameter. This value is used as one of the robot operation conditions. For details, refer to the "User" of PARAMETER LIST. For the operating procedure, refer to the OPERATION GUIDE, "Displaying and Setting the Configuration".
Precautions for Installation Environment of Clean Room Type Robot
For setting clean room type, please keep in mind that following notes.
- Only robot unit is designed for clean room environments use. Robot controller and other optional parts are not designed for clean room use.
- Rust preventive oil might adhere to the flange parts before shipping. Wipe oils off before operating.
- Avoid making an impacts on movable parts (joint parts).
- Clean room type is effective only for when robots carry automatic operation hence not effective for manual operations (such as maintenance or teaching).
- Maintenance, such as CALSET or replacement of encoder backup batteries, might cause dusts from sealed or other parts. Please pay attention to prevent ingress of dusts.
- For more details to adapt to your specifications of clean room, please contact to our DENSO sales representative.
Vibration
Do not mount the robot unit in an environment where it will be exposed to excessive vibration or impact.
When the robot unit with the power off has undergone an excessive vibration during transportation, the ERROR 0x8320411* (Encoder reference position error) may occur.
If the ERROR 0x8320411* occurs when the robot power is first turned ON after purchase, refer to the "ERROR CODE TABLES" or contact the DENSO service representative.
Combination of Robot Unit and Robot Controller
A robot unit and a robot controller are configured as a set before delivery. If you purchase two or more robot systems, therefore, configure the combination correctly, checking the serial numbers.