Omron CR-UGD4MINI Series - Page 4

CONTENTS
CR_UGD4MINI
User's Manual
T- 2
3.3 Mounting the motor covers 3-5
3.4 Mounting the rotation motor or gearbox with his adaptor ring 3-6
4. Assembling the secondary arms 3-7
4.1 Make an assembly 3-7
4.2 Mount the arm assembly on the robot 3-8
5. Mounting the rotational axis on the motor/gearbox shaft 3-9
6. Calibration 3-10
7. Gripper interface 3-11
Chapter 4 Maintenance
1. Period ic mai nten anc e 4 -1
1.1 Springs 4-1
1.2 Ball bearing cups 4-2
1.3 Rotational axis 4-2
2. Cleaning the robot 4-4
3. Spa re parts 4 - 4
Chapter 5 Robot settings
1. K ine mat ics 5-1
2. Work spa ce 5-2
3. Soft wa re li m its 5-3
Chapter 6 Specications
1. Basicspecications 6-1
1.1 Cycle time 6-2
2. External view and dimensions 6-3
3. External view and dimensions (Robots with serial number 1784 or lower) 6-4
4. Designspecications 6-5
4.1 Occupation area of robot 6-5
4.2 Software design 6-6
4.2.1 Dimensions and limits 6-7