i.1 Introduction to This Manual
i.1.2 Precautions for Safely Using a Collaborative Robot
1 Unpacking and Checking the Product
1.1 Unpacking the Shipping Crate
1.2 Checking the Received Products
1.2.1 Components in a Basic Robot System
1.2.3 YRC1000 Robot Controller Accessories
1.2.4 YRC1000micro Robot Controller Accessories
1.2.5 Verifying the Order Numbers
2 Transportation and Installation
2.1 Transporting the Manipulator
2.2 Installing the Manipulator
2.2.2 Strength of the Installation Surface
2.2.3 Fixing the Manipulator to the Floor
2.2.4 Grounding the Manipulator
2.3 Transporting the YRC1000 Robot Controller
2.4 Installing the YRC1000 Robot Controller
2.5 Transporting the YRC1000micro Robot Controller
2.6 Installing the YRC1000micro Robot Controller
3 Connecting the Robot Controller
3.1 Connecting the YRC1000 Robot Controller and Other Devices
3.1.1 Connecting the Manipulator
3.1.2 Connecting the Primary Power Supply
3.1.3 Connecting the Smart Pendant
3.2 Connecting the YRC1000micro Robot Controller and Other Devices
3.2.1 Connecting the Manipulator
3.2.2 Connecting the Primary Power Supply
3.2.3 Connecting the Smart Pendant
4 Turning ON the Robot Controller Power Supplies
4.1 Turning ON/OFF and Checking the Power Supplies
4.1.1 Turning ON the Main Power Supply
4.1.2 Checking Operation of the Emergency Stop Button and Servo Power
4.2 Corrective Actions for Alarms at Initial Startup
4.2.2 Correcting Alarm 4107 OUT OF RANGE(ABSO DATA)
5.1.2 Jogging Parallel to the TCP
6 Mounting and Wiring the Hand
7.1 Temporarily Disabling the Collaborative Operation Function
7.3 Checking the Home Positions of the Torque Sensors and Setting the Home Positions Again
7.3.1 Checking the Home Positions of the Torque Sensors
7.3.2 Setting the Home Positions of the Torque Sensors Again
7.4 Setting External Force Limits
7.5 Configuring the Speed Limit Function
7.6 Enabling the Collaborative Operation Function
8.1 Explanation of the Sample Program
8.2 Creating a Program with Direct Teach
8.2.2 Registering Manipulator Positions in the Program Using Direct Teach
8.2.3 Adding and Changing Programming
8.2.4 Confirming Operation Step by Step
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