ROKAE xMate CR18 Assembly instructions

xMate CR18
Hardware Installation Manual

xMate CR18
Hardware Installation Manual
[备注]
Version C

Contents
1 MANUAL OVERVIEW...................................................................................................................................................7
1.1 ABOUT THIS MANUAL ...................................................................................................................................................................7
1.2 TARGET GROUP...............................................................................................................................................................................7
1.3 HOW TO READ THE PRODUCT MANUAL ...................................................................................................................................7
1.4 ILLUSTRATIONS IN THIS MANUAL ...............................................................................................................................................7
1.5 RELATED PRODUCT DOCUMENTS ...............................................................................................................................................7
1.6 CONTACT .........................................................................................................................................................................................7
2 SAFETY...............................................................................................................................................................................8
2.1 INTRODUCTION ..............................................................................................................................................................................8
2.1.1 Safety responsibilities...................................................................................................................................................8
2.1.2 Intended use......................................................................................................................................................................8
2.2 SAFETY NOTICE...............................................................................................................................................................................9
2.2.1 Instructions.........................................................................................................................................................................9
2.3 SAFETY PROTECTION DEVICES .....................................................................................................................................................9
2.3.1 Emergency stop...............................................................................................................................................................9
2.3.2 Enabling switch................................................................................................................................................................9
2.4 EMERGENCY STOP TYPES ...........................................................................................................................................................10
2.4.1 Emergency stop............................................................................................................................................................10
2.5 SAFETY PRECAUTIONS................................................................................................................................................................ 11
2.5.1 Operator safety.............................................................................................................................................................11

2.5.2 Safety precautions for operating the Teach Pendant ............................................................................. 11
2.5.3 Recovering from emergency stops ................................................................................................................... 12
2.5.4 Safety precautions in Manual mode................................................................................................................. 12
2.5.5 Safety precautions in Automatic mode.......................................................................................................... 12
2.5.6 Safe handling of fire accidents............................................................................................................................ 13
2.5.7 Safe handling of electric shock accidents................................................................................................................ 14
2.6 PERSONNEL AND WORK CONTENT REQUIREMENTS..................................................................................................................... 14
2.6.1 Definition of personnel................................................................................................................................................... 14
2.6.2 Personnel requirements ................................................................................................................................................. 15
2.6.3 Work content requirements.......................................................................................................................................... 15
2.7 SAFETY TRAINING ........................................................................................................................................................................... 17
2.7.1 Overview.............................................................................................................................................................................. 17
2.7.2 Personnel safety................................................................................................................................................................ 17
2.8 PRE-USE ASSESSMENT............................................................................................................................................................... 19
3 PRODUCT OVERVIEW .............................................................................................................................................. 20
3.1 INTRODUCTION........................................................................................................................................................................... 20
3.2 ROBOT........................................................................................................................................................................................... 20
3.2.1 Overview .......................................................................................................................................................................... 20
3.2.2 Robot system................................................................................................................................................................. 20
3.2.3 Definitions of rotation directions and frames............................................................................................. 20
3.3 ROBOT TEACH PENDANT OVERVIEW ............................................................................................................................................ 21
3.3.1 Teach Pendant overview................................................................................................................................................ 21
3.3.2 Teach Pendant components......................................................................................................................................... 22
3.4 SYMBOLS AND LABELS............................................................................................................................................................... 23
4 TECHNICAL SPECIFICATIONS ............................................................................................................................... 24
4.1 INTRODUCTION........................................................................................................................................................................... 24
4.2 NAMEPLATE ................................................................................................................................................错误!未定义书签。

