About the Book
This manual is to help you use the capabilities of the robot safely and properly.
Follow the instructions within this manual to help:
oReduce risks
oReduce repair costs and downtime of the robot
oIncrease the service life of the robot
oIncrease the reliability of the robot
This document has been updated for the release of EcoStruxureTM Machine Expert V1.2.4.
The technical characteristics of the devices described in the present document also appear online. To access the information online, go to the Schneider Electric homepage www.schneider-electric.com.
The characteristics that are described in the present document should be the same as those characteristics that appear online. In line with our policy of constant improvement, we may revise content over time to improve clarity and accuracy. If you see a difference between the document and online information, use the online information as your reference.
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to www.schneider-electric.com/green-premium.
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Title of Documentation |
Reference Number |
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MH3 Servo motor Motor Manual |
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SH3 Servo motor Motor Manual |
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Lexium 52 Hardware Guide |
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Lexium 62 Hardware Guide |
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Lexium 62 ILM Hardware Guide |
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SchneiderElectricRobotics Library Guide (only available in the online help) |
EIO0000002236 (EN) EIO0000002237 (DE) |
You can download these technical publications and other technical information from our website at https://www.se.com/ww/en/download/ .
The equipment described herein must be used in accordance with the application-specific risk analysis that you are to perform along with verification of all applicable standards. Pay attention in conforming to any safety information, different electrical requirements, and normative standards that would apply to your application of the information contained in the present manual and the manuals for associated equipment.
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HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH |
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oDisconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any accessories, hardware, cables, or wires. oPlace a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-energized position. oWait 15 minutes to allow the residual energy of the DC bus capacitors to discharge. oMeasure the voltage on the DC bus with a properly rated voltage sensing device and verify that the voltage is less than 42.4 Vdc. oDo not assume that the DC bus is voltage-free when the DC bus LED is off. oBlock the motor shaft to prevent rotation prior to performing any type of work on the drive system. oDo not create a short-circuit across the DC bus terminals or the DC bus capacitors. oReplace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. oUse only the specified voltage when operating this equipment and any associated products. |
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Failure to follow these instructions will result in death or serious injury. |
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UNINTENDED EQUIPMENT OPERATION |
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oPerform a hazard and risk analysis to determine the appropriate safety integrity level, and any other safety requirements, for your specific application based on all the applicable standards. oEnsure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100 during the design of your machine. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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LOSS OF CONTROL |
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oThe designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. oSeparate or redundant control paths must be provided for critical control functions. oSystem control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. oObserve all accident prevention regulations and local safety guidelines.1 oEach implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
(1) for additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable Speed Drive Systems” or their equivalent governing your particular location.
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
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Standard |
Description |
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IEC 61131-2:2007 |
Programmable controllers, part 2: Equipment requirements and tests. |
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ISO 13849-1:2015 |
Safety of machinery: Safety related parts of control systems. General principles for design. |
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EN 61496-1:2013 |
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests. |
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ISO 12100:2010 |
Safety of machinery - General principles for design - Risk assessment and risk reduction |
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EN 60204-1:2006 |
Safety of machinery - Electrical equipment of machines - Part 1: General requirements |
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ISO 14119:2013 |
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection |
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ISO 13850:2015 |
Safety of machinery - Emergency stop - Principles for design |
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IEC 62061:2015 |
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems |
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IEC 61508-1:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: General requirements. |
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IEC 61508-2:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: Requirements for electrical/electronic/programmable electronic safety-related systems. |
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IEC 61508-3:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: Software requirements. |
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IEC 61784-3:2016 |
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions. |
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2006/42/EC |
Machinery Directive |
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2014/30/EU |
Electromagnetic Compatibility Directive |
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2014/35/EU |
Low Voltage Directive |
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
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Standard |
Description |
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IEC 60034 series |
Rotating electrical machines |
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IEC 61800 series |
Adjustable speed electrical power drive systems |
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IEC 61158 series |
Digital data communications for measurement and control – Fieldbus for use in industrial control systems |
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
Unless otherwise stated, the different robot types and variants of the Lexium P robots are represented in the figures by the robot type VRKP4 with standard housing.
Dimensions are indicated in metric system and U.S. customary units system. The U.S. dimensions are given in parentheses, for example 8.4 mm (0.33 in).
NOTE: The values in parentheses are rounded and are for reference only.
