R-1
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
The following table outlines the changes made to the manual during each revision. Page numbers refer to
the previous version.
Revision code Date Revised content
01 January 2008 Original production
02 July 2008 Pages 3-26, 3-27, 3-28: Changes made to decelerator specifications
Pages 2-8, 3-31, 3-33, 3-35, 4-10: Robot cables added.
Pages 1-4, 1-5, 2-9, 2-13, 2-17, 2-19, 2-23, 2-25, 2-28, 3-4, 3-8, 3-11, 3-12, 3-
16, 3-24, 3-25, 3-30, 3-31, 3-36, 3-37, 3-39, 3-41, 3-42, 3-50, 3-53, 3-55, 3-57,
3-59, 3-77, 3-78, 4-13, 4-14, 4-18, 4-25, 4-28, 4-29, 4-35, 5-1, 5-3, 5-6, 5-14, 5-
58, 6-1, 6-7, 6-10, 6-11, 6-13, 7-10, 7-11, 7-15, A-1, A-2, A-3, A-4, A-5, A-6, A-
7, A-8, A-9: Minor changes
03 December 2011 Pages 1-6, 2-4, 2-5, 2-19, 2-21, 2-23, 2-25, 3-2, 3-17, 3-18, 3-19,
3-20, 3-26, 3-27, 3-28, 3-29, 3-36, 3-50, 4-5, 4-6, 4-13, 4-14, 4-15, 4-27, 5-5, 5-
10, 5-29, 5-57, 6-13, 8-4, 8-6, and 8-17: Minor changes made.
Page 3-35: Resistant to Bending of Robot Cables added.
Page 4-4: Radiator plate installation conditions added and description of Oil
Seal changed.
Page 5-5: Note added below graphic.
Pages 8-4 and 8-10: Alarm codes 44 and 45 added.
Appendices 1 through 9: Diagram around MC contacts changed.
Cat. No. I561-E1-03
Revision code
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