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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 ................................................................ 1-2
1.3 Contents of the structural equipment ........................................................................................ 1-3
1.3.1 Robot arm ........................................................................................................................... 1-3
1.3.2 Controller ............................................................................................................................ 1-4
1.3.3 Function extension device .................................................................................................. 1-5
1.4 Contents of the Option equipment and special specification .................................................... 1-6
1.4.1 List of the robot arm option equipment and special specification ....................................... 1-6
1.4.2 List of the controller option equipment and special specification ........................................ 1-6
1.4.3 Function extension device .................................................................................................. 1-7
2 Robot arm ....................................................................................................................................... 2-9
2.1 Standard specifications ............................................................................................................. 2-9
2.1.1 Basic specifications ............................................................................................................ 2-9
2.1.2 The counter-force applied to the installation surface ........................................................ 2-10
2.2 Definition of specifications ...................................................................................................... 2-11
2.2.1 Pose repeatability ............................................................................................................. 2-11
2.2.2 Rated load (mass capacity) .............................................................................................. 2-12
(1) Setting Load Capacity and Size (Hand Conditions) .......................................................... 2-13
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................... 2-13
2.2.5 Collision detection ............................................................................................................. 2-13
2.2.6 Protection specifications ................................................................................................... 2-14
(1) Types of protection specifications ..................................................................................... 2-14
(2) About the use with the bad environment ........................................................................... 2-15
2.3 Names of each part of the robot ............................................................................................. 2-16
2.4 Outside dimension • Operating range diagram ....................................................................... 2-17
2.4.1 Outside dimensions of machine cables ............................................................................ 2-19
2.5 Tooling .................................................................................................................................... 2-20
2.5.1 Wiring and piping for hand ................................................................................................ 2-20
2.5.2 Internal wiring and piping .................................................................................................. 2-21
2.5.3 Internal wiring for the hand cable ...................................................................................... 2-21
2.5.4 Air supply circuit example for the hand ............................................................................. 2-22
2.5.5 About the Installation of Tooling Wiring and Piping .......................................................... 2-22
2.6 Options .................................................................................................................................... 2-24
(1) Machine cable (replaceable): Fixed type ........................................................................... 2-25
(2) Machine cable (replaceable): Flexed type ......................................................................... 2-26
2.7 About Overhaul ....................................................................................................................... 2-28
2.8 Maintenance parts .................................................................................................................. 2-29
3 Controller ...................................................................................................................................... 3-30
3.1 Standard specifications ........................................................................................................... 3-30
3.1.1 Basic specifications .......................................................................................................... 3-30
3.1.2 Protection specifications and operating supply ................................................................. 3-32
(1) Protection specifications .................................................................................................... 3-32
(2) Operating supply ............................................................................................................... 3-32
3.2 Names of each part ................................................................................................................. 3-33
3.2.1 Controller .......................................................................................................................... 3-33
3.3 Outside dimensions/Installation dimensions ........................................................................... 3-35
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Contents
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