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3.1.1 Standard specifications .............................................................................................................................................. 3-36
3.1.2 Protection specifications and operating supply ............................................................................................... 3-37
3.2 Names of each part ............................................................................................................................................................. 3-38
3.3 Outside dimensions/Installation dimensions ............................................................................................................. 3-40
3.3.1 Outside dimensions ...................................................................................................................................................... 3-40
3.3.2 Installation dimensions ................................................................................................................................................ 3-41
3.4 External input/output ......................................................................................................................................................... 3-42
3.4.1 Types .................................................................................................................................................................................. 3-42
3.4.2 Explanation ....................................................................................................................................................................... 3-42
3.5 Dedicated input/output ...................................................................................................................................................... 3-43
3.6 Emergency stop input/output ......................................................................................................................................... 3-45
3.6.1 Connection of the external emergency stop ..................................................................................................... 3-45
3.6.2 Door switch function ................................................................................................................................................... 3-46
3.7 Parallel input/output unit .................................................................................................................................................. 3-47
3.8 Options ...................................................................................................................................................................................... 3-50
(1) Teaching pendant (T/B) ........................................................................................................................................ 3-51
(2) Pneumatic hand interface ..................................................................................................................................... 3-54
(3) Controller protection box ...................................................................................................................................... 3-56
(4) Expansion option box .............................................................................................................................................. 3-59
(5) Parallel I/O unit ......................................................................................................................................................... 3-61
(6) External I/O cable .................................................................................................................................................... 3-70
(7) Personal computer cable ....................................................................................................................................... 3-72
(8) Extended serial interface ....................................................................................................................................... 3-74
(9) CC-Link interface ..................................................................................................................................................... 3-77
(10) Ethernet interface .................................................................................................................................................. 3-80
(11) Additional axis interface ...................................................................................................................................... 3-82
(12) Personal computer support software/Personal computer support software mini ..................... 3-84
(13) Instruction Manual(bound edition) ................................................................................................................... 3-86
3.9 Maintenance parts ................................................................................................................................................................ 3-87
4 Software ........................................................................................................................................................................................... 4-88
4.1 List of commands ................................................................................................................................................................. 4-88
(1) The procedure of robot language selection ................................................................................................... 4-88
(2) MELFA-BASIC Ⅳ commands ............................................................................................................................. 4-89
4.2 List of parameters ................................................................................................................................................................ 4-91
(1) List of parameters .................................................................................................................................................... 4-91
(2) Change the display language / 表示言語の切 り 替え .............................................................................. 4-93
5 Instruction Manual ........................................................................................................................................................................ 5-94
5.1 The details of each instruction manuals ..................................................................................................................... 5-94
6 Safety ................................................................................................................................................................................................ 5-96
6.1 Safety ........................................................................................................................................................................................ 5-96
6.1.1 Self-diagnosis stop functions .................................................................................................................................. 5-96
6.1.2 External input/output signals that can be used for safety protection measures ............................. 5-96
6.1.3 Precautions for using robot ...................................................................................................................................... 5-97
6.1.4 Safety measures for automatic operation .......................................................................................................... 5-97
6.1.5 Safety measures for teaching .................................................................................................................................. 5-97
6.1.6 Safety measures for maintenance and inspections, etc. ............................................................................. 5-97
6.1.7 Examples of safety measures .................................................................................................................................. 5-98
6.2 Working environment ........................................................................................................................................................... 5-99
6.3 Precautions for handling .................................................................................................................................................. 5-100
7Appendix ........................................................................................................................................................................... Appendix-101
Appendix 1 ： Specifications discussion material ......................................................................................... Appendix-101
Contents
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