爱普生机器人控制器-RC700-RC90-选件-现场总线I/O通讯 简介 ....................................... 1 1.1 现场总线 I/O 概述 ...................................... 1 1.2 DeviceNet ............................................. 2 1.2.1 DeviceNet 概述 ................................... 2 1.2.2 DeviceNet 的特点 ................................. 2 1.2.3 一般规格 ......................................... 4 1.3 PROFIBUS DP ........................................... 5 1.3.1 PROFIBUS DP 概述 ................................. 5 1.3.2 PROFIBUS DP 的特点 ............................... 5 1.3.3 一般规格 ......................................... 6 1.4 EtherNet/IP ........................................... 7 1.4.1 EtherNet/IP 概述 ................................. 7 1.4.2 EtherNet/IP 的特点 ............................... 7 1.4.3 一般规格 ......................................... 8 1.5 CC-Link ............................................... 9 1.5.1 CC-Link 概述 ..................................... 9 1.5.2 CC - Link 的特点 ................................. 9 1.5.3 一般规格 ........................................ 10 1.6 PROFINET ............................................. 11 1.6.1 PROFINET 概述 ................................... 11 1.6.2 PROFINET 的特点 ................................. 11 1.6.3 PROFINET 通信 ................................... 12 安装 ...................................... 13 2.1 DeviceNet ............................................ 13 2.1.1 如何设置 DeviceNet 网络 .......................... 13 2.1.2 DeviceNet 网络构建 .............................. 14 2.1.3 DeviceNet 主板的安装 ............................ 20 2.1.4 DeviceNet 子板的安装 ............................ 40 2.2 PROFIBUS-DP .......................................... 46 2.2.1 如何设置 PROFIBUS DP 网络 ........................ 46 2.2.2 PROFIBUS DP 网络构建 ............................ 46 2.2.3 PROFIBUS-DP 主板的安装 .......................... 51 2.2.4 PROFIBUS-DP 子板的安装 .......................... 70 2.3 EtherNet/IP .......................................... 78 2.3.1 如何设置 EtherNet/IP 网络 ........................ 78 2.3.2 EtherNet/IP 网络构建 ............................ 78 2.3.3 EtherNet/IP 主板的安装 .......................... 79 2.3.4 EtherNet/IP 子板的安装 ......................... 100 目录 x RC700/RC90 选件 现场总线 I/O Rev.3 2.4 CC-Link ............................................ 106 2.4.1 CC-Link 子板的安装 ............................ 106 2.5 PROFINET ........................................... 117 2.5.1 PROFINET 子板的安装 ........................... 117 运行 ..................................... 123 3.1 SPEL+ 现场总线 I/O 指令 ............................... 123 3.2 通过紧急停止和 Reset 命令关闭输出 ................... 123 3.3 使用 FbusIO_SendMsg ................................. 124 3.4 Explicit 报文连接（适于 DeviceNet、EtherNet/IP）..... 125 3.5 远程控制输入和输出设置 ............................. 126 故障排查 ................................. 133 4.1 DeviceNet 故障排查 .................................. 133 4.1.1 检查问题 ...................................... 133 4.1.2 问题与对策 .................................... 135 4.1.3 检查可能原因的程序 ............................ 153 4.2 PROFIBUS DP 故障排查 ................................ 166 4.2.1 检查问题 ...................................... 166 4.2.2 问题与对策 .................................... 168 4.2.3 检查可能原因的程序 ............................ 183 4.3 EtherNet/IP 故障排查 ................................ 193 4.3.1 检查问题 ...................................... 193 4.3.2 问题与对策 .................................... 195 4.3.3 测试与诊断 .................................... 195 维护部件列表 ............................. 202

Denso电装机器人选型手册（中文版）Robotics_Brochure_C 创造人们能够有尊严地开展工作的环境，追求生产效率。电装以人为核心的生产理念，正是机器人开发的基本出发点。通过将本公司生产现场、生产技术中的使用经验运用于产品开发，不断创造出高性能且易于使用的机器人。现在，自投入开发以来已迎来第50个年头，累计销售数量达到10万台。电装机器人今后也将继续努力。

爱普生机器人RC700安全和安装手册系统（中文资料） 爱普生机器人RC700安全和安装手册系统（中文资料） 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 ································································ 35 1.4 关于维护时的安全 ····························································· 36 1.5 紧急停止 ········································································· 38 1.5.1 关于紧急停止时的自由行走距离 ·································· 42 1.5.2 紧急模式的重置方法 ················································· 52 1.6 标签 ··············································································· 53 1.6.1 控制器 ··································································· 53 1.6.2 机器人 ··································································· 56 1.7 安全功能 ········································································· 71 1.8 机器人规格 ······································································ 73 1.9 利用机械挡块设定动作区域 ··············································· 117 1.10 ***终用户培训 ································································ 137 安装 138 2.1 从开箱到操作机器人系统的概述 ········································· 143 2.2 开箱 ············································································· 144 2.2.1 