i.1 Introduction to This Manual
i.2.3 Important Safety Precautions
1 Items to Check When the Product Arrives
1.1 Checking the Received Products
1.1.1 Components in a Basic Robot System
1.2 Verifying the Manipulator and Robot Controller Order Numbers
1.2.1 Verifying the Order Numbers
2.2.1 Precautions during Transportation
2.2.2 Precautions after Transportation
2.3 Transportation by Forklift
2.3.1 Precautions during Transportation
2.3.2 Precautions after Transportation
3.1.1 Safety Fence Installation
3.2 Installation Site and Environment
3.3 Dust-Proof/Water-Proof Performance
3.3.1 Chemical and Solvent Resistance
3.4 Installing the Manipulator
3.4.1 Recommended Items to Prepare
3.4.2 Strength of the Installation Surface
3.4.3 Dimensions of the Manipulator Base Installation Surface
3.4.4 Mounting to the Baseplate
3.4.5 Measures to Prevent Falls (For Ceiling-Mounted and Wall-Mounted Installations)
4 Connecting the Robot Controller
4.3 Connecting the Manipulator Cable
4.3.1 Connecting the Robot Controller and Manipulator
4.3.3 Insertion Procedure for Manipulator Cable
4.3.4 Removal Procedure for Manipulator Cable
4.3.5 Connecting the Torque Sensor Cable
4.3.6 Connecting the Switch/Lamp Cable
4.3.7 Manipulator Cable Protrusion Length
5.1 Manipulator Axes of Motion and Part Names
5.1.1 Axes of Motion and Rotation Directions
5.2 Basic Specifications of the Manipulator
5.2.2 Dimensions and Range of Motion
5.2.3 Home Position and Range of Motion of Each Axis
5.3 Specifications of the Status Indicator Lamp
5.5 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.5.3 Stopping Distances and Stopping Times for a Category 0 Stop
5.5.4 S-Axis Arm Extension for a Category 1 Stop
5.5.5 L-Axis Arm Extension for a Category 1 Stop
5.5.6 U-Axis Arm Extension for a Category 1 Stop
5.5.7 Stopping Distances and Stopping Times for a Category 1 Stop
6 R-, B-, and T-Axis Load Specifications and Flange Dimensions
6.1 Allowable Load on the R-, B-, and T-Axis
6.1.1 R-, B-, and T-Axis Payload
6.1.2 Allowable Load on the R-, B-, and T-Axis
6.1.3 Moment Arm Rating of the R-, B-, and T-Axis
6.2 Dimensions of the Manipulator's End-Flange
7 Connecting Peripheral Devices
7.1 Device Mounts (Tapped Holes Prepared by YASKAWA)
7.1.1 Mass of a Mountable Device
7.1.2 Positions of Device Mounts (Tapped Holes)
7.2.1 Cable and Hose Specifications
7.2.3 Connector Types and Specifications
7.2.4 Connector Pin Assignments
7.2.5 Mating Connectors (Options)
9.2 Brake Check Information Window
9.3 Checking the Brakes during Playback Operation
9.4 Manually Checking the Brakes
9.4.2 Operating Procedure to Check the Brakes
10.2 Inspection Schedule and Inspection Items
10.3.1 Checking Home Positions with the Alignment Marks
10.4 Battery Unit Replacement Procedures
10.4.1 Location of the Battery Unit
10.4.2 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal Times)
10.4.3 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF
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