Shibaura CA20-M10, Operating Manual, Page: 4 / 384

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Contents
Chapter 1 General Safety Instruction
1.1 Important messages ···································································· 1-1
1.2 Safe Operation ············································································ 1-6
1.2.1 Auxiliary safety precautions before ROIbot installation ····················· 1-6
1.2.2 Precautions for installing the ROIbot ············································ 1-7
1.2.3 Precautions for operation of the ROIbot ········································ 1-7
1.3 Warranty ···················································································· 1-9
1.3.1 Warranty period ······································································ 1-9
1.3.2 Warranty details ······································································ 1-9
1.3.3 Exemption of liability ································································ 1-9
1.3.4 Notes ···················································································· 1-9
Chapter 2 Devices
2.1 Features ····················································································· 2-1
2.2 System components and specifications ········································· 2-3
2.2.1 System components ································································· 2-3
2.2.2 Controller specifications····························································· 2-4
(1) Master unit specifications ··························································· 2-5
(2) Slave unit specifications ···························································· 2-6
(3) Various units and options ··························································· 2-7
2.3 Explanation of each part ······························································· 2-8
2.3.1 External dimensions and explanation of each part ··························· 2-8
2.3.2 Function of each part ································································ 2-9
2.3.3 Explanation of expansion input/output unit ····································· 2-11
2.3.4 Explanation of Teach Pendant ···················································· 2-12
2.4 Procedures from installation to operation ······································· 2-15
2.4.1 Installing the controller ······························································ 2-16
2.4.2 Supply power and grounding ······················································ 2-17
2.4.3 Improvement of noise resistance ················································· 2-19
2.4.4 Connecting the axis and controller ··············································· 2-20
2.4.5 Connecting the emergency stop circuit ········································· 2-23
2.4.6 Effect of leakage current ···························································· 2-23
2.4.7 Setting the Robot Type ······························································ 2-24
2.4.8 Setting the software limit and Return to Origin ································ 2-26
2.4.9 Servo gain adjustment ······························································ 2-28
2.4.10 Absolute encoder backup ························································· 2-29
2.5 Moving the ROIbot ······································································· 2-32