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SAFETY MANUALVersion 2 - March 2019Download the latest version from automata.tech/docs/
IMPORTANT: Before attempting to set up or operate the robot:1. Read and understand this manual2. Conduct a risk assessment
A. Overview
B. Transportation & Installation
C. Protective Features
D. Electrical Safety
E. Operation
F. Maintenance
G. Technical Specifications
H. Standards & Cerfitications
Manufacturer’s Warranty
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TABLE OF CONTENT
When you take Eva out of its box, you have partly completed machinery. That means the way you set up and use the robot decides how safe it is. You can read more about this in section H of this manual.
You must complete a risk assessment every ti me you change the robot’s environment or the work it will do.
To do a risk assessment, you need to check for possible hazards and write them down. It’s important to think about every part of the system, like obstacles, tools and other robots in the area. You should also pay attention to how these different parts connect together.
You have to decide if the risk is acceptable before you let anyone work with the robot. If there are hazards, consider how easy it is for humans to access the dangerous area, and restrict this access or provide clear warnings. If there’s any information or equipment that could reduce the danger, make sure it’s easy to find.
Eva is a Desktop Robot. It’s usually fine for it to work with humans near by. Some-times, you might decide the risk will change from acceptable to unacceptable if someone gets close to the robot. That’s a Hazardous Applica-tion, and you should set up equipment to stop people coming into the work area. That might include fences, lights or warning signs. Keep a record of everything you’ve done in a file along with this manual and any other relevant documents.
It’s a good idea to follow the instructions in ISO 12100, ISO 10218-2 and ISO 15066 when you do the risk assessment. You can get this information from https://www.iso.org, or ask a safety professional for help.
A. Overview
Some hazards are very common with robots, like:
Trapping fingers between robot joints, including a risk of pinching or crushing if the robot collides with itselfCutting or piercing skin with sharp edges and pointsBruising from impact when the robot is movingSprains or bone fractures from being caught between a heavy payload and a hard surface
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Eva / Safety / Original Instructions
It’s important to read and understand this whole manual before you operate the robot.
That doesn’t mean the manual can consider every possible application for the robot. Creating a workspace with several pieces of powerful equipment adds unpredictable hazards. You must make sure to design and install the whole system in accordance with the standards and regulations of the country or region where you’re using the robot.
Even if you follow all the instructions in this manual to the letter, there is still no guarantee us of the robot will not cause injury or damage. The information in this manual must not be construed as a warranty from Automata.
Before you put the robot to work, make sure you have:
It is never acceptable to use Eva when:
Done a risk assessment for the whole systemInstalled all the other equipment in the system safelyMade instructions available for operating the robot properlyMade safety information available, and displayed signs warning aboutmajor hazardsDetermined an appropriate speed to run the robot, and tested thefunctionality of the emergency stop buttonCreated a technical file and a CE Declaration of Conformity for yourinstallation. The file must be kept up to date as long as you use the robot.
