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Contents
Chapter 1 1
Introduction .............................................................................1
Optional Equipment ............................................................2
Chapter 2 3
Specifications ...........................................................................3
Range of Motion, Dimensions, and Weight............................4
Reach .................................................................................6
Torque Ratings....................................................................8
Joint Speeds and Acceleration Rates....................................8
Payload...............................................................................9
Resolution.........................................................................11
Brakes ..............................................................................12
Gripper .............................................................................13
Chapter 3 15
Safety Precautions ..................................................................15
Physical Barriers...............................................................15
Emergency Stops (E-stops) ................................................17
Presence Sensors...............................................................18
Other Safeguards ..............................................................19
Power................................................................................20
Environment.....................................................................21
Robot Handling .................................................................21
Operator Safety.................................................................22
Safety and Operation Checks.............................................23
Working Within the Robot’s Workspace..............................24
Chapter 4 25
Installation.............................................................................25
Required Tools and Supplies..............................................26
Component Parts...............................................................26
Designing a Work Cell .......................................................27
Unpacking the Arm ...........................................................28
Preparing the Mounting Platform.......................................31
Mounting the Arm on the Platform.....................................34
Grounding the Arm ...........................................................34
Connecting the Umbilical Cables........................................35
Next Steps.........................................................................36
Chapter 5 37
Commissioning.......................................................................37
Check the Installation of Arm and Controller......................38
Check the Installation of Other Components......................38
Check Encoder Feedback...................................................39
Check All E-Stops..............................................................40
Move Out of the Shipping Position .....................................41
Check the Live-man Switch ...............................................44
Chapter 6 45
Basic Operation ......................................................................45
Homing the Arm................................................................46
Moving with the Teach Pendant .........................................51
Moving with Terminal Commands......................................52
