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Contents
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2.5. Axis Identification.................................................................................2-11
2.6. Details of Wrist Axis Attachment Surface ............................................2-12
2.7. Details of Upper 1
st
ARM Attachment Surface.....................................2-13
2.8. Application Wiring and Inspection Wiring Diagram ..............................2-14
2.8.1. Details of Customer Application Connectors.....................................2-15
2.9. Restricting the Working Envelope........................................................2-16
2.9.1. Axis 1(Axis S)....................................................................................2-16
3. Instructions.................................................................................. 3-1
3.1. Robot Component Name .......................................................................3-2
3.2. Location of Safety Nameplate................................................................3-3
3.3. How to operate ......................................................................................3-4
3.3.1. Using Crane........................................................................................3-4
3.3.2. Using Forklift Truck .............................................................................3-6
3.4. How to Install .........................................................................................3-7
3.4.1. Operating Conditions ..........................................................................3-7
3.4.2. Installating the Robot Manipulator ......................................................3-8
3.4.3. Dimension of Installation Surface .......................................................3-9
3.4.4. Accuracy of Installation Surface........................................................3-10
3.5. Allowable Load of Wrist Axis................................................................3-11
3.6. Recommended Standy Posture...........................................................3-16
4. Inspection .................................................................................... 4-1
4.1. Inspection Item and Period ....................................................................4-2
4.2. Inspection Item and Period ....................................................................4-3
4.3. Inspection of Main External Bolts...........................................................4-5
4.4. Inspection of Wrist Backlash..................................................................4-7
4.5. Inspection Internal Wiring ......................................................................4-8
4.5.1. The Conditions of Safety Inspection ...................................................4-8
4.5.2. Inspection Part....................................................................................4-9
5. Maintenance................................................................................. 5-1
5.1. Grease Replenishment/Replacement ....................................................5-2
5.1.1. S-Axis Reduction Gear .......................................................................5-3
5.1.2. H-Axis Reduction Gear .......................................................................5-4
5.1.3. V-Axis Reduction Gear .......................................................................5-6
5.1.4. R2-Axis Reduction Gear .....................................................................5-8
5.1.5. B-Axis Reduction Gear .......................................................................5-9
5.1.6. R1-Axis Reduction Gear ................................................................... 5-11
5.1.7. Bearing Joint Parts ...........................................................................5-13
3. Instructions
4. Inspection
5. Maintenance