Contents
ii
Page
2.9 Maintenance parts ................................................................................................................................................................. 2-38
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
3.2.1 Names of each part of the drive unit .................................................................................................................... 3-43
(1) Padlock specification ............................................................................................................................................... 3-45
3.2.2 Names of each part of the robot CPU ................................................................................................................. 3-49
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-50
3.3.1 Outside dimensions ....................................................................................................................................................... 3-50
(1) Drive unit outside dimension ................................................................................................................................ 3-50
(2) Outside dimensions of robot CPU unit ............................................................................................................ 3-53
(3) Battery unit outside dimension ........................................................................................................................... 3-54
3.3.2 Installation dimensions ................................................................................................................................................. 3-55
(1) Installation dimensions of drive unit .................................................................................................................. 3-55
(2) Robot CPU Unit installation dimensions .......................................................................................................... 3-57
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-58
3.4 External input/output .......................................................................................................................................................... 3-59
3.4.1 Types .................................................................................................................................................................................. 3-59
3.5 Dedicated input/output ...................................................................................................................................................... 3-60
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-62
3.6.1 Connection of the external emergency stop ...................................................................................................... 3-62
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-66
3.6.3 Door switch function .................................................................................................................................................... 3-68
3.6.4 Enabling device function ............................................................................................................................................. 3-68
(1) When door is opening ............................................................................................................................................... 3-68
(2) When door is closing ................................................................................................................................................ 3-68
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-69
3.7 Additional Axis Function ..................................................................................................................................................... 3-70
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-70
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-75
3.9 Options ....................................................................................................................................................................................... 3-78
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-79
(2) Pneumatic hand interface ...................................................................................................................................... 3-82
(3) RT ToolBox2/RT ToolBox2 mini ......................................................................................................................... 3-85
(4) Instruction Manual(bound edition) ...................................................................................................................... 3-87
3.10 Maintenance parts .............................................................................................................................................................. 3-88
4 Software ............................................................................................................................................................................................ 4-89
4.1 List of commands .................................................................................................................................................................. 4-89
4.2 List of parameters ................................................................................................................................................................. 4-92
5 Instruction Manual ........................................................................................................................................................................ 5-94
5.1 The details of each instruction manuals ...................................................................................................................... 5-94
6 Safety ................................................................................................................................................................................................. 6-96
6.1 Safety ......................................................................................................................................................................................... 6-96
6.1.1 Self-diagnosis stop functions ................................................................................................................................... 6-96
6.1.2 External input/output signals that can be used for safety protection measures .............................. 6-97
6.1.3 Precautions for using robot ....................................................................................................................................... 6-97
6.1.4 Safety measures for automatic operation ........................................................................................................... 6-98
6.1.5 Safety measures for teaching .................................................................................................................................. 6-98
6.1.6 Safety measures for maintenance and inspections, etc. .............................................................................. 6-98
6.1.7 Examples of safety measures ................................................................................................................................... 6-99
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