1. 关于安全 1
       1.1 关于正文中的符号 ······························································· 1
       1.2 设计与安装注意事项 ···························································· 2
              1.2.1 相关手册 ·································································· 2
              1.2.2 设计安全的机器人系统 ················································ 3
       1.3 操作注意事项 ····································································· 8
              1.3.1 安全遵守事项 ·························································· 10
              1.3.2 部件名称∕机械臂动作 ·············································· 11
              1.3.3 操作模式 ································································ 33
       1.4 关于维护时的安全 ····························································· 34
       1.5 紧急停止 ········································································· 36
              1.5.1 关于紧急停止时的自由行走距离 ·································· 40
              1.5.2 紧急模式的重置方法 ················································· 49
       1.6 标签 ··············································································· 50
              1.6.1 控制器 ··································································· 50
              1.6.2 机器人 ··································································· 53
       1.7 安全功能 ········································································· 68
       1.8 机器人规格 ······································································ 70
       1.9 利用机械挡块设定动作区域 ··············································· 112
       1.10 最终用户培训 ································································ 129

2. 安装 130
       系统示例 ··············································································· 131
       2.1 从开箱到操作机器人系统的概述 ········································· 135
       2.2 开箱 ············································································· 136
              2.2.1 开箱注意事项 ························································ 136
       2.3 搬运 ············································································· 137
              2.3.1 搬运注意事项 ························································ 137
              2.3.2 搬运机器人 ··························································· 138
       2.4 安装机器人 ···································································· 145
              2.4.1 安装注意事项 ························································ 145
              2.4.2 环境 ···································································· 146
              2.4.3 噪声级 ································································· 147
              2.4.4 台架 ···································································· 148
              2.4.5 安装步骤 ······························································ 150
       2.5 安装控制单元和驱动单元 ·················································· 166
       2.5.1 环境 ···································································· 166
              2.5.2 安装····································································· 168
              2.5.3 墙面安装选件························································· 169
       2.6 连接至EMERGENCY连接器 ··············································· 170
              2.6.1 安全门开关和闩锁释放开关······································· 170
              2.6.2 安全门开关···························································· 171
              2.6.3 闩锁释放开关························································· 171
              2.6.4 确认闩锁释放开关操作············································· 172
              2.6.5 紧急停止开关························································· 173
              2.6.6 确认紧急停止开关操作············································· 173
              2.6.7 针脚分配······························································· 175
              2.6.8 电路图–控制单元··················································· 176
              2.6.9 电路图–驱动单元··················································· 178
       2.7 电源∕AC电源电缆 ··························································· 182
              2.7.1 电源····································································· 182
              2.7.2 AC电源电缆 ·························································· 183
       2.8 连接驱动单元 ·································································· 184
       2.9 设定驱动单元 ·································································· 185
       2.10 连接机器人和控制器 ······················································· 186
              2.10.1 连接注意事项 ······················································· 186
       2.11 接通电源 ······································································· 187
              2.11.1 接通电源注意事项 ················································· 187
              2.11.2 接通电源的步骤 ···················································· 189
       2.12 保存默认状态 ································································ 190
       2.13 添加追加系统的信息 ······················································· 190

3. 第一步 193
       3.1 安装EPSON RC+ 7.0软件 ·················································· 193
       3.2 连接开发用PC和控制器 ····················································· 196
              3.2.1 用于开发用PC的USB连接端口 ·································· 196
              3.2.2 注意事项······························································· 197
              3.2.3 软件设定和连接检查················································ 197
              3.2.4 备份控制器的初始状态············································· 198
              3.2.5 断开开发用PC和控制器 ··········································· 199
              3.2.6 将机器人移动到初始位置·········································· 199
       3.3 编写第一个程序 ······························································· 205

4. 第二步 212
       4.1 与外部装置连接 ······························································· 212
              4.1.1 远程控制 ······························································ 212
              4.1.2 以太网 ································································· 212
              4.1.3 RS-232C（选件）·················································· 212
              4.1.4 模拟I/O板（选件） ·················································· 212
              4.1.5 力传感器I/F板（选件） ············································· 212
       4.2 开发用PC和控制器的以太网连接 ········································ 213
       4.3 连接示教器（选件） ························································ 213

5. 维护概要 214
       5.1 维护 ············································································· 214
              5.1.1 机器人 ································································· 214
              5.1.2 控制单元（RC700、RC700-A） ······························· 217
              5.1.3 驱动单元（RC700DU、RC700DU-A） ······················ 218
       5.2 检修（更换部件） ····························································· 219
       5.3 内六角螺栓的紧固 ····························································· 221
       5.4 润滑脂加注 ···································································· 222
       5.5 电池处理和废弃 ······························································ 225

6. 手册 227
       软件 ····················································································· 227
       软件选件 ··············································································· 227
       控制器 ·················································································· 228
       控制器选件 ············································································ 228
       机器人 ·················································································· 228