1 General configuration .................................................................................................................................................................... 1-1
1.1 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
1.3 CE marking specifications .................................................................................................................................................... 1-3
1.4 Indirect export .......................................................................................................................................................................... 1-3
1.5 Instruction manuals ................................................................................................................................................................ 1-3
1.6.1 Robot arm ........................................................................................................................................................................... 1-4
1.6.2 Controller ............................................................................................................................................................................ 1-5
2 Robot arm ........................................................................................................................................................................................... 2-9
2.1 Standard specifications ........................................................................................................................................................ 2-9
2.1.1 Basic specifications ........................................................................................................................................................ 2-9
(1) Standard specification ............................................................................................................................................... 2-9
(2) Clean specification ................................................................................................................................................... 2-11
2.2 Definition of specifications ................................................................................................................................................ 2-13
2.2.1 Pose repeatability .......................................................................................................................................................... 2-13
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-14
2.2.6 Collision detection ......................................................................................................................................................... 2-19
2.2.7 Protection specifications ............................................................................................................................................ 2-20
2.2.8 Clean specifications ...................................................................................................................................................... 2-20
(1) Types of clean specifications ............................................................................................................................... 2-20
2.4.1 Outside dimensions ・ Operating range diagram ................................................................................................ 2-23
(1) Standard Specification ............................................................................................................................................ 2-23
(2) Clean Specification ................................................................................................................................................... 2-29
2.4.3 Change the operating range ...................................................................................................................................... 2-36
2.5 Tooling ........................................................................................................................................................................................ 2-38
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-38
2.5.2 Internal air piping ............................................................................................................................................................ 2-39
(1) Standard type ............................................................................................................................................................. 2-39
(2) Clean type .................................................................................................................................................................... 2-39
2.5.5 Ethernet cable ................................................................................................................................................................. 2-39
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