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TABLE OF CONTENTS
1. GENERAL INFORMATION .............................................................................. 1
1.1 This Manual and Related Publications............................................................1
1.2 Notes, Cautions, and Warnings........................................................................1
Orientation......................................................................................................2
Controller High Power Indicator ................................................................2
1.3 Customer Service Assistance ............................................................................2
Service Calls....................................................................................................2
Training Information.....................................................................................3
Application Information...............................................................................3
International Customer Assistance .............................................................3
1.4 Safety ....................................................................................................................3
System Safeguards.........................................................................................4
Equipment Safety...........................................................................................4
1.5 Robot Modifications ...........................................................................................5
2. OVERVIEW............................................................................................................ 7
2.1 Description...........................................................................................................7
General ............................................................................................................7
Joint Motions ..................................................................................................8
Joint 1 .........................................................................................................8
Joint 2 .........................................................................................................9
Joint 3 .........................................................................................................9
Joint 4 .......................................................................................................10
Limiting Joint Travel ...................................................................................11
Softstops...................................................................................................11
Hardstops ................................................................................................11
Brakes ............................................................................................................15
2.2 Dimensions ........................................................................................................16
2.3 Specifications.....................................................................................................18
2.4 Options ...............................................................................................................19
3. INSTALLATION................................................................................................. 21
3.1 Environmental and Facility Requirements ...................................................21
Facility Ambient Air Quality .....................................................................21
Compressed Air ...........................................................................................21