爱普生机器人LS10-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 LS10-B系列-机器人操作手册【中文资料】
爱普生机器人 LS10-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 LS10-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 标准环境规格 (LS10-B***S)..........................................................14

2.3.2 洁净环境规格 (LS10-B***C)..........................................................16

2.4 规格表 ......................................................................................................18

2.5 机型设定方法 ...........................................................................................20

3. 环境与安装

3.1 环境 ..........................................................................................................21

3.2 台架 ..........................................................................................................22

3.3 机器人安装尺寸 .......................................................................................23

3.4 开箱与搬运 ...............................................................................................24

3.5 安装步骤 ..................................................................................................25

3.5.1 标准环境规格 ...............................................................................25

3.5.2 洁净环境规格 ...............................................................................26

3.6 电缆连接 ..................................................................................................27

3.7 用户配线与配管 .......................................................................................28

3.8 移设与保管 ...............................................................................................29

3.8.1 移设与保管注意事项 ....................................................................29

3.8.2 移设 ..............................................................................................30

4. 夹具末端的设定

4.1 夹具末端的安装 .......................................................................................31

4.2 相机和气动阀等的安装 ............................................................................32

4.3 Weight 设定与 Inertia 设定 .........................................................................33

4.3.1 Weight 设定 ..................................................................................33

4.3.2 Inertia 设定 ...................................................................................35

4.4 第 3 关节自动加 / 减速注意事项 ..................................................................40

5. 动作区域

5.1 利用脉冲范围设定动作区域 ( 全关节 )........................................................41

5.1.1 第 1 关节***大脉冲范围 ..................................................................42

5.1.2 第 2 关节***大脉冲范围 ...........................................................................42 目录

viii

LS10-B Rev.5

5.1.3 第 3 关节***大脉冲范围 .................................................................. 43

5.1.4 第 4 关节***大脉冲范围 .................................................................. 43

5.2 利用机械挡块设定动作区域 .....................................................................44

5.2.1 第 1 关节和第 2 关节的机械挡块设定 .............................................. 45

5.2.2 第 3 关节的机械挡块设定 .............................................................. 47

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 ).........................48

5.4 标准动作区域 ...........................................................................................49

维护篇

1. 关于维护时的安全

2. 维护概要

2.1 维护检查 ..................................................................................................56

2.1.1 维护检查进度表 ........................................................................... 56

2.1.2 检查内容 ...................................................................................... 57

2.2 检修 ( 部件的更换 ).....................................................................................58

2.3 润滑脂加注 ..............................................................................................60

2.4 内六角螺栓的紧固 ...................................................................................61

2.5 关于原点位置 ...........................................................................................61

2.6 维护部件的配置 .......................................................................................62

3. 外罩

3.1 机械臂顶部外罩 .......................................................................................64

3.2 机械臂底部外罩 .......................................................................................64

3.3 连接器板 ..................................................................................................65

3.4 连接器子板 ..............................................................................................66

3.5 用户板 ......................................................................................................66

4. 电缆

4.1 电缆单元的更换 .......................................................................................68

4.2 配线表 ......................................................................................................72

4.2.1 信号电缆 ...................................................................................... 72

4.2.2 电源电缆 ...................................................................................... 73

4.2.3 用户电缆 ...................................................................................... 74

4.2.4 电缆的颜色 .................................................................................. 74

4.3 M/C 电缆的更换 ........................................................................................75

5. 第 1 关节

5.1 第 1 关节电机的更换 .................................................................................81

5.2 第 1 关节减速机的更换 ..............................................................................85

6. 第 2 关节

6.1 第 2 关节电机的更换 .................................................................................89

6.2 第 2 关节减速机的更换 ..............................................................................93

7. 第 3 关节

7.1 第 3 关节电机的更换 .................................................................................98 目录

LS10-B Rev.5

7.2 同步皮带的更换 .....................................................................................102

7.3 制动器的更换 .........................................................................................106

7.4 同步皮带拉力的检查 (Z 皮带 )..................................................................110

8. 第 4 关节

111

8.1 第 4 关节电机的更换 ................................................................................112

8.2 同步皮带的更换 .....................................................................................116

8.2.1 U2 皮带 .......................................................................................117

8.2.2 U1 皮带 .......................................................................................123

8.3 制动器的更换 .........................................................................................127

8.4 同步皮带拉力的检查 (U1, U2 皮带 ).........................................................130

9. 伸缩罩

130

10. 滚珠丝杠花键单元

132

10.1 滚珠丝杠花键单元的润滑脂加注 ..........................................................132

10.1.1 标准环境规格 ...........................................................................133

10.1.2 洁净环境规格 ...........................................................................134

10.2 滚珠丝杠花键单元的更换 .....................................................................135

11. 电路板

138

11.1 电源转换电路板的更换 .........................................................................139

11.2 控制板的更换 .......................................................................................141

12. LED 指示灯

142

13. 原点调整

143

13.1 关于原点调整 .......................................................................................143

13.2 原点调整步骤 .......................................................................................144

13.3 第 2 关节的正确原点调整 ......................................................................153

13.4 补充 : 不使用向导的原点调整步骤 .......................................................155

14. 维护部件表

159

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