Table of Contents
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C series Rev.2
1.1 Conventions............................................................................................3
1.2 Design and Installation Safety ................................................................4
1.3 Operation Safety ....................................................................................5
1.4 Emergency Stop .....................................................................................6
1.5 Safeguard ...............................................................................................8
1.6 How to Move Arms with the Electromagnetic Brake ..............................9
1.6.1 Moving the Arm using the brake release unit ...........................10
1.6.2 Moving the Arm using the software ..........................................10
1.7 Precaution for Operation in Low Power Status ....................................10
1.8 Warning Labels ..................................................................................... 11
1.9 Response for Emergency or Malfunction .............................................14
1.9.1 Collision ....................................................................................14
1.9.2 Getting body caught in Manipulator .........................................14
2.1 Model Number ......................................................................................15
2.2 Part Names and Motion Range of Each Arm .......................................16
2.3 Outer Dimensions .................................................................................17
2.3.1 C4-A601** .................................................................................17
2.3.2 C4-A901** .................................................................................18
2.4 Standard Motion Range .......................................................................19
2.4.1 C4-A601** .................................................................................19
2.4.2 C4-A901** .................................................................................20
2.5 Specifications .......................................................................................22
2.5.1 Specifications Table ..................................................................22
2.5.2 Option .......................................................................................22
2.6 How to Set the Model ...........................................................................22
3.1 Environmental Conditions ....................................................................23
3.2 Unpacking, Transportation, and Relocation .........................................24
3.3 Mounting Dimensions ...........................................................................28
3.4 Installation ............................................................................................29
3.5 Connecting the Cables .........................................................................32
3.6 User Wires and Pneumatic Tubes........................................................33
3.7 Checking the Basic orientation.............................................................34
4.1 Attaching an End Effector.....................................................................35
4.2 Attaching Camera and Air Valves .........................................................36
4.3 WEIGHT and INERTIA Settings ...........................................................38
4.3.1 WEIGHT setting ........................................................................40
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Table of Contents