4.2.1 Robot body nameplate ...............................................................................................................错误!未定义书签。
4.3 SPECIFICATIONS........................................................................................................................................................................... 24
4.3.1 Robot specifications...................................................................................................................................................24
4.3.2 Teach Pendant specifications ....................................................................................................................................... 24
4.4 WORKING SPACE.........................................................................................................................................................................26
4.5 ALLOWABLE LOAD .......................................................................................................................................................................... 26
4.5.1 Allowable wrist torque and inertia..............................................................................................................................27
4.5.2 Maximum payload diagram...................................................................................................................................27
4.5.3 Calculation of load inertia.......................................................................................................................................28
4.5.4 Joint torque limit..........................................................................................................................................................28
5 UNPACKING AND INSTALLATION...................................................................................................................... 29
5.1 INTRODUCTION ...........................................................................................................................................................................29
5.2 INSTALLATION FLOW CHART .....................................................................................................................................................29
5.3 ENVIRONMENTAL CONDITIONS ...............................................................................................................................................29
5.4 UNPACKING AND HARDWARE INSTALLATION.......................................................................................................................30
5.4.1 Unpacking........................................................................................................................................................................30
5.4.2 Robot angle and force application points during transportation.................................................... 32
5.4.3 Check before installation......................................................................................................................................... 32
5.5 ON-SITE INSTALLATION .............................................................................................................................................................33
5.5.1 Transportation...............................................................................................................................................................33
5.5.2 Robot installation ........................................................................................................................................................ 33
5.5.3 Flange................................................................................................................................................................................. 35
5.5.4 Power adapter............................................................................................................................................................... 36

6 ELECTRICAL CONNECTIONS ................................................................................................................................. 37
6.1 ELECTRICAL LAYOUT ................................................................................................................................................................... 37
6.2 ROBOT BASE................................................................................................................................................................................. 37
6.2.1 Robot power supply .................................................................................................................................................. 38
6.2.2 Powering on the robot............................................................................................................................................. 39
6.2.3 Handheld emergency stop and enabling device interface.................................................................. 39
6.2.4 General-purpose DIO................................................................................................................................................ 39
6.2.5 Safety DIO ....................................................................................................................................................................... 42
6.2.6 Extended EtherNet interface................................................................................................................................. 44
6.2.7 EtherCAT servo drive debug interface............................................................................................................. 44
6.2.8 Function buttons on the end-effector............................................................................................................. 45
6.2.9 Tool DIO interface....................................................................................................................................................... 45
6.3 POWER ADAPTER ........................................................................................................................................................................ 48
6.3.1 Power-on button of the power adapter ......................................................................................................... 48
6.3.2 Power input..................................................................................................................................................................... 49
6.3.3 Power output................................................................................................................................................................. 50
6.4 TEACH PENDANT............................................................................................................................................................................ 50
6.4.1 Teach Pendant buttons .................................................................................................................................................. 50
6.4.2 How to hold the Teach Pendant................................................................................................................................. 50
7 MAINTENANCE........................................................................................................................................................... 52
7.1 INTRODUCTION........................................................................................................................................................................... 52
7.2 MAINTENANCE SAFETY ............................................................................................................................................................. 52
7.3 MAINTENANCE SCHEDULE ....................................................................................................................................................... 52

7.4 CHECK............................................................................................................................................................................................52
7.5 CLEANING.....................................................................................................................................................................................53
8 ZERO CALIBRATION.................................................................................................................................................. 55
8.1 INTRODUCTION ...........................................................................................................................................................................55
8.1.1 Overview...........................................................................................................................................................................55
8.1.2 What is a mechanical zero?.................................................................................................................................... 55
8.1.3 What is zero calibration?.........................................................................................................................................55
8.1.4 When is zero calibration required?....................................................................................................................55
8.2 CALIBRATION METHOD..............................................................................................................................................................55
8.2.1 Mechanical calibration..............................................................................................................................................55
9 DECOMMISSIONING................................................................................................................................................ 59
9.1 ROBOT DECOMMISSIONING ..................................................................................................................................................... 59
9.2 RECYCLING.................................................................................................................................................................................... 59
REVISION HISTORY....................................................................................................................................................... 60

1
1Manual Overview
1.1 About this manual
Thank you for choosing ROKAE robot system.
This manual contains the following instructions for the correct installation and use of the
robot:
⚫
⚫
Please read this manual and other related manuals carefully before installing and using
the robot system.
After reading, keep it properly for future reference.
1.2 Target group
This manual is intended for:
⚫Installation personnel.
⚫Maintenance personnel.
Please ensure that the above personnel have the necessary knowledge of mechanical
and electrical installation and maintenance, and have received our training.
1.3 How to read the product manual
This manual includes a separate safety section that must be read through before
proceeding with any installation or maintenance procedures.
1.4 Illustrations in this manual
Due to product upgrades or other reasons, some figures in the product manual may
differ from the actual product. However, the operating procedures are correct.
Also, figures from other models may be used to describe some general information.
1.5 Related product documents
This document is the product manual for the xMate CR18 robot and is intended to be
used with the following documents:
⚫xCore Control System User Manual
1.6 Contact
For information about the maintenance and repair of the robot, please contact our
after-sales department or the local reseller.
Get the following information ready before contacting us:
⚫Robot model/serial number
⚫Software name/version
⚫Problems with the system

