Mitsubishi RP-1AH Series User manual

MITSUBISHI
Mitsubishi Industrial Robot
RP-1AH/3AH/5AH Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8111-A

All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
→Enforcement of safety training→Enforcement of safety training
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with theing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
power source turned ON.)power source turned ON.)
power source turned ON.)
→Preparation of work plan
→Preparation of work plan→Preparation of work plan
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
→Setting of emergency stop switch→Setting of emergency stop switch
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on theDuring teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turnedstart switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
ON.)ON.)
ON.)
→Indication of teaching work in progress
→Indication of teaching work in progress→Indication of teaching work in progress
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator andProvide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
robot.robot.
robot.
→Installation of safety fence
→Installation of safety fence→Installation of safety fence
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and followEstablish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and follow
this method.
this method.this method.
this method.
→Signaling of operation start
→Signaling of operation start→Signaling of operation start
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating
As a principle turn the power OFF during maintenance work. Place a sign indicatingAs a principle turn the power OFF during maintenance work. Place a sign indicating
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
that maintenance work is in progress on the start switch, etc.that maintenance work is in progress on the start switch, etc.
that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
→Indication of maintenance work in progress→Indication of maintenance work in progress
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other relatedBefore starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.
→Inspection before starting work
→Inspection before starting work→Inspection before starting work
→Inspection before starting work
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
Always read the following precautions and the separate
Always read the following precautions and the separateAlways read the following precautions and the separate
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
"Safety Manual" before starting use of the robot to learn the"Safety Manual" before starting use of the robot to learn the
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
required measures to be taken.required measures to be taken.
required measures to be taken.
Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do soUse the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noisecould lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
environment, etc.)environment, etc.)
environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting theTransport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from drop-
ping.
ping.ping.
ping.
Always use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could leadAlways use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
to positional deviation and vibration.to positional deviation and vibration.
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noiseWire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. FailureDo not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the ratedMake sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure toSecurely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or fliesobserve this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
off during operation.off during operation.
off during operation.
Securely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state couldIndicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure theWhen carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do soKeep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation beforeAfter editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so couldtion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so could
lead to personal injuries.
lead to personal injuries.lead to personal injuries.
lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designatedNever carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
maintenance parts.maintenance parts.
maintenance parts.
Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not placeWhen the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingershands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
catching depending on the posture.catching depending on the posture.
catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's mainDo not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
power OFF.power OFF.
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robotIf the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
accuracy could be adversely affected.accuracy could be adversely affected.
accuracy could be adversely affected.
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

C.Precautions for the basic configuration are shown below.(When CR1-571is used for the controller.)
C.Precautions for the basic configuration are shown below.(When CR1-571is used for the controller.)C.Precautions for the basic configuration are shown below.(When CR1-571is used for the controller.)
C.Precautions for the basic configuration are shown below.(When CR1-571is used for the controller.)
Provide an earth leakage breaker that packed together on the primary power
Provide an earth leakage breaker that packed together on the primary powerProvide an earth leakage breaker that packed together on the primary power
Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage.
supply of the controller as protection against electric leakage.supply of the controller as protection against electric leakage.
supply of the controller as protection against electric leakage.
Failure to do so could lead to electric shock accidents.
Failure to do so could lead to electric shock accidents.Failure to do so could lead to electric shock accidents.
Failure to do so could lead to electric shock accidents.
Note1)"NV-30-FAU" is available the input voltage to 90-132VAC, 170-253VAC.
Note1)"NV-30-FAU" is available the input voltage to 90-132VAC, 170-253VAC.Note1)"NV-30-FAU" is available the input voltage to 90-132VAC, 170-253VAC.
Note1)"NV-30-FAU" is available the input voltage to 90-132VAC, 170-253VAC.
CAUTION
CAUTIONCAUTION
CAUTION
Cover
CoverCover
Cover
Terminal cove
r
Terminal coverTerminal cove
r
Terminal cover
Power supply
Power supplyPower supply
Power supply
(Single phase 90 to 132VAC,
(Single phase 90 to 132VAC,(Single phase 90 to 132VAC,
(Single phase 90 to 132VAC,
or 170 to 253VAC)
or 170 to 253VAC)or 170 to 253VAC)
or 170 to 253VAC)
Rear side of controller
Rear side of controllerRear side of controller
Rear side of controller
Earth leakage
Earth leakageEarth leakage
Earth leakage
breaker
breakerbreaker
breaker
(NV)
(NV)(NV)
(NV)
Protective earth
Protective earthProtective earth
Protective earth
terminal
terminalterminal
terminal
(PE)
(PE)(PE)
(PE)
Cover
CoverCover
Cover
Terminal
TerminalTerminal
Terminal

Revision history
Revision historyRevision history
Revision history
Date of
Date ofDate of
Date of
Point
PointPoint
Point
Instruction
InstructionInstruction
Instruction
Manual No.
Manual No.Manual No.
Manual No. Revision Details
Revision DetailsRevision Details
Revision Details
2000-05-15
2000-05-152000-05-15
2000-05-15BFP-A8111Z
BFP-A8111ZBFP-A8111Z
BFP-A8111ZFirstprint
First printFirst print
First print
2000-06-15
2000-06-152000-06-15
2000-06-15BFP-A8111
BFP-A8111BFP-A8111
BFP-A8111Z-a
Z-aZ-a
Z-a Error in writing correction
Error in writing correctionError in writing correction
Error in writing correction
2000-06-30
2000-06-302000-06-30
2000-06-30 BFP-A8111
BFP-A8111BFP-A8111
BFP-A8111 Error in writing correction
Error in writing correctionError in writing correction
Error in writing correction
2000-07-12
2000-07-122000-07-12
2000-07-12BFP-A8111-A
BFP-A8111-ABFP-A8111-A
BFP-A8111-A Grease lubrication time change.
Grease lubrication time change.Grease lubrication time change.
Grease lubrication time change.
Note in the lubrication was added.
Note in the lubrication was added.Note in the lubrication was added.
Note in the lubrication was added.

■Introduction
■Introduction■Introduction
■Introduction
Thank you for purchasing the Mitsubishi industrial robot.
Thank you for purchasing the Mitsubishi industrial robot.Thank you for purchasing the Mitsubishi industrial robot.
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting
This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspectingThis instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting
This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting
the robot arm.
the robot arm.the robot arm.
the robot arm.
Always read through this manual before starting use to ensure correct usage of the robot.
Always read through this manual before starting use to ensure correct usage of the robot.Always read through this manual before starting use to ensure correct usage of the robot.
Always read through this manual before starting use to ensure correct usage of the robot.
・No part of this manual may be reproduced by any means or in any form, without prior consent from
・No part of this manual may be reproduced by any means or in any form, without prior consent from・No part of this manual may be reproduced by any means or in any form, without prior consent from
・No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
Mitsubishi.Mitsubishi.
Mitsubishi.
・The details of this manual are subject to change without notice.
・The details of this manual are subject to change without notice.・The details of this manual are subject to change without notice.
・The details of this manual are subject to change without notice.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
unclear points are found, please contact your dealer.unclear points are found, please contact your dealer.
unclear points are found, please contact your dealer.
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATIONCopyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION

