Table of Contents
System Start-up Procedure 96
Running the ACE Software 96
Verifying E-Stop Functions 97
Verify Robot Motions 98
6.5 Learning to Program the Robot
98
6.6 Installing Joint Labels
99
6.7 Caution Label on Robot
100
Chapter 7: Maintenance 101
7.1 Field-replaceable Parts
101
7.2 Periodic Maintenance Schedule
101
7.3 Checking Safety Systems
102
7.4 Checking Robot Mounting Bolts
102
7.5 Replacing Encoder Backup Batteries
102
Battery Replacement Intervals 102
Battery Replacement Procedure 102
7.6 Replacing the eMB-40/60R Amplifier
106
Remove the eMB-40/60R Amplifier 106
Installing a New eMB-40/60R 107
7.7 Commissioning a System with an eMB-40/60R
107
Safety Commissioning Utilities 108
E-Stop Configuration Utility 109
E-Stop Verification Utility 110
Teach Restrict Configuration Utility 110
Teach Restrict Verification Utility 111
7.8 Changing the Lamp in the Front Panel High-Power Indicator
112
Chapter 8: Technical Specifications 115
8.1 Robot Dimensions
115
8.2 Robot Flange Dimensions
119
8.3 Specifications
120
Physical 120
Performance 121
Stopping Distances and Times 122
Chapter 9: IP54/65 Option 129
9.1 Introduction
129
9.2 Differences from the Standard Robot Model
130
Installation Environment 130
Robot Connector Panel 130
Cable Clearance 131
6 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
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