Contents
i
Page
1Before starting use ......................................................................................................................................................................... 1-1
1.1Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Symbols used in instruction manual ........................................................................................................................ 1-3
1.2 Safety Precautions ................................................................................................................................................................. 1-4
1.2.1Precautions given in the separate Safety Manual ............................................................................................. 1-5
2 Unpacking to installation .............................................................................................................................................................. 2-7
2.1Confirming the products ....................................................................................................................................................... 2-7
2.2 Installation .................................................................................................................................................................................. 2-8
2.2.1Unpacking procedures ................................................................................................................................................... 2-8
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
2.2.4 Connecting the power cable and grounding cable ........................................................................................... 2-10
(1) Setting the power specifications ........................................................................................................................ 2-10
(2) Connecting the power and grounding cable ................................................................................................... 2-11
2.2.5 Connecting the external emergency stop ........................................................................................................... 2-12
2.2.6 Connecting to the robot arm .................................................................................................................................... 2-12
2.3 Setting the origin ................................................................................................................................................................... 2-12
2.4 Confirming the operation .................................................................................................................................................... 2-12
3 Installing the option devices ..................................................................................................................................................... 3-13
3.1Installing the pneumatic hand interface and motorized hand interface .......................................................... 3-13
3.2 Installing the expansion option box ................................................................................................................................ 3-16
4 Basic operations ............................................................................................................................................................................ 4-19
4.1Handling the controller ........................................................................................................................................................ 4-20
4.1.1Functions of each key ................................................................................................................................................. 4-20
4.2 Handling the T/B ................................................................................................................................................................... 4-22
4.2.1Installing and removing the T/B .............................................................................................................................. 4-22
(1) Installing with the control power OFF .............................................................................................................. 4-22
(2) Removing with the control power ON ............................................................................................................... 4-22
(3) Installing with the control power ON ................................................................................................................ 4-22
4.2.2 Functions of each key ................................................................................................................................................. 4-23
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-25
4.3.1Turning the control power ON ................................................................................................................................. 4-25
4.3.2 Shutting OFF the control power ............................................................................................................................. 4-25
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-26
4.4.1Turning the servo power ON (servo ON) ............................................................................................................. 4-26
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-26
4.5 Jog operation .......................................................................................................................................................................... 4-27
4.6 Opening and closing the hand .......................................................................................................................................... 4-27
4.7 Programming ............................................................................................................................................................................ 4-28
(1) Creation procedures ................................................................................................................................................ 4-28
(2) Robot work ................................................................................................................................................................... 4-28
4.7.1Creating the program ................................................................................................................................................... 4-29
(1) Deciding the operation order ................................................................................................................................ 4-29
(2) Deciding the operation position name .............................................................................................................. 4-30
(3) Describing and creating the program ................................................................................................................ 4-31
(4) Confirming the program .......................................................................................................................................... 4-36
(5) Correcting the program .......................................................................................................................................... 4-37
(6) Start automatic operation. .................................................................................................................................... 4-41
5 Maintenance and Inspection ..................................................................................................................................................... 5-43
5.1Maintenance and inspection interval ............................................................................................................................. 5-43
