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3 Controller ......................................................................................................................................................................................... 3-40
3.1 Standard specifications ...................................................................................................................................................... 3-40
3.1.1 Standard specifications .............................................................................................................................................. 3-40
3.1.2 Protection specifications and operating supply ............................................................................................... 3-42
3.2 Names of each part ............................................................................................................................................................. 3-43
3.3 Outside dimensions/Installation dimensions ............................................................................................................. 3-46
3.3.1 Outside dimensions ...................................................................................................................................................... 3-46
3.3.2 Installation dimensions ................................................................................................................................................ 3-48
3.4 External input/output ......................................................................................................................................................... 3-49
3.4.1 Types .................................................................................................................................................................................. 3-49
3.4.2 Explanation ....................................................................................................................................................................... 3-49
3.5 Dedicated input/output ...................................................................................................................................................... 3-50
3.6 Emergency stop input/output ......................................................................................................................................... 3-52
3.6.1 Connection of the external emergency stop ..................................................................................................... 3-52
3.6.2 Door switch function ................................................................................................................................................... 3-54
3.7 Parallel input/output unit .................................................................................................................................................. 3-55
3.8 Options ...................................................................................................................................................................................... 3-60
(1) Teaching pendant (T/B) ........................................................................................................................................ 3-61
(2) Pneumatic hand interface ..................................................................................................................................... 3-64
(3) Controller protection box ...................................................................................................................................... 3-67
(4) Expansion option box .............................................................................................................................................. 3-70
(5) Parallel I/O unit ......................................................................................................................................................... 3-72
(6) External I/O cable .................................................................................................................................................... 3-82
(7) Personal computer cable ....................................................................................................................................... 3-84
(8) Extended serial interface ....................................................................................................................................... 3-86
(9) CC-Link interface ..................................................................................................................................................... 3-88
(10) Ethernet interface .................................................................................................................................................. 3-90
(11) Additional axis interface ...................................................................................................................................... 3-92
(12) Extension memory cassette .............................................................................................................................. 3-94
(13) Personal computer support software/Personal computer support software mini ..................... 3-96
(14) Instruction Manual(bound edition) ................................................................................................................... 3-98
3.9 Maintenance parts ................................................................................................................................................................ 3-99
4 Software ......................................................................................................................................................................................... 4-100
4.1 List of commands ............................................................................................................................................................... 4-100
(1) The procedure of robot language selection ................................................................................................. 4-100
(2) MELFA-BASIC Ⅳ commands ........................................................................................................................... 4-101
4.2 List of parameters .............................................................................................................................................................. 4-103
(1) List of parameters .................................................................................................................................................. 4-103
(2) Change the display language / 表示言語の切り 替え ............................................................................ 4-105
5 Instruction Manual ...................................................................................................................................................................... 5-106
5.1 The details of each instruction manuals ................................................................................................................... 5-106
6 Safety .............................................................................................................................................................................................. 6-108
6.1 Safety ...................................................................................................................................................................................... 6-108
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-108
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-108
6.1.3 Precautions for using robot .................................................................................................................................... 6-109
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-109
6.1.5 Safety measures for teaching ................................................................................................................................ 6-109
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-109
6.1.7 Examples of safety measures ................................................................................................................................ 6-110
6.2 Working environment ......................................................................................................................................................... 6-112
6.3 Precautions for handling .................................................................................................................................................. 6-113
7Appendix ...........................................................................................................................................................................Appendix-114
Appendix 1 ： Specifications discussion material ......................................................................................... Appendix-114
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