1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.2 Special specifications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Instruction manuals ................................................................................................................................................................ 1-1
1.3.1 Robot arm ........................................................................................................................................................................... 1-2
1.3.2 Controller ............................................................................................................................................................................ 1-3
2 Robot arm ........................................................................................................................................................................................... 2-6
2.1 Standard specifications ........................................................................................................................................................ 2-6
2.2 Definition of specifications .................................................................................................................................................. 2-7
2.2.1 Pose repeatability ............................................................................................................................................................ 2-7
2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-8
(1) RP-1ADH ...................................................................................................................................................................... 2-10
(2) RP-3ADH ...................................................................................................................................................................... 2-12
(3) RP-5ADH ...................................................................................................................................................................... 2-14
2.5 Tooling ........................................................................................................................................................................................ 2-16
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-16
2.5.2 Pneumatic piping in robot ........................................................................................................................................... 2-18
(1) Machine cable extension ........................................................................................................................................ 2-23
2.7 Options ....................................................................................................................................................................................... 2-25
(1) Solenoid valve set ..................................................................................................................................................... 2-26
(2) Hand input cable ........................................................................................................................................................ 2-28
(3) Hand output cable ..................................................................................................................................................... 2-29
2.8 About Overhaul ...................................................................................................................................................................... 2-30
2.9 Maintenance parts ................................................................................................................................................................. 2-30
3 Controller .......................................................................................................................................................................................... 3-31
3.1 Standard specifications ...................................................................................................................................................... 3-31
3.1.1 Standard specifications ............................................................................................................................................... 3-31
3.2 Names of each part .............................................................................................................................................................. 3-33
(1) Padlock specification ............................................................................................................................................... 3-35
3.3.1 Outside dimensions ....................................................................................................................................................... 3-38
3.3.2 Installation dimensions ................................................................................................................................................. 3-39
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-40
3.4 External input/output .......................................................................................................................................................... 3-41
3.4.1 Types .................................................................................................................................................................................. 3-41
3.5 Dedicated input/output ...................................................................................................................................................... 3-42
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