爱普生机器人LS3-B、LS6-B系列-机器人操作手册【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 LS3-B、LS6-B系列-机器人操作手册【中文资料】
爱普生机器人 LS3-B、LS6-B系列-机器人操作手册【中文资料】

基本篇

1. 关于安全

1.1 关于正文中的符号 ......................................................................................3

1.2 设计与安装注意事项 ..................................................................................4

1.2.1 滚珠丝杠花键的强度 ......................................................................4

1.3 操作注意事项 .............................................................................................5

1.4 紧急停止 ....................................................................................................6

1.5 无驱动电源时的紧急移动 ...........................................................................8

1.6 CP 运动的 ACCELS 设置 .............................................................................9

1.7 机器人标签 ...............................................................................................10

2. 规格

2.1 LS3-B/LS6-B 系列机器人的特征 ..............................................................12

2.2 型号 ..........................................................................................................13

2.3 部件名称和外形尺寸 ................................................................................14

2.3.1 LS3-B...........................................................................................14

2.3.2 LS6-B...........................................................................................18

2.4 规格 ..........................................................................................................22

2.5 机型设定方法 ...........................................................................................24

3. 环境与安装

3.1 环境 ..........................................................................................................25

3.2 台架 ..........................................................................................................26

3.3 机器人安装尺寸 .......................................................................................27

3.4 开箱与搬运 ...............................................................................................28

3.5 安装步骤 ..................................................................................................29

3.5.1 标准环境规格 ...............................................................................29

3.5.2 洁净环境规格 ...............................................................................30

3.6 电缆连接 ..................................................................................................31

3.7 用户配线与配管 .......................................................................................32

3.8 移设与保管 ...............................................................................................34

3.8.1 移设与保管注意事项 ....................................................................34

3.8.2 移设 ..............................................................................................35

4. 夹具末端的设定

4.1 夹具末端的安装 .......................................................................................36

4.2 相机和气动阀等的安装 ............................................................................37

4.3 Weight 设定与 Inertia 设定 .........................................................................38

4.3.1 Weight 设定 ..................................................................................38

4.3.2 Inertia 设定 ...................................................................................42

4.4 第 3 关节自动加 / 减速注意事项 ..................................................................47

5. 动作区域

5.1 利用脉冲范围设定动作区域 ( 全关节 )........................................................49

5.1.1 第 1 关节***大脉冲范围 ..................................................................50 目录

viii

LS3-B/LS6-B Rev.4

5.1.2 第 2 关节***大脉冲范围 .................................................................. 50

5.1.3 第 3 关节***大脉冲范围 .................................................................. 51

5.1.4 第 4 关节***大脉冲范围 .................................................................. 51

5.2 利用机械挡块设定动作区域 .....................................................................52

5.2.1 第 1 关节和第 2 关节的机械挡块设定 .............................................. 53

5.2.2 第 3 关节的机械挡块设定 .............................................................. 55

5.3 机器人 XY 坐标系中的矩形范围设定 ( 第 1 关节和第 2 关节 ).........................56

5.4 标准动作区域 ...........................................................................................57

维护篇

1. 关于维护时的安全

2. 维护概要

2.1 维护检查 ..................................................................................................64

2.1.1 维护检查进度表 ........................................................................... 64

2.1.2 检查内容 ...................................................................................... 65

2.2 检修 ( 部件的更换 ).....................................................................................66

2.3 润滑脂加注 ..............................................................................................68

2.4 内六角螺栓的紧固 ...................................................................................69

2.5 关于原点位置 ...........................................................................................69

2.6 维护部件的配置 .......................................................................................70

3. 外罩

3.1 机械臂顶部外罩 .......................................................................................72

3.2 机械臂底部外罩 .......................................................................................72

3.3 连接器板 ..................................................................................................73

3.4 连接器子板 ..............................................................................................74

3.5 用户板 ......................................................................................................74

4. 电缆

4.1 电缆单元的更换 .......................................................................................75

4.2 配线表 ......................................................................................................80

4.2.1 信号电缆 ...................................................................................... 80

4.2.2 电源电缆 ...................................................................................... 82

4.2.3 用户电缆 ...................................................................................... 83

4.2.4 电缆的颜色 .................................................................................. 83

4.3 M/C 电缆的更换 ........................................................................................84

5. 第 1 关节

5.1 第 1 关节电机的更换 .................................................................................90

5.2 第 1 关节减速机的更换 ..............................................................................94

6. 第 2 关节

6.1 第 2 关节电机的更换 .................................................................................98

6.2 第 2 关节减速机的更换 ............................................................................102 目录

LS3-B/LS6-B Rev.4

7. 第 3 关节

106

7.1 第 3 关节电机的更换 ................................................................................107

7.2 同步皮带的更换 ..................................................................................... 111

7.3 制动器的更换 .........................................................................................115

7.4 同步皮带拉力的检查 (Z 皮带 )..................................................................119

8. 第 4 关节

120

8.1 第 4 关节电机的更换 ................................................................................121

8.2 同步皮带的更换 .....................................................................................125

8.2.1 U2 皮带 .......................................................................................126

8.2.2 U1 皮带 .......................................................................................132

8.3 制动器的更换 ( 仅限 LS6-B).....................................................................136

8.4 同步皮带拉力的检查 (U1, U2 皮带 ).........................................................139

9. 伸缩罩

140

10. 滚珠丝杠花键单元

142

10.1 滚珠丝杠花键单元的润滑脂加注 ..........................................................142

10.1.1 标准环境规格 ...........................................................................143

10.1.2 洁净环境规格 ...........................................................................144

10.2 滚珠丝杠花键单元的更换 .....................................................................145

11. 电路板

148

11.1 电源转换电路板的更换 .........................................................................149

11.2 控制板的更换 .......................................................................................151

12. LED 指示灯

152

13. 原点调整

154

13.1 关于原点调整 .......................................................................................154

13.2 原点调整步骤 .......................................................................................155

13.3 第 2 关节的正确原点调整 ......................................................................164

13.4 补充 : 不使用向导的原点调整步骤 .......................................................166

14. 维护部件表

170

14.1 LS3-B...................................................................................................170

14.2 LS6-B...................................................................................................171

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