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Contents
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Page
1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Special specifications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Model type name of robot .................................................................................................................................................... 1-2
1.2.1 How to identify the robot model ................................................................................................................................ 1-2
1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-3
1.3 CE marking specifications .................................................................................................................................................... 1-3
1.4 Indirect export .......................................................................................................................................................................... 1-3
1.5 Instruction manuals ................................................................................................................................................................ 1-3
1.6 Contents of the structural equipment ............................................................................................................................ 1-4
1.6.1 Robot arm ........................................................................................................................................................................... 1-4
1.6.2 Controller ............................................................................................................................................................................ 1-5
1.7 Contents of the Option equipment and special specification .............................................................................. 1-6
2 Robot arm ........................................................................................................................................................................................... 2-9
2.1 Standard specifications ........................................................................................................................................................ 2-9
2.1.1 Basic specifications ........................................................................................................................................................ 2-9
(1) Standard specification ............................................................................................................................................... 2-9
(2) Clean specification ................................................................................................................................................... 2-11
2.1.2 The counter-force applied to the installation surface ................................................................................... 2-12
2.2 Definition of specifications ................................................................................................................................................ 2-13
2.2.1 Pose repeatability .......................................................................................................................................................... 2-13
2.2.2 Mass capacity .................................................................................................................................................................. 2-14
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-15
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-15
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-15
2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-16
(1) Relationship Between Mass Capacity and Speed ..............
......................................................................... 2-16
(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-17
(3) Relation between offset length and the maximum speed ......................................................................... 2-18
(4) Time to reach the position repeatability ......................................................................................................... 2-19
2.2.6 Collision detection ......................................................................................................................................................... 2-19
2.2.7 Protection specifications ............................................................................................................................................ 2-20
(1) Types of protection specifications .................................................................................................................... 2-20
2.2.8 Clean specifications ...................................................................................................................................................... 2-20
(1) Types of clean specifications ............................................................................................................................... 2-20
2.3 Names of each part of the robot .................................................................................................................................... 2-22
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-23
2.4.1 Outside dimensions ・ Operating range diagram ................................................................................................ 2-23
(1) Standard Specification ............................................................................................................................................ 2-23
(2) Clean Specification ................................................................................................................................................... 2-29
2.4.2 Mechanical interface and Installation surface ................................................................................................... 2-35
2.4.3 Outside dimensions of machine cables ................................................................................................................ 2-36
(1) Connection with the CR750 controller ............................................................................................................ 2-36
(2) Connection with the CR751 controller ............................................................................................................ 2-36
2.5 Tooling ........................................................................................................................................................................................ 2-37
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-37
2.5.2 Internal air piping ............................................................................................................................................................ 2-38
(1) Standard type ............................................................................................................................................................. 2-38
(2) Clean type .................................................................................................................................................................... 2-38
2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-38
2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-38
2.5.5 Ethernet cable ............................................................................................................................................................... 2-38