CONTENTS
CONTENTSCONTENTS
CONTENTS
i
iii
Page
PagePage
Page
1
11
1Before starting use
Before starting useBefore starting use
Before starting use ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
....................................... 1-1
1-11-1
1-1
1.1
1.11.1
1.1Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................
....................
.......... 1-1
1-11-1
1-1
1.1.1
1.1.11.1.1
1.1.1The details of each instruction manuals
The details of each instruction manualsThe details of each instruction manuals
The details of each instruction manuals ...............................................................................................................
..............................................................................................................................................................................................................................
............................................................................................................... 1-1
1-11-1
1-1
1.1.2
1.1.21.1.2
1.1.2 Symbols used in instruction manual
Symbols used in instruction manualSymbols used in instruction manual
Symbols used in instruction manual .......................................................................................................................
..............................................................................................................................................................................................................................................
....................................................................................................................... 1-2
1-21-2
1-2
1.2
1.21.2
1.2 Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions ................................................................................................................................
................................................................................................................................................................................................................................................................
................................................................................................................................................................
................................................................
................................ 1-3
1-31-3
1-3
1.2.1
1.2.11.2.1
1.2.1Precautions given in the separate Safety Manual
Precautions given in the separate Safety ManualPrecautions given in the separate Safety Manual
Precautions given in the separate Safety Manual ............................................................................................
........................................................................................................................................................................................
............................................................................................ 1-4
1-41-4
1-4
2
22
2 Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................
........................................................
............................ 2-5
2-52-5
2-5
2.1
2.12.1
2.1Confirming the product
Confirming the productConfirming the product
Confirming the product ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................
................................................
........................ 2-5
2-52-5
2-5
2.2
2.22.2
2.2 Installation
InstallationInstallation
Installation ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................................
..................................................................................................
................................................. 2-6
2-62-6
2-6
2.2.1
2.2.12.2.1
2.2.1Unpacking
UnpackingUnpacking
Unpacking ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................
....................................................................................
.......................................... 2-6
2-62-6
2-6
2.2.2
2.2.22.2.2
2.2.2 Transportation procedures
Transportation proceduresTransportation procedures
Transportation procedures ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................
..................
......... 2-7
2-72-7
2-7
2.2.3
2.2.32.2.3
2.2.3 Installation procedures
Installation proceduresInstallation procedures
Installation procedures ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................
..................................
................. 2-8
2-82-8
2-8
2.2.4
2.2.42.2.4
2.2.4 Grounding procedures
Grounding proceduresGrounding procedures
Grounding procedures ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................
..............................
............... 2-10
2-102-10
2-10
(1)
(1)(1)
(1) Grounding methods
Grounding methodsGrounding methods
Grounding methods ................................................................................................................................
................................................................................................................................................................................................................................................................
................................................................................................................................................
................................
................ 2-10
2-102-10
2-10
(2)
(2)(2)
(2) Grounding procedures
Grounding proceduresGrounding procedures
Grounding procedures ................................................................................................................................
................................................................................................................................................................................................................................................................
...........................................................................................................................................
......................
........... 2-10
2-102-10
2-10
2.2.5
2.2.52.2.5
2.2.5 Connecting with the controller
Connecting with the controllerConnecting with the controller
Connecting with the controller ..............................................................................................................................
............................................................................................................................................................................................................................................................
.............................................................................................................................. 2-11
2-112-11
2-11
2.3
2.32.3
2.3 Setting the origin
Setting the originSetting the origin
Setting the origin ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
................................. 2-12
2-122-12
2-12
2.3.1
2.3.12.3.1
2.3.1Installing the teaching pendant (T/B)
Installing the teaching pendant (T/B)Installing the teaching pendant (T/B)
Installing the teaching pendant (T/B) .................................................................................................................
..................................................................................................................................................................................................................................
................................................................................................................. 2-12
2-122-12
2-12
(1)
(1)(1)
(1) Installing with the control power OFF
Installing with the control power OFFInstalling with the control power OFF
Installing with the control power OFF ............................................................................................................
........................................................................................................................................................................................................................
............................................................................................................ 2-12
2-122-12
2-12
2.3.2
2.3.22.3.2
2.3.2 Setting the origin with the origin data input method
Setting the origin with the origin data input methodSetting the origin with the origin data input method
Setting the origin with the origin data input method ....................................................................................
........................................................................................................................................................................
.................................................................................... 2-13
2-132-13
2-13
(1)
(1)(1)
(1) Confirming the origin data
Confirming the origin dataConfirming the origin data
Confirming the origin data ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................
......
... 2-13
2-132-13
2-13
(2)
(2)(2)
(2) Turning ON the control power
Turning ON the control powerTurning ON the control power
Turning ON the control power ...........................................................................................................................
......................................................................................................................................................................................................................................................
........................................................................................................................... 2-13
2-132-13
2-13
(3)
(3)(3)
(3) Preparing the T/B
Preparing the T/BPreparing the T/B
Preparing the T/B ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 2-14
2-142-14
2-14
(4)
(4)(4)
(4) Selecting the origin setting method
Selecting the origin setting methodSelecting the origin setting method
Selecting the origin setting method ................................................................................................................
................................................................................................................................................................................................................................
................................................................................................................ 2-15
2-152-15
2-15
(5)
(5)(5)
(5) Inputting the origin data
Inputting the origin dataInputting the origin data
Inputting the origin data ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................
..............
....... 2-16
2-162-16
2-16
(6)
(6)(6)
(6) Installing the battery cover
Installing the battery coverInstalling the battery cover
Installing the battery cover ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................
... 2-17 2-172-17
2-17
2.4
2.42.4
2.4 Confirming the operation
Confirming the operationConfirming the operation
Confirming the operation ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................
..................................
................. 2-18
2-182-18
2-18
(1)
(1)(1)
(1) Joint jog operation
Joint jog operationJoint jog operation
Joint jog operation ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 2-21
2-212-21
2-21
(2)
(2)(2)
(2) XYZ jog operation
XYZ jog operationXYZ jog operation
XYZ jog operation ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................
......................................
................... 2-23
2-232-23
2-23
(3)
(3)(3)
(3) Tool jog operation
Tool jog operationTool jog operation
Tool jog operation ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................
......................................
................... 2-25
2-252-25
2-25
(4)
(4)(4)
(4) 3-axis XYZ jog operation
3-axis XYZ jog operation3-axis XYZ jog operation
3-axis XYZ jog operation ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................
..........
..... 2-27
2-272-27
2-27
(5)
(5)(5)
(5) Cylindrical jog operation
Cylindrical jog operationCylindrical jog operation
Cylindrical jog operation ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................
..............
....... 2-29
2-292-29
2-29
3
33
3 Installing the option devices
Installing the option devicesInstalling the option devices
Installing the option devices ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 3-31
3-313-31
3-31
3.1
3.13.1
3.1Installing the solenoid valve set
Installing the solenoid valve setInstalling the solenoid valve set
Installing the solenoid valve set (1A-VD04-RP
(1A-VD04-RP(1A-VD04-RP
(1A-VD04-RP/1A-VD04
/1A-VD04/1A-VD04
/1A-VD04E
EE
E-PR
-PR-PR
-PR)
))
) ...................................................................
......................................................................................................................................
................................................................... 3-31
3-313-31
3-31
4
44
4 Basic operations
Basic operationsBasic operations
Basic operations ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................
..................................................................................
......................................... 4-33
4-334-33
4-33
5
55
5 Maintenance and Inspection
Maintenance and InspectionMaintenance and Inspection
Maintenance and Inspection ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 5-35
5-355-35
5-35
5.1
5.15.1
5.1Maintenance and inspection interval
Maintenance and inspection intervalMaintenance and inspection interval
Maintenance and inspection interval ..........................................................................................................................
....................................................................................................................................................................................................................................................
.......................................................................................................................... 5-35
5-355-35
5-35
5.2
5.25.2
5.2 Inspection items
Inspection itemsInspection items
Inspection items ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
.................................. 5-36
5-365-36
5-36
5.2.1
5.2.15.2.1
5.2.1Daily inspection items
Daily inspection itemsDaily inspection items
Daily inspection items ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................
..............................
............... 5-36
5-365-36
5-36
5.2.2
5.2.25.2.2
5.2.2 Periodic inspection
Periodic inspectionPeriodic inspection
Periodic inspection ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................
..........................................
..................... 5-37
5-375-37
5-37
5.3
5.35.3
5.3 Maintenance and inspection procedures
Maintenance and inspection proceduresMaintenance and inspection procedures
Maintenance and inspection procedures ...................................................................................................................
......................................................................................................................................................................................................................................
................................................................................................................... 5-38
5-385-38
5-38
5.3.1
5.3.15.3.1
5.3.1Robot arm structure
Robot arm structureRobot arm structure
Robot arm structure ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 5-38
5-385-38
5-38
5.3.2
5.3.25.3.2
5.3.2 Installing/removing the cover
Installing/removing the coverInstalling/removing the cover
Installing/removing the cover ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................
... 5-40 5-405-40
5-40
5.3.3
5.3.35.3.3
5.3.3 Inspecting, servicing, replacing and cleaning the timing belt
Inspecting, servicing, replacing and cleaning the timing beltInspecting, servicing, replacing and cleaning the timing belt
Inspecting, servicing, replacing and cleaning the timing belt .....................................................................
..........................................................................................................................................
..................................................................... 5-42
5-425-42
5-42
(1)
(1)(1)
(1) Timing belt replacement period
Timing belt replacement periodTiming belt replacement period
Timing belt replacement period .........................................................................................................................
..................................................................................................................................................................................................................................................
......................................................................................................................... 5-42
5-425-42
5-42
(2)
(2)(2)
(2) Inspecting, adjusting and replacing the upper base timing belt
Inspecting, adjusting and replacing the upper base timing beltInspecting, adjusting and replacing the upper base timing belt
Inspecting, adjusting and replacing the upper base timing belt ...........................................................
......................................................................................................................
........................................................... 5-43
5-435-43
5-43
(3)
(3)(3)
(3) Inspecting, adjusting and replacing the lower base timing belt
Inspecting, adjusting and replacing the lower base timing beltInspecting, adjusting and replacing the lower base timing belt
Inspecting, adjusting and replacing the lower base timing belt ............................................................
........................................................................................................................
............................................................ 5-44
5-445-44
5-44
(4)
(4)(4)
(4) Inspecting, adjusting and replacing the timing belt in No. 1arm
Inspecting, adjusting and replacing the timing belt in No. 1armInspecting, adjusting and replacing the timing belt in No. 1arm
Inspecting, adjusting and replacing the timing belt in No. 1arm .........................................................
..................................................................................................................
......................................................... 5-45
5-455-45
5-45
(5)
(5)(5)
(5) Timing belt tension
Timing belt tensionTiming belt tension
Timing belt tension ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................
..................................
................. 5-48
5-485-48
5-48
5.3.4
5.3.45.3.4
5.3.4 Lubrication
LubricationLubrication
Lubrication ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................
..........................................................................
..................................... 5-49
5-495-49
5-49
(1)
(1)(1)
(1) Lubrication positions and specifications
Lubrication positions and specificationsLubrication positions and specifications
Lubrication positions and specifications .......................................................................................................
..............................................................................................................................................................................................................
....................................................................................................... 5-49
5-495-49
5-49
(2)
(2)(2)
(2) Lubrication method
Lubrication methodLubrication method
Lubrication method of J1, J2 axis reduction gears
of J1, J2 axis reduction gearsof J1, J2 axis reduction gears
of J1, J2 axis reduction gears ..................................................................................
....................................................................................................................................................................
.................................................................................. 5-50
5-505-50
5-50

