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1. 關(guān)于安全
1
1.1 關(guān)于正文中的符號(hào) ······························································· 1
1.2 設(shè)計(jì)與安裝注意事項(xiàng) ···························································· 2
1.2.1 相關(guān)手冊(cè) ·································································· 2
1.2.2 設(shè)計(jì)安全的機(jī)器人系統(tǒng) ················································ 3
1.3 操作注意事項(xiàng) ····································································· 6
1.3.1 安全遵守事項(xiàng) ···························································· 8
1.3.2 部件名稱/機(jī)械臂動(dòng)作 ·················································· 9
1.3.3 操作模式 ································································ 13
1.4 關(guān)于維護(hù)時(shí)的安全 ····························································· 14
1.5 緊急停止 ········································································· 16
1.5.1 關(guān)于緊急停止時(shí)的自由行走距離 ·································· 16
1.5.2 緊急模式的重置方法 ················································· 21
1.6 標(biāo)簽 ··············································································· 21
1.6.1 控制器 ··································································· 22
1.6.2 機(jī)器人 ··································································· 23
1.7 安全功能 ········································································· 28
1.8 上鎖/掛牌 ········································································· 30
1.9 機(jī)器人規(guī)格 ······································································ 32
1.10 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域 ················································ 39
1.11 ***終用戶培訓(xùn) ·································································· 40
2. 安裝
41
系統(tǒng)示例 ················································································· 42
2.1 從開箱到操作機(jī)器人系統(tǒng)的概述 ··········································· 43
2.2 開箱 ··············································································· 44
2.3 搬運(yùn) ··············································································· 44
2.3.1 搬運(yùn)注意事項(xiàng) ·························································· 44
2.3.2 搬運(yùn)機(jī)器人 ····························································· 45
2.4 安裝機(jī)器人 ······································································ 46
2.4.1 安裝注意事項(xiàng) ·························································· 46
2.4.2 環(huán)境 ······································································ 47
2.4.3 噪聲級(jí) ··································································· 48
2.4.4 臺(tái)架 ······································································ 48
2.4.5 安裝步驟 ································································ 49
2.5 安裝控制器 ······································································ 51目錄
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安全與設(shè)置 (RC90-B / EPSON RC+7.0) Rev.6
2.5.1 設(shè)置注意事項(xiàng)·························································· 51
2.5.2 設(shè)置環(huán)境································································ 52
2.5.3 安裝······································································ 53
2.6 連接至EMERGENCY連接器 ················································ 55
2.6.1 安全防護(hù)門開關(guān)和閂鎖釋放開關(guān)·································· 55
2.6.2 安全防護(hù)門開關(guān)······················································· 56
2.6.3 閂鎖釋放開關(guān)·························································· 56
2.6.4 確認(rèn)閂鎖釋放開關(guān)操作·············································· 57
2.6.5 緊急停止開關(guān)·························································· 57
2.6.6 確認(rèn)緊急停止開關(guān)操作·············································· 58
2.6.7 EMERGENCY連接器 針腳分配 ·································· 59
2.6.8 電路圖與配線示例···················································· 60
2.7 電源 ··············································································· 62
2.7.1 電源規(guī)格································································ 62
2.7.2 AC電源電纜 ··························································· 63
2.7.3 M/C電源電纜 ·························································· 64
2.8 連接機(jī)器人和控制器 ·························································· 65
2.9 接通電源 ········································································· 66
2.9.1 接通電源注意事項(xiàng)···················································· 66
2.9.2 接通電源的步驟······················································· 67
2.10 保存默認(rèn)狀態(tài) ································································· 67
3. ***步
68
3.1 安裝EPSON RC+ 7.0軟件 ··················································· 68
3.2 連接開發(fā)用PC和控制器 ······················································ 71
3.2.1 用于開發(fā)用PC的USB連接端口 ··································· 71
3.2.2 注意事項(xiàng)································································ 72
3.2.3 軟件設(shè)定和連接檢查················································· 72
3.2.4 備份控制器的初始狀態(tài)·············································· 73
3.2.5 斷開開發(fā)用PC和控制器 ············································ 74
3.2.6 將機(jī)器人移動(dòng)到初始位置··········································· 74
3.3 編寫***個(gè)程序 ································································ 78
4. 第二步
85
4.1 與外部裝置連接 ································································ 85
4.1.1 遠(yuǎn)程控制································································ 85
4.1.2 以太網(wǎng)··································································· 85目錄
安全與設(shè)置 (RC90-B / EPSON RC+7.0) Rev.6
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4.1.3 RS-232C(選件)························································ 85
4.1.4 模擬I/O板(選件) ······················································· 85
4.2 開發(fā)用PC和控制器的以太網(wǎng)連接 ·········································· 86
4.3 連接示教器(選件) ······························································ 86
5. 維護(hù)概要
87
5.1 維護(hù) ··············································································· 87
5.1.1 機(jī)器人 ··································································· 87
5.1.2 控制器 ··································································· 89
5.2 檢修(更換部件) ································································· 90
5.3 內(nèi)六角螺栓的緊固 ····························································· 92
5.4 潤(rùn)滑脂加注 ······································································ 93
5.5 電池處理和廢棄 ································································ 95
6. 手冊(cè)
96
軟件 ······················································································· 96
軟件選件 ················································································· 96
控制器 ···················································································· 97
控制器選件 ·············································································· 97
機(jī)器人 ···················································································· 97
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