1. 關于安全 1
       1.1 關于正文中的符號 ······························································· 1
       1.2 設計與安裝注意事項 ···························································· 2
              1.2.1 相關手冊 ·································································· 2
              1.2.2 設計安全的機器人系統 ················································ 3
       1.3 操作注意事項 ····································································· 8
              1.3.1 安全遵守事項 ·························································· 10
              1.3.2 部件名稱∕機械臂動作 ·············································· 11
              1.3.3 操作模式 ································································ 33
       1.4 關于維護時的安全 ····························································· 34
       1.5 緊急停止 ········································································· 36
              1.5.1 關于緊急停止時的自由行走距離 ·································· 40
              1.5.2 緊急模式的重置方法 ················································· 49
       1.6 標簽 ··············································································· 50
              1.6.1 控制器 ··································································· 50
              1.6.2 機器人 ··································································· 53
       1.7 安全功能 ········································································· 68
       1.8 機器人規格 ······································································ 70
       1.9 利用機械擋塊設定動作區域 ··············································· 112
       1.10 最終用戶培訓 ································································ 129

2. 安裝 130
       系統示例 ··············································································· 131
       2.1 從開箱到操作機器人系統的概述 ········································· 135
       2.2 開箱 ············································································· 136
              2.2.1 開箱注意事項 ························································ 136
       2.3 搬運 ············································································· 137
              2.3.1 搬運注意事項 ························································ 137
              2.3.2 搬運機器人 ··························································· 138
       2.4 安裝機器人 ···································································· 145
              2.4.1 安裝注意事項 ························································ 145
              2.4.2 環境 ···································································· 146
              2.4.3 噪聲級 ································································· 147
              2.4.4 臺架 ···································································· 148
              2.4.5 安裝步驟 ······························································ 150
       2.5 安裝控制單元和驅動單元 ·················································· 166
       2.5.1 環境 ···································································· 166
              2.5.2 安裝····································································· 168
              2.5.3 墻面安裝選件························································· 169
       2.6 連接至EMERGENCY連接器 ··············································· 170
              2.6.1 安全門開關和閂鎖釋放開關······································· 170
              2.6.2 安全門開關···························································· 171
              2.6.3 閂鎖釋放開關························································· 171
              2.6.4 確認閂鎖釋放開關操作············································· 172
              2.6.5 緊急停止開關························································· 173
              2.6.6 確認緊急停止開關操作············································· 173
              2.6.7 針腳分配······························································· 175
              2.6.8 電路圖–控制單元··················································· 176
              2.6.9 電路圖–驅動單元··················································· 178
       2.7 電源∕AC電源電纜 ··························································· 182
              2.7.1 電源····································································· 182
              2.7.2 AC電源電纜 ·························································· 183
       2.8 連接驅動單元 ·································································· 184
       2.9 設定驅動單元 ·································································· 185
       2.10 連接機器人和控制器 ······················································· 186
              2.10.1 連接注意事項 ······················································· 186
       2.11 接通電源 ······································································· 187
              2.11.1 接通電源注意事項 ················································· 187
              2.11.2 接通電源的步驟 ···················································· 189
       2.12 保存默認狀態 ································································ 190
       2.13 添加追加系統的信息 ······················································· 190

3. 第一步 193
       3.1 安裝EPSON RC+ 7.0軟件 ·················································· 193
       3.2 連接開發用PC和控制器 ····················································· 196
              3.2.1 用于開發用PC的USB連接端口 ·································· 196
              3.2.2 注意事項······························································· 197
              3.2.3 軟件設定和連接檢查················································ 197
              3.2.4 備份控制器的初始狀態············································· 198
              3.2.5 斷開開發用PC和控制器 ··········································· 199
              3.2.6 將機器人移動到初始位置·········································· 199
       3.3 編寫第一個程序 ······························································· 205

4. 第二步 212
       4.1 與外部裝置連接 ······························································· 212
              4.1.1 遠程控制 ······························································ 212
              4.1.2 以太網 ································································· 212
              4.1.3 RS-232C（選件）·················································· 212
              4.1.4 模擬I/O板（選件） ·················································· 212
              4.1.5 力傳感器I/F板（選件） ············································· 212
       4.2 開發用PC和控制器的以太網連接 ········································ 213
       4.3 連接示教器（選件） ························································ 213

5. 維護概要 214
       5.1 維護 ············································································· 214
              5.1.1 機器人 ································································· 214
              5.1.2 控制單元（RC700、RC700-A） ······························· 217
              5.1.3 驅動單元（RC700DU、RC700DU-A） ······················ 218
       5.2 檢修（更換部件） ····························································· 219
       5.3 內六角螺栓的緊固 ····························································· 221
       5.4 潤滑脂加注 ···································································· 222
       5.5 電池處理和廢棄 ······························································ 225

6. 手冊 227
       軟件 ····················································································· 227
       軟件選件 ··············································································· 227
       控制器 ·················································································· 228
       控制器選件 ············································································ 228
       機器人 ·················································································· 228