TABLE OF CONTENTS
RS series Rev.4 vii
RS3, RS4 Manipulator
1. Safety 3
1.1 Conventions.......................................................................................... 3
1.2 Design and Installation Safety.............................................................. 4
1.2.1 Strength of the Ball Screw Spline................................................. 5
1.3 Operation Safety .................................................................................. 5
1.4 Emergency Stop................................................................................... 7
1.5 Safeguard............................................................................................. 8
1.6 Emergency Movement Without Drive Power ....................................... 9
1.7 ACCELS Setting for CP Motions........................................................ 11
1.8 Warning Labels .................................................................................. 12
1.9 Response for Emergency or Malfunction........................................... 16
1.9.1 Collision ...................................................................................... 16
1.9.2 Getting body caught in Manipulator ........................................... 16
2. Specifications 17
2.1 Model Number.................................................................................... 17
2.2 Part Names and Outer Dimensions ................................................... 18
2.2.1 RS3-351* .................................................................................... 18
2.3.2 RS4-551* .................................................................................... 22
2.3 Specifications ..................................................................................... 26
2.4 How to Set the Model......................................................................... 26
3. Environments and Installation 27
3.1 Environmental Conditions .................................................................. 27
3.2 Base Table ......................................................................................... 28
3.3 Mounting Dimensions......................................................................... 32
3.4 Unpacking and Transportation........................................................... 33
3.5 Installation .......................................................................................... 34
3.5.1 Standard-model.......................................................................... 34
3.5.2 Cleanroom-model....................................................................... 35
3.6 Connecting the Cables....................................................................... 36
3.7 User Wires and Pneumatic Tubes ..................................................... 37
3.8 Relocation and Storage...................................................................... 38
3.8.1 Precautions for Relocation and Storage .................................... 38
3.8.2 Relocation procedure ................................................................. 39
4. Setting of End Effectors 40
4.1 Attaching an End Effector .................................................................. 40
4.2 Attaching Cameras and Air valves..................................................... 42
4.3 Weight and Inertia Settings ................................................................ 42
4.3.1 Weight Setting ............................................................................ 42
4.3.2 Inertia Setting ............................................................................. 44
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 48