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2Safety
2.1 Introduction
This section describes the principles and procedures that must be followed to ensure
the safe use of the xMate CR18 robots. xMate CR18 robot integrators must read and
understand the information listed here before powering on the robot for the first time.
The contents related to the design and installation of the external safety protection
devices of the robot are not covered in this section. Please contact your system
integrator to obtain such information.
2.1.1 Safety responsibilities
ROKAE is dedicated to but not liable for providing reliable safety information. Even if
all safety instructions are followed, there is no guarantee that xMate CR18 will not
cause any personal injury or property damage.
In addition to the safety section, this document contains further safety instructions.
2.1.2 Intended use
The xMate CR18 robots should be used in accordance with local laws and regulations,
and must not be used for any purpose that violates such laws and regulations.
Using the robots in compliance with instructions also means observing the instructions
in the product manual of each component, including the operation, installation, and
maintenance instructions.
The following uses that go against the instructions are prohibited:
⚫Use in human and animal transportation
⚫Use in potentially explosive environments
⚫Use in flammable environments
⚫Use outside the permissible limits
⚫Downhole use
xMate CR18 robots are flexible cobots intended to handle tools/end effectors and
fixtures or to process or transfer components or products. xMate CR18 robots are
equipped with special safety-related features, which are purposely designed to enable
collaborative operation, where the robot system operates without fences and/or
together with a human.
Collaborative operation is only intended for non-hazardous applications, where the
complete application, including the tools/end effectors, workpieces, obstacles, and
other machines, is without any significant hazards according to the risk assessment of
the specific application.
Any use or application deviating from the intended use is deemed to be impermissible
misuse.
This includes, but is not limited to:
⚫Use in potentially explosive environments
⚫Use in medical and life-critical applications
⚫Use before performing a risk assessment
⚫Use outside of stated specifications
⚫Use as a climbing aid

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⚫Operation outside the permissible operating parameters
2.2 Safety notice
2.2.1 Instructions
⚫A risk assessment must be conducted before operating or controlling the robot, and
the robot must be used according to the safety instructions described in this document.
⚫If you are unsure about the risks during the use of the robot, please contact ROKAE
Technical Support. Problems arising from non-intended use are not covered by our
support.
2.3 Safety protection devices
2.3.1 Emergency stop
2.3.1.1 Definition of emergency stop
Emergency stop possesses the highest priority in the robot system. Pressing the
emergency stop button will trigger the emergency stop and all the functions will be
frozen immediately. The robot will stop running and the power of each joint will be cut
off. The control system will be switched into the emergency stop state, which will be
maintained before releasing the emergency stop manually.
To resume the operation, release the emergency stop button first for the motor of each
joint to execute the power-on command.
Notes
Emergency stops should not be used for normal stops. Otherwise, it may cause
extra and unnecessary wear to the brake and transmission system, which will
eventually reduce the robot's lifespan.
Figure 2-1. Emergency stop button on the handheld emergency stop and enabling
device
No.
Name
1
Emergency stop
button
2.3.2 Enabling switch
2.3.2.1 Enabling device
The enabling device is a special switch with two contacts and three positions and is
also called a three-position enabling switch (hereinafter referred to as "enabling
switch"). It is used to power on/off the joints in Manual mode to enable robot motions.
The motor power is switched on only when the enabling switch is pressed and kept in
1

2
the middle so that the robot is in a state that is permitted for motion. Releasing or
pressing the switch all the way down will cut the power off.
位置1
位置2
位置3
OFF
OFF
ON
轻按 释放
重按
释放
Figure 2-2. Positions of the enabling switch
Notes
When the enabling switch is pressed and held in the middle position in Manual
mode, the robot will be powered on, the system will enter the Motor On state,
and you can jog the robot or execute a program. The robot will be powered off
and the system will return to the Motor Off state when the switch is released or
pressed all the way down.
To ensure the safe use of the robot, the following requirements must be
observed:
⚫Make sure the enabling switch functions properly in any circumstances.
⚫Release the enabling switch immediately when no robot motion is required
during programming or debugging.
Any person who enters the robot's working space must carry a handheld
enabling device to prevent others from starting the robot without the knowledge
of the involved personnel.
Warning
It is strictly prohibited to use external devices to hold the enabling switch in the
middle position.
2.4 Emergency stop types
2.4.1 Emergency stop
There are two types of stops for robots according to ISO 13850 and IEC 60204 safety
standards:
⚫STOP0: The motor power is switched off and the brakes are engaged.
⚫STOP1: The robot comes to a controlled stop. Then the motor power is switched off
and brakes are engaged.
For xMate CR18 robots, STOP0 is used for handheld emergency stop signal processing.

