x99-05-31
Operator Training........................................................ 27
Safety and Operation Checks ............................................ 28
Working Within the Robot’s Workspace ............................. 29
chapter 4..........................................31
Specifications.....................................................................31
Physical Characteristics.................................................... 32
F3 Arm........................................................................ 32
Electrical Power........................................................... 32
Dimensions ...................................................................... 33
Arm ............................................................................ 33
System Control............................................................ 34
Robot Performance Summary............................................ 35
Workspace........................................................................ 36
Reach............................................................................... 37
Torque Ratings ................................................................. 39
Arm Torque................................................................. 39
Wrist Thrust and Torque ............................................. 39
Motion Specifications........................................................ 40
Speed at End-Effector.................................................. 40
Joint Speeds ............................................................... 40
Joint Accelerations...................................................... 40
Slew Time ................................................................... 41
Resolution ........................................................................ 43
Positioning Resolution................................................. 43
Load................................................................................. 44
System Features............................................................... 45
Absolute Encoders....................................................... 45
Arm Power Light.......................................................... 46
Brakes........................................................................ 46
Brake Release ............................................................. 46
Chain Tensioners ........................................................ 46
Embedded Control and Power Electronics.................... 47
chapter 5..........................................49
Installation.........................................................................49
Unpacking the F3 System ................................................. 50
Unpacking the Arm ..................................................... 50
Lifting the Arm............................................................ 51
Collecting the Shipping Materials................................. 52
Mounting the Arm............................................................. 53
Positioning the Arm..................................................... 53
Mounting Platform ...................................................... 54
Preparing a mounting platform.................................... 55
Mounting the arm on the platform............................... 55
Connecting the Umbilical Cable......................................... 57
Disconnecting the Umbilical Cable............................... 57
Grounding the System ...................................................... 58
chapter 6..........................................59
Customizing Installations...................................................59
Installing a Tool on the Robot............................................ 60
Settings of the F3 Robot’s Dual Air Valve Port .............. 61
Connecting a Hose to the Pneumatic Port.......................... 62
Enabling the Gripper................................................... 62
