i.1 Introduction to This Manual
i.1.1 Safety Precautions for Using a Dual-Arm AI Robot in a Safe Manner
i.2.3 Important Safety Precautions
i.3.2 Terms for Pendant Operation
1 Overview of Dual-Arm AI Robots
1.1 Dual-Arm AI Robot Functions
1.2 Restrictions on Collaborative Operation
1.3 Default Settings for the Safety Logic Circuits
1.4 Settings Related to the Tool
1.4.1 Configuring the Tool Files
1.4.2 Configuring Tool Switching
1.4.3 Tool Change Monitor Function
2 Operation Example of Collaborative Operation
2.1 Enabling and Disabling Collaborative Operation
2.1.1 Enabling and Disabling Collaborative Operation by External Sensor Input
2.1.2 Disabling Collaborative Operation by Changing the Safety Logic Circuit
2.2 Application Examples for a Safety Laser Scanner
2.2.1 When There Is One Monitored Area (Switch to Collaborative Mode)
2.2.2 When There Are Two Monitored Areas (Stop Robot and Switch to Collaborative Mode)
3 Collaborative Operation Functions
3.1.3 Escape from Clamping Function
3.2 Unique Functions for Dual-Arm AI Robots
3.2.1 Dual-Arm AI Robot Coordinate Systems
3.2.2 Cubic Zones for Connector Parts
5 I/O, Registers, and Variables Lists
5.2 Dual-Arm AI Robot Statuses and Signals
5.3.2 Converting the Values Stored in Registers
7.1 Checking the Status of the Torque Sensors
7.1.1 Checking the Status of the Torque Sensors with the Self-Check Function in the Robot Controller
7.1.2 Checking the Status of the Torque Sensors Using I/O
7.1.3 Checking the Status of the Torque Sensors with the [Force/Torque Watch] Window
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