3.3.1 Outside dimensions .......................................................................................................... 3-35
3.4 External input/output ............................................................................................................... 3-38
3.4.1 Types ................................................................................................................................ 3-38
3.5 Dedicated input/output ............................................................................................................ 3-39
3.6.3 Door switch function ......................................................................................................... 3-47
3.7 Additional Axis Function .......................................................................................................... 3-49
(1) Line noise filter .................................................................................................................. 3-51
(1) Example circuit .................................................................................................................. 3-52
3.9 Options .................................................................................................................................... 3-54
(1) Teaching pendant (T/B) ..................................................................................................... 3-55
(6) Parallel I/O interface .......................................................................................................... 3-68
(7) External I/O cable .............................................................................................................. 3-73
(8) Parallel I/O unit .................................................................................................................. 3-75
(9) External I/O cable .............................................................................................................. 3-84
(10) CC-Link interface ............................................................................................................. 3-86
(11) SD memory card ............................................................................................................. 3-89
3.10 Maintenance parts ................................................................................................................ 3-90
4 Software ........................................................................................................................................ 4-91
4.1 List of commands .................................................................................................................... 4-91
4.2 List of parameters ................................................................................................................... 4-94
5 Instruction Manual ......................................................................................................................... 5-96
6 Safety ............................................................................................................................................ 6-97
6.1 Safety ...................................................................................................................................... 6-97
(1) Robot installation ............................................................................................................... 6-98
(3) Work procedures ............................................................................................................... 6-98
(4) Training ............................................................................................................................. 6-99
6.2 Working environment ............................................................................................................ 6-105
(1) Power supply ................................................................................................................... 6-105
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