Contents
ii
Page
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-42
3.3.1 Outside dimensions ....................................................................................................................................................... 3-42
3.3.2 Installation dimensions ................................................................................................................................................. 3-45
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-46
3.4 External input/output .......................................................................................................................................................... 3-47
3.4.1 Types .................................................................................................................................................................................. 3-47
3.5 Dedicated input/output ...................................................................................................................................................... 3-48
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-50
3.6.1 Connection of the external emergency stop ...................................................................................................... 3-50
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-53
3.6.3 Door switch function .................................................................................................................................................... 3-55
3.6.4 Enabling device function ............................................................................................................................................. 3-55
(1) When door is opening ............................................................................................................................................... 3-55
(2) When door is closing ................................................................................................................................................ 3-55
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-56
3.7 Additional Axis Function ..................................................................................................................................................... 3-57
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-57
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-59
3.9 Options ....................................................................................................................................................................................... 3-61
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-62
(2) Pneumatic hand interface ...................................................................................................................................... 3-65
(3) Parallel I/O interface ............................................................................................................................................... 3-67
(4) External I/O cable ..................................................................................................................................................... 3-73
(5) Parallel I/O unit ......................................................................................................................................................... 3-75
(6) External I/O cable ..................................................................................................................................................... 3-84
(7) Personal computer cable ....................................................................................................................................... 3-86
(8) CC-Link interface ..................................................................................................................................................... 3-87
(9) Extension memory cassette ................................................................................................................................. 3-90
(10) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-91
(11) Instruction Manual(bound edition) ................................................................................................................... 3-93
3.10 Maintenance parts .............................................................................................................................................................. 3-94
4 Software ............................................................................................................................................................................................ 4-95
4.1 List of commands .................................................................................................................................................................. 4-95
4.2 List of parameters ................................................................................................................................................................. 4-98
5 Instruction Manual ..................................................................................................................................................................... 5-100
5.1 The details of each instruction manuals ................................................................................................................... 5-100
6 Safety .............................................................................................................................................................................................. 6-102
6.1 Safety ...................................................................................................................................................................................... 6-102
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-102
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-103
6.1.3 Precautions for using robot .................................................................................................................................... 6-103
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-104
6.1.5 Safety measures for teaching ............................................................................................................................... 6-104
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-104
6.1.7 Examples of safety measures ................................................................................................................................ 6-105
(1) External emergency stop connection [supplementary explanation] ................................................. 6-109
6.2 Working environment ......................................................................................................................................................... 6-110
6.3 Precautions for handling .................................................................................................................................................. 6-110
7Appendix ........................................................................................................................................................................... Appendix-112
Appendix 1 ： Specifications discussion material ........................................................................................ Appendix-112
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