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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 ································································ 35
1.4 關于維護時的安全 ····························································· 36
1.5 緊急停止 ········································································· 38
1.5.1 關于緊急停止時的自由行走距離 ·································· 42
1.5.2 緊急模式的重置方法 ················································· 52
1.6 標簽 ··············································································· 53
1.6.1 控制器 ··································································· 53
1.6.2 機器人 ··································································· 56
1.7 安全功能 ········································································· 71
1.8 機器人規格 ······································································ 73
1.9 利用機械擋塊設定動作區域 ··············································· 117
1.10 ***終用戶培訓 ································································ 137
2. 安裝
138
2.1 從開箱到操作機器人系統的概述 ········································· 143
2.2 開箱 ············································································· 144
2.2.1 開箱注意事項 ························································ 144
2.3 搬運 ············································································· 145
2.3.1 搬運注意事項 ························································ 145
2.3.2 搬運機器人 ··························································· 146
2.4 安裝機器人 ···································································· 153
2.4.1 安裝注意事項 ························································ 153
2.4.2 環境 ···································································· 154
2.4.3 噪聲級 ································································· 155
2.4.4 臺架 ···································································· 156
2.4.5 安裝步驟 ······························································ 158目錄
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安全與設置 (RC700 / EPSON RC+ 7.0) Rev.21
2.5 安裝控制單元和驅動單元 ··················································· 174
2.5.1 環境····································································· 174
2.5.2 安裝····································································· 176
2.5.3 墻面安裝選件························································· 177
2.6 連接至EMERGENCY連接器 ··············································· 178
2.6.1 連接安全防護門開關和閂鎖釋放開關··························· 178
2.6.2 安全防護門開關······················································ 179
2.6.3 閂鎖釋放開關························································· 179
2.6.4 確認閂鎖釋放開關操作············································· 180
2.6.5 緊急停止開關························································· 181
2.6.6 確認緊急停止開關操作············································· 181
2.6.7 EMERGENCY連接器 針腳分配 ································· 183
2.6.8 電路圖與配線示例–控制單元···································· 184
2.6.9 電路圖與配線示例–驅動單元···································· 186
2.7 電源, AC電源電纜 ···························································· 190
2.7.1 電源····································································· 190
2.7.2 AC電源電纜 ·························································· 191
2.8 連接控制單元與驅動單元 ··················································· 192
2.9 設定驅動單元 ·································································· 193
2.10 連接機器人和控制器 ······················································· 194
2.10.1 連接注意事項 ······················································· 194
2.11 接通電源 ······································································· 195
2.11.1 接通電源注意事項 ················································· 195
2.11.2 接通電源的步驟 ···················································· 197
2.12 保存默認狀態 ································································ 198
2.13 添加追加系統的信息 ······················································· 198
3. ***步
201
3.1 安裝EPSON RC+ 7.0軟件 ·················································· 201
3.2 連接開發用PC和控制器 ····················································· 204
3.2.1 用于開發用PC的USB連接端口 ·································· 204
3.2.2 注意事項······························································· 205
3.2.3 軟件設定和連接檢查················································ 205
3.2.4 備份控制器的初始狀態············································· 206
3.2.5 斷開開發用PC和控制器 ··········································· 207
3.2.6 將機器人移動到初始位置·········································· 207
3.3 編寫***個程序 ······························································· 213目錄
安全與設置 (RC700 / EPSON RC+ 7.0) Rev.21
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4. 第二步
220
4.1 與外部裝置連接 ······························································ 220
4.1.1 遠程控制 ······························································ 220
4.1.2 以太網 ································································· 220
4.1.3 RS-232C(選件)······················································ 220
4.1.4 模擬I/O板(選件) ····················································· 220
4.1.5 力覺傳感器I/F板(選件) ············································ 220
4.2 開發用PC和控制器的以太網連接 ········································ 221
4.3 連接示教器(選件) ···························································· 221
5. 維護概要
222
5.1 維護 ············································································· 222
5.1.1 機器人 ································································· 222
5.1.2 控制單元(RC700、RC700-A) ··································· 225
5.1.3 驅動單元(RC700DU、RC700DU-A) ·························· 226
5.2 檢修(更換部件) ······························································· 227
5.3 內六角螺栓的緊固 ··························································· 229
5.4 潤滑脂加注 ···································································· 230
5.5 電池處理和廢棄 ······························································ 233
6. 手冊
235
軟件 ····················································································· 235
軟件選件 ··············································································· 235
控制器 ·················································································· 236
控制器選件 ············································································ 236
機器人 ·················································································· 236
