YRC1000: GP25-12 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 (Optional)
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 Casing
        9.2.2 U-arm
        9.2.3 Multi-Port Connector
    9.3 Notes on Maintenance Procedures
        9.3.1 Home Position Check
        9.3.2 Seeped Oil Check
        9.3.3 S-, L-, U-, R-axis Motors
        9.3.4 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
    9.5 How to Drain Condensation Water from the Drain Plug
        9.5.1 In Case of Floor Installation
        9.5.2 In Case of Wall Installation
        9.5.3 In Case of Ceiling Installation
10 Recommended Spare Parts