1. 關(guān)于安全 1
1.1 關(guān)于正文中的符號(hào) ······························································· 1
1.2 設(shè)計(jì)與安裝注意事項(xiàng) ···························································· 2
1.2.1 相關(guān)手冊(cè) ·································································· 2
1.2.2 設(shè)計(jì)安全的機(jī)器人系統(tǒng) ················································ 3
1.3 操作注意事項(xiàng) ····································································· 8
1.3.1 安全遵守事項(xiàng) ·························································· 10
1.3.2 部件名稱(chēng)∕機(jī)械臂動(dòng)作 ·············································· 11
1.3.3 操作模式 ································································ 33
1.4 關(guān)于維護(hù)時(shí)的安全 ····························································· 34
1.5 緊急停止 ········································································· 36
1.5.1 關(guān)于緊急停止時(shí)的自由行走距離 ·································· 40
1.5.2 緊急模式的重置方法 ················································· 49
1.6 標(biāo)簽 ··············································································· 50
1.6.1 控制器 ··································································· 50
1.6.2 機(jī)器人 ··································································· 53
1.7 安全功能 ········································································· 68
1.8 機(jī)器人規(guī)格 ······································································ 70
1.9 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域 ··············································· 112
1.10 最終用戶(hù)培訓(xùn) ································································ 129
2. 安裝 130
系統(tǒng)示例 ··············································································· 131
2.1 從開(kāi)箱到操作機(jī)器人系統(tǒng)的概述 ········································· 135
2.2 開(kāi)箱 ············································································· 136
2.2.1 開(kāi)箱注意事項(xiàng) ························································ 136
2.3 搬運(yùn) ············································································· 137
2.3.1 搬運(yùn)注意事項(xiàng) ························································ 137
2.3.2 搬運(yùn)機(jī)器人 ··························································· 138
2.4 安裝機(jī)器人 ···································································· 145
2.4.1 安裝注意事項(xiàng) ························································ 145
2.4.2 環(huán)境 ···································································· 146
2.4.3 噪聲級(jí) ································································· 147
2.4.4 臺(tái)架 ···································································· 148
2.4.5 安裝步驟 ······························································ 150
2.5 安裝控制單元和驅(qū)動(dòng)單元 ·················································· 166
2.5.1 環(huán)境 ···································································· 166
2.5.2 安裝····································································· 168
2.5.3 墻面安裝選件························································· 169
2.6 連接至EMERGENCY連接器 ··············································· 170
2.6.1 安全門(mén)開(kāi)關(guān)和閂鎖釋放開(kāi)關(guān)······································· 170
2.6.2 安全門(mén)開(kāi)關(guān)···························································· 171
2.6.3 閂鎖釋放開(kāi)關(guān)························································· 171
2.6.4 確認(rèn)閂鎖釋放開(kāi)關(guān)操作············································· 172
2.6.5 緊急停止開(kāi)關(guān)························································· 173
2.6.6 確認(rèn)緊急停止開(kāi)關(guān)操作············································· 173
2.6.7 針腳分配······························································· 175
2.6.8 電路圖–控制單元··················································· 176
2.6.9 電路圖–驅(qū)動(dòng)單元··················································· 178
2.7 電源∕AC電源電纜 ··························································· 182
2.7.1 電源····································································· 182
2.7.2 AC電源電纜 ·························································· 183
2.8 連接驅(qū)動(dòng)單元 ·································································· 184
2.9 設(shè)定驅(qū)動(dòng)單元 ·································································· 185
2.10 連接機(jī)器人和控制器 ······················································· 186
2.10.1 連接注意事項(xiàng) ······················································· 186
2.11 接通電源 ······································································· 187
2.11.1 接通電源注意事項(xiàng) ················································· 187
2.11.2 接通電源的步驟 ···················································· 189
2.12 保存默認(rèn)狀態(tài) ································································ 190
2.13 添加追加系統(tǒng)的信息 ······················································· 190
3. 第一步 193
3.1 安裝EPSON RC+ 7.0軟件 ·················································· 193
3.2 連接開(kāi)發(fā)用PC和控制器 ····················································· 196
3.2.1 用于開(kāi)發(fā)用PC的USB連接端口 ·································· 196
3.2.2 注意事項(xiàng)······························································· 197
3.2.3 軟件設(shè)定和連接檢查················································ 197
3.2.4 備份控制器的初始狀態(tài)············································· 198
3.2.5 斷開(kāi)開(kāi)發(fā)用PC和控制器 ··········································· 199
3.2.6 將機(jī)器人移動(dòng)到初始位置·········································· 199
3.3 編寫(xiě)第一個(gè)程序 ······························································· 205
4. 第二步 212
4.1 與外部裝置連接 ······························································· 212
4.1.1 遠(yuǎn)程控制 ······························································ 212
4.1.2 以太網(wǎng) ································································· 212
4.1.3 RS-232C（選件）·················································· 212
4.1.4 模擬I/O板（選件） ·················································· 212
4.1.5 力傳感器I/F板（選件） ············································· 212
4.2 開(kāi)發(fā)用PC和控制器的以太網(wǎng)連接 ········································ 213
4.3 連接示教器（選件） ························································ 213
5. 維護(hù)概要 214
5.1 維護(hù) ············································································· 214
5.1.1 機(jī)器人 ································································· 214
5.1.2 控制單元（RC700、RC700-A） ······························· 217
5.1.3 驅(qū)動(dòng)單元（RC700DU、RC700DU-A） ······················ 218
5.2 檢修（更換部件） ····························································· 219
5.3 內(nèi)六角螺栓的緊固 ····························································· 221
5.4 潤(rùn)滑脂加注 ···································································· 222
5.5 電池處理和廢棄 ······························································ 225
6. 手冊(cè) 227
軟件 ····················································································· 227
軟件選件 ··············································································· 227
控制器 ·················································································· 228
控制器選件 ············································································ 228
機(jī)器人 ·················································································· 228
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庫(kù)卡 KR6 R1820 arc HW 2D數(shù)模圖
