YRC1000: GP25 Instructions

1 Product Confirmation
    1.1 Contents Confirmation
    1.2 Order Number Confirmation
2 Transport
    2.1 Transport Method
        2.1.1 Using a Crane
        2.1.2 Using a Forklift
    2.2 Shipping Bolts and Brackets
    2.3 Cushioning Material for Transport
3 Installation
    3.1 Installation of the Safety fence
    3.2 Mounting Procedures for Manipulator Base
        3.2.1 Mounting Example
    3.3 Mounting method
        3.3.1 S-Axis Operating Range
        3.3.2 Precautions to Prevent the Manipulator from Falling
    3.4 Location
    3.5 Notes on Dust-Proof/Water-Proof Specifications
4 Wiring
    4.1 Grounding
    4.2 Cable Connection
5 Basic Specifications
    5.1 Basic Specifications
    5.2 Part Names and Working Axes
    5.3 Dimensions and P-Point Maximum Envelope
    5.4 Stopping Distance and Time for S-, L-, and U-Axes
        5.4.1 .General Information
        5.4.2 Definition of Use
        5.4.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes
        5.4.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes
            5.4.4.1 Extension
            5.4.4.2 Stopping Distance and Time for Stop Category 1: S-axis
            5.4.4.3 Stopping Distance and Time for Stop Category 1: L-axis
            5.4.4.4 Stopping Distance and Time for Stop Category 1: U-axis
    5.5 Alterable Operating Range
        5.5.1 Components for Altering Operating Range
        5.5.2 Notes on the Mechanical Stopper Installation
        5.5.3 Adjustment to the Pulse Limitation of S-Axis
6 Allowable Load for Wrist Axis and Wrist Flange
    6.1 Allowable Wrist Load
    6.2 Wrist Flange
7 System Application
    7.1 Peripheral Equipment Mounts
        7.1.1 Allowable Load
        7.1.2 Installation Position
    7.2 Internal User I/O Wiring Harness and Air Line
    7.3 Mating Connector for Internal User I/O Wiring Harness (Option)
8 Electrical Equipment Specification
    8.1 Position of Limit Switch
    8.2 Position of Servo ON Lamp
    8.3 Internal Connections.
9 Maintenance and Inspection
    9.1 Inspection Schedule
    9.2 Notes for Maintenance
        9.2.1 U-arm
        9.2.2 Multi-Port Connector
    9.3 Notes on Maintenance Procedures
        9.3.1 Home Position Check
        9.3.2 Seeped Oil Check
        9.3.3 Protective Tube Replacement (for YR-1-06VXH25-A01 only)
        9.3.4 S-,L-,U-,R-axis Motors
        9.3.5 Battery Pack Replacement
    9.4 Notes on Grease Replenishment/Exchange Procedures
        9.4.1 Grease Exchange Procedures for S,L,U-axis Speed Reducer
            9.4.1.1 Notes on Grease Exchange Procedures
            9.4.1.2 Grease Exchange Procedure
        9.4.2 Grease Replenishment Procedures for R,B-axis Speed Reducer and R,T-axis Gear
            9.4.2.1 Notes on Grease Replenishment Procedures
            9.4.2.2 Grease Replenishment Procedures for R-axis Speed Reducer
            9.4.2.3 Grease Replenishment Procedures for B-axis Speed Reducer
            9.4.2.4 Grease Replenishment Procedures for R-axis Gear
            9.4.2.5 Grease Replenishment Procedures for T-axis Gear
10 Recommended Spare Parts