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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 ····································································· 6
1.3.1 安全遵守事项 ···························································· 8
1.3.2 部件名称/机械臂动作 ·················································· 9
1.3.3 操作模式 ································································ 13
1.4 关于维护时的安全 ····························································· 14
1.5 紧急停止 ········································································· 16
1.5.1 关于紧急停止时的自由行走距离 ·································· 16
1.5.2 紧急模式的重置方法 ················································· 21
1.6 标签 ··············································································· 21
1.6.1 控制器 ··································································· 22
1.6.2 机器人 ··································································· 23
1.7 安全功能 ········································································· 28
1.8 上锁/挂牌 ········································································· 30
1.9 机器人规格 ······································································ 32
1.10 利用机械挡块设定动作区域 ················································ 39
1.11 ***终用户培训 ·································································· 40
2. 安装
41
系统示例 ················································································· 42
2.1 从开箱到操作机器人系统的概述 ··········································· 43
2.2 开箱 ··············································································· 44
2.3 搬运 ··············································································· 44
2.3.1 搬运注意事项 ·························································· 44
2.3.2 搬运机器人 ····························································· 45
2.4 安装机器人 ······································································ 46
2.4.1 安装注意事项 ·························································· 46
2.4.2 环境 ······································································ 47
2.4.3 噪声级 ··································································· 48
2.4.4 台架 ······································································ 48
2.4.5 安装步骤 ································································ 49
2.5 安装控制器 ······································································ 51目录
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安全与设置 (RC90-B / EPSON RC+7.0) Rev.6
2.5.1 设置注意事项·························································· 51
2.5.2 设置环境································································ 52
2.5.3 安装······································································ 53
2.6 连接至EMERGENCY连接器 ················································ 55
2.6.1 安全防护门开关和闩锁释放开关·································· 55
2.6.2 安全防护门开关······················································· 56
2.6.3 闩锁释放开关·························································· 56
2.6.4 确认闩锁释放开关操作·············································· 57
2.6.5 紧急停止开关·························································· 57
2.6.6 确认紧急停止开关操作·············································· 58
2.6.7 EMERGENCY连接器 针脚分配 ·································· 59
2.6.8 电路图与配线示例···················································· 60
2.7 电源 ··············································································· 62
2.7.1 电源规格································································ 62
2.7.2 AC电源电缆 ··························································· 63
2.7.3 M/C电源电缆 ·························································· 64
2.8 连接机器人和控制器 ·························································· 65
2.9 接通电源 ········································································· 66
2.9.1 接通电源注意事项···················································· 66
2.9.2 接通电源的步骤······················································· 67
2.10 保存默认状态 ································································· 67
3. ***步
68
3.1 安装EPSON RC+ 7.0软件 ··················································· 68
3.2 连接开发用PC和控制器 ······················································ 71
3.2.1 用于开发用PC的USB连接端口 ··································· 71
3.2.2 注意事项································································ 72
3.2.3 软件设定和连接检查················································· 72
3.2.4 备份控制器的初始状态·············································· 73
3.2.5 断开开发用PC和控制器 ············································ 74
3.2.6 将机器人移动到初始位置··········································· 74
3.3 编写***个程序 ································································ 78
4. 第二步
85
4.1 与外部装置连接 ································································ 85
4.1.1 远程控制································································ 85
4.1.2 以太网··································································· 85目录
安全与设置 (RC90-B / EPSON RC+7.0) Rev.6
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4.1.3 RS-232C(选件)························································ 85
4.1.4 模拟I/O板(选件) ······················································· 85
4.2 开发用PC和控制器的以太网连接 ·········································· 86
4.3 连接示教器(选件) ······························································ 86
5. 维护概要
87
5.1 维护 ··············································································· 87
5.1.1 机器人 ··································································· 87
5.1.2 控制器 ··································································· 89
5.2 检修(更换部件) ································································· 90
5.3 内六角螺栓的紧固 ····························································· 92
5.4 润滑脂加注 ······································································ 93
5.5 电池处理和废弃 ································································ 95
6. 手册
96
软件 ······················································································· 96
软件选件 ················································································· 96
控制器 ···················································································· 97
控制器选件 ·············································································· 97
机器人 ···················································································· 97
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