Contents

2.5. Axis Identification.................................................................................

2-11

2.6. Details of Wrist Axis Attachment Surface ............................................

2-12

2.7. Details of Upper 1st 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. Instructions

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. Inspection

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. Maintenance

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

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