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There is a risk of explosionThe work being done is medical, life critical or life threateningA proper risk assessment hasn’t been doneThe performance ratings required are higher than those in the robot’sdocumentation (see G. Technical Specifications in this manual)The hazards require faster safety function reaction times than the robot iscapable of (see C. Protective Features in this manual)The robot will be part of a system that elevates or transports peopleThe conditions (like temperature or air pressure) are outside therobot’s operating parameters (see Section G of this manual)
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Power failure, poor grip or loose bolts causing equipment to fall or move in unexpected waysInjuries or equipment damage because the emergency stop button is out of reach
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B. Transportation & Installation
When not in use, always store Eva in a dry place, in its original packaging Maintain proper posture when carrying the robotUse two hands to lift the robot and place it onto your chosen work surfaceEnsure the surface you’ve chosen is sturdy. Bear in mind that a robot which seems stable when powered off may not be during operation. If in doubt, select a surface that can withstand 54 kg of weight and a moment of 250 Nm (5x the weight of the robot at max payload, and 10x the maximum rated torque of the robot base)Find or create at least four M6 threaded holes (for screwing) or four 6.5 mm to 7 mm clearance holes (for bolting) in your work surface, aligned with the corner holes of the baseplate
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“All dimensions are in mm”
Eva / Safety / Original Instructions
Hold the robot in place and fasten it tightly with four M6 screws, or nuts and boltsUnderstand the robot work area. Remove any obstacles that could cause an unwanted collisionWhen programming applications involving multiple machines, test the functions of each machine separately, outside the robot work area, before attempting to run the complete systemSecurely fasten the emergency stop button in an accessible location, outside the robot work area
Keep the work area dry and dust-free in accordance with IP20. Also consider the IP ratings of other machines in the application, and pay special attention to electrically conductive dust
Connect the emergency stop button to the emergency stop input. Don’t use other I/O ports for safety-related functions (see Protective Features: Emergency Stop)The robot will become hot during operation, and may remain hot for up to an hour after powering down. Take extra care when handling the robot during this period. At ambient temperatures above 30º, the metal surfaces on the head of the robot may become especially hot and present a burn risk. Consider these factors in your risk assessment.If using a tool, mount it to the tool mounting plate using four M6 bolts, fastened securely. The ISO 9409-1 designation code for Eva’s toolplate is ISO 9409-1-40-4-M6
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“All dimensions are in mm”
Eva / Safety / Original Instructions
C. Protective Features
Eva is supplied with a category 0 stop interface and emergency stop switch. Electrical power to the robot actuators is cut off and brakes are engaged immediately when this stop is triggered, resulting in a sudden stop.“In a worst-case scenario at maximum speed, Axis 1 could travel 12° over 0.25 seconds, Axis 2 could travel 44° over 0.59 seconds, and Axis 3 could travel 35.4° over 0.57 seconds before a complete stop is achieved.”
This type of stop is likely to result in one or more of the robot joints dropping slightly due to the force of gravity. Be aware of the risk of collision or pinching.
Note that when a category 0 stop is triggered, power is cut to the tool I/O as well as the motors. When using the tool I/O, take care that an interruption of power does not create any hazards, such as objects being dropped from grippers.
Emergency Stop
This type of stop can be triggered:
Manually, when a correctly installed e-stop button is pressed. This is a safety-rated (PLd) emergency stopAutomatically, when the robot exceeds one or more of its safety limits. This is not a safety-rated stop
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Ensure that any hazards or faults that caused the stop have been controlled or eliminated before deactivating the e-stop button and restarting the robot.
It’s never acceptable to operate the robot without a connected e-stop button.
It’s recommended to use the button supplied with the robot. This can only be replaced with a safety rated e-stop that conforms to the standard IEC 60947-5-5.
The robot’s toolplate can reach a maximum speed of 750 mm/second. For desktop use (humans working nearby), speed should not exceed 250 mm/s(a velocity factor of 0.33 in Choreograph).
Depending on the application, the risk assessment might reveal that the toolplate must move even slower to reduce danger. Set the appropriate velocity factor in Choreograph to achieve this.
If the robot needs to move faster than this speed, it’s not suitable for working in close proximity with humans. The risk assessment should specify a means of preventing humans from entering the robot’s work area while it is in motion.
Any safeguards (fences, guards, etc) that are disabled during desktop operation must be restored to full functionality before executing hazardous work.
As long as no power is being supplied to the robot actuators, the brakes will be engaged automatically. However, in some emergency situations it may be necessary to move the robot joints without power.
The hard limits on the joints are set as follows:
Speed Limits
Manual brake release
Resisted by a software ‘spring’ at ±180° Mechanically prevented from exceeding -152° / +70°Mechanically prevented from exceeding -160° / +42°Resisted by a software ‘spring’ at ±180°Resisted by a software ‘spring’ at -159° / +11°Mechanically prevented from exceeding ±180°
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Eva / Safety / Original Instructions
Certain positions present a challenging mathematical problem to the robot computer. These are called singularities.
Eva’s control system is designed to avoid these positions rather than passing through them. This significantly reduces hazards from unexpected behaviour, but also forces the robot to work unusually hard in positions close to thesingularities.
First, disconnect all sources of power from the robot. In some cases it may be appropriate to unscrew the base from its work surface and lay the robot down in a horizontal position.
