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Preparing a Proper Environment for Installation
Before installing the robot unit and robot controller, confirm that the operating environment is in conformity with each item of SAFETY PRECAUTIONS, "Installation Precautions". Also, take proper measures to protect the components from vibration.
In an inappropriate environment, the robot will not operate to its full capacity or performance, components may not last long, and unexpected failure may result.
Ambient Temperature and Humidity
Keep the ambient temperature between 0 to 40 ℃ during operation.
Keep the ambient humidity at 40 to 90 % to prevent dew condensation.
Vibration
Do not install the robot in an environment where it will be exposed to excessive vibration or impact.
When the excessive vibration is added to the robot unit at power-off during transportation, error (Encoder reference position error) may occur. If the error occurs when turning the robot controller ON at first after purchasing the robot, refer to the “ERROR CODE TABLES” or contact our Robot Service Section.
Connecting the Robot Unit and Robot Controller
Before delivery, the robot unit and the robot controller are configured as a set. If you purchase two or more robot systems, take care not to mistake each set when connecting robot units and controllers.
The robot unit and robot controller in a set are given the same serial number.
Installation Environment of the Robot Unit
The installation requirements for the robot unit are shown on the next page. Prepare a highly rigid mount by referring to the figure below.
Do not electric-weld the equipment including the robot. A large current may flow through the motor encoder or robot controller resulting in a failure. If electric welding is required, remove the robot unit and the robot controller from the equipment beforehand.
| Item | Environments and Conditions |
|---|---|
| Flatness of the mount | 0.1/500 mm (See the figure) |
| Rigidity of the mount | Use steel materials. (See the figure) |
| Installation type | Overhead-mount (In storage or during transportation) |
| Ambient temperature |
During operation : 0 to 40 ℃ During storage and transportation : -10 to 60 ℃ |
| Humidity |
During operation : 40 to 90 % (No dew condensation allowed.) During storage and transportation : 75 % or less (No dew condensation allowed.) |
| Vibration |
During operation : 4.9 m/s2 (0.5G) or less During storage and transportation : 29.4 m/s2 (3G) or less |
| Safe installation environment | Refer to the SAFETY PRECAUTIONS, "Insuring the proper installation environment" |
| Working space, etc. | • Sufficient service space must be available for inspection and disassembly. • Keep wiring space behind the robot, and fasten the wiring to the mounting face or beam so that the weight of the cables will not be directly applied to the connectors. Wiring space for motor and encoder cable must be at least
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| Grounding conditions | Refer to "Grounding the Robot Unit". |
Frame for Hanging
There are two types of stands; full-range type, which allows the robot to use its whole workable space, and half-range type, which can be used in a smaller space.
Full-range type (411759-0010) Half-range type (411759-0020)
| Full-range type | Half-range type | |
|---|---|---|
| Outer Dimensions |
Width: 130 mm Depth: 557.5 mm Height: 590 mm |
Width: 130 mm Depth: 257.5 mm Height: 590 mm |
| Weight | Approx. 40 kg per stand | Approx. 30 kg per stand |
For details, refer to "FULL RANGE STAND" and "HALF RANGE STAND".
The deflection of full-range type is approx. 0.3 mm.
Half-range stands limit the workable space, since they are placed inside the space. Take measures (e.g. software limit) to avoid collision between a robot and a stand.
Robot Mount Sample for Overhead-mount Type
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- When the robot runs at high speed, the robot mount undergoes large reaction forces. The mount must be rigid enough so that it will not vibrate or be displaced due to reaction forces. It is also advisable to mechanically join the robot mount with heavy equipment.
- Some mounts may produce a resonance sound (howling). If this sound is loud, increase the rigidity of the mount or slightly modify the robot speed.