Content
1Preface............................................................................................................................................................ 1
1.1 Intended Audience ............................................................................................................................ 1
1.2 Representation of Warnings and Notes ........................................................................................... 2
1.3 Special Statement ............................................................................................................................. 3
1.4 Revision History............................................................................................................................... 3
2Safety ............................................................................................................................................................. 4
2.1 Abstract ............................................................................................................................................. 4
2.2 Limitation of Liability...................................................................................................................... 4
2.3 Risk Assessment ............................................................................................................................... 5
2.4 Safety Operations ............................................................................................................................. 6
2.4.1 Emergency Stop ................................................................................................................... 6
2.4.2 Movement without Drive Power......................................................................................... 6
2.5 The Risk of Collision ....................................................................................................................... 8
3Production Introduction.............................................................................................................................. 12
3.1 Overview......................................................................................................................................... 12
3.2 Robot ............................................................................................................................................... 13
3.2.1 Introduction ........................................................................................................................ 13
3.2.2 Base Input Panel Description ............................................................................................ 14
3.2.3 Tool Flange......................................................................................................................... 15
3.3 Control System ............................................................................................................................... 17
3.4 Control Box..................................................................................................................................... 18
3.4.1 Introduction ........................................................................................................................ 18
3.4.2 Tool Flange I/O Description.............................................................................................. 18
3.4.3 Control Box External Interface ......................................................................................... 19
3.4.4 Control Box Power Supply Cable..................................................................................... 21
3.5 Demonstrator................................................................................................................................... 22
4Technical Data............................................................................................................................................. 23
4.1 Robot Technical Data ..................................................................................................................... 23
4.1.1 Basic Data........................................................................................................................... 23
4.1.2 Working Space.................................................................................................................... 24
4.1.3 Robot joint coordinates...................................................................................................... 25
4.1.4 Robot zero position and positive direction....................................................................... 25
4.1.5 Tool Flange Data................................................................................................................ 27
4.1.6 Base Data............................................................................................................................ 28
4.2 Load................................................................................................................................................. 29
4.2.1 Basic Load data.................................................................................................................. 29
4.2.2 Payload Diagram................................................................................................................ 30
4.3 Control System Technical Data ..................................................................................................... 31
4.4 I/O data............................................................................................................................................ 31
4.5 Stop time and distance.................................................................................................................... 32
4.5.1 Introduction ........................................................................................................................ 32
4.5.2 Stop time and distance for Axis 1-4 in Stop 0.................................................................. 32
4.6 Nameplates and Labels................................................................................................................... 34
