Contents
Chapter 1 Installing Robot Components ........................................................................................................................ 1
1.1
Preparing a Proper Environment for Installation................................................................................................... 1
1.1.1
Ambient Temperature and Humidity .............................................................................................................. 1
1.1.2
Vibration......................................................................................................................................................... 1
1.1.3
Connecting the Robot Unit and Robot Controller .......................................................................................... 2
1.1.4
Installation Environment of the Robot Unit ................................................................................................... 2
1.2
Mounting the Robot Unit ...................................................................................................................................... 4
1.2.1
Transporting the Robot Unit........................................................................................................................... 4
1.2.2
Securing the Robot Unit ................................................................................................................................. 5
1.2.3
Grounding the Robot Unit .............................................................................................................................. 6
1.3
Installing the Robot Controller.............................................................................................................................. 6
1.4
Cautions for Designing the Robot Hand ............................................................................................................... 6
1.5
Locking Out the Power Switch ............................................................................................................................. 7
Chapter 2 Customizing Your Robot ................................................................................................................................ 8
2.1
What Is Customization? ........................................................................................................................................ 8
2.2
Modifying Software Motion Limits to Define New Motion Space....................................................................... 9
2.2.1
What Is a Software Motion Limit? ................................................................................................................. 9
2.2.2
Factory Defaults of Software Motion Limits.................................................................................................. 9
2.2.3
Changing Software Motion Limits ............................................................................................................... 10
2.2.4
Precautions When Changing the Software Motion Limits ........................................................................... 11
2.2.5
Procedure for Changing the Software Motion Limits .................................................................................. 11
2.3
Changing the Mechanical End ............................................................................................................................ 14
2.4
CALSET.............................................................................................................................................................. 15
2.4.1
What Is CALSET?........................................................................................................................................ 15
2.4.2
Cautions at CALSET.................................................................................................................................... 15
2.4.3
Mounting the CALSET Jig........................................................................................................................... 16
2.4.4
What Is a CALSET Position?....................................................................................................................... 18
2.4.5
CALSET Procedure...................................................................................................................................... 19
2.5
Setting Control Set of Motion Optimization ....................................................................................................... 25
2.6
Setting Robot Installation Conditions ................................................................................................................. 26
