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6 Safety
(5) 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.
(6) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(7) If this robot interferes with the workpiece or peripheral devices during operation, the position may devi-
ate, 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 adhe-
sive 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.
(10) 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 program data may be destroyed.
(11) If something collides with body of the robot while it is in automatic operation mode (due to the origin
being set incorrectly, for example), the casing or mechanisms such as reduction gears may need to be
replaced. Contact Mitsubishi Electric or your local distributor for replacement parts. Continued use of the
robot after a collision without inspecting or changing parts will increase the risk of damaging reduction
gears or other mechanisms.
(12) If power is interrupted the brakes will be applied. In which case, the arm may deviate from its original
path if it is in automatic operation mode. Depending on the movement the robot is making at the time the
power is interrupted, the robot arm may come into contact with the body of the robot. Take measures to
ensure that dangerous situations do not arise from the arm interfering with peripherals.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to
reduce interference.
(13) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(14) 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.
(15) The United Nations' Recommendations on the Transport of Dangerous Goods must be observed for
transborder transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6V) used in
Mitsubishi industrial robots contain lithium and fall under the definition.
When the lithium batteries are shipped for storage, etc., they will be classified as Class 9: Miscellaneous
dangerous substances and articles. Please contact your transportation company and must provide
appropriate transport safety measures as the customer's consignor.
(16) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air tempera-
ture, the dew condensation may occur on the coupling or the hose surface.
(17) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting 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 products, or treat packaging with methods other than fumigation (heat method). Addition-
ally, disinfect and protect wood from insects before packing products.
6-104 Precautions for handling
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