爱普生机器人LS20-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 LS20-B系列-机器人操作手册【中文资料】
爱普生机器人 LS20-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 (LS20-B ** 4S).........................................................14

2.3.2 洁净环境规格 (LS20-B ** 4C).........................................................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 ..................................................................................................26

3.5.1 标准环境规格 ...............................................................................26

3.5.2 洁净环境规格 ...............................................................................27

3.6 连接电缆 ..................................................................................................28

3.7 用户配线与配管 .......................................................................................31

3.8 移设与保管 ...............................................................................................33

3.8.1 移设与保管注意事项 ....................................................................33

3.8.2 移设 ..............................................................................................34

4. 夹具末端的设定

4.1 夹具末端的安装 .......................................................................................33

4.2 相机和气动阀等的安装 ............................................................................34

4.3 Weight 设定与 Inertia 设定 .........................................................................35

4.3.1 Weight 设定 ..................................................................................35

4.3.2 Inertia 设定 ...................................................................................37

4.4 第 3 关节自动加 / 减速注意事项 ..................................................................42

5. 动作区域

5.1 利用脉冲范围设定动作区域 .....................................................................43

5.1.1 第 1 关节***大脉冲范围 ..................................................................44

5.1.2 第 2 关节***大脉冲范围 ..................................................................44 目录

viii

LS20-B Rev.2

5.1.3 第 3 关节***大脉冲范围 .................................................................. 45

5.1.4 第 4 关节***大脉冲范围 .................................................................. 45

5.2 利用机械挡块设定动作区域 .....................................................................46

5.2.1 第 1 关节和第 2 关节的机械挡块设定 .............................................. 47

5.2.2 第 3 关节的机械挡块设定 .............................................................. 49

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 ).........................51

5.4 标准动作区域 ...........................................................................................52

维护篇

1. 关于维护时的安全

2. 维护概要

2.1 维护检查 ..................................................................................................58

2.1.1 维护检查进度表 ........................................................................... 58

2.1.2 检查内容 ...................................................................................... 59

2.2 检修 ( 部件的更换 ).....................................................................................60

2.3 润滑脂加注 ..............................................................................................62

2.4 内六角螺栓的紧固 ...................................................................................63

2.5 关于原点位置 ...........................................................................................63

2.6 维护部件的配置 .......................................................................................64

3. 外罩

3.1 机械臂顶部外罩 .......................................................................................66

3.2 机械臂底部外罩 .......................................................................................67

3.3 第 1 机械臂外罩 .........................................................................................67

3.4 连接器板 ..................................................................................................68

3.5 连接器子板 ..............................................................................................69

3.6 用户板 ......................................................................................................69

3.7 管道板 ......................................................................................................70

4. 电缆

4.1 电缆单元的更换 .......................................................................................72

4.2 配线表 ......................................................................................................77

4.2.1 信号电缆 ...................................................................................... 77

4.2.2 电源电缆 ...................................................................................... 78

4.2.3 用户电缆 ...................................................................................... 79

4.2.4 电缆的颜色 .................................................................................. 80

4.3 M/C 电缆的更换 ........................................................................................81

5. 第 1 关节

5.1 第 1 关节电机的更换 .................................................................................87

5.2 第 1 关节减速机的更换 ..............................................................................91

6. 第 2 关节

6.1 第 2 关节电机的更换 .................................................................................95

6.2 第 2 关节减速机的更换 ..............................................................................99 目录

LS20-B Rev.2

7. 第 3 关节

103

7.1 第 3 关节电机的更换 ................................................................................104

7.2 同步皮带的更换 .....................................................................................108

7.3 制动器的更换 .........................................................................................112

7.4 同步皮带拉力的检查 (Z 皮带 )..................................................................116

8. 第 4 关节

117

8.1 第 4 关节电机的更换 ................................................................................118

8.2 同步皮带的更换 .....................................................................................122

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

8.4 减速机的更换 .........................................................................................131

8.5 同步皮带拉力的检查 (U 皮带 )..................................................................134

9. 伸缩罩

135

10. 滚珠丝杠花键单元

137

10.1 滚珠丝杠花键单元的润滑脂加注 ..........................................................137

10.1.1 标准环境规格 ...........................................................................138

10.1.2 洁净环境规格 ...........................................................................139

10.2 滚珠丝杠花键单元的更换 .....................................................................140

11. 电路板

143

11.1 电源转换电路板的更换 .........................................................................144

11.2 控制板的更换 .......................................................................................145

12. LED 指示灯

146

13. 原点调整

147

13.1 关于原点调整 .......................................................................................147

13.2 原点调整步骤 .......................................................................................148

13.3 第 2 关节的正确原点调整 ......................................................................157

13.4 补充 : 不使用向导的原点调整步骤 .......................................................159

14. 维护部件表

163

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