3
INDEX
Preface..................................................................................................................................................6
Chapter 1. Introduction ....................................................................................................................7
1.1 Rainbow Robotics’ Collaborative Robots...........................................................................................7
1.2 System Configuration .................................................................................................................8
1.3 Robot Arm .......................................................................................................................................11
1.4 Control Box .................................................................................................................................17
1.5 Teaching Pendant Tablet PC (Optional) .............................................................................20
1.6 Joint Limit ........................................................................................................................................22
1.7 Workspace.......................................................................................................................................23
1.8 Maximum Load Capacity .................................................................................................................24
Chapter 2. Safety & Precautions.................................................................................................25
2.1 Safety Indications ............................................................................................................................25
2.2 General Safety Warning & Precautions ...........................................................................................26
2.3 Usage & Functionality......................................................................................................................29
2.4 Potential Safety Issues.....................................................................................................................30
2.5 Liability Limitations..........................................................................................................................31
2.6 Shipping & Transportation...............................................................................................................32
2.7 Emergency Stop...............................................................................................................................33
2.8 User Safety ......................................................................................................................................35
2.9 Safety Controller..............................................................................................................................36
2.10 Risk Assessment ............................................................................................................................37
Chapter 3. Installation ....................................................................................................................38
3.1 Installation Precaution.....................................................................................................................38
3.2 Installation Location ........................................................................................................................39
3.3 Examples of Installation...................................................................................................................40
3.4 Mounting the Robot........................................................................................................................41
3.5 Tool Connection ..............................................................................................................................42
3.6 Cable Connection ............................................................................................................................46
3.7 Robot Control Box I/O Overview .....................................................................................................48
3.8 Safety Input Configuration ..............................................................................................................49
3.9 General Purpose Digital I/O Configuration......................................................................................51
