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Contents
Chapter 1 1
Introduction ............................................................................. 1
Optional Equipment ............................................................ 2
Chapter 2 3
Specifications ........................................................................... 3
Range of Motion, Dimensions, and Weight............................ 4
Reach ................................................................................. 6
Torque Ratings .................................................................... 8
Joint Speeds and Acceleration Rates .................................... 8
Payload ............................................................................... 9
Resolution ......................................................................... 11
Brakes .............................................................................. 12
Gripper ............................................................................. 13
Chapter 3 15
Safety Precautions .................................................................. 15
Physical Barriers ............................................................... 15
Emergency Stops (E-stops) ................................................ 17
Presence Sensors............................................................... 18
Other Safeguards .............................................................. 19
Power ................................................................................ 20
Environment ..................................................................... 21
Robot Handling ................................................................. 21
Operator Safety ................................................................. 22
Safety and Operation Checks ............................................. 23
Working Within the Robot’s Workspace .............................. 24
Chapter 4 25
Installation ............................................................................. 25
Required Tools and Supplies .............................................. 26
Component Parts ............................................................... 26
Designing a Work Cell ....................................................... 27
Unpacking the Arm ........................................................... 28
Preparing the Mounting Platform ....................................... 31
Mounting the Arm on the Platform ..................................... 34
Grounding the Arm ........................................................... 34
Connecting the Umbilical Cables ........................................ 35
Next Steps ......................................................................... 36
Chapter 5 37
Commissioning ....................................................................... 37
Check the Installation of Arm and Controller ...................... 38
Check the Installation of Other Components ...................... 38
Check Encoder Feedback ................................................... 39
Check All E-Stops .............................................................. 40
Move Out of the Shipping Position ..................................... 41
Check the Live-man Switch ............................................... 44
Chapter 6 45
Basic Operation ...................................................................... 45
Homing the Arm ................................................................ 46
Moving with the Teach Pendant ......................................... 51
Moving with Terminal Commands ...................................... 52
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