R-1
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
The following table outlines the changes made to the manual during each revision. Page numbers refer to
the previous version.
Revision code Date Revised content
01 January 2008 Original production
02 July 2008 Pages 3-26, 3-27, 3-28: Changes made to decelerator specifications
Pages 2-8, 3-31, 3-33, 3-35, 4-10: Robot cables added.
Pages 1-4, 1-5, 2-9, 2-13, 2-17, 2-19, 2-23, 2-25, 2-28, 3-4, 3-8, 3-11, 3-12, 3-
16, 3-24, 3-25, 3-30, 3-31, 3-36, 3-37, 3-39, 3-41, 3-42, 3-50, 3-53, 3-55, 3-57,
3-59, 3-77, 3-78, 4-13, 4-14, 4-18, 4-25, 4-28, 4-29, 4-35, 5-1, 5-3, 5-6, 5-14, 5-
58, 6-1, 6-7, 6-10, 6-11, 6-13, 7-10, 7-11, 7-15, A-1, A-2, A-3, A-4, A-5, A-6, A-
7, A-8, A-9: Minor changes
03 December 2011 Pages 1-6, 2-4, 2-5, 2-19, 2-21, 2-23, 2-25, 3-2, 3-17, 3-18, 3-19,
3-20, 3-26, 3-27, 3-28, 3-29, 3-36, 3-50, 4-5, 4-6, 4-13, 4-14, 4-15, 4-27, 5-5, 5-
10, 5-29, 5-57, 6-13, 8-4, 8-6, and 8-17: Minor changes made.
Page 3-35: Resistant to Bending of Robot Cables added.
Page 4-4: Radiator plate installation conditions added and description of Oil
Seal changed.
Page 5-5: Note added below graphic.
Pages 8-4 and 8-10: Alarm codes 44 and 45 added.
Appendices 1 through 9: Diagram around MC contacts changed.
04 June 2014 Pages 2 to 4: Contents updated.
Page 1-6: “An AC Servomotor” removed from top table and material added
at bottom of page.
Page 2-19: Notes added and C2 dimension for HPG20A21200B@ corrected.
Pages 2-20 and 2-22: Addition made at bottom of page.
Pages 2-21, 2-23, and 2-25: Notes added.
Page 2-29: Two dimensions corrected in top diagram.
Page 3-1: Row added to bottom of table.
Page 3-8: Table replaced.
Page 3-16: EMC Directive row removed from table.
Page 3-30: Two colors changed in wiring diagram.
Page 3-46: Wire colors for No. 17 and 18 changed.
Page 4-6: Middle table replaced.
Page 4-29: Second item removed at top of page.
Pages 8-13 to 8-15: Text added to the row for “the gain doesn't match.”
05 May 2021 Added information and made corrections.
06 April 2022 Added information and made corrections.
Cat. No. I561-E1-06
Revision code
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