8
C13UE001-1902
Content
1. TRANSPORTATION AND INSTALLATION .......................................................................... 10
1.1 TRANSPORTATION ....................................................................................................................... 10
1.2 INSTALLATION ............................................................................................................................. 19
1.3 CONNECTION WITH THE CONTROLLER ......................................................................................... 21
1.4 GROUNDING................................................................................................................................. 23
1.5 OPERATING AMBIENT CONDITIONS.............................................................................................. 23
1.6 STANDARD AND OPTIONAL EQUIPMENT LIST............................................................................... 24
2. BASIC SPECIFICATIONS........................................................................................................ 25
4.1 DESCRIPTION OF MODEL NAME ................................................................................................... 25
4.2 LABELS ........................................................................................................................................ 26
4.3 ROBOT SPECIFICATIONS ............................................................................................................... 28
4.4 OUTER DIMENSIONS AND MOTION RANGE .................................................................................. 30
4.5 WRIST LOAD CONDITIONS ........................................................................................................... 34
3. EQUIPMENT MOUNTING SURFACE AND INTERFACE .....................................................38
3.1 MOUNTING SURFACE FOR END EFFECTOR ................................................................................... 38
3.2 MOUNTING SURFACE ON THE ROBOT........................................................................................... 38
3.3 INTERFACE OF AIR SUPPLY .......................................................................................................... 41
3.4 R-I/O INTERFACE......................................................................................................................... 43
4. CALIBRATION ......................................................................................................................... 47
4.1 ZERO-POSITION SETTING ............................................................................................................. 47
5. MANUAL BRAKE RELEASE DEVICE (OPTIONAL) ............................................................ 51
5.1 SAFETY PRECAUTIONS ................................................................................................................. 51
5.2 CONFIRMATION BEFORE USING.................................................................................................... 52
5.3 OPERATION .................................................................................................................................. 54
6. MAINTENANCE AND INSPECTION ...................................................................................... 56
6.1 PERIODIC INSPECTION ITEMS ....................................................................................................... 56
6.2 MAINTENANCE ............................................................................................................................ 60
6.2.1 Backup Batteries Replacement .................................................................................................... 60
6.2.2 Timing Belt Replacement............................................................................................................ 61
6.2.3 Grease Replenishment ................................................................................................................. 65
