i.1 Introduction to This Manual
i.2.3 Important Safety Precautions
i.2.6 Operating Methods for Manipulator Axes during Emergencies and Abnormalities
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
2.4 Transportation Accessories
2.4.1 Cushioning Material for Shipping
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 Limiting the S-Axis Range of Motion (For Wall-Mounted and Tilt-Mounted Installations)
3.4.6 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 Manipulator Cable Protrusion Length
5.1 Manipulator Axes of Motion and Part Names
5.1.1 Axes of Motion and Rotation Directions
5.2.2 Dimensions and Range of Motion
5.2.3 Home Position and Range of Motion of Each Axis
5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.3.3 Stopping Distances and Stopping Times for a Category 0 Stop
5.3.4 S-Axis Arm Extension for a Category 1 Stop
5.3.5 L-Axis Arm Extension for a Category 1 Stop
5.3.6 U-Axis Arm Extension for a Category 1 Stop
5.3.7 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 Internal Piping Diagram for Built-In Solenoid Valves
7.2.6 Mating Connector (Option)
8 Changing the Range of Motion
8.1 Limiting the Range of Motion of Each Axis
8.2 Limiting the S-Axis Range of Motion (Option)
8.2.2 Available Ranges of Motion with S-Axis Stoppers
8.2.3 Mounting the S-Axis Mechanical Stopper
8.2.4 S-Axis Range of Motion and Stopper Positions
8.2.5 Setting the S-Axis Pulse Software Limits
9.1.2 YR-N1-06VX10-C00, YR-N1-06VX10-C01
9.1.3 YR-N1-06VX10-C02, YR-N1-06VX10-C03
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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