ii
iiii
ii
Page
PagePage
Page
(3)
(3)(3)
(3) Lubrication method
Lubrication methodLubrication method
Lubrication method of ball screw spline(RP-1AH/3AH/5AH)
of ball screw spline(RP-1AH/3AH/5AH)of ball screw spline(RP-1AH/3AH/5AH)
of ball screw spline(RP-1AH/3AH/5AH) ..............................................................
............................................................................................................................
.............................................................. 5-50
5-505-50
5-50
(4)
(4)(4)
(4) Lubrication method
Lubrication methodLubrication method
Lubrication method of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB)
of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB)of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB)
of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB) ..........................
....................................................
.......................... 5-50
5-505-50
5-50
5.3.5
5.3.55.3.5
5.3.5 Replacing the backup battery
Replacing the backup batteryReplacing the backup battery
Replacing the backup battery ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................
... 5-51 5-515-51
5-51
(1)
(1)(1)
(1) Replacing the robot arm battery
Replacing the robot arm batteryReplacing the robot arm battery
Replacing the robot arm battery .......................................................................................................................
..............................................................................................................................................................................................................................................
....................................................................................................................... 5-51
5-515-51
5-51
5.4
5.45.4
5.4 Maintenance parts
Maintenance partsMaintenance parts
Maintenance parts ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
.............................. 5-53
5-535-53
5-53
5.5
5.55.5
5.5 Resetting the origin
Resetting the originResetting the origin
Resetting the origin ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................
........................................................
............................ 5-55
5-555-55
5-55
5.5.1
5.5.15.5.1
5.5.1Jig method
Jig methodJig method
Jig method ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
...................................... 5-55
5-555-55
5-55
5.5.2
5.5.25.5.2
5.5.2 User origin method
User origin methodUser origin method
User origin method ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................
............................................
...................... 5-58
5-585-58
5-58
5.5.3
5.5.35.5.3
5.5.3 Recording the origin data
Recording the origin dataRecording the origin data
Recording the origin data ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................
..................
......... 5-59
5-595-59
5-59

1
11
1Before starting use
Before starting useBefore starting use
Before starting use
Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals 1-1
1-11-1
1-1
1Before starting use
1Before starting use1Before starting use
1Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and theThis chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
safety precautions.
safety precautions.safety precautions.
safety precautions.
1.1Using the instruction manuals
1.1Using the instruction manuals1.1Using the instruction manuals
1.1Using the instruction manuals
1.1.1The details of each instruction manuals
1.1.1The details of each instruction manuals1.1.1The details of each instruction manuals
1.1.1The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
The contents and purposes of the documents enclosed with this product are shown below. Use these documentsThe contents and purposes of the documents enclosed with this product are shown below. Use these documents
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
according to the application.according to the application.
according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
For special specifications, a separate instruction manual describing the special section may be enclosed.For special specifications, a separate instruction manual describing the special section may be enclosed.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for robot handling,
Explains the common precautions and safety measures to be taken for robot handling,Explains the common precautions and safety measures to be taken for robot handling,
Explains the common precautions and safety measures to be taken for robot handling,
system design and manufacture to ensure safety of the operators involved with the robot.
system design and manufacture to ensure safety of the operators involved with the robot.system design and manufacture to ensure safety of the operators involved with the robot.
system design and manufacture to ensure safety of the operators involved with the robot.
Explains the product's standard specifications, factory-set special specifications, option
Explains the product's standard specifications, factory-set special specifications, optionExplains the product's standard specifications, factory-set special specifications, option
Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc. Precautions for safety and technology, when
configuration and maintenance parts, etc. Precautions for safety and technology, whenconfiguration and maintenance parts, etc. Precautions for safety and technology, when
configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.
incorporating the robot, are also explained.incorporating the robot, are also explained.
incorporating the robot, are also explained.
Explains the procedures required to operate the robot arm (unpacking, transportation,
Explains the procedures required to operate the robot arm (unpacking, transportation,Explains the procedures required to operate the robot arm (unpacking, transportation,
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
installation, confirmation of operation), and the maintenance and inspection procedures.installation, confirmation of operation), and the maintenance and inspection procedures.
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
Explains the procedures required to operate the controller (unpacking, transportation,Explains the procedures required to operate the controller (unpacking, transportation,
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to
installation, confirmation of operation), basic operation from creating the program toinstallation, confirmation of operation), basic operation from creating the program to
installation, confirmation of operation), basic operation from creating the program to
automatic operation, and the maintenance and inspection procedures.
automatic operation, and the maintenance and inspection procedures.automatic operation, and the maintenance and inspection procedures.
automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation,
Explains details on the functions and operations such as each function and operation,Explains details on the functions and operations such as each function and operation,
Explains details on the functions and operations such as each function and operation,
commands used in the program, connection with the external input/output device, and
commands used in the program, connection with the external input/output device, andcommands used in the program, connection with the external input/output device, and
commands used in the program, connection with the external input/output device, and
parameters, etc.
parameters, etc.parameters, etc.
parameters, etc.
Explains details on the MOVEMASTER commands used in the program.
Explains details on the MOVEMASTER commands used in the program.Explains details on the MOVEMASTER commands used in the program.
Explains details on the MOVEMASTER commands used in the program.
(For RV-1A/2AJ series)
(For RV-1A/2AJ series)(For RV-1A/2AJ series)
(For RV-1A/2AJ series)
Explains the causes and remedies to be taken when an error occurs. Explanations are given
Explains the causes and remedies to be taken when an error occurs. Explanations are givenExplains the causes and remedies to be taken when an error occurs. Explanations are given
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
for each error No.for each error No.
for each error No.
Safety Manual
Safety ManualSafety Manual
Safety Manual
Standard
StandardStandard
Standard
Specifications
SpecificationsSpecifications
Specifications
Robot Arm
Robot ArmRobot Arm
Robot Arm
Setup to Main
Setup to MainSetup to Main
Setup to Main-
tenance
tenancetenance
tenance
Controller
ControllerController
Controller
Setup, Basic
Setup, BasicSetup, Basic
Setup, Basic
Operation to
Operation toOperation to
Operation to
Maintenance
MaintenanceMaintenance
Maintenance
Explanation of
Explanation ofExplanation of
Explanation of
Functions and
Functions andFunctions and
Functions and
Operations
OperationsOperations
Operations
Explanations of
Explanations ofExplanations of
Explanations of
MOVEMASTER
MOVEMASTERMOVEMASTER
MOVEMASTER
COMMANDS
COMMANDSCOMMANDS
COMMANDS
Troubleshoot
TroubleshootTroubleshoot
Troubleshoot-
ing
inging
ing

