Table of Contents
C series Rev.2 vii
C4 Manipulator
1. Safety 3
1.1 Conventions............................................................................................3
1.2 Design and Installation Safety................................................................4
1.3 Operation Safety ....................................................................................5
1.4 Emergency Stop.....................................................................................6
1.5 Safeguard...............................................................................................8
1.6 How to Move Arms with the Electromagnetic Brake..............................9
1.6.1 Moving the Arm using the brake release unit...........................10
1.6.2 Moving the Arm using the software..........................................10
1.7 Precaution for Operation in Low Power Status....................................10
1.8 Warning Labels.....................................................................................11
1.9 Response for Emergency or Malfunction.............................................14
1.9.1 Collision ....................................................................................14
1.9.2 Getting body caught in Manipulator .........................................14
2. Specifications 15
2.1 Model Number......................................................................................15
2.2 Part Names and Motion Range of Each Arm.......................................16
2.3 Outer Dimensions.................................................................................17
2.3.1 C4-A601**.................................................................................17
2.3.2 C4-A901**.................................................................................18
2.4 Standard Motion Range .......................................................................19
2.4.1 C4-A601**.................................................................................19
2.4.2 C4-A901**.................................................................................20
2.5 Specifications .......................................................................................22
2.5.1 Specifications Table..................................................................22
2.5.2 Option .......................................................................................22
2.6 How to Set the Model...........................................................................22
3. Environment and Installation 23
3.1 Environmental Conditions ....................................................................23
3.2 Unpacking, Transportation, and Relocation.........................................24
3.3 Mounting Dimensions...........................................................................28
3.4 Installation ............................................................................................29
3.5 Connecting the Cables.........................................................................32
3.6 User Wires and Pneumatic Tubes........................................................33
3.7 Checking the Basic orientation.............................................................34
4. End Effectors 35
4.1 Attaching an End Effector.....................................................................35
4.2 Attaching Camera and Air Valves.........................................................36
4.3 WEIGHT and INERTIA Settings...........................................................38
4.3.1 WEIGHT setting........................................................................40
