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5. End Effectors Part 1: Setup & Operation

30

Table of Contents

Default Chapter9
- Table of Contents9
Manipulator Part Names15
Installation Requirements17
- Environmental Conditions17
- Installation Area17
- Base Table18
- Pre-Installation Safety Precautions20
Installation21
- Unpacking21
- Installation Method22
- Connecting the Cables24
- Safety Precautions after Installation26
- Relocating the Manipulator28
User Wires and Pneumatic Tubes29
End Effectors31
- Attaching an End Effector31
  - Wire and Tube Layout33
- The End Effector and Acceleration / Deceleration34
Attaching a Camera, Valve, and Other Devices43
External Dimensions45
Motion Range and Robot Coordinates47
- Standard Motion Range47
- Pulse Range53
- Changing the Motion Range56
Emergency Stop69
Specifications71
- Series Standard Model Specifications72
- EL Series Standard Model Specifications73
- Model Settings74
Clean Model75
- Manipulator Part Names75
- Installation Method76
- Exhaust System76
- External Dimensions77
- Additional Specifications79
Protected Model81
- Manipulator Part Names82
- Environmental Conditions83
  - General Environmental Conditions83
  - Special Environmental Conditions84
- Connecting the Cables85
- User Wires and Pneumatic Tubes86
- External Dimensions88
- Additional Specifications90
Part 2 Maintenance91
Maintenance Safety Precautions93
General Maintenance95
- Maintenance Inspection Schedule95
- Inspections96
- Lubrication98
- Tightening Torque of Bolts98
- Matching Mechanical and Electrical Origins99
- Differences between es and el Series99
- Internal Layout100
Opening the Covers101
- Arm Top Cover101
- Arm Bottom Cover102
- Joint #1 Cover102
- Base Connector Plate103
Replacing the Cable Unit105
- Cable Unit Replacement Procedure106
- Wiring Schematic 1110
- Wiring Schematic 2111
Connector Pin Assignments113
Replacing the Motors119
- Replacing the Joint #1 Motor120
- Replacing the Joint #2 Motor124
- Replacing the Joint #3 Motor128
- Replacing the Joint #4 Motor134
Replacing the Reduction Gear Units139
- Replacing the Joint #1 Reduction Gear Unit142
- Replacing the Joint #2 Reduction Gear Unit151
Replacing the Brake163
Replacing the Timing Belts167
- Replacing the Z Belt168
- Replacing the U1 Belt171
- Replacing the U2 Belt174
Replacing the Ball Screw Spline Unit179
- Replacing the Ball Screw Spline Unit180
- Greasing the Ball Screw Spline Unit185
Replacing the Signal Relay Board187
- Signal Relay Board187
- Replacing the Lithium Battery189
Calibration191
- Calibration for EPSON RC+ Controller192
- Calibration for SPEL 95 / SRC5** Controller198
- Calibration for SRC-3** Controllers204
Clean Model Maintenance211
- Greasing the Ball Screw Spline Unit211
- Replacing the Bellows213
Protected Model Maintenance215
- Safety Precautions215
- Sealing the Manipulator216
- Internal Layout218
- Replacing the Cable Unit219
- Wiring Schematic 1223
- Wiring Schematic 2224
- Greasing the Ball Screw Spline Unit225
- Replacing the Bellows227
- Replacing the Signal Relay Board232
Maintenance Part Lists233
- Maintenance Parts for All Models233
- Maintenance Parts for Standard-Model234
- Maintenance Parts for Clean-Model234
- Maintenance Parts for Protected-Model235

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