S5 Rev.5 ix
Table of Contents
Before Reading This Manual ............................................................................ v
Setup & Operation
1. Safety ··········································································· 3
1.1 Conventions .......................................................................................... 3
1.2 Design and Installation Safety .............................................................. 4
1.3 Operation Safety ................................................................................... 5
1.4 Emergency Stop .................................................................................... 6
1.5 How to Move Arms the Electromagnetic Brake is Applied to ............... 7
1.5.1 Moving the Arm Using the Brake Release Unit ........................ 8
1.5.2 Moving the Arm Using the Software ........................................ 13
1.6 Precaution for Operation in Low Power Status ................................... 14
1.7 Manipulator Labels .............................................................................. 15
2. Specifications ································································ 18
2.1 Features of Manipulators .................................................................... 18
2.2 Model Number ..................................................................................... 19
2.3 Appearance ......................................................................................... 20
2.4 Specifications ...................................................................................... 25
2.4.1 Table ........................................................................................ 25
2.4.2 Option Table ............................................................................ 26
2.5 How to Set the Model .......................................................................... 27
3. Environment and Installation ············································· 28
3.1 Environmental Conditions ................................................................... 28
3.2 Unpacking, Transportation, and Relocation ........................................ 30
3.2.1 Using a Crane ......................................................................... 31
3.2.2 Using a Forklift ........................................................................ 32
3.2.3 Removing / Attaching the Shipping Bolts and Jigs ................. 32
3.2.4 Relocating ............................................................................... 33
3.3 Mounting Dimensions ......................................................................... 34
3.4 Installation ........................................................................................... 35
3.4.1 Base Table Mounting ............................................................... 36
3.4.2 Floor Mounting ........................................................................ 37
3.4.3 Cleanroom-model .................................................................... 38
3.4.4 Protection-model ....................................................................... 38
3.5 Connecting the Cables ........................................................................ 39
3.5.1 Cable Connections .................................................................. 40
3.5.2 Grounding ................................................................................ 41
3.6 Setting the Basic Pose for Calibration ................................................ 42
3.7 User Wires and Pneumatic Tubes ...................................................... 44
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