爱普生机器人G1系列-机器人操作手册【技术资料】

---

Setup & Operation
1. Safety 3
1.1 Conventions .......................................................................................... 3
1.2 Design and Installation Safety .............................................................. 4
1.2.1 Strength of the Ball Screw Spline ............................................. 5
1.3 Operation Safety................................................................................... 6
1.4 Emergency Stop ................................................................................... 8
1.4.1 RC180 ....................................................................................... 8
1.4.2 RC700-A ................................................................................. 10
1.5 Emergency Movement Without Drive Power...................................... 12
1.6 ACCELS Setting for CP Motions ....................................................... 13
1.7 Warning Labels ................................................................................... 14
2. Specifications 16
2.1 Features of G1 series Manipulators ................................................... 16
2.2 Model Number and Model Differences............................................... 16
2.3 Part Names and Outer Dimensions.................................................... 17
2.3.1 4-axis spec.............................................................................. 17
2.3.2 3-axis spec.............................................................................. 21
2.4 Specifications...................................................................................... 25
2.5 How to Set the Model ......................................................................... 27
3. Environments and Installation 28
3.1 Environmental Conditions................................................................... 28
3.2 Base Table .......................................................................................... 29
3.3 Mounting Dimensions ......................................................................... 31
3.3.1 4-axis spec.............................................................................. 32
3.3.2 3-axis spec.............................................................................. 33
3.4 Unpacking and Transportation............................................................ 34
3.5 Installation Procedure ......................................................................... 35
3.6 Connecting the Cables ....................................................................... 36
3.7 User Wires and Pneumatic Tubes ...................................................... 37
3.8 Relocation and Storage ...................................................................... 38
4. Setting of End Effectors 39
4.1 Attaching an End Effector................................................................... 39
4.2 Weight and Inertia Settings................................................................. 40
4.2.1 Weight Setting......................................................................... 40
4.2.2 Inertia Setting.......................................................................... 42
4.3 Precautions for Auto Acceleration/Deceleration of Joint #3 ............... 45
TABLE OF CONTENTS
viii G1 Rev.12G1 Rev.12
5. Motion Range 46
5.1 Motion Range Setting by Pulse Range (for All Joints)........................46
5.2 Motion Range Setting by Mechanical Stops .......................................48
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2).............................53
5.4 Standard Motion Range.......................................................................53
Maintenance
1. Safety Maintenance 57
2. General Maintenance 58
2.1 Maintenance Inspection.......................................................................58
2.1.1 Schedule for Maintenance Inspection .....................................58
2.1.2 Inspection Point .....................................................................59
2.2 Overhaul (Parts Replacement)............................................................60
2.3 Greasing ..............................................................................................62
2.4 Tightening Hexagon Socket Head Cap Bolts......................................64
2.5 Matching Origins..................................................................................64
2.6 Layout of Maintenance Parts...............................................................65 3. Covers 67
3.1 Arm Top Cover.....................................................................................68
3.2 Connector Plate...................................................................................69
3.3 Connector Sub Plate ...........................................................................70
3.4 User Plate............................................................................................70
4. Cable 71
4.1 Replacing Cable Unit...........................................................................72
4.2 Wiring Diagrams ..................................................................................78 4.2.1 Signal Cable.............................................................................78
4.2.2 Power Cable ............................................................................79
4.2.3 User Cable...............................................................................81
4.3 Replacing M/C Cable...........................................................................82 5. Arm #1 84
5.1 Motor....................................................................................................85
5.2 Reduction Gear Unit............................................................................88 6. Arm #2 89
6.1 Motor....................................................................................................90
6.2 Reduction Gear Unit............................................................................92

---