爱普生机器人RC90-B控制器安全和安装手册（中文资料）|爱普生机器人免费下载-工博士资料下载中心

爱普生机器人 RC90-B控制器安全和安装手册（中文资料）
爱普生机器人 RC90-B控制器安全和安装手册（中文资料）

1. 关于安全

1.1 关于正文中的符号 ······························································· 1

1.2 设计与安装注意事项 ···························································· 2

1.2.1 相关手册 ·································································· 2

1.2.2 设计安全的机器人系统 ················································ 3

1.3 操作注意事项 ····································································· 6

1.3.1 安全遵守事项 ···························································· 8

1.3.2 部件名称 / 机械臂动作 ·················································· 9

1.3.3 操作模式 ································································ 13

1.4 关于维护时的安全 ····························································· 14

1.5 紧急停止 ········································································· 16

1.5.1 关于紧急停止时的自由行走距离 ·································· 16

1.5.2 紧急模式的重置方法 ················································· 21

1.6 标签 ··············································································· 21

1.6.1 控制器 ··································································· 22

1.6.2 机器人 ··································································· 23

1.7 安全功能 ········································································· 28

1.8 上锁 / 挂牌 ········································································· 30

1.9 机器人规格 ······································································ 32

1.10 利用机械挡块设定动作区域 ················································ 39

1.11 ***终用户培训 ·································································· 40

2. 安装

系统示例 ················································································· 42

2.1 从开箱到操作机器人系统的概述 ··········································· 43

2.2 开箱 ··············································································· 44

2.3 搬运 ··············································································· 44

2.3.1 搬运注意事项 ·························································· 44

2.3.2 搬运机器人 ····························································· 45

2.4 安装机器人 ······································································ 46

2.4.1 安装注意事项 ·························································· 46

2.4.2 环境 ······································································ 47

2.4.3 噪声级 ··································································· 48

2.4.4 台架 ······································································ 48

2.4.5 安装步骤 ································································ 49

2.5 安装控制器 ······································································ 51 目录

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安全与设置 (RC90-B / EPSON RC+7.0) Rev.6

2.5.1 设置注意事项 ·························································· 51

2.5.2 设置环境 ································································ 52

2.5.3 安装 ······································································ 53

2.6 连接至 EMERGENCY 连接器 ················································ 55

2.6.1 安全防护门开关和闩锁释放开关 ·································· 55

2.6.2 安全防护门开关 ······················································· 56

2.6.3 闩锁释放开关 ·························································· 56

2.6.4 确认闩锁释放开关操作 ·············································· 57

2.6.5 紧急停止开关 ·························································· 57

2.6.6 确认紧急停止开关操作 ·············································· 58

2.6.7 EMERGENCY 连接器针脚分配 ·································· 59

2.6.8 电路图与配线示例 ···················································· 60

2.7 电源 ··············································································· 62

2.7.1 电源规格 ································································ 62

2.7.2 AC 电源电缆 ··························································· 63

2.7.3 M/C 电源电缆 ·························································· 64

2.8 连接机器人和控制器 ·························································· 65

2.9 接通电源 ········································································· 66

2.9.1 接通电源注意事项 ···················································· 66

2.9.2 接通电源的步骤 ······················································· 67

2.10 保存默认状态 ································································· 67

3. ***步

3.1 安装 EPSON RC+ 7.0 软件 ··················································· 68

3.2 连接开发用 PC 和控制器 ······················································ 71

3.2.1 用于开发用 PC 的 USB 连接端口 ··································· 71

3.2.2 注意事项 ································································ 72

3.2.3 软件设定和连接检查 ················································· 72

3.2.4 备份控制器的初始状态 ·············································· 73

3.2.5 断开开发用 PC 和控制器 ············································ 74

3.2.6 将机器人移动到初始位置 ··········································· 74

3.3 编写***个程序 ································································ 78

4. 第二步

4.1 与外部装置连接 ································································ 85

4.1.1 远程控制 ································································ 85

4.1.2 以太网 ··································································· 85 目录

安全与设置 (RC90-B / EPSON RC+7.0) Rev.6

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4.1.3 RS-232C( 选件 )························································ 85

4.1.4 模拟 I/O 板 ( 选件 ) ······················································· 85

4.2 开发用 PC 和控制器的以太网连接 ·········································· 86

4.3 连接示教器 ( 选件 ) ······························································ 86

5. 维护概要

5.1 维护 ··············································································· 87

5.1.1 机器人 ··································································· 87

5.1.2 控制器 ··································································· 89

5.2 检修 ( 更换部件 ) ································································· 90

5.3 内六角螺栓的紧固 ····························································· 92

5.4 润滑脂加注 ······································································ 93

5.5 电池处理和废弃 ································································ 95

6. 手册

软件 ······················································································· 96

软件选件 ················································································· 96

控制器 ···················································································· 97

控制器选件 ·············································································· 97

机器人 ···················································································· 97

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