About the Book

Document Scope

This manual is to help you use the capabilities of the robot safely and properly.

Follow the instructions within this manual to help:

Reduce risks
Reduce repair costs and downtime of the robot
Increase the service life of the robot
Increase the reliability of the robot

Validity Note

This document has been updated for the release of EcoStruxure^TM Machine Expert V2.0.2.

The characteristics that are described in the present document, as well as those described in the documents included in the Related Documents section below, can be found online. To access the information online, go to the Schneider Electric home page www.se.com/ww/en/download/.

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.se.com/ww/en/work/support/green-premium/.

Title of Documentation	Reference Number
MH3 Servo motor Motor Manual	0198441114042 (EN) 0198441114041 (DE)
SH3 Servo motor Motor Manual	0198441113987 (EN) 0198441113986 (DE)
Lexium 52 Hardware Guide	EIO0000001347 (EN) EIO0000001348 (DE)
Lexium 62 ILD Hardware Guide	EIO0000002443 (EN) EIO0000002444 (DE)
Lexium 62 ILM Hardware Guide	EIO0000001351 (EN) EIO0000001352 (DE)
Lexium 62 Hardware Guide	EIO0000001349 (EN) EIO0000001350 (DE)
SchneiderElectricRobotics Library Guide (only available in the online help)	EIO0000002236 (EN)
RoboticModule Library Guide (only available in the online help)	EIO0000002234 (EN)
Cybersecurity Guidelines for EcoStruxure Machine Expert, Modicon and PacDrive Controllers and Associated Equipment, User Guide	EIO0000004242 (EN)
Recommended Cybersecurity Best Practices	CS-Best-Practices-2019-340 (EN)

Product Related Information

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.

DANGER
	ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH Disconnect 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 except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Operate electrical components only with a connected protective ground (earth) cable. Verify the secure connection of the protective ground (earth) cable to all electrical devices to ensure that connection complies with the connection diagram. Do not touch the electrical connection points of the components when the module is energized. Provide protection against indirect contact. Insulate any unused conductors on both ends of the motor cable. Failure to follow these instructions will result in death or serious injury.

DANGER

ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH

Disconnect 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 except under the specific conditions specified in the appropriate hardware guide for this equipment.
Always use a properly rated voltage sensing device to confirm the power is off where and when indicated.
Operate electrical components only with a connected protective ground (earth) cable.
Verify the secure connection of the protective ground (earth) cable to all electrical devices to ensure that connection complies with the connection diagram.
Do not touch the electrical connection points of the components when the module is energized.
Provide protection against indirect contact.
Insulate any unused conductors on both ends of the motor cable.

Failure to follow these instructions will result in death or serious injury.

WARNING
	UNINTENDED EQUIPMENT OPERATION Perform 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. Ensure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100 during the design of your machine. Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

UNINTENDED EQUIPMENT OPERATION

Perform 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.
Ensure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100 during the design of your machine.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
	LOSS OF CONTROL The 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. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.¹ Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

LOSS OF CONTROL

The 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.
Separate or redundant control paths must be provided for critical control functions.
System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.
Observe all accident prevention regulations and local safety guidelines.¹
Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service.

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:

Standard	Description
IEC 61131-2:2007	Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015	Safety of machinery: Safety related parts of control systems. General principles for design.
EN 61496-1:2013	Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests.
ISO 12100:2010	Safety of machinery - General principles for design - Risk assessment and risk reduction
EN 60204-1:2006	Safety of machinery - Electrical equipment of machines - Part 1: General requirements
ISO 14119:2013	Safety of machinery - Interlocking devices associated with guards - Principles for design and selection
ISO 13850:2015	Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015	Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
IEC 61508-1:2010	Functional safety of electrical/electronic/programmable electronic safety-related systems: General requirements.
IEC 61508-2:2010	Functional safety of electrical/electronic/programmable electronic safety-related systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
IEC 61508-3:2010	Functional safety of electrical/electronic/programmable electronic safety-related systems: Software requirements.
IEC 61784-3:2016	Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
2006/42/EC	Machinery Directive
2014/30/EU	Electromagnetic Compatibility Directive
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:

Standard	Description
IEC 60034 series	Rotating electrical machines
IEC 61800 series	Adjustable speed electrical power drive systems
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.

Figures

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.

Dual Dimensions

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.