2-21
Installation
2Unpacking to Installation
(3) Installation procedure
The installation procedure is shown below.
Refer to the installation diagram shown from the next section, and perform the installation correctly.
1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) Pass the tool (hand) side of the internal air hoses and cables through the shaft. Make sure that the air hoses
and the cables are not twisted or crossed.
4) Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm
away from the opening of the shaft.
5) The highest point of the curved section of the air hoses and cables should be matched up with the top of
the fixing plate.
If the air hoses and the cables are not long enough or too long, when the robot oper
-
ates, excessive bending and friction with the shaft upper end or the cover may result
in a break or abnormal operations of the tool (hand).
6) In the state of the steps
and
, fix the air hoses and the cables to the (a) and (b) portions of the plate
with cable ties. For the (a) portion, wrap the air hoses and the cables with cushion rubber before fixing.
7) When using the hand input signal or the optional solenoid valve, refer to
Page 57, "3.5 Hand internal wiring
.
8) The connected connectors are stored to the (c) portion.
Do not remove the cable ties which fixing connectors.
Fix the plate on the No. 2 arm, other cables and air hoses with cable ties. In this way,
the internal cables and connectors do not touch the plate edge and others, or break
due to the vibration during the robot operation (Refer to
protection when the option devices are installed"
).
9) Carry out piping and wiring on the tool side.
Fix the air hoses and the cables, which are pulled out from the shaft lower end, to the hand side. Check
again that the highest point of the curved section of the air hoses and the cables reaches the height of the
fixing plate upper end, and then fix the air hoses and the cables at the outlet of the shaft.
When an optional bellows set has been installed to the robot and then required cleanliness, to ensure the
cleanliness level, use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and
the cables are pulled out.
10) Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables, the
cable sliding portion from the shaft upper end to the fixed portion, and the opening on the shaft upper end.
11) Power on the controller, perform the jog operation for the J3 and J4 axes, and check that the air hoses
and the cables do not interfere with other components.
Do not power on the controller when the internal cables are connected to the con
-
nectors on the robot.
If the end of the cables on the tool side is not processed, troubles such as fuse blown
by ground fault or short circuit may occur. Check that the end of the cables has been
processed before powering on the controller.
12) Turn off the controller’s power supply, then install the No.2 arm cover U securely as before with fixing
screws (tightening torque: 1.39 to 1.89 Nm).
When installing the cover, check that no air hose or cable is pinched, and no air hose is bent.
Note) The installation surface of covers is using sealing material. In the event that the sealing material has
been removed or has been bent or broken to the extent that it cannot be return to the original form, be
sure to replace the sealing material. Please contact dealer when the sealing material needs to be
replaced.
This completes installing cables and air hoses inside the robot’s shaft.
CAUTION
CAUTION
CAUTION
