Handling & installation
Power on the robot only after it is securely fixed. Do not install or run a robot that is damaged or missing parts. Put a safety fence around the robot and clearly mark its motion area.
Unpacking check
On delivery, check the contents against the packing list. When installing several robots, confirm the robot and controller serial numbers match; a mismatch can cause unexpected motion.
Handling
- The Marvin arms weigh 16–26 kg in total, including packaging and excluding the base. Lift them with several people; do not carry them alone.
- The robot base weighs about 130 kg. Do not lift it by hand; use proper handling equipment.
- Before long-distance transport, return the robot to its packing posture and use the dedicated carton.
- Avoid excessive vibration and shock. Crane, forklift, and similar work must be done by qualified or authorized personnel.
Storage and environment
Store at -10 to 60 °C without frost. The installation site must be:
- Indoors, out of direct sunlight
- Away from dust, oil mist, salt, metal chips, and flammable or corrosive liquids and gases
- 0 to 45 °C during operation, 20 to 80 %RH (non-condensing)
- Vibration at or below 4.9 m/s² (0.5 G)
- Away from strong magnetic fields, electromagnetic sources (such as TIG welders), and electrical noise
- Below 1000 m altitude
After a long stop near 0 °C, the drives may be stiff and raise an alarm at start-up. If so, warm up at 25% speed for 10 minutes.
Zero posture and zero calibration
Before use, confirm the robot's zero posture matches Figure 2-1 of the manual. If it does not, contact Gento support.
Zero calibration is done at the factory and is not needed in daily use. Recalibrate after:
- Replacing a joint driver or a whole joint
- Reinstalling the system or replacing the controller drive
- A severe collision
Calibration positions for each axis are in Figure 2-2 of the manual.
Fixing the arms
Each arm base has 11 mounting holes. Recommended fasteners:
| Item | Recommendation |
|---|---|
| Screw | Hex socket head cap screw M4×14 (GB/T 3098.1-2010, grade 12.9) |
| Washer | Plain conical spring washer (JIS B 1251-2018 2L-4) |
| Tightening torque | 4.8 N·m |
| Quantity | 11 |
- The mounting surface must be flat to 0.05 mm or better; otherwise the base may be damaged or performance reduced.
- Align the notch on the back of the robot base with the notch on the back of the mounting bracket.
- The foundation must carry the static load and the reaction forces from arm motion.
- With the arm fully extended, the wrist tool or workpiece must not touch walls or the fence.
- Locating bolts, dowel pins, base plates, and other mounting parts are supplied by the customer.
- The series can be mounted at any angle with the same fixing method. For wall or ceiling mounting, contact Gento first and add fall protection.
- M3-SRS/CCS and M6-SRS/CCS share the same base and mounting method.
Base mounting dimensions for M6 and M3 are in Figures 2-3 and 2-4 of the manual.
Controller
The controller main board sits in the controller box; its outline dimensions are in Figure 2-7 of the manual.
Next: wiring.