Identify which joint needs to be moved, and push the brake release tool through the pin hole close to axis immediately below that joint to disengage the appropriate brakes.
Keep the robot supported as you adjust the joint to a suitable position. Be mindful of the weight of the higher joints.
Personnel should be trained on responding to abnormal situations, including being able to locate and identify the brake release tool and the brake release pin hole, as well as understanding the necessity of supporting the higher joints when brakes are released.
Singularity Avoidance
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To prolong the robot’s life, it’s advisable to avoid difficult tasks in positions where axes 1, 4 and 6 are working in parallel, or when axis 1 is collinear (both parallel and aligned) with axis 4 or axis 6.
See the diagram below for examples.
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Eva / Safety / Original Instructions
Eva’s electrical equipment has been designed and developed in accordance with IEC 60204-1.
All voltages and currents in this manual are in DC (Direct Current) unless otherwise specified.
D. Electrical Safety
Eva is designed to be powered from an RCD-protected mains socket.This protection is essential for the robot to be a Class I appliance.Never connect an emergency stop to any input other than the dedicated emergency stop input. Never connect anything other than an emegency stop to the emergency stop input. Do not change the emergency stop cable or connector. This is essential to prevent interference with the emergency stop function.Ensure that all equipment in your system not rated for water exposure (including the robot) remains dry. If water gets inside any unit, remove all power and contact your supplier.Minimise or eliminate any wire flexing in the system.The robot has been designed according to international electromag-netic compatibility standards. Signals that fall outside the parameters of EMC standards can cause disturbance, unexpected behaviour or evendamage to the robot with excessive exposure. Using cables longer than three metres is not recommended. Perform extended tests before attempting to use longer cables to connect the robot to any other equipment.Completely remove power from the system before attempting to remove or transport the robot to a new location, or changing the tool.Always plug the robot into the supplied power supply. Contact Automata or your supplier if you need to replace the power supply.The robot is an IEC Class I appliance. Protective earth is achieved via the ground pin of the mains plug. Never attempt to circumvent this protection.Read the electronic interfaces section of the seperate reference manual before connecting equipment to the I/O plate on the robot base.
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E. Operation
It is essential to read and understand this manual before operating Eva. The person installing the robot is responsible for providing warning signs and making sure that users have access to the technical file (containing this manual and any risk assessments), but users are responsible for familiarising themselves with potential hazards before interacting with the robot.
Some examples of hazards robot operators should alwaysconsider include:
Long hair, jewellery and loose clothing can become trapped between joints. These should be tied back, removed, or replaced when operating the robot.
If the robot is not secured to a sturdy surface, it can tip over and cause injury
Removing the power cable from its socket in order to shut the robot down may cause data corruption, which in turn may lead to robot malfunction. The best way to shut down the robot is to have it come to a complete stop, then press the power button above the I/O plate on the base. In case of a hazardous situation, engage the emergency stop button first, then assess whether the removal of power is appropriate. In case of a non-hazardous fault, press and hold the power button to force a shut down.
Driving the robot into itself or anything else can damage the robot.
In low-speed operation, small collisions with limbs might be acceptable, but a collision of similar force with the head or torso could cause pain. The operator should aim to keep their head and torso out of the robot’s work area whenever possible, and take special care not to place fingers near the joints of the robot or anywhere else they can be trapped. Anyone not manually operating the robot should remain outside the work area.
It’s essential that Choreograph users have complete visibility of the work area. Users must ensure they know which robot they are controlling and be aware of any people or objects that might enter the robot’s work area.
If the robot is damaged, unpredictable hazards may arise. If you suspect damage, stop using the robot immediately.
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Applications involving hazardous obstacles, or tools with sharp edges or pinch points are not suitable for backdriving. The robot operator must take measures to prevent bystanders from entering the robot work area, and defer to the judgement of the risk assessment on issues of distance and safety practices.
Robot movement may not always be entirely predictable when backdriving. The operator should pay attention to the robot throughout any backdriving procedure, and ensure that an E-stop is close to hand.
