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Electrical........................................................................................................22
Robot Workcell Free Space.........................................................................22
Floor...............................................................................................................22
Mounting Surface ........................................................................................24
Plate..........................................................................................................24
Spool.........................................................................................................26
3.2 Tool and Equipment Requirements ...............................................................27
3.3 Unpacking and Inspection ..............................................................................27
Before Unpacking ........................................................................................27
Upon Unpacking .........................................................................................27
Repacking For Relocation...........................................................................28
3.4 Preparation For Installation ............................................................................28
3.5 Installing a Mounting Plate.............................................................................29
3.6 Installing a Mounting Spool............................................................................30
3.7 Robot Installation..............................................................................................33
3.8 Facility Interconnection ...................................................................................34
Robot to Controller......................................................................................34
Facility Air Supply.......................................................................................35
3.9 End Effectors .....................................................................................................35
Installation ....................................................................................................35
Clamp-mounted End Effector ..............................................................35
Screw-mounted End Effector ...............................................................37
3.10 User Signal and Voltage Lines........................................................................39
USR1 Through USR5...................................................................................39
Solenoid Drivers ..........................................................................................40
DC Power......................................................................................................41
4. MAINTENANCE ................................................................................................ 47
4.1 Introduction.......................................................................................................47
4.2 Lubrication.........................................................................................................47
Lubrication of Joint 3...................................................................................48
Lubrication of Joint 4...................................................................................48
4.3 Draining Moisture from the Air Filter...........................................................50
4.4 Joint 4 Overtravel..............................................................................................50
Diagnostic Procedure ..................................................................................50
APPENDIX A - FIFTH AXIS OPTION................................................................... 53
A.1 Introduction.......................................................................................................53
A.2 Specifications.....................................................................................................53
A.3 Installation .........................................................................................................53
A.4 Operation ...........................................................................................................54
Installing End Effectors...............................................................................54
User Electrical Connector ...........................................................................55
Programming Information .........................................................................55