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2.5 Safety precautions
2.5.1 Operator safety
2.5.1.1 General principles
A few simple principles should be followed in order to operate the robot safely:
⚫Always operate the robot in Manual mode if personnel are inside the safeguarded
space.
⚫Always bring the handheld emergency stop device along when you enter the
safeguarded space so that robot control is in your hands.
⚫Watch out for rotating or moving tools installed on the robot. Make sure those tools
are stopped before you approach the robot.
⚫Watch out for grippers and objects gripped. If the gripper is opened, the workpiece
could fall and cause personal injury or equipment damage. The gripper can be very
powerful and can also cause injuries if not operated in a safe manner.
2.5.2 Safety precautions for operating the Teach Pendant
2.5.2.1 Safe storage of the Teach Pendant
The Teach Pendant no longer used should be properly stored in a place that is far away
from the robot workstation, so as to prevent the operator from mistakenly believing
that this Teach Pendant is still connected to the robot and attempting to use it to stop
the robot in case of danger.
2.5.2.2 Teach Pendant cable
The Teach Pendant and controller are connected through a Teach Pendant cable. Please
comply with the following requirements when using the Teach Pendant in order to
avoid personal injury or equipment damage:
⚫Make sure that the working personnel does not stumble over the Teach Pendant
cable so as to avoid dropping the Teach Pendant or making personnel fall.
⚫Don’t squeeze the cable of the Teach Pendant, otherwise, its internal cores may be
damaged.
⚫Don’t put the Teach Pendant cable on the edge of the sharp objects, otherwise,
the cable sheath may be damaged.
⚫Make sure that the bending radius of the Teach Pendant cable is greater than 100mm,
otherwise, the cable may be damaged.
2.5.2.3 Permission of using the Teach Pendant
Generally, only those who have completed safety training and basic operation training
can have permission to use the Teach Pendant. The user permissions for operating the
Teach Pendant interface should also be distinguished to ensure that the debugging
personnel and maintenance personnel can use the Teach Pendant correctly and
reasonably according to their work.
The control system is built-in with three user levels, namely Operator, Admin, and God,
with the operation permissions ranking from low to high. Switching from a low-
privileged user to a high-privileged user requires a password. Otherwise, it is not

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required. A user of a higher permission level can modify the password of a same- or
lower-level user. The password of an Operator-level user cannot be modified.
2.5.2.4 No Teach Pendant mode
When the No Teach Pendant mode is selected for the control system, special attention
must be paid to safety during debugging and programming. An emergency stop
button device must be installed or placed within the reach of the operator and the
signal of the emergency stop button must be routed into the safe DIO interface of the
robot system so that the person can protect the safety of himself/herself and the
equipment by pressing the emergency stop button promptly in case of emergencies.
2.5.3 Recovering from emergency stops
2.5.3.1 Instructions
In the case of an emergency stop, a reset is required to return to normal operation.
The reset procedure is simple but important. It ensures that the robot system is not
returned to production in a hazardous condition.
2.5.3.2 Emergency stop button and reset
The emergency stop button is located on the handle of the handheld emergency stop
and enabling device as well as in the upper right corner of the Teach Pendant. It has a
latching feature that must be manually released in order to remove the emergency
stop condition of the device. This can be done by rotating the button as marked.
2.5.4 Safety precautions in Manual mode
2.5.4.1 About the Manual mode
In Manual mode, the robot's movement is under manual control. You can jog the robot
or execute a program only when the enabling switch is held in the middle position.
The enabling switch is on the handle of the handheld emergency stop and enabling
device as well as on the handle of the Teach Pendant.
The Manual mode is used during the programming, debugging, and commissioning
of the workstation.
2.5.4.2 Speed limit in Manual mode
In Manual mode, the speed of the robot's end effector is limited to 250 mm/s. This
means that the maximum speed of the robot will not exceed 250 mm/s whether you
jog the robot or execute a program, regardless of the speed set in the program.
2.5.4.3 Bypassing external safety signals
In Manual mode, signals of external safety devices such as the safety gate and safety
grating will be bypassed. This means that the emergency stop will not be triggered in
Manual mode even if the safety gate is open, which facilitates the debugging.
2.5.5 Safety precautions in Automatic mode
2.5.5.1 About the Automatic mode
The Automatic mode is used for running the robot program in production.