Applications involving high speeds or payloads can result in large releases of kinetic energy in the event of a collision. The operator should use ½ Mass⋅ x Velocity² to estimate the potential energy release, and ensure that this number is below the maximum permissible. ISO 15066 provides further guidance on the permissible energy of collisions.
Strong magnetic fields can damage the robot. Don’t expose it to conditions where magnetic fields are permanent or likely to become very strong.
A risk assessment does not remain accurate or adequate when new equipment or obstacles are introduced to an existing installation. Before adding any new equipment, read and understand the manuals for every unit involved, and expect new hazards to arise from the combination of equipment, not anticipated by any individual manual.
Carry out tests whenever software is updated, or new devices are added or removed that may affect the performance of the robot or the emergency stop.
Adhere to the safety and performance levels required for the worst case scenario. Update the technical file with this information immediately, and carry out a new risk assessment for the entire system as soon as possible.
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F. Maintenance
Do not make unauthorised modifications to the robot.
Non-qualified personnel are strictly prohibited from attempting to carry out repairs on Eva. In the event of malfunction, disconnect the robot from power and contact your supplier.
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Eva / Safety / Original Instructions
Electronic Interfaces
4X: Analog Inputs2X: Analog Outputs6X: Digital Inputs6X: Digital Outputs1X: E-Stop input1X: Ethernet1X: Wifi CardTool Power: 24 VDC @ 1 ABase I/O Power: 24 VDC @ 1.5 A
Operating Environment
Ingress Rating: IP20Temperature: 5 - 30 °CCabling: Max 3 m for power, e-stop, toolsMax Humidity @ 40°C: 50%Max Humidity @ 20°C: 90%
Joint Position Limits
A1: ± 180°A2: - 152° / +70°A3: - 160° / +42°A4: ± 180°A5: - 159° / +11°A6: ± 180°
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G. Technical Specifications
Automata Eva Desktop Robot Arm Programming
Degrees of Freedom: 6Repeatability: ± 0.5 mmMax Payload: 1.25 kgReach: 600 mmInstallation Position: UprightWeight: 9.5 kgJoint velocity limits: 120° / secondToolplate max speed: 750 mm / secondPower: 24 VDC @ 11.67APower Consumption: 280 W PeakFootprint: 160 x 160 mm
Type: Remote REST APIInterface: GUI through web browserCommunication: Ethernet or Wi-FiDeployment: Local (installed on robot)Export/Import: Base64 / Javascript
Eva is supplied as partly completed machinery, as defined by the Machinery Directive 2006/42/EC
The following standards have been applied in the development of Eva:
ISO 10218-1:2011Robots and robotic devices - Safety Requirements for industrial robots (Part 1: Robots)
IEC 60204-1:2018Safety of machinery - Electrical equipment of machines (Part 1: General requirements)
SO 13849-1:2015Safety of machinery - Safety-related parts of control systems (Part 1: General principles for design
ISO 13849-2:2012Safety of machinery - Safety-related parts of control systems (Part 2: Validation)
ISO 12100:2010Safety of machinery - General principles for design - Risk assessment and risk reduction
IEC 61131-2:2007Programmable controllers (Part 2: Equipment requirements and tests)
IEC 13732-1:2008Ergonomics of the thermal environment - Methods for the assessment of human responses to contact with surfaces (Part 2: Human contact with surfaces atmoderate temperature)
ISO 9409-1:2004Manipulating industrial robots - Mechanical interfaces (Part 1: Plates)
IEC 61293:1994Marking of electrical equipment with ratings related to electrical supply. Safetyrequirements
BS EN 60529:2013Degrees of protection provided by enclosures (IP code)
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H. Standards & Certifications
Eva / Safety / Original Instructions
BS EN 50581:2012Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances
BS EN 55011:2009 +A1:2010Industrial, scientific and medical equipment. Radio-frequency disturbance characteristics. Limits and methods of measurement
BS EN 61000-3-2:2014Electromagnetic compatibility (EMC). Limits. Limits for harmonic current emissions (equipment input current ≤ 16 A per phase)