1-2
1-21-2
1-2 Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals
1
11
1Before starting use
Before starting useBefore starting use
Before starting use
1.1.2 Symbols used in instruction manual
1.1.2 Symbols used in instruction manual1.1.2 Symbols used in instruction manual
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning ofThe symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
these symbols before reading this instruction manual.
these symbols before reading this instruction manual.these symbols before reading this instruction manual.
these symbols before reading this instruction manual.
Table 1-1：Symbols in instruction manual
Table 1-1：Symbols in instruction manualTable 1-1：Symbols in instruction manual
Table 1-1：Symbols in instruction manual
Symbol
SymbolSymbol
Symbol Meaning
MeaningMeaning
Meaning
Precaution indicating cases where there is a risk of operator fatality or seri
Precaution indicating cases where there is a risk of operator fatality or seriPrecaution indicating cases where there is a risk of operator fatality or seri
Precaution indicating cases where there is a risk of operator fatality or seri-
ous injury if handling is mistaken. Always observe these precautions to safely
ous injury if handling is mistaken. Always observe these precautions to safelyous injury if handling is mistaken. Always observe these precautions to safely
ous injury if handling is mistaken. Always observe these precautions to safely
use the robot.
use the robot.use the robot.
use the robot.
Precaution indicating cases where the operator could be subject to fatalities
Precaution indicating cases where the operator could be subject to fatalitiesPrecaution indicating cases where the operator could be subject to fatalities
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions
or serious injuries if handling is mistaken. Always observe these precautionsor serious injuries if handling is mistaken. Always observe these precautions
or serious injuries if handling is mistaken. Always observe these precautions
to safely use the robot.
to safely use the robot.to safely use the robot.
to safely use the robot.
Precaution indicating cases where operator could be subject to injury or
Precaution indicating cases where operator could be subject to injury orPrecaution indicating cases where operator could be subject to injury or
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
physical damage could occur if handling is mistaken. Always observe thesephysical damage could occur if handling is mistaken. Always observe these
physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.
precautions to safely use the robot.precautions to safely use the robot.
precautions to safely use the robot.
［JOINT ］
［JOINT ］［ JOINT ］
［JOINT ］If a word is enclosed in brackets or a box in the text, this refers to a key on
If a word is enclosed in brackets or a box in the text, this refers to a key onIf a word is enclosed in brackets or a box in the text, this refers to a key on
If a word is enclosed in brackets or a box in the text, this refers to a key on
the teaching pendant.
the teaching pendant.the teaching pendant.
the teaching pendant.
［＋／ＦＯＲＷＤ］＋［＋Ｘ］
［＋／ＦＯＲＷＤ］＋［＋Ｘ］［＋／ＦＯＲＷＤ］＋［＋Ｘ］
［＋／ＦＯＲＷＤ］＋［＋Ｘ］
（Ａ） （Ｂ）
（Ａ） （Ｂ）（Ａ） （Ｂ）
（Ａ） （Ｂ）
This indicates to press the (B) key while holding down the (A) key.
This indicates to press the (B) key while holding down the (A) key.This indicates to press the (B) key while holding down the (A) key.
This indicates to press the (B) key while holding down the (A) key.
In this example, the [+/Forward] key is pressed while holding down the [+X/
In this example, the [+/Forward] key is pressed while holding down the [+X/In this example, the [+/Forward] key is pressed while holding down the [+X/
In this example, the [+/Forward] key is pressed while holding down the [+X/
+Y] key.
+Y] key.+Y] key.
+Y] key.
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
（Ａ） （Ｂ） （Ｃ）
（Ａ） （Ｂ） （Ｃ）（Ａ） （Ｂ） （Ｃ）
（Ａ） （Ｂ） （Ｃ）
This indicates to hold down the (A) key, press and release the (B) key, and
This indicates to hold down the (A) key, press and release the (B) key, andThis indicates to hold down the (A) key, press and release the (B) key, and
This indicates to hold down the (A) key, press and release the (B) key, and
then press the (C) key. In this example, the [Step/Move] key is held down, the
then press the (C) key. In this example, the [Step/Move] key is held down, thethen press the (C) key. In this example, the [Step/Move] key is held down, the
then press the (C) key. In this example, the [Step/Move] key is held down, the
[Condition] key is pressed and released, and the [Replace ↓key is pressed.
[Condition] key is pressed and released, and the [Replace ↓key is pressed.[Condition] key is pressed and released, and the [Replace ↓key is pressed.
[Condition] key is pressed and released, and the [Replace ↓key is pressed.
Ｔ／Ｂ
Ｔ／ＢＴ／Ｂ
Ｔ／Ｂ This indicates the teaching pendant.
This indicates the teaching pendant.This indicates the teaching pendant.
This indicates the teaching pendant.
DANGER
DANGERDANGER
DANGER
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

1
11
1Before starting use
Before starting useBefore starting use
Before starting use
Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions 1-3
1-31-3
1-3
1.2 Safety Precautions
1.2 Safety Precautions1.2 Safety Precautions
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learnAlways read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
the required measures to be taken.
the required measures to be taken.the required measures to be taken.
the required measures to be taken.
All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
→Enforcement of safety training→Enforcement of safety training
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with theing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
power source turned ON.)power source turned ON.)
power source turned ON.)
→Preparation of work plan
→Preparation of work plan→Preparation of work plan
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
→Setting of emergency stop switch→Setting of emergency stop switch
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on theDuring teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turnedstart switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
ON.)ON.)
ON.)
→Indication of teaching work in progress
→Indication of teaching work in progress→Indication of teaching work in progress
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator andProvide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
robot.robot.
robot.
→Installation of safety fence
→Installation of safety fence→Installation of safety fence
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and followEstablish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and follow
this method.
this method.this method.
this method.
→Signaling of operation start
→Signaling of operation start→Signaling of operation start
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating
As a principle turn the power OFF during maintenance work. Place a sign indicatingAs a principle turn the power OFF during maintenance work. Place a sign indicating
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
that maintenance work is in progress on the start switch, etc.that maintenance work is in progress on the start switch, etc.
that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
→Indication of maintenance work in progress→Indication of maintenance work in progress
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other relatedBefore starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.
→Inspection before starting work
→Inspection before starting work→Inspection before starting work
→Inspection before starting work
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
DANGER
DANGERDANGER
DANGER
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION