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In Automatic mode, the enabling switch will be bypassed so that the robot can run
automatically without manual intervention.
DANGER
In Automatic mode, the robot moves at the speed set in the program, which is up
to 3 m/s for the end effector. In this mode, personnel must not enter the working
space of the robot to avoid personal injury.
2.5.5.2 Enabling external safety signals
External safety devices such as the safety gate and safety grating will be enabled in
Automatic mode. Opening the safety gate will trigger an emergency stop.
2.5.5.3 Safe troubleshooting in production
In most cases, the robot is part of the production line. Therefore, the impact of a robot fault may go beyond
the workstation itself. Likewise, problems with other parts of the production line may also impact the
workstation. For this reason, a troubleshooting plan should be designed by personnel who are familiar with the
entire production line to improve safety.
⚫Pay attention to other running devices around the robot
For example, a robot on the production line grabs workpieces from the conveyor belt.
When the robot encounters a fault, the robot maintenance personnel should consider
additional safety measures for working beside the moving conveyor belt to ensure
uninterrupted production while the robot is under repair.
⚫Pay attention to other devices that interact with the robot
For another example, when removing a welding robot from the production line for
routine maintenance, the robot supplying materials to it must also be stopped to avoid
personal injury.
2.5.6 Safe handling of fire accidents
2.5.6.1 Treatment of mild fire disaster
Do not panic and keep calm when a fire hazard is imminent or has not yet begun to
spread; you can use on-site fire-extinguishing devices to put out the flame. It is strictly
prohibited to use water to put out a fire caused by short circuits.
Warning
The fire-extinguishing device on the working field of the robot shall be supplied
by the user, the user shall choose the appropriate fire-extinguishing device
according to the actual situations of the field. For fire with the controller, use a
carbon dioxide (CO2) fire extinguisher.
2.5.6.2 Treatment of severe fire disaster
If the fire has spread and is beyond control, the workers on site shall notify other
workers immediately to give up their personal belongings and evacuate immediately
through emergency exits rather than try to put out the fire. DO NOT use an elevator,
and be sure to inform the fire department during evacuation.
If a person's clothing catches fire, ask them not to run but to lie flat on the ground

2
immediately. Put out the fire using clothes or other suitable items and methods.
2.5.7 Safe handling of electric shock accidents
2.5.7.1 Treatment of an electric shock
When someone gets an electric shock, do not panic and cut off the power supply
immediately. Appropriate methods and measures should be adopted without
hesitation according to the site conditions:
⚫If the power switch or button is very near to the location of the electric shock, it shall
be switched off at once, and the power supply shall be cut off.
⚫If the power switch or button is far away from the location of the electric shock, it is
suggested to use insulated pliers or ax, knife, and shovel with dry wooden handles to
cut off live wires on the mains' side (power supply), the separated wire must not contact
with the human body.
⚫If the conducting wire is over or under the body of the victim, it is suggested to use
a dry stick, board, bamboo pole, or other tools with insulated handles (by gripping the
insulated handle) to remove the wire. No metal bar or wet object shall be used to avoid
the rescuer from also getting an electric shock.
Warning
The rescuer should not be in direct contact with the electrically shocked person.
Otherwise, they may also get an electric shock!
2.5.7.2 Treatment of the wounded after being separated from the power source
⚫If the wounded is conscious, they shall be made to lie on the back and watched out.
They are not suggested to stand or walk for the time being.
⚫If the wounded is unconscious, make them lie on the back to keep the airway open.
Call the wounded or pat them on the shoulder at an interval of 5 seconds to judge if
they lose consciousness. Do not call the wounded by shaking their head. Meanwhile,
contact the hospital as soon as possible.
⚫If the wounded loses consciousness, their respiratory conditions and heartbeat shall
be confirmed within 10 seconds. If neither breath nor arterial pulse is sensed, the
wounded may have a cardiac arrest and shall be given immediate first aid treatment
by cardiopulmonary resuscitation.
2.6 Personnel and work content requirements
2.6.1 Definition of personnel
There are three types of personnel:
⚫Operator
The operating personnel can switch on/off the robot power supply and start robot
programs through the Teach Pendant or other interfaces.
⚫Debugging personnel
The debugging personnel can conduct robot operations, enter into the safeguarded
space, and perform operations such as setting, teaching, and programming on the
robot.
⚫Maintenance personnel

