Contents
i
Page
1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Special specifications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Model type name of robot .................................................................................................................................................... 1-2
1.2.1 How to identify the robot model ................................................................................................................................ 1-2
1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-2
1.3 CE marking specifications .................................................................................................................................................... 1-2
1.4 Indirect export .......................................................................................................................................................................... 1-2
1.5 Instruction manuals ................................................................................................................................................................ 1-2
1.6 Contents of the structural equipment ............................................................................................................................ 1-3
1.6.1 Robot arm ........................................................................................................................................................................... 1-3
1.6.2 Controller ............................................................................................................................................................................ 1-4
1.7 Contents of the Option equipment and special specification .............................................................................. 1-5
2 Robot arm ........................................................................................................................................................................................... 2-7
2.1 Standard specifications ........................................................................................................................................................ 2-7
2.1.1 The counter-force applied to the installation surface ..................................................................................... 2-9
2.2 Definition of specifications ................................................................................................................................................ 2-10
2.2.1 Pose repeatability .......................................................................................................................................................... 2-10
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-11
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-12
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-12
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-12
2.2.5 Protection specifications ............................................................................................................................................ 2-13
(1) Types of protection specifications .................................................................................................................... 2-13
(2) About the use with the bad environment ........................................................................................................ 2-14
2.2.6 Clean specifications ...................................................................................................................................................... 2-15
(1) Types of clean specifications ............................................................................................................................... 2-15
2.3 Names of each part of the robot .................................................................................................................................... 2-16
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-17
(1) 6-axis type ................................................................................................................................................................... 2-17
(2) 5-axis type ................................................................................................................................................................... 2-19
2.5 Tooling ........................................................................................................................................................................................ 2-21
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-21
2.5.2 Internal air piping ............................................................................................................................................................ 2-22
2.5.3 Internal wiring for the pneumatic hand output cable ...................................................................................... 2-22
2.5.4 Internal wiring for the hand check input cable (Standard type/Clean type) ........................................ 2-22
2.5.5 Spare Wiring ..................................................................................................................................................................... 2-22
(1) Standard type ............................................................................................................................................................. 2-22
2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-23
2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-25
2.5.8 Air supply circuit example for the hand ............................................................................................................... 2-26
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-27
2.6.1 Shipping special specifications ................................................................................................................................. 2-27
(1) Machine cable .............................................................................................................
................................................ 2-28
2.7 Options ....................................................................................................................................................................................... 2-29
(1) Machine cable extension ........................................................................................................................................ 2-30
(2) Changing the operating range .............................................................................................................................. 2-32
(3) Solenoid valve set ..................................................................................................................................................... 2-33
(4) Hand input cable ........................................................................................................................................................ 2-35
(5) Hand output cable ..................................................................................................................................................... 2-36
(6) Hand curl tube ............................................................................................................................................................ 2-37
2.8 About Overhaul ...................................................................................................................................................................... 2-38
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