1-4
1-41-4
1-4 Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions
1
11
1Before starting use
Before starting useBefore starting use
Before starting use
1.2.1Precautions given in the separate Safety Manual
1.2.1Precautions given in the separate Safety Manual1.2.1Precautions given in the separate Safety Manual
1.2.1Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do soUse the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noisecould lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
environment, etc.)environment, etc.)
environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting theTransport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from drop-
ping.
ping.ping.
ping.
Always use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could leadAlways use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
to positional deviation and vibration.to positional deviation and vibration.
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noiseWire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. FailureDo not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the ratedMake sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure toSecurely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or fliesobserve this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
off during operation.off during operation.
off during operation.
Securely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state couldIndicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure theWhen carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do soKeep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation beforeAfter editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so couldtion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so could
lead to personal injuries.
lead to personal injuries.lead to personal injuries.
lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designatedNever carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
maintenance parts.maintenance parts.
maintenance parts.
Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not placeWhen the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingershands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
catching depending on the posture.catching depending on the posture.
catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's mainDo not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
power OFF.power OFF.
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robotIf the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
accuracy could be adversely affected.accuracy could be adversely affected.
accuracy could be adversely affected.
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
Confirming the product
Confirming the productConfirming the product
Confirming the product 2-
2-2-
2-5
55
5
2 Unpacking to Installation
2 Unpacking to Installation2 Unpacking to Installation
2 Unpacking to Installation
2.1Confirming the product
2.1Confirming the product2.1Confirming the product
2.1Confirming the product
The standard configuration of the robot arm section, part of the purchased product, is shown in Table 2-1.
The standard configuration of the robot arm section, part of the purchased product, is shown in Table 2-1.The standard configuration of the robot arm section, part of the purchased product, is shown in Table 2-1.
The standard configuration of the robot arm section, part of the purchased product, is shown in Table 2-1.
Confirm the parts.
Confirm the parts.Confirm the parts.
Confirm the parts.
Users who have purchased optional products should refer to the separate "RP-1AH/3AH/5AH
Users who have purchased optional products should refer to the separate "RP-1AH/3AH/5AHUsers who have purchased optional products should refer to the separate "RP-1AH/3AH/5AH
Users who have purchased optional products should refer to the separate "RP-1AH/3AH/5AH Series
SeriesSeries
Series Standard
StandardStandard
Standard
Specifications".
Specifications".Specifications".
Specifications".
Table 2-1：Standard configuration
Table 2-1：Standard configurationTable 2-1：Standard configuration
Table 2-1：Standard configuration
No.
No.No.
No. Part name
Part namePart name
Part name Type
TypeType
Type
Qty. according to type-identifier
Qty. according to type-identifierQty. according to type-identifier
Qty. according to type-identifier
Remarks
RemarksRemarks
Remarks
RP-1AH/
RP-1AH/RP-1AH/
RP-1AH/
1AHC-SB
1AHC-SB1AHC-SB
1AHC-SB
RP-
RP-RP-
RP-3
33
3AH/
AH/AH/
AH/
3AHC-SB
3AHC-SB3AHC-SB
3AHC-SB
RP-
RP-RP-
RP-5
55
5AH/
AH/AH/
AH/
5
55
5AHC-SB
AHC-SBAHC-SB
AHC-SB
1
11
1Robot arm
Robot armRobot arm
Robot arm RP-1AH/1AHC-SB,
RP-1AH/1AHC-SB,RP-1AH/1AHC-SB,
RP-1AH/1AHC-SB,
RP-3AH/3AHC-SB,
RP-3AH/3AHC-SB,RP-3AH/3AHC-SB,
RP-3AH/3AHC-SB,
または
またはまたは
または
RP-5AH/5AHC-SB
RP-5AH/5AHC-SBRP-5AH/5AHC-SB
RP-5AH/5AHC-SB
Either one unit
Either one unitEither one unit
Either one unit
2
22
2 Guarantee card
Guarantee cardGuarantee card
Guarantee card 1copy
1copy1copy
1copy
3
33
3 Installation bolts
Installation boltsInstallation bolts
Installation bolts M6 x 35
M6 x 35M6 x 35
M6 x 35 4 pcs.
4 pcs.4 pcs.
4 pcs. -
--
-
M8 x 45
M8 x 45M8 x 45
M8 x 45 -
--
- 4 pcs.
4 pcs.4 pcs.
4 pcs.
4
44
4Springwasherfor
Spring washer forSpring washer for
Spring washer for
installation bolts
installation boltsinstallation bolts
installation bolts
For M6
For M6For M6
For M6 4 pcs.
4 pcs.4 pcs.
4 pcs. -
--
-
For M8
For M8For M8
For M8 -
--
- 4 pcs.
4 pcs.4 pcs.
4 pcs.
5
55
5 Insulock tie
Insulock tieInsulock tie
Insulock tie SKB-1M
SKB-1MSKB-1M
SKB-1M2pcs.
2 pcs.2 pcs.
2 pcs.
6
66
6 Arm fixing plates
Arm fixing platesArm fixing plates
Arm fixing plates Transportation jigs A
Transportation jigs ATransportation jigs A
Transportation jigs A 1pc.
1pc.1pc.
1pc. -
--
-
Transportation jigs B
Transportation jigs BTransportation jigs B
Transportation jigs B 2 pcs.
2 pcs.2 pcs.
2 pcs.
Transportation jigs D
Transportation jigs DTransportation jigs D
Transportation jigs D -
--
-1pc.
1pc.1pc.
1pc.
7
77
7 Arm fixing plate instal
Arm fixing plate instalArm fixing plate instal
Arm fixing plate instal-
lation bolt
lation boltlation bolt
lation bolt
M4 x 12
M4 x 12M4 x 12
M4 x 122pcs.
2 pcs.2 pcs.
2 pcs. -
--
- For fixing transportation jig A
For fixing transportation jig AFor fixing transportation jig A
For fixing transportation jig A
M3 x 14
M3 x 14M3 x 14
M3 x 142pcs.
2 pcs.2 pcs.
2 pcs. For fixing transportation jig B
For fixing transportation jig BFor fixing transportation jig B
For fixing transportation jig B
M4 x 14
M4 x 14M4 x 14
M4 x 14-
--
-2pcs.
2 pcs.2 pcs.
2 pcs. For fixing transportation jig D
For fixing transportation jig DFor fixing transportation jig D
For fixing transportation jig D

2
22
2-
--
-6
66
6 Installation
InstallationInstallation
Installation
2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
2.2 Installation
2.2 Installation2.2 Installation
2.2 Installation
2.2.1Unpacking
2.2.1Unpacking2.2.1Unpacking
2.2.1Unpacking
Fig.2-1：Unpacking the robot arm
Fig.2-1：Unpacking the robot armFig.2-1：Unpacking the robot arm
Fig.2-1：Unpacking the robot arm
The robot is shipped from the factory in cardboard packaging. Refer to Table 2-1and unpack the robot. Handle
The robot is shipped from the factory in cardboard packaging. Refer to Table 2-1and unpack the robot. HandleThe robot is shipped from the factory in cardboard packaging. Refer to Table 2-1and unpack the robot. Handle
The robot is shipped from the factory in cardboard packaging. Refer to Table 2-1and unpack the robot. Handle
the robot arm following "2.2.2Transportation procedures".
the robot arm following "2.2.2Transportation procedures".the robot arm following "2.2.2Transportation procedures".
the robot arm following "2.2.2Transportation procedures".
Upper fixing material
Manuals, etc.
Connector box retainer
Connector box
Robot arm

