i.1 Introduction to This Manual
i.2.3 Important Safety Precautions
1 Items to Check When the Product Arrives
1.1 Checking the Contents of the Package
1.1.1 Set of Delivered Components in the Standard Specification
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
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
3.4.2 Strength of the Installation Surface
3.4.3 Dimensions of the Manipulator Base Installation Surface
3.4.4 Fixing the Manipulator to the Floor
4 Connecting the Robot Controller
4.3 Connecting the Manipulator Cable
4.3.1 Connecting the YRC1000 Robot Controller and Manipulator
4.3.2 Connecting the YRC1000micro Robot Controller and Manipulator
4.3.3 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 Stopping the S-, L-, and U-Axis
5.3.3 Stopping Distances and Stopping Times for Category 0 Stop
5.3.4 S-Axis Arm Extension for Category 1 Stop
5.3.5 L-Axis Arm Extension for Category 1 Stop
5.3.6 U-Axis Arm Extension for Category 1 Stop
5.3.7 Stopping Distances and Stopping Times for Category 1 Stop
6 Details on Wrist Axis Load and Wrist Flange Parts
6.1 Allowable Load on the Wrist Axis
6.1.2 Allowable Load on the Wrist Axis
6.2 Dimensions of the Manipulator's End-Flange
7 Connecting Peripheral Devices
7.1.1 Cable and Hose Specifications
7.1.3 Connector Types and Specifications
7.1.4 Connector Pin Assignments
7.1.5 I/O Cable Mating Connector (Option)
7.2 Tapped Holes for Fixing External Cables
8 Changing the Range of Motion
8.1 Limiting the S-Axis Range of Motion
8.1.2 Mounting the S-Axis Stopper
8.1.3 S-Axis Pulse Software Limit Settings
10 Brake Slippage Check Function
10.1.1 Execution Timing of the Brake Slippage Check
10.2 Brake Check Information Window
10.3 Checking Brake Slippage during Playback Operation
10.4 Manually Checking Brake Slippage
10.4.2 Operating Procedure to Check Brake Slippage
11.2 Inspection Schedule and Inspection Items
11.3.2 Replenishing Grease in Speed Reducers and Gear Parts
11.4 Battery Unit Replacement Procedures
11.4.1 Locations of the Battery Units
11.4.2 Multi-Port Connector Configuration
11.4.3 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal Times)
11.4.4 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF
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