CONTENTS
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1 Before starting use ......................................................................................................................................................................... 1-1
1.1 Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1 The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Symbols used in instruction manual ........................................................................................................................ 1-2
1.2 Safety Precautions ................................................................................................................................................................. 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................................................. 1-4
2 Unpacking to Installation .............................................................................................................................................................. 2-5
2.1 Confirming the product ......................................................................................................................................................... 2-5
2.2 Installation .................................................................................................................................................................................. 2-6
2.2.1 Unpacking ............................................................................................................................................................................ 2-6
2.2.2 Transportation procedures(Transportation by people) .................................................................................... 2-7
2.2.3 Installation procedures .................................................................................................................................................. 2-8
2.2.4 Grounding procedures .................................................................................................................................................... 2-9
(1) Grounding methods ..................................................................................................................................................... 2-9
(2) Grounding procedures ............................................................................................................................................... 2-9
2.2.5 Connecting with the controller ................................................................................................................................ 2-10
2.3 Setting the origin ................................................................................................................................................................... 2-11
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-11
(1) Installing with the control power OFF .............................................................................................................. 2-11
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-12
(1) Confirming the origin data ..................................................................................................................................... 2-12
(2) Turning ON the control power ............................................................................................................................. 2-12
(3) Preparing the T/B ..................................................................................................................................................... 2-13
(4) Selecting the origin setting method ................................................................................................................... 2-14
(5) Inputting the origin data ......................................................................................................................................... 2-15
(6) Installing the shoulder cover (B) ......................................................................................................................... 2-16
2.4 Confirming the operation .................................................................................................................................................... 2-17
(1) JOINT jog operation ................................................................................................................................................. 2-20
(2) XYZ jog operation ...................................................................................................................................................... 2-22
(3) TOOL jog operation .................................................................................................................................................. 2-24
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-26
(5) CYLNDER jog operation ......................................................................................................................................... 2-28
3 Installing the option devices ..................................................................................................................................................... 3-31
3.1 Installing the solenoid valve set(1E-VD01/VD01E/VD02/VD02E) .................................................................. 3-31
3.1.1 RV-2A, RV-3AJ (General environment) .............................................................................................................. 3-31
3.1.2 RV-2AM, RV-3AJM (Protection specification) ................................................................................................ 3-33
3.2 Installation the pneumatic hand set （4A-HP02/HP02E） ................................................................................... 3-35
3.2.1 Installing the 1E-HP01/1E-HP01E pneumatic hand ....................................................................................... 3-36
3.2.2 Installing the 1E-VD01/1E-VD01E solenoid valve set .................................................................................. 3-36
3.2.3 Installing the pneumatic hand interface ............................................................................................................... 3-36
3.2.4 Setting the parameters ............................................................................................................................................... 3-36
3.2.5 Open/close setting of the hand and settings for input signals .................................................................. 3-36
3.2.6 Confirming operability .................................................................................................................................................. 3-36
3.3 Installation the motorized hand set （4A-HM02） .................................................................................................... 3-37
3.3.1 Installing the motorized hand .................................................................................................................................... 3-38
3.3.2 Installation the motorized interface ....................................................................................................................... 3-38
3.3.3 Setting the parameters ............................................................................................................................................... 3-38
3.3.4 Confirming operability .................................................................................................................................................. 3-38
3.4 Hand output cable (1E-GR35S) ...................................................................................................................................... 3-39
3.5 Installing the hand input cable (1E-HC15C) and hand curl tube (1E-ST040*C) ....................................... 3-39
4 Basic operations ............................................................................................................................................................................ 4-41
5 Maintenance and Inspection ..................................................................................................................................................... 5-43
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