D28065504A - 02/2007 3
TABLE OF CONTENTS
1 - INTRODUCTION.................................................................................... 7
1.1. FOREWORD ............................................................................................................................. 9
1.1.1. Objective of this manual .............................................................................................. 11
1.1.2. Special messages concerning warnings, alerts, and information................................ 11
1.2. DEFINITION OF THE ELEMENTS AROUND THE ROBOT CELL ........................................ 10
1.3. SAFETY .................................................................................................................................. 11
1.3.1. Reminder concerning the safety standards................................................................. 11
1.3.2. Safety directives concerning to the work environment ................................................ 12
1.3.3. Safety directives concerning to staff protection........................................................... 14
1.3.4. Safety directives concerning to protection of the equipment....................................... 16
2 - DESCRIPTION.....................................................................................19
2.1. IDENTIFICATION .................................................................................................................... 21
2.2. GENERAL PRESENTATION.................................................................................................. 21
2.3. DESIGNATION OF ROBOTS OF THE TX SERIES 40 FAMILY............................................ 25
2.4. GENERAL CHARACTERISTICS............................................................................................ 27
2.4.1. Dimensions......................................................................................................................
2.4.2. Work environment ....................................................................................................... 27
2.4.3. Weight ......................................................................................................................... 27
2.5. PERFORMANCE .................................................................................................................... 29
2.5.1. Amplitude, speed and resolution ................................................................................. 29
2.6. LOAD CAPACITY – MECHANICAL INTERFACE ................................................................. 31
2.6.1. Load capacity .............................................................................................................. 33
2.6.2. Torque limits................................................................................................................ 35
2.6.3. Attachment of additional load on forearm.................................................................... 35
2.7. USER CIRCUIT ....................................................................................................................... 39
2.8. PNEUMATIC AND ELECTRIC SYSTEMS ............................................................................. 43
2.8.1. Standard pneumatic system (standard robot equipment) ........................................... 43
2.8.2. Pneumatic system with electric distributor for use with compressed air (option) ........ 47
2.8.3. Pneumatic system with electric distributor for use with vacuum (option) .................... 51
2.8.4. Electric circuit .............................................................................................................. 55
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