Mounting The Robot Unit; Transporting The Robot Unit - Denso VP-G SERIES Installation & Maintenance Manual

1.2

Mounting the Robot Unit

1.2.1

Transporting the Robot Unit

Caution: The robot unit should only be moved prior to installation if the arm fixing plate is in place. The
arm fixing plate should also be affixed if there is the possibility of great impact being applied
to the robot unit during transportation. (See the table below for axes angles when affixing the
arm fixing plate.) If the robot unit is subjected to significant impacts when the arm fixing plate
is not in place, the arm angles may shift slightly and cause Error 6773 to be displayed on the
controller. Encoder resetting and CALSET must be performed if this occurs.
Robot Unit and Arm Angles When Packaged (When securing the arms with the arm fixing plate)
Caution Before handling or installing the robot unit, be sure to read
SAFETY PRECAUTIONS, "Installation Precautions."
An arm fixing plate is used to secure the robot arms during transportation from
the factory and should be removed after installation.
The VP-G robot unit weighs approximately 15 kg (32 lbs), making it possible for
the unit to be moved by one person. Always exercise the necessary level of care
and attention when moving the robot unit.
Axis angles when affixing the arm fixing plate
(degrees)
Axis VP-6242G
J1 -90.0000
J2 -40.0420
J3 158.9266
J4 0.0000
J5 61.1154
J6 0.0000
Note: Release the brake for all axes after affixing
the arm fixing plate to ensure that stress is not
applied to the individual axes.
Arm fixing
plate
Handling the VP-G Robot Unit
4
VP-5243G
-90.0000
-39.9915
128.9209
-
91.0706
0.0000