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1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals ............................................................................... 1-1
1.1.2 Symbols used in instruction manual .................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual ................................................................ 1-4
2 Unpacking to Installation .............................................................................................................................................................. 2-6
2.1 Confirming the product ......................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking ............................................................................................................................................................................ 2-7
2.2.2 Transportation procedures(Transportation by people) .................................................................................... 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
2.2.4 Grounding procedures .................................................................................................................................................. 2-10
(1) Grounding methods ................................................................................................................................................... 2-10
(2) Grounding procedures ............................................................................................................................................. 2-10
2.2.5 Connecting with the controller ................................................................................................................................ 2-11
(1) CR750 controller ....................................................................................................................................................... 2-11
(2) CR751 controller ....................................................................................................................................................... 2-12
2.3 Setting the origin ................................................................................................................................................................... 2-13
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-13
(1) Installing the T/B (CR750 controller) ............................................................................................................... 2-13
(2) Installing the T/B (CR751 controller) ............................................................................................................... 2-14
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-15
(1) Confirming the origin data ..................................................................................................................................... 2-15
(2) Turning ON the control power ............................................................................................................................. 2-15
(3) Preparing the T/B ..................................................................................................................................................... 2-16
(4) Selecting the origin setting method ................................................................................................................... 2-17
(5) Inputting the origin data ......................................................................................................................................... 2-18
(6) Installing the J1 motor cover. .............................................................................................................................. 2-19
2.4 Confirming the operation .................................................................................................................................................... 2-20
(1) JOINT jog operation ................................................................................................................................................. 2-24
(2) XYZ jog operation ...................................................................................................................................................... 2-27
(3) TOOL jog operation .................................................................................................................................................. 2-29
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-31
(5) CYLNDER jog operation ......................................................................................................................................... 2-33
(6) Work jog operation ......................................................................................................... 2-35
3 Installing the option devices ..................................................................................................................................................... 3-41
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-41
4 Basic operations ............................................................................................................................................................................ 4-43
5 Maintenance and Inspection ..................................................................................................................................................... 5-44
5.1 Maintenance and inspection interval ............................................................................................................................. 5-44
5.2 Inspection items ..................................................................................................................................................................... 5-45
5.2.1 Daily inspection items .................................................................................................................................................. 5-45
5.2.2 Periodic inspection ........................................................................................................................................................ 5-46
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-47
5.3.1 Robot arm structure ..................................................................................................................................................... 5-47
5.3.2 Installing/removing the cover ................................................................................................................................... 5-49
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-51
(1) Timing belt replacement period ......................................................................................................................... 5-51
(2) Inspection, maintenance and replacement of J1-axis timing belt ........................................................ 5-52
(3) Inspection, maintenance and replacement of J2-axis timing belt ........................................................ 5-54
(4) Inspection, maintenance and replacement of J3-axis timing belt ........................................................ 5-55
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