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The maintenance personnel can conduct robot operations, enter the safeguarded
space, perform operations such as setting and teaching on the robot, as well as adjust
and repair the robot.
Warning
The debugging and maintenance personnel who can enter the safeguarded space must
accept and pass professional robot training in advance.
Warning
When performing robot operations, programming, and maintenance, personnel must pay
attention to safety and wear necessary equipment, including work clothes, safety shoes,
and safety helmets suitable for the work contents according to the actual conditions.
2.6.2 Personnel requirements
2.6.2.1 Operator requirements
The operator should meet the following conditions:
⚫The age of the operator should fall within the age range of local employment laws.
⚫The operator should be in good physical condition. A good physical condition means
good vision (glasses and contact lenses are allowed), good hearing, and good
coordination ability. The operator may not intake substances that may reduce their
mental level (such as medicines, alcohol, and drugs) during work.
⚫The operator should understand applicable local safety regulations, such as the work
safety and health regulations and the industrial accident prevention regulations.
2.6.2.2 Debugging personnel requirements
The debugging personnel should meet the criteria of operating personnel. In addition,
the debugging personnel should also meet the following conditions:
⚫The debugging personnel should have basic technical knowledge, understand the
technical documents and drawings related to the robot, and be able to complete their
tasks according to manual documents.
⚫The debugging personnel must be very familiar with the use of the robot system and be
able to reasonably achieve the purpose by operating the robot according to actual needs.
2.6.2.3 Maintenance personnel requirements
The maintenance personnel should meet the criteria of operating personnel. In
addition, the maintenance personnel should also have a certain level of other expertise
(such as electrical, mechanical, and pneumatic) and can complete their tasks according
to manual documents.
2.6.3 Work content requirements
2.6.3.1 Safety requirements for installation and operation
⚫Handling and installation of the robot equipment must be carried out according to the

2
methods described in our manual. Otherwise, the robot may fall due to misoperation,
thus leading to personal injury and death or equipment damage.
⚫When the robot equipment is put into use for the first time after installation, make sure
to run it at low velocity first and then gradually increase the velocity rather than running
at high velocity from the start.
⚫By default, program and system variable information is stored in the controller storage
device. In order to prevent data loss caused by accidents, it is recommended that the
user makes data backups regularly.
2.6.3.2 Safety requirements for debugging
Debugging should be carried out outside the safety zone as much as possible. When
debugging must be carried out inside the safeguarded space, special attention should be given
to the following issues:
⚫Carefully check the situation inside the safeguarded space and enter into it only after
confirming no danger exists.
⚫Confirm the positions of all debugging personnel inside the safeguarded space.
⚫Confirm the status of the entire system before proceeding with the work.
⚫Make sure that the emergency stop button can be pressed whenever necessary.
⚫Run the robot at low velocity.
When debugging is finished, the debugging personnel must stay outside the safeguarded
space.
2.6.3.3 Safety requirements for maintenance
⚫Carefully check the situation inside the safeguarded space and enter into it only after
confirming no danger exists.
⚫Confirm the positions of all maintenance personnel inside the safeguarded space.
⚫When the power supply is switched on, some maintenance operations may pose the
danger of electric shock. Switch off the power supply of the robot equipment and system
before carrying out the maintenance.
⚫During the maintenance, prevent other personnel from switching on the power supply
accidentally.
⚫To avoid unnecessary personal injury or adverse impact on the equipment, do not place
any part of your body on any part of the robot equipment during the operation.
⚫Appropriate lighting should be provided during the maintenance.
⚫In case of part replacement, make sure to use a part specified by ROKAE. Otherwise, the
robot equipment may be damaged.
⚫Parts removed during the replacement (such as screws) should be correctly installed back
to their original positions. If you find the parts not enough or redundant, confirm again
and make sure to install them correctly.