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 Contents of the structural equipment ............................................................................................................................ 1-3
1.3.1 Robot arm ........................................................................................................................................................................... 1-3
1.3.2 Controller ............................................................................................................................................................................ 1-4
1.4 Contents of the Option equipment and special specification .............................................................................. 1-5
2 Robot arm ........................................................................................................................................................................................... 2-8
2.1 Standard specifications ........................................................................................................................................................ 2-8
2.1.1 Basic specifications ........................................................................................................................................................ 2-8
2.2 Definition of specifications .................................................................................................................................................. 2-9
2.2.1 Pose repeatability ............................................................................................................................................................ 2-9
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-10
2.2.3 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-11
2.2.4 Collision detection ......................................................................................................................................................... 2-11
2.2.5 Protection specifications ............................................................................................................................................ 2-11
(1) Types of protection specifications .................................................................................................................... 2-11
2.3 Names of each part of the robot .................................................................................................................................... 2-12
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-13
(1) Outside dimension ................................................................................................................................................... 2-13
(2) Operating range .......................................................................................................................................................... 2-14
2.5 Tooling ........................................................................................................................................................................................ 2-15
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-15
2.5.2 Internal air piping ............................................................................................................................................................ 2-16
2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-16
2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-16
2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-17
2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-19
2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-20
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-21
2.6.1 Shipping special specifications ................................................................................................................................. 2-21
2.7 Options ....................................................................................................................................................................................... 2-22
(1) Machine cable extension ........................................................................................................................................ 2-23
(2) Stopper for changing the operating range ...................................................................................................... 2-27
(3) Solenoid valve set ..................................................................................................................................................... 2-28
(4) Hand input cable ........................................................................................................................................................ 2-30
(5) Hand output cable ..................................................................................................................................................... 2-31
(6) Hand curl tube ............................................................................................................................................................ 2-32
2.8 About Overhaul ...................................................................................................................................................................... 2-33
2.9 Maintenance parts ................................................................................................................................................................. 2-34
3 Controller .......................................................................................................................................................................................... 3-35
3.1 Standard specifications ...................................................................................................
................................................... 3-35
3.2 Protection specifications and operating supply ....................................................................................................... 3-36
3.3 Names of each part .............................................................................................................................................................. 3-37
3.3.1 Controller .......................................................................................................................................................................... 3-37
(1) CR750 controller ....................................................................................................................................................... 3-37
(2) CR751 controller ....................................................................................................................................................... 3-39
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