4.5 Opening and closing the hand .......................................................................................................................................... 4-54
4.6 Programming ............................................................................................................................................................................ 4-55
(1) Creation procedures ................................................................................................................................................ 4-55
(2) Robot work ................................................................................................................................................................... 4-55
4.6.1 Creating the program ................................................................................................................................................... 4-56
(1) Deciding the operation order ................................................................................................................................ 4-56
(4) Confirming the program .......................................................................................................................................... 4-64
(5) Correcting the program .......................................................................................................................................... 4-65
(6) Saving the program ................................................................................................................................................... 4-68
(7) Start automatic operation. .................................................................................................................................... 4-69
5 Maintenance and Inspection ..................................................................................................................................................... 5-73
5.2 Inspection items ..................................................................................................................................................................... 5-74
5.2.1 Daily inspection items .................................................................................................................................................. 5-74
5.2.2 Periodic inspections ..................................................................................................................................................... 5-74
5.4 Maintenance parts ................................................................................................................................................................. 5-78
ii
Contents
Page