BS EN 61000-3-3:2013Electromagnetic compatibility (EMC). Limits. Limitation of voltage changes, voltage fluctuations and flicker in public low-voltage supply systems, for equipment with rated current ≤ 16 A per phase and not subject to conditional connection
BS EN 61000-4-2:2009Electromagnetic compatibility (EMC). Testing and measurement techniques. Electrostatic discharge immunity test
BS EN 61000-4-3:2006 +A2:2010Electromagnetic compatibility (EMC). Testing and measurement techniques. Radiated, radio-frequency, electromagnetic field immunity test
BS EN 61000-4-4:2012Electromagnetic compatibility (EMC). Testing and measurement techniques. Electrical fast transient/burst immunity test
BS EN 61000-4-5:2014Electromagnetic compatibility (EMC). Testing and measurement techniques. Surge immunity test
BS EN 61000-4-6:2014Electromagnetic compatibility (EMC). Testing and measurement techniques. Immunity to conducted disturbances, induced by radio-frequency fields
BS EN 61000-4-8:2010Electromagnetic compatibility (EMC). Testing and measurement techniques. Power frequency magnetic field immunity test
BS EN 61000-4-11:2004Electromagnetic compatibility (EMC). Testing and measurement techniques. Voltage dips, short interruptions and voltage variations immunity tests
EN 301489-17 V3.1.1ElectroMagnetic Compatibility (EMC) standard for radio equipment and services; Part 17: Specific conditions for Broadband Data Transmission Systems
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EN 300328 V2.1.1Wideband transmission systems; Data transmission equipment operating in the 2.4 GHz ISM band and using wide band modulation techniques
BS EN 61000-3-3:2013Electromagnetic compatibility (EMC). Limits. Limitation of voltage changes, voltage fluctuations and flicker in public low-voltage supply systems, for equipment with rated current ≤ 16 A per phase and not subject to conditional connection
BS EN 61000-4-2:2009Electromagnetic compatibility (EMC). Testing and measurement techniques. Electrostatic discharge immunity test
BS EN 61000-4-3:2006 +A2:2010Electromagnetic compatibility (EMC). Testing and measurement techniques. Radiated, radio-frequency, electromagnetic field immunity test
BS EN 61000-4-4:2012Electromagnetic compatibility (EMC). Testing and measurement techniques. Electrical fast transient/burst immunity test
BS EN 61000-4-5:2014Electromagnetic compatibility (EMC). Testing and measurement techniques. Surge immunity test
BS EN 61000-4-6:2014Electromagnetic compatibility (EMC). Testing and measurement techniques. Immunity to conducted disturbances, induced by radio-frequency fields
BS EN 61000-4-8:2010Electromagnetic compatibility (EMC). Testing and measurement techniques. Power frequency magnetic field immunity test
BS EN 61000-4-11:2004Electromagnetic compatibility (EMC). Testing and measurement techniques. Voltage dips, short interruptions and voltage variations immunity tests
EN 301489-17 V3.1.1ElectroMagnetic Compatibility (EMC) standard for radio equipment and services; Part 17: Specific conditions for Broadband Data Transmission Systems
EN 300328 V2.1.1Wideband transmission systems; Data transmission equipment operating in the 2.4 GHz ISM band and using wide band modulation techniques
EN 301893 V2.1.15 GHz RLAN
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Eva / Safety / Original Instructions
If you have purchased Automata products in the EU and are intending to discard these products at the end of their useful life, please do not dispose of them with your other household or municipal waste. Automata has labeled its branded electronic products with the WEEE Symbol (right) to alert our customers that products bearing this label should not be disposed of in a landfill or with mu-nicipal or household waste in the EU. Instead, please be aware that Automata is making a return and collection system available to you, free of transportation and recycling costs, for discarding these products.
EU Waste Electrical and Electronic Equipment (WEEE) Directive
In August 2005, the European Union implemented the EU WEEE Directive 2002/96/EC and later the WEEE Recast Directive 2012/19/EU, requiring producers of electronic and electrical equipment to manage and finance the collection, reuse, recycling and to appropriately treat WEEE that the producer places on the EU market after August 13, 2005.
