爱普生机器人RC700安全和安装手册系统（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RC700安全和安装手册系统（中文资料）
爱普生机器人RC700安全和安装手册系统（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 ····································································· 8

1.3.1 安全遵守事项 ·························································· 10

1.3.2 部件名称 / 机械臂动作 ················································ 11

1.3.3 操作模式 ································································ 35

1.4 关于维护时的安全 ····························································· 36

1.5 紧急停止 ········································································· 38

1.5.1 关于紧急停止时的自由行走距离 ·································· 42

1.5.2 紧急模式的重置方法 ················································· 52

1.6 标签 ··············································································· 53

1.6.1 控制器 ··································································· 53

1.6.2 机器人 ··································································· 56

1.7 安全功能 ········································································· 71

1.8 机器人规格 ······································································ 73

1.9 利用机械挡块设定动作区域 ··············································· 117

1.10 ***终用户培训 ································································ 137

2. 安装

138

2.1 从开箱到操作机器人系统的概述 ········································· 143

2.2 开箱 ············································································· 144

2.2.1 开箱注意事项 ························································ 144

2.3 搬运 ············································································· 145

2.3.1 搬运注意事项 ························································ 145

2.3.2 搬运机器人 ··························································· 146

2.4 安装机器人 ···································································· 153

2.4.1 安装注意事项 ························································ 153

2.4.2 环境 ···································································· 154

2.4.3 噪声级 ································································· 155

2.4.4 台架 ···································································· 156

2.4.5 安装步骤 ······························································ 158 目录

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安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21

2.5 安装控制单元和驱动单元 ··················································· 174

2.5.1 环境 ····································································· 174

2.5.2 安装 ····································································· 176

2.5.3 墙面安装选件 ························································· 177

2.6 连接至 EMERGENCY 连接器 ··············································· 178

2.6.1 连接安全防护门开关和闩锁释放开关 ··························· 178

2.6.2 安全防护门开关 ······················································ 179

2.6.3 闩锁释放开关 ························································· 179

2.6.4 确认闩锁释放开关操作 ············································· 180

2.6.5 紧急停止开关 ························································· 181

2.6.6 确认紧急停止开关操作 ············································· 181

2.6.7 EMERGENCY 连接器针脚分配 ································· 183

2.6.8 电路图与配线示例–控制单元 ···································· 184

2.6.9 电路图与配线示例–驱动单元 ···································· 186

2.7 电源 , AC 电源电缆 ···························································· 190

2.7.1 电源 ····································································· 190

2.7.2 AC 电源电缆 ·························································· 191

2.8 连接控制单元与驱动单元 ··················································· 192

2.9 设定驱动单元 ·································································· 193

2.10 连接机器人和控制器 ······················································· 194

2.10.1 连接注意事项 ······················································· 194

2.11 接通电源 ······································································· 195

2.11.1 接通电源注意事项 ················································· 195

2.11.2 接通电源的步骤 ···················································· 197

2.12 保存默认状态 ································································ 198

2.13 添加追加系统的信息 ······················································· 198

3. ***步

201

3.1 安装 EPSON RC+ 7.0 软件 ·················································· 201

3.2 连接开发用 PC 和控制器 ····················································· 204

3.2.1 用于开发用 PC 的 USB 连接端口 ·································· 204

3.2.2 注意事项 ······························································· 205

3.2.3 软件设定和连接检查 ················································ 205

3.2.4 备份控制器的初始状态 ············································· 206

3.2.5 断开开发用 PC 和控制器 ··········································· 207

3.2.6 将机器人移动到初始位置 ·········································· 207

3.3 编写***个程序 ······························································· 213 目录

安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21

4. 第二步

220

4.1 与外部装置连接 ······························································ 220

4.1.1 远程控制 ······························································ 220

4.1.2 以太网 ································································· 220

4.1.3 RS-232C( 选件 )······················································ 220

4.1.4 模拟 I/O 板 ( 选件 ) ····················································· 220

4.1.5 力觉传感器 I/F 板 ( 选件 ) ············································ 220

4.2 开发用 PC 和控制器的以太网连接 ········································ 221

4.3 连接示教器 ( 选件 ) ···························································· 221

5. 维护概要

222

5.1 维护 ············································································· 222

5.1.1 机器人 ································································· 222

5.1.2 控制单元 (RC700 、 RC700-A) ··································· 225

5.1.3 驱动单元 (RC700DU 、 RC700DU-A) ·························· 226

5.2 检修 ( 更换部件 ) ······························································· 227

5.3 内六角螺栓的紧固 ··························································· 229

5.4 润滑脂加注 ···································································· 230

5.5 电池处理和废弃 ······························································ 233

6. 手册

235

软件 ····················································································· 235

软件选件 ··············································································· 235

控制器 ·················································································· 236

控制器选件 ············································································ 236

机器人 ·················································································· 236

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