Table of Contents
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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 .......................................................................................................................................... 2-8
(1) Transporting with a crane ........................................................................................................................................ 2-8
(2) Transporting with a manual pallet jack ............................................................................................................... 2-9
2.2.3 Installation procedures ................................................................................................................................................ 2-10
2.2.4 Grounding procedures .................................................................................................................................................. 2-12
(1) Grounding methods ................................................................................................................................................... 2-12
(2) Grounding procedures ............................................................................................................................................. 2-12
2.2.5 Connecting with the controller ................................................................................................................................ 2-13
(1) Connection of robot arm and machine cable ................................................................................................. 2-13
(2) Connection of controller and machine cable ................................................................................................. 2-15
2.2.6 Ethernet Cables .............................................................................................................................................................. 2-16
(1) No.2 arm ........................................................................................................................................................................ 2-16
(2) Base area ...................................................................................................................................................................... 2-17
2.2.7 Passing air hoses and cables through the shaft ............................................................................................... 2-19
(1) Specifications of internal air hoses and cables ............................................................................................ 2-19
(2) Customer prepared products ............................................................................................................................... 2-19
(3) Installation procedure .............................................................................................................................................. 2-20
2.3 Confirming the operation .................................................................................................................................................... 2-22
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-23
2.3.2 Turning ON the control power ................................................................................................................................. 2-23
2.3.3 Preparing the T/B ......................................................................................................................................................... 2-24
(1) JOINT jog operation ................................................................................................................................................. 2-28
(2) XYZ jog operation ...................................................................................................................................................... 2-30
(3) TOOL jog operation .................................................................................................................................................. 2-32
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-34
(5) CYLNDER jog operation ......................................................................................................................................... 2-36
(6) Work jog operation ......................................................................................................... 2-38
2.3.4 Setting the hand parameters .................................................................................................................................... 2-44
3 Installing the option devices ..................................................................................................................................................... 3-45
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-45
3.2 Installing the hand input cable ......................................................................................................................................... 3-47
3.3 Installing the hand output cable ...................................................................................................................................... 3-48
3.4 Changing the operating range .......................................................................................................................................... 3-49
(1) Operating range changeable angle ..................................................................................................................... 3-49
(2) The change method of the operating range ................................................................................................... 3-50
3.5 Hand internal wiring and piping set ................................................................................................................................ 3-51
(1) Installation procedure .............................................................................................................................................. 3-51
3.6 External Wiring and Piping Box ........................................................................................................................................ 3-54
3.7 Installing the vacuum valve set ....................................................................................................................................... 3-57
3.8 Connector protection when the option devices are installed ............................................................................. 3-59
4 Basic operations ............................................................................................................................................................................ 4-61
5 Maintenance and Inspection ..................................................................................................................................................... 5-62
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