The goal of this directive is to minimize the volume of electrical and electronic waste disposal and to encourage re-use and recycling at the end of life. When sent to landfill, WEEE decays over time, resulting in hazardous materials leaking into the environment and water supplies. WEEE Disposal also poses a number of health risks that need to be adequately managed. For example, exposure to substances released during processing (such as mercury released from fluorescent tubes, lead and phosphorous pentachloride as a result of breaking cathode ray tubes). Automata has met its obligations to the WEEE Directive by signing up to the UK’s Distributor Take Back Scheme. A tool to locate suitable recycling services in your area is available from https://www.recyclenow.com/local-recycling.
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Manufacturer’s Warranty
What this warranty covers
This manufacturer’s warranty is given by Automata Technologies Limited (“Automata”) and covers the robotic arm marketed under the brand name Eva (the “Robotic Arm”), including any original built-in software (“Choreograph”), together the “Product”.
This warranty applies to Products purchased within the UK and European Union only.
Subject to the terms and exclusions below, Automata warrants to the original purchaser of the Product (“you” or “your”) that for a period of 12 months from the date of delivery of the Product to you (the “Warranty Pe-riod”), the Product will be free from defects in materials and workmanship while used under normal conditions.
Where there is a defect in the Product during the Warranty Period, Automata, will, at its sole discretion, either: i) replace (or replace the rele-vant component of) the Product or ii) carry out repairs on the Product (or the relevant component), to resolve the defect. Any repaired or replaced Product will continue to be covered by this warranty for the remainder of the original Warranty Period.
Please ensure that you copy and backup any data stored on the Product prior to any repair or replacement. Automata will not be liable for any loss of or damage to any data stored on the Product as a result of any repair or replacement.
This manufacturer’s warranty does not affect any statutory rights which you may have under consumer protection legislation as the purchaser of the Product. The benefits provided by this manufacturer’s warranty are in addition to those rights, where applicable.
What this warranty does not cover
This warranty does not cover: (a) any installation or use which isn’t in accordance with the safety and reference manual provided (b) any software other than Choreograph, accessories, peripherals or other items that are used with the Product but are not manufactured by or for Automata
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(whether included with the Product at the time of purchase or not); (c) the Product if it has been resold or used for rental; (d) defects in the Prod-uct that are caused by accidental damage, your and/or any third party’s negligence, unreasonable use, continued use following identification of a defect, unauthorised modification, use of the Product otherwise than in accordance with the operating manual or any other instructions provided by Automata, computer viruses, or any other cause unrelated to defects in material and workmanship; (e) normal wear and tear of the parts; (f) the Product if it has been opened, modified or repaired by any person other than Automata or its authorised partner; (g) loss of or damage to any data stored on the Product; (h) services performed by any authorised partner or you relating to the Product (e.g. installation, configuration, software downloads).
Under this warranty, Automata is not liable for any special, indirect or consequential damages of any kind whatsoever, including but not limited to loss of profits or revenues, loss of use of the Product or any associated equipment, or loss of use during the period that the Product is being replaced or repaired. Nothing in this warranty isintended to exclude or limit Automata’s liability for death or personalinjury resulting from its negligence, fraud or fraudulent misrepresentation, or for breach of any of your statutory rights in relation to Product.
Making a warranty claim
To make a valid claim under this warranty, you must notify Automata of the defect in the Product within the Warranty Period and within 15 days of a defect becoming evident.
You must return the Product, together with a description of the defect and a copy of your proof of purchase, to Automata within 30 days of notifying Automata of that defect. If, having inspected the Product, Automata accepts that the Product is defective, Automata will (at its sole discretion) either repair or replace the Product as set out above without charge and refund your shipping costs of returning the Product to Automata. Ownership of any Products (or components) that have been returned or replaced will transfer to Automata.
For any queries please contact: [email protected]
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This warranty (and any non-contractual obligations arising out or in connection with it) is governed by the laws of your country of residence.Any court of competent jurisdiction in your country of residence will have exclusive jurisdiction for any dispute arising out of or in connection with this warranty.
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Automata Technologies LimitedUnit 4, Holford Yard
Bevin WayLondon WC1X 9HD
020 3603 [email protected]
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