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*7: When the product is used in a low temperature environment around the minimum temperature of the
product specification, or when the product is suspended for a long time on holidays or at night, a collision
detection error may occur due to the large resistance of the drive unit immediately after the start of
operation. In such a case, it is recommended to warm up for about 10 minutes.
*8: Conditions of Manipulator at measurement are as follows:
Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed,
Measurement point:
*9: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover
interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Cleanliness level : Class ISO 3 (ISO14644-1)
Exhaust System : Fitting for ø8 mm pneumatic tube
Exhaust tube
ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust
due to electrification.
*10: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the Manipulator continuously with
the large Accel setting may shorten the product life remarkably.
*11: Maximum AccelS setting value for payload of 4 kg or more is 12000.
Although setting the value exceeding 12000 does not cause an error, do not set the value in order to prevent
Manipulator malfunction.
C series Rev.2
maximum acceleration/deceleration, and duty 50%.
1000 mm apart from the rear of Manipulator
Refer to "C4 Manipulator 3.6 User Wires and Pneumatic Tubes".
60 L/min vacuum
: Polyurethane tube
Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)
Appendix A: Specifications
247
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