爱普生机器人G3系列-机器人操作手册【技术资料】|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G3系列-机器人操作手册【技术资料】
爱普生机器人G3系列-机器人操作手册【技术资料】

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

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

1.4 紧急停止 ................................................................................................... 7

1.4.1 RC180 、 RC620............................................................................ 7

1.4.2 RC700-A ....................................................................................... 9

1.5 无驱动电源时的紧急移动 .........................................................................11

1.6 机器人标签 .............................................................................................. 12

2. 规格

2.1 G3 系列机器人的特征 .............................................................................. 15

2.2 型号和型号差异 ...................................................................................... 16

2.3 部件名称和外形尺寸 ............................................................................... 18

2.3.1 台式安装 ...................................................................................... 18

2.3.2 多方位安装 .................................................................................. 22

2.4 规格 ......................................................................................................... 26

2.5 机型设定方法 .......................................................................................... 30

3. 环境与安装

3.1 环境 ......................................................................................................... 31

3.2 台架 ......................................................................................................... 32

3.3 机器人安装尺寸 ...................................................................................... 34

3.3.1 台式安装 - 直臂 ......................................................................... 35

3.3.2 台式安装 - 左弯臂 ...................................................................... 36

3.3.3 台式安装 - 右弯臂 ...................................................................... 37

3.3.4 多方位安装 - 直臂 ...................................................................... 38

3.3.5 多方位安装 - 左弯臂 .................................................................. 39

3.3.6 多方位安装 - 右弯臂 .................................................................. 40

3.4 开箱与搬运 .............................................................................................. 41

3.5 安装 ......................................................................................................... 42

3.5.1 台式安装 ...................................................................................... 42

3.5.2 多方位安装 .................................................................................. 43

3.5.3 洁净环境规格 .............................................................................. 44

3.6 电缆连接 ................................................................................................. 45

3.7 用户配线与配管 ...................................................................................... 46

3.8 移设与保管 .............................................................................................. 48

3.8.1 移设与保管注意事项 ................................................................... 48

3.8.2 台式安装 ...................................................................................... 49

3.8.3 多方位安装 .................................................................................. 50 目录

G3 Rev.8

4. 夹具末端的设定

4.1 夹具末端的安装 .......................................................................................51

4.2 相机／气动阀等的安装 ............................................................................52

4.3 Weight 设定与 Inertia 设定 .........................................................................53

4.3.1 Weight 设定 ..................................................................................53

4.3.2 Inertia 设定 ...................................................................................55

4.4 第 3 关节自动加 / 减速注意事项 ..................................................................59

5. 动作区域

5.1 利用脉冲范围设定动作区域（全关节） ...................................................60

5.1.1 第 1 关节***大脉冲范围 ..................................................................61

5.1.2 第 2 关节***大脉冲范围 ..................................................................62

5.1.3 第 3 关节***大脉冲范围 ..................................................................63

5.1.4 第 4 关节***大脉冲范围 ..................................................................63

5.2 利用机械挡块设定动作区域 .....................................................................64

5.2.1 第 1 关节 / 第 2 关节的机械挡块设定 ................................................64

5.2.2 第 3 关节的机械挡块设定 ..............................................................68

5.3 机器人 XY 坐标系中的矩形范围设定（第 1 关节、第 2 关节） ....................70

5.4 标准动作区域 ...........................................................................................70

维护篇

1. 关于维护时的安全

2. 维护概要

2.1 维护检查 ..................................................................................................74

2.1.1 维护检查进度表 ...........................................................................74

2.1.2 检查内容 ....................................................................................75

2.2 检修 .........................................................................................................76

2.3 润滑脂加注 ..............................................................................................77

2.4 内六角螺栓的紧固 ....................................................................................78

2.5 关于原点位置 ...........................................................................................78

2.6 维护部件的配置 .......................................................................................79

2.6.1 台式安装 ......................................................................................79

2.6.2 多方位安装 ...................................................................................80

3. 外罩

3.1 机械臂顶部外罩 .......................................................................................83

3.2 机械臂底部外罩 .......................................................................................84

3.3 机械臂盖 ..................................................................................................85

3.4 连接器底板 ..............................................................................................85

3.5 连接器子板 ..............................................................................................86

3.6 用户板 ......................................................................................................86

3.7 散热板 ......................................................................................................87

3.8 底座底部外罩 ...........................................................................................87

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