2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
Installation
InstallationInstallation
Installation 2-
2-2-
2-7
77
7
2.2.2 Transportation procedures
2.2.2 Transportation procedures2.2.2 Transportation procedures
2.2.2 Transportation procedures
Fig.2-2 ：Transportation posture, transportation method, and fixing positions
Fig.2-2 ：Transportation posture, transportation method, and fixing positionsFig.2-2 ：Transportation posture, transportation method, and fixing positions
Fig.2-2 ：Transportation posture, transportation method, and fixing positions
1)
1)1)
1) Open the cardboard box, and remove the cushioning material fixing the robot arm and connector box.
Open the cardboard box, and remove the cushioning material fixing the robot arm and connector box.Open the cardboard box, and remove the cushioning material fixing the robot arm and connector box.
Open the cardboard box, and remove the cushioning material fixing the robot arm and connector box.
2) When transporting the robot, leave the transportation jigs A and B in place to protect the arm from external
2) When transporting the robot, leave the transportation jigs A and B in place to protect the arm from external2) When transporting the robot, leave the transportation jigs A and B in place to protect the arm from external
2) When transporting the robot, leave the transportation jigs A and B in place to protect the arm from external
force. Three workers must transport the robot for safety purposes.
force. Three workers must transport the robot for safety purposes.force. Three workers must transport the robot for safety purposes.
force. Three workers must transport the robot for safety purposes.
As shown in "Fig. 2-2Transportation posture, transportation method, and fixing positions", one worker
As shown in "Fig. 2-2Transportation posture, transportation method, and fixing positions", one workerAs shown in "Fig. 2-2Transportation posture, transportation method, and fixing positions", one worker
As shown in "Fig. 2-2Transportation posture, transportation method, and fixing positions", one worker
must hold the handle on the robot arm base, another worker must hold the robot arm, and a third worker
must hold the handle on the robot arm base, another worker must hold the robot arm, and a third workermust hold the handle on the robot arm base, another worker must hold the robot arm, and a third worker
must hold the handle on the robot arm base, another worker must hold the robot arm, and a third worker
must hold the connector box.
must hold the connector box.must hold the connector box.
must hold the connector box.
To prevent accidents, do not hold the axis section on the end of the robot, or pull the
To prevent accidents, do not hold the axis section on the end of the robot, or pull theTo prevent accidents, do not hold the axis section on the end of the robot, or pull the
To prevent accidents, do not hold the axis section on the end of the robot, or pull the
cables.
cables.cables.
cables.
3) Avoid applying vibration or impact when transferring the robot to the installation place.
3) Avoid applying vibration or impact when transferring the robot to the installation place.3) Avoid applying vibration or impact when transferring the robot to the installation place.
3) Avoid applying vibration or impact when transferring the robot to the installation place.
4) Remove the transportation jigs A and B after installing at the installation place. Always remove
4) Remove the transportation jigs A and B after installing at the installation place. Always remove4) Remove the transportation jigs A and B after installing at the installation place. Always remove
4) Remove the transportation jigs A and B after installing at the installation place. Always remove
transportation jigs A and B before starting the robot operation.
transportation jigs A and B before starting the robot operation.transportation jigs A and B before starting the robot operation.
transportation jigs A and B before starting the robot operation.
5) Use the same transportation procedures described above during secondary transportation, such as when
5) Use the same transportation procedures described above during secondary transportation, such as when5) Use the same transportation procedures described above during secondary transportation, such as when
5) Use the same transportation procedures described above during secondary transportation, such as when
changing the installation place. If the arm section is lifted without using the designated transportation jigs, or
changing the installation place. If the arm section is lifted without using the designated transportation jigs, orchanging the installation place. If the arm section is lifted without using the designated transportation jigs, or
changing the installation place. If the arm section is lifted without using the designated transportation jigs, or
if the robot is transferred in the work posture, hazards could occur during the transportation work, such as
if the robot is transferred in the work posture, hazards could occur during the transportation work, such asif the robot is transferred in the work posture, hazards could occur during the transportation work, such as
if the robot is transferred in the work posture, hazards could occur during the transportation work, such as
the configuration devices being damaged or the center of gravity position being deviated.
the configuration devices being damaged or the center of gravity position being deviated.the configuration devices being damaged or the center of gravity position being deviated.
the configuration devices being damaged or the center of gravity position being deviated.
Transportation jig A (RP-1AH/1AHC-SB)
Transportation jig A fixing bolt M4×1 2
M3 ×14
Base handle
(1st worker)
Connector box
(3rd worker)
Transportation jig B
Support for transportation
(2nd worker)
Transportation jig B fixing bolt
The robot must be
The robot must beThe robot must be
The robot must be
transported by three
transported by threetransported by three
transported by three
workers as shown in
workers as shown inworkers as shown in
workers as shown in
the drawing.
the drawing.the drawing.
the drawing.
Other transportation
Other transportationOther transportation
Other transportation
methods could cause
methods could causemethods could cause
methods could cause
the robot arm to tilt
the robot arm to tiltthe robot arm to tilt
the robot arm to tilt
over or drop.
over or drop.over or drop.
over or drop.
CAUTION
Transportation jig D fixing bolt M4×1 2
Transportation jig D (RP-3AH/3AHC-SB/5AH/5AHC-SB)
CAUTION
CAUTIONCAUTION
CAUTION

2
22
2-
--
-8
88
8 Installation
InstallationInstallation
Installation
2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
2.2.3 Installation procedures
2.2.3 Installation procedures2.2.3 Installation procedures
2.2.3 Installation procedures
Fig.2-3 ：Installation
Fig.2-3 ：InstallationFig.2-3 ：Installation
Fig.2-3 ：Installation procedures
proceduresprocedures
procedures and installation dimensions
and installation dimensionsand installation dimensions
and installation dimensions
M6×35 hexagon socket bolt (4 places) (RP-1AH/1AHC-SB)
Spring washer (RP-1AH/1AHC-SB)
Small plain washer (RP-3AH/3AHC-SB/
5AH/5AHC-SB)
M4×10 hexagon socket bolt
(4 places)
Spring washer
Small plain washer
M8×40 hexagon socket bolt (4 places) (RP-3AH/3AHC-SB/
5AH/5AHC-SB)
4-φ7 installation hole
Bottom side of base
Bottom side of baseBottom side of base
Bottom side of base (RP-1AH/1AHC-SB)
(RP-1AH/1AHC-SB)(RP-1AH/1AHC-SB)
(RP-1AH/1AHC-SB)
162 150
82
9538
76
200
48
Bottom side of base
Bottom side of baseBottom side of base
Bottom side of base (RP-
(RP-(RP-
(RP-3
33
3AH/3AHC-SB
AH/3AHC-SBAH/3AHC-SB
AH/3AHC-SB/5AH/5AHC-SB
/5AH/5AHC-SB/5AH/5AHC-SB
/5AH/5AHC-SB)
))
)
216 200
110
125
50
100
263.5
62.5
Bottom side of connectore box
Bottom side of connectore boxBottom side of connectore box
Bottom side of connectore box (For each type)
(For each type)(For each type)
(For each type)
165 155 5
180
12030
2-φ4H7位置決め用
4-φ5 installation hole
(Installation
reference
surface)
(Installation reference surface) (Installation reference surface)
(Installation
reference
surface)
4-φ9 installation hole
2-φ6H7位置決め用

