1.
GENERAL INFORMATION .............................................................................. 1
1.1
1.2
Orientation......................................................................................................2
1.3
Service Calls....................................................................................................2
Training Information.....................................................................................3
1.4
Safety ....................................................................................................................3
System Safeguards.........................................................................................4
Equipment Safety...........................................................................................4
1.5
Robot Modifications ...........................................................................................5
2.
OVERVIEW............................................................................................................ 7
2.1
Description...........................................................................................................7
General ............................................................................................................7
Joint Motions ..................................................................................................8
Joint 1 .........................................................................................................8
Joint 2 .........................................................................................................9
Joint 3 .........................................................................................................9
Joint 4 .......................................................................................................10
Limiting Joint Travel ...................................................................................11
Softstops...................................................................................................11
Hardstops ................................................................................................11
Brakes ............................................................................................................15
2.2
Dimensions ........................................................................................................16
2.3
Specifications.....................................................................................................18
2.4
Options ...............................................................................................................19
3.
INSTALLATION................................................................................................. 21
3.1
Compressed Air ...........................................................................................21
TABLE OF CONTENTS
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