1 General configuration .................................................................................................................................................................... 1-1

1.1 Structural equipment ............................................................................................................................................................. 1-1

1.1.1 Standard structural equipment .................................................................................................................................. 1-1

1.1.2 Special specifications .................................................................................................................................................... 1-1

1.1.3 Options ................................................................................................................................................................................. 1-1

1.1.4 Maintenance parts ........................................................................................................................................................... 1-1

1.2 Model type name of robot .................................................................................................................................................... 1-2

1.2.1 How to identify the robot model ................................................................................................................................ 1-2

1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-3

(1) Stand alone type .......................................................................................................................................................... 1-3

(2) MELSEC iQ-R compatible type ............................................................................................................................. 1-3

1.3 Indirect export .......................................................................................................................................................................... 1-3

1.4 Instruction manuals ................................................................................................................................................................ 1-3

1.5 Contents of the structural equipment ............................................................................................................................ 1-4

1.5.1 Robot arm ........................................................................................................................................................................... 1-4

1.5.2 Controller ............................................................................................................................................................................ 1-5

(1) CR800-D controller .................................................................................................................................................... 1-5

(2) CR800-R controller .................................................................................................................................................... 1-6

1.5.3 Function extension device ........................................................................................................................................... 1-8

1.6 Contents of the Option equipment and special specification .............................................................................. 1-9

1.6.1 List of the robot arm option equipment and special specification ............................................................. 1-9

1.6.2 List of the controller option equipment and special specification ............................................................ 1-10

1.6.3 Function extension device ......................................................................................................................................... 1-11

2 Robot arm ......................................................................................................................................................................................... 2-13

2.1 Standard specifications ...................................................................................................................................................... 2-13

2.1.1 Basic specifications ...................................................................................................................................................... 2-13

2.1.2 The counter-force applied to the installation surface ................................................................................... 2-14

2.1.3 The conveyance performance in conveyor tracking ....................................................................................... 2-15

(1) About the numbers of conveyance times in changing an operating range ....................................... 2-16

2.2 Definition of specifications ................................................................................................................................................ 2-19

2.2.1 Pose repeatability .......................................................................................................................................................... 2-19

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-20

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-21

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-21

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-21

2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-22

(1) Relationship Between Mass Capacity and Speed ....................................................................................... 2-22

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-22

(3) Time to reach the position repeatability ......................................................................................................... 2-24

2.2.6 Collision detection ......................................................................................................................................................... 2-24

2.2.7 Protection specifications ............................................................................................................................................ 2-25

(1) Types of protection specifications .................................................................................................................... 2-25

2.3 Names of each part of the robot .................................................................................................................................... 2-26

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-27

(1) Standard Specification ............................................................................................................................................ 2-27

(2) Standard Specification (With bellows) .............................................................................................................. 2-28

2.4.1 Mechanical interface and Installation surface ................................................................................................... 2-29

2.4.2 Outside dimensions of machine cables ................................................................................................................ 2-30

2.5 Tooling ........................................................................................................................................................................................ 2-31

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-31

2.5.2 Internal air piping ............................................................................................................................................................ 2-32

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-32

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-32

2.5.5 Ethernet cable ................................................................................................................................................................. 2-32

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....................... 2-33

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