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F3 robot system user guide

F Robot System User Guide UMI-F - controller teach pendant arm end e ?ector umbilical cable A Thermo Electron business CRev a b c d a Revision History Date Original Issue - Updated with references to Robot Systems Software Documentation Guide - Includes new calibration ?le instructions - Corrected speci ?cations Missing ?gures restored - Corrected SIO port numbering - Added serial port pinouts Chapter and revised ?rmware installation instructions - Appendix A First version with both ActiveRobot and RAPL- all Chapters Updated corporate logos and names - Copyright ? July Thermo CRS Ltd CataLyst ActiveRobot and RAPL are trademarks of Thermo CRS Ltd and may be used to describe only Thermo CRS Ltd All brand names and product names used in this guide are trademarks registered trademarks or trade names of their respective holders The information in this document is subject to change without notice Thermo CRS Ltd makes no warranty of any kind with regard to this material including but not limited to the implied warranties of merchantability and ?tness for a particular purpose Thermo CRS Ltd assumes no responsibility for any errors that may appear in this document Thermo CRS Ltd makes no commitment to update nor to keep current the information contained in this document Thermo CRS software products shall remain the property of Thermo CRS Ltd Additional copies of this guide or other Thermo CRS literature may be obtained from the Sales Department or from your distributor ii CPREFACE About This Guide This user guide accompanies the Thermo CRS F articulated robot system It contains installation instructions speci ?cations and operating procedures for the F arm and C C controller Who Uses This Guide This installation guide is intended for users who have already attended a Thermo CRS robot system training course It is not intended as a self-teaching tool How to Use This Guide Throughout this manual warnings are marked by a symbol in the left margin Failure to comply with these warnings can result in system errors memory loss damage to the robot and its surroundings or injury to personnel This manual is task-based and uses navigational aids to help you quickly ?nd the topics and information you need If a technical term is not familiar to you refer to the Glossary Before following instructions in a section read the entire section ?rst This guide consists of the following chapters ? Chapter Introducing the Robot System introduces the major components of your Thermo CRS robot system and provides an overview of system features ? Chapter Technical Speci ?cations contains physical and electrical speci ?cations including guidelines for the nominal use of your robot system ? Chapter Safe Use of the F System discusses safety considerations ? Chapter Installation provides instructions for installing the robot in a work cell ? Chapter Commissioning the System explains how to load the calibration ?le test basic robot functions and prepare your robot system for use ? Chapter Basic Operations describes routine system procedures ? Chapter System Connections