2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
Installation
InstallationInstallation
Installation 2-
2-2-
2-9
99
9
The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the
The installation surface of the robot arm has been machined finished, so securely fix the robot arm with theThe installation surface of the robot arm has been machined finished, so securely fix the robot arm with the
The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the
installation holes (RP-1AH
installation holes (RP-1AHinstallation holes (RP-1AH
installation holes (RP-1AH/1AHC-SB
/1AHC-SB/1AHC-SB
/1AHC-SB: 4-φ7 hole, RP-3AH
: 4-φ7 hole, RP-3AH: 4-φ7 hole, RP-3AH
: 4-φ7 hole, RP-3AH/3AHC-SB
/3AHC-SB/3AHC-SB
/3AHC-SB/5AH
/5AH/5AH
/5AH/5AHC-SB
/5AHC-SB/5AHC-SB
/5AHC-SB: 4-φ9 hole) provided at
: 4-φ9 hole) provided at: 4-φ9 hole) provided at
: 4-φ9 hole) provided at
the four corners of the base and the enclosed installation bolts (RP-1AH
the four corners of the base and the enclosed installation bolts (RP-1AHthe four corners of the base and the enclosed installation bolts (RP-1AH
the four corners of the base and the enclosed installation bolts (RP-1AH/1AHC-SB
/1AHC-SB/1AHC-SB
/1AHC-SB: M6
: M6: M6
: M6 x
xx
x 35 hexagon socket
35 hexagon socket35 hexagon socket
35 hexagon socket
bolts, RP-3AH
bolts, RP-3AHbolts, RP-3AH
bolts, RP-3AH/3AHC-SB
/3AHC-SB/3AHC-SB
/3AHC-SB/5AH
/5AH/5AH
/5AH/5AHC-SB
/5AHC-SB/5AHC-SB
/5AHC-SB: M8
: M8: M8
: M8 x
xx
x 40 hexagon socket bolts).
40 hexagon socket bolts).40 hexagon socket bolts).
40 hexagon socket bolts).
Installation of the robot arm is a very important step for ensuring the optimum functions of the robot. Observe
Installation of the robot arm is a very important step for ensuring the optimum functions of the robot. ObserveInstallation of the robot arm is a very important step for ensuring the optimum functions of the robot. Observe
Installation of the robot arm is a very important step for ensuring the optimum functions of the robot. Observe
the following points when designing.
the following points when designing.the following points when designing.
the following points when designing.
1) Keep the installation surface flat.
1) Keep the installation surface flat.1) Keep the installation surface flat.
1) Keep the installation surface flat.
2) The surface roughness of the installation surface should be ▽▽ or more. If the installation surface is
2) The surface roughness of the installation surface should be ▽▽ or more. If the installation surface is2) The surface roughness of the installation surface should be ▽▽ or more. If the installation surface is
2) The surface roughness of the installation surface should be ▽▽ or more. If the installation surface is
rough, the robot seating will be poor, and positional deviation could occur when the robot is operated.
rough, the robot seating will be poor, and positional deviation could occur when the robot is operated.rough, the robot seating will be poor, and positional deviation could occur when the robot is operated.
rough, the robot seating will be poor, and positional deviation could occur when the robot is operated.
3) It is recommended to use a common table when installing to prevent positional deviation of the devices and
3) It is recommended to use a common table when installing to prevent positional deviation of the devices and3) It is recommended to use a common table when installing to prevent positional deviation of the devices and
3) It is recommended to use a common table when installing to prevent positional deviation of the devices and
jigs targeted for robot work.
jigs targeted for robot work.jigs targeted for robot work.
jigs targeted for robot work.
4) Make sure that the installation surface has sufficient rigidity to prevent deformation or vibration caused by
4) Make sure that the installation surface has sufficient rigidity to prevent deformation or vibration caused by4) Make sure that the installation surface has sufficient rigidity to prevent deformation or vibration caused by
4) Make sure that the installation surface has sufficient rigidity to prevent deformation or vibration caused by
the arm reaction during operation, and from the static (dynamic) load of the robot arm and peripheral
the arm reaction during operation, and from the static (dynamic) load of the robot arm and peripheralthe arm reaction during operation, and from the static (dynamic) load of the robot arm and peripheral
the arm reaction during operation, and from the static (dynamic) load of the robot arm and peripheral
devices.
devices.devices.
devices.
5)
5)5)
5) Fix the connector box with M4 hexagon socket bolts. (To be prepared by user. Should have length of 10mm
Fix the connector box with M4 hexagon socket bolts. (To be prepared by user. Should have length of 10mmFix the connector box with M4 hexagon socket bolts. (To be prepared by user. Should have length of 10mm
Fix the connector box with M4 hexagon socket bolts. (To be prepared by user. Should have length of 10mm
or more.)
or more.)or more.)
or more.)

2
22
2-
--
-10
1010
10 Installation
InstallationInstallation
Installation
2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
2.2.4
2.2.42.2.4
2.2.4 Grounding procedures
Grounding proceduresGrounding procedures
Grounding procedures
(1) Grounding methods
(1) Grounding methods(1) Grounding methods
(1) Grounding methods
1) There are three grounding methods as shown in
1) There are three grounding methods as shown in1) There are three grounding methods as shown in
1) There are three grounding methods as shown in
Fig. 2-4 (c), but the dedicated grounding (Fig. 2-4
Fig. 2-4 (c), but the dedicated grounding (Fig. 2-4Fig. 2-4 (c), but the dedicated grounding (Fig. 2-4
Fig. 2-4 (c), but the dedicated grounding (Fig. 2-4
(a)) should be used for the robot arm and
(a)) should be used for the robot arm and(a)) should be used for the robot arm and
(a)) should be used for the robot arm and
controller when possible. (Refer to the separate
controller when possible. (Refer to the separatecontroller when possible. (Refer to the separate
controller when possible. (Refer to the separate
"From Controller Setup, Basic Operation to
"From Controller Setup, Basic Operation to"From Controller Setup, Basic Operation to
"From Controller Setup, Basic Operation to
Maintenance" for details on the controller
Maintenance" for details on the controllerMaintenance" for details on the controller
Maintenance" for details on the controller
grounding.)
grounding.)grounding.)
grounding.)
2) Use Class D grounding (grounding resistance
2) Use Class D grounding (grounding resistance2) Use Class D grounding (grounding resistance
2) Use Class D grounding (grounding resistance
100Ωor less).
100Ωor less).100Ωor less).
100Ωor less).
Dedicated grounding separated from the other
Dedicated grounding separated from the otherDedicated grounding separated from the other
Dedicated grounding separated from the other
devices should be used.
devices should be used.devices should be used.
devices should be used.
3) Use a 3.5mm
3) Use a 3.5mm3) Use a 3.5mm
3) Use a 3.5mm2
22
2or more stranded wire for the
or more stranded wire for theor more stranded wire for the
or more stranded wire for the
grounding wire. The grounding point should be as
grounding wire. The grounding point should be asgrounding wire. The grounding point should be as
grounding wire. The grounding point should be as
close to the robot arm and controller as possible,
close to the robot arm and controller as possible,close to the robot arm and controller as possible,
close to the robot arm and controller as possible,
and the length of the grounding wire should be
and the length of the grounding wire should beand the length of the grounding wire should be
and the length of the grounding wire should be
short.
short.short.
short.
Fig.2-4 ：Grounding methods
Fig.2-4 ：Grounding methodsFig.2-4 ：Grounding methods
Fig.2-4 ：Grounding methods
(2) Grounding procedures
(2) Grounding procedures(2) Grounding procedures
(2) Grounding procedures
1) Prepare the grounding cable (3.5 mm
1) Prepare the grounding cable (3.5 mm1) Prepare the grounding cable (3.5 mm
1) Prepare the grounding cable (3.5 mm2
22
2or more) and
or more) andor more) and
or more) and
robot side installation screw and washer.
robot side installation screw and washer.robot side installation screw and washer.
robot side installation screw and washer.
2) If there is rust or paint on the grounding screw
2) If there is rust or paint on the grounding screw2) If there is rust or paint on the grounding screw
2) If there is rust or paint on the grounding screw
section (A), remove it with a file, etc.
section (A), remove it with a file, etc.section (A), remove it with a file, etc.
section (A), remove it with a file, etc.
3) Connect the grounding cable to the grounding screw
3) Connect the grounding cable to the grounding screw3) Connect the grounding cable to the grounding screw
3) Connect the grounding cable to the grounding screw
section.
section.section.
section.
Fig.2-5 ：Connecting the grounding cable
Fig.2-5 ：Connecting the grounding cableFig.2-5 ：Connecting the grounding cable
Fig.2-5 ：Connecting the grounding cable
Robot arm
Robot armRobot arm
Robot arm
Controller
ControllerController
Controller
and
andand
and
personal
personalpersonal
personal
computer
computercomputer
computer
(a) Dedicated grounding
(a) Dedicated grounding(a) Dedicated grounding
(a) Dedicated grounding
(Optimum)
(Optimum)(Optimum)
(Optimum)
(b) Common grounding
(b) Common grounding(b) Common grounding
(b) Common grounding
(Good)
(Good)(Good)
(Good)
(c) Common grounding
(c) Common grounding(c) Common grounding
(c) Common grounding
(Normal)
(Normal)(Normal)
(Normal)
Robot arm
Robot armRobot arm
Robot arm
Controller
ControllerController
Controller
and
andand
and
personal
personalpersonal
personal
computer
computercomputer
computer
Robot arm
Robot armRobot arm
Robot arm
Controller
ControllerController
Controller
and
andand
and
personal
personalpersonal
personal
computer
computercomputer
computer
M3×6,SW,PW
Arm grounding cable （2mm2 or more)
(Prepared by user)
Hexagon nut
M4
(A)
Arm grounding cable （2mm2 or more)
(Prepared by user)

