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1 General configuration ...................................................................................................................... 1-1
1.1 Structural equipment ................................................................................................................. 1-1
1.1.1 Standard structural equipment ............................................................................................ 1-1
1.1.2 Options ............................................................................................................................... 1-1
1.1.3 Maintenance parts .............................................................................................................. 1-1
1.2 Model type name of robot ......................................................................................................... 1-2
1.2.1 How to identify the robot model .......................................................................................... 1-2
1.3 Contents of the structural equipment ........................................................................................ 1-3
1.3.1 Robot arm ........................................................................................................................... 1-3
1.3.2 Controller ............................................................................................................................ 1-4
1.3.3 Function extension device .................................................................................................. 1-5
1.3.4 Minimum equipment required to operate the robot ............................................................. 1-6
1.4 Contents of the Option equipment ............................................................................................ 1-8
1.4.1 List of the robot arm option equipment ............................................................................... 1-8
1.4.2 List of the controller option equipment and special specification ........................................ 1-8
1.4.3 Function extension device .................................................................................................. 1-9
1.4.4 Recommended vision sensors ............................................................................................ 1-9
1.4.5 Recommended hands ....................................................................................................... 1-10
2 Robot arm ..................................................................................................................................... 2-12
2.1 Standard specifications ........................................................................................................... 2-12
2.1.1 Basic specifications .......................................................................................................... 2-12
2.1.2 The counter-force applied to the installation surface ........................................................ 2-13
2.2 Definition of specifications ...................................................................................................... 2-14
2.2.1 Pose repeatability ............................................................................................................. 2-14
2.2.2 Rated load (mass capacity) .............................................................................................. 2-15
(1) Setting hand and workpiece conditions .......................................................................... 2-16
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................... 2-16
2.2.5 Collision detection ............................................................................................................. 2-17
2.2.6 Protection specifications ................................................................................................... 2-17
(1) Types of protection specifications .................................................................................. 2-17
(2) About the use with the bad environment ........................................................................ 2-18
2.3 Names of each part of the robot ............................................................................................. 2-19
2.3.1 Operation buttons ............................................................................................................. 2-20
2.3.2 Status indicator LED ......................................................................................................... 2-21
2.4 Outside dimension • Operating range diagram ....................................................................... 2-23
2.4.1 Outside dimensions of machine cables ............................................................................ 2-26
2.5 Tooling .................................................................................................................................... 2-27
2.5.1 Wiring and piping for hand ................................................................................................ 2-27
2.5.2 Internal wiring and piping .................................................................................................. 2-29
(1) Internal pneumatic plumbing .......................................................................................... 2-29
(2) Internal wiring of the hand I/O cables ............................................................................. 2-29
(3) Ethernet cable and force sensor wiring .......................................................................... 2-29
2.5.3 Wiring and piping system diagram for hand ...................................................................... 2-30
2.5.4 Electrical specifications of hand input/output .................................................................... 2-31
2.5.5 Air supply circuit example for the hand ............................................................................. 2-32
2.5.6 About the Installation of Tooling Wiring and Piping .......................................................... 2-32
2.6 Options .................................................................................................................................... 2-33
(1) Machine cable (replacement) ......................................................................................... 2-34
(2) Solenoid valve set .......................................................................................................... 2-35
(3) 2-piece force sensor conversion cable set ..................................................................... 2-37
(4) Vision sensor mounting bracket ..................................................................................... 2-38
2.7 About Overhaul ....................................................................................................................... 2-39
2.8 Maintenance parts .................................................................................................................. 2-40
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