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CONTENTS
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Page
1 Before starting use ......................................................................................................................................................................... 1-1
1.1 Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1 The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Symbols used in instruction manual ........................................................................................................................ 1-2
1.2 Safety Precautions ................................................................................................................................................................. 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................................................. 1-4
2 Unpacking to Installation .............................................................................................................................................................. 2-5
2.1 Confirming the product ......................................................................................................................................................... 2-5
2.2 Installation .................................................................................................................................................................................. 2-6
2.2.1 Unpacking ............................................................................................................................................................................ 2-6
2.2.2 Transportation procedures (Transporting with a crane) ................................................................................. 2-7
2.2.3 Installation procedures .................................................................................................................................................. 2-8
2.2.4 Grounding procedures .................................................................................................................................................... 2-9
(1) Grounding methods ..................................................................................................................................................... 2-9
(2) Grounding procedures ............................................................................................................................................... 2-9
2.2.5 Connecting with the controller ................................................................................................................................ 2-10
2.3 Setting the origin ................................................................................................................................................................... 2-12
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-12
(1) Installing with the control power OFF .............................................................................................................. 2-12
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-13
(1) Confirming the origin data ..................................................................................................................................... 2-13
(2) Turning ON the control power ............................................................................................................................. 2-13
(3) Preparing the T/B ..................................................................................................................................................... 2-14
(4) Selecting the origin setting method ................................................................................................................... 2-15
(5) Inputting the origin data ......................................................................................................................................... 2-16
(6) Installing the shoulder coverB ............................................................................................................................. 2-17
2.4 Confirming the operation .................................................................................................................................................... 2-18
(1) JOINT jog operation ................................................................................................................................................. 2-21
(2) XYZ jog operation ...................................................................................................................................................... 2-23
(3) TOOL jog operation .................................................................................................................................................. 2-25
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-27
(5) CYLNDER jog operation ......................................................................................................................................... 2-29
3 Installing the option devices ..................................................................................................................................................... 3-31
3.1 Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02) ........................................ 3-31
3.2 Installing the hand input cable ......................................................................................................................................... 3-34
3.3 Installing the hand output cable ...................................................................................................................................... 3-35
3.4 .Changing the operating range ......................................................................................................................................... 3-36
4 Basic operations ............................................................................................................................................................................ 4-38
5 Maintenance and Inspection ..................................................................................................................................................... 5-39
5.1 Maintenance and inspection interval ............................................................................................................................. 5-39
5.2 Inspection items ..................................................................................................................................................................... 5-40
5.2.1 Daily inspection items .................................................................................................................................................. 5-40
5.2.2 Periodic inspection ........................................................................................................................................................ 5-41
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-42
5.3.1 Robot arm structure ..................................................................................................................................................... 5-42
5.3.2 Installing/removing the cover ................................................................................................................................... 5-44
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-46
(1) Timing belt replacement period ......................................................................................................................... 5-46
(2) Inspection, maintenance and replacement of J5-axis timing belt ........................................................ 5-47
(3) Timing belt tension ................................................................................................................................................... 5-48
5.3.4 Lubrication ........................................................................................................................................................................ 5-49
(1) Lubrication position and specifications ............................................................................................................ 5-49