2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
Installation
InstallationInstallation
Installation 2-
2-2-
2-11
1111
11
2.2.5 Connecting with the controller
2.2.5 Connecting with the controller2.2.5 Connecting with the controller
2.2.5 Connecting with the controller
Fig.2-6 ：Connecting the machine cables
Fig.2-6 ：Connecting the machine cablesFig.2-6 ：Connecting the machine cables
Fig.2-6 ：Connecting the machine cables(CR1controller)
(CR1controller)(CR1controller)
(CR1controller)
Carry out the following procedure after installing the controller referring to the separate "From Controller Setup,
Carry out the following procedure after installing the controller referring to the separate "From Controller Setup,Carry out the following procedure after installing the controller referring to the separate "From Controller Setup,
Carry out the following procedure after installing the controller referring to the separate "From Controller Setup,
Basic Operation to Maintenance" manual.
Basic Operation to Maintenance" manual.Basic Operation to Maintenance" manual.
Basic Operation to Maintenance" manual.
1) Make sure that the power switch on the front of the controller is turned OFF.
1) Make sure that the power switch on the front of the controller is turned OFF.1) Make sure that the power switch on the front of the controller is turned OFF.
1) Make sure that the power switch on the front of the controller is turned OFF.
2) Connect the machine cable to the robot arm and the corresponding connector on the controller.
2) Connect the machine cable to the robot arm and the corresponding connector on the controller.2) Connect the machine cable to the robot arm and the corresponding connector on the controller.
2) Connect the machine cable to the robot arm and the corresponding connector on the controller.
The machine cable connectors are dedicated for the controller side and robot arm
The machine cable connectors are dedicated for the controller side and robot armThe machine cable connectors are dedicated for the controller side and robot arm
The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
side, so take special care when connecting.side, so take special care when connecting.
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
If connected incorrectly, the connector pins could bend or break. Thus, even ifIf connected incorrectly, the connector pins could bend or break. Thus, even if
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
connected correctly, the robot will not operate correctly, creating a dangerousconnected correctly, the robot will not operate correctly, creating a dangerous
connected correctly, the robot will not operate correctly, creating a dangerous
situation.
situation.situation.
situation.
Take special care to the leading of the connection cable. If the cable is pulled with
Take special care to the leading of the connection cable. If the cable is pulled withTake special care to the leading of the connection cable. If the cable is pulled with
Take special care to the leading of the connection cable. If the cable is pulled with
force or bent excessively, wires could break or the connector could be damaged.
force or bent excessively, wires could break or the connector could be damaged.force or bent excessively, wires could break or the connector could be damaged.
force or bent excessively, wires could break or the connector could be damaged.
CN1
CN2
Controller
ControllerController
Controller
(CR1-571)
(CR1-571)(CR1-571)
(CR1-571)
Motor power
Motor powerMotor power
Motor power
（
（（
（CN1
CN1CN1
CN1）
））
）
Motor signal
Motor signalMotor signal
Motor signal
（
（（
（CN2
CN2CN2
CN2）
））
）
Motor signal cable（
Motor signal cable（Motor signal cable（
Motor signal cable（5m
5m5m
5m）
））
）
Motor power cable（
Motor power cable（Motor power cable（
Motor power cable（5m
5m5m
5m）
））
）
Connector box
Connector boxConnector box
Connector box
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION

2
22
2-
--
-12
1212
12 Setting the origin
Setting the originSetting the origin
Setting the origin
2
22
2Unpacking to Installation
Unpacking to InstallationUnpacking to Installation
Unpacking to Installation
2.3 Setting the origin
2.3 Setting the origin2.3 Setting the origin
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry outThe origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
this step before starting work. This step must also be carried out if the combination of robot and controller beingthis step before starting work. This step must also be carried out if the combination of robot and controller being
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
used is changed.used is changed.
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
There are several methods for setting the origin, but the origin data input method will be explained here. Refer toThere are several methods for setting the origin, but the origin data input method will be explained here. Refer to
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
page 55, "5.5 Resetting the origin" for the other methods.
page 55, "5.5 Resetting the origin" for the other methods.page 55, "5.5 Resetting the origin" for the other methods.
page 55, "5.5 Resetting the origin" for the other methods.
The teaching pendant is required for this operation.
The teaching pendant is required for this operation.The teaching pendant is required for this operation.
The teaching pendant is required for this operation.
2.3.1Installing the teaching pendant (T/B)
2.3.1Installing the teaching pendant (T/B)2.3.1Installing the teaching pendant (T/B)
2.3.1Installing the teaching pendant (T/B)
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power isBy using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant withRefer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
the control power ON.
the control power ON.the control power ON.
the control power ON.
(1) Installing with the control power OFF
(1) Installing with the control power OFF(1) Installing with the control power OFF
(1) Installing with the control power OFF
1) Confirm that the controller's power supply switch is OFF.
1) Confirm that the controller's power supply switch is OFF.1) Confirm that the controller's power supply switch is OFF.
1) Confirm that the controller's power supply switch is OFF.
2) Connect the T/B connector to the RS-422 (T/B) connector
2) Connect the T/B connector to the RS-422 (T/B) connector2) Connect the T/B connector to the RS-422 (T/B) connector
2) Connect the T/B connector to the RS-422 (T/B) connector
on the controller.
on the controller.on the controller.
on the controller.
3) Fix the connector with the top and bottom screws so that it
3) Fix the connector with the top and bottom screws so that it3) Fix the connector with the top and bottom screws so that it
3) Fix the connector with the top and bottom screws so that it
will not come off.
will not come off.will not come off.
will not come off.
4) Do not pull the cable with force or bend it excessively, as
4) Do not pull the cable with force or bend it excessively, as4) Do not pull the cable with force or bend it excessively, as
4) Do not pull the cable with force or bend it excessively, as
the cable could break or the connector could be damaged.
the cable could break or the connector could be damaged.the cable could break or the connector could be damaged.
the cable could break or the connector could be damaged.
5) Confirm that the [REMOVE T/B] switch on the side of the
5) Confirm that the [REMOVE T/B] switch on the side of the5) Confirm that the [REMOVE T/B] switch on the side of the
5) Confirm that the [REMOVE T/B] switch on the side of the
controller is not depressed (is projected).
controller is not depressed (is projected).controller is not depressed (is projected).
controller is not depressed (is projected).
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
Fig.2-7 ：Installing the T/B (control power OFF)
Fig.2-7 ：Installing the T/B (control power OFF)Fig.2-7 ：Installing the T/B (control power OFF)
Fig.2-7 ：Installing the T/B (control power OFF)
Appearance of teaching pendant
Appearance of teaching pendantAppearance of teaching pendant
Appearance of teaching pendant
DISABLE ENABLE
DISABLE ENABLEDISABLE ENABLE
DISABLE ENABLE
EMG.STOP
EMG.STOPEMG.STOP
EMG.STOP
ENABLE／DISABLE switch
ENABLE／DISABLE switchENABLE／DISABLE switch
ENABLE／DISABLE switch
Emergency stop switch
Emergency stop switchEmergency stop switch
Emergency stop switch
TOOL
=＊/
STEP
MOVE
＋
FORWD
－
BACKWD
ADD
↑
RPL
↓
DEL
←
HAND
→
INP
EXE
COND
ERROR
RESET
POS
CHAR
JOINT
( )？
XYZ
$":
MENU
STO P
－X
(J1)
＋X
(J1)
－Y
(J2)
＋Y
(J2)
－Z
(J3)
＋Z
(J3)
－A
(J4)
＋A
(J4)
－B
(J5)
＋B
(J5)
－C
(J6)
＋C
(J6)
SVO O N
# % !
Display ＬＣＤ
Display ＬＣＤDisplay ＬＣＤ
Display ＬＣＤ
Operation keys
Operation keysOperation keys
Operation keys
R28T B
Teaching pendant
(T/B)
REMOVE T/B switch
Connecta
◇
◆◇ [REMOVE T/B] switch ◇◆◇
◇
◆◇ [REMOVE T/B] switch ◇◆◇
◇
◆◇ [REMOVE T/B] switch ◇◆◇
◇
◆◇ [REMOVE T/B] switch ◇◆◇
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This isWhen using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
also used to install the T/B with turning the controller's power supply ON.
also used to install the T/B with turning the controller's power supply ON.also used to install the T/B with turning the controller's power supply ON.
also used to install the T/B with turning the controller's power supply ON.