开箱注意事项 ························································ 144 2.3 搬运 ············································································· 145 2.3.1 搬运注意事项 ························································ 145 2.3.2 搬运机器人 ··························································· 146 2.4 安装机器人 ···································································· 153 2.4.1 安装注意事项 ························································ 153 2.4.2 环境 ···································································· 154 2.4.3 噪声级 ································································· 155 2.4.4 台架 ···································································· 156 2.4.5 安装步骤 ······························································ 158目录 xiv 安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21 2.5 安装控制单元和驱动单元 ··················································· 174 2.5.1 环境····································································· 174 2.5.2 安装····································································· 176 2.5.3 墙面安装选件························································· 177 2.6 连接至EMERGENCY连接器 ··············································· 178 2.6.1 连接安全防护门开关和闩锁释放开关··························· 178 2.6.2 安全防护门开关······················································ 179 2.6.3 闩锁释放开关························································· 179 2.6.4 确认闩锁释放开关操作············································· 180 2.6.5 紧急停止开关························································· 181 2.6.6 确认紧急停止开关操作············································· 181 2.6.7 EMERGENCY连接器 针脚分配 ································· 183 2.6.8 电路图与配线示例–控制单元···································· 184 2.6.9 电路图与配线示例–驱动单元···································· 186 2.7 电源, AC电源电缆 ···························································· 190 2.7.1 电源····································································· 190 2.7.2 AC电源电缆 ·························································· 191 2.8 连接控制单元与驱动单元 ··················································· 192 2.9 设定驱动单元 ·································································· 193 2.10 连接机器人和控制器 ······················································· 194 2.10.1 连接注意事项 ······················································· 194 2.11 接通电源 ······································································· 195 2.11.1 接通电源注意事项 ················································· 195 2.11.2 接通电源的步骤 ···················································· 197 2.12 保存默认状态 ································································ 198 2.13 添加追加系统的信息 ······················································· 198 ***步 201 3.1 安装EPSON RC+ 7.0软件 ·················································· 201 3.2 连接开发用PC和控制器 ····················································· 204 3.2.1 用于开发用PC的USB连接端口 ·································· 204 3.2.2 注意事项······························································· 205 3.2.3 软件设定和连接检查················································ 205 3.2.4 备份控制器的初始状态············································· 206 3.2.5 断开开发用PC和控制器 ··········································· 207 3.2.6 将机器人移动到初始位置·········································· 207 3.3 编写***个程序 ······························································· 213目录 安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21 xv 第二步 220 4.1 与外部装置连接 ······························································ 220 4.1.1 远程控制 ······························································ 220 4.1.2 以太网 ································································· 220 4.1.3 RS-232C(选件)······················································ 220 4.1.4 模拟I/O板(选件) ····················································· 220 4.1.5 力觉传感器I/F板(选件) ············································ 220 4.2 开发用PC和控制器的以太网连接 ········································ 221 4.3 连接示教器(选件) ···························································· 221 维护概要 222 5.1 维护 ············································································· 222 5.1.1 机器人 ································································· 222 5.1.2 控制单元(RC700、RC700-A) ··································· 225 5.1.3 驱动单元(RC700DU、RC700DU-A) ·························· 226 5.2 检修(更换部件) ······························································· 227 5.3 内六角螺栓的紧固 ··························································· 229 5.4 润滑脂加注 ···································································· 230 5.5 电池处理和废弃 ······························································ 233 手册 235 软件 ····················································································· 235 软件选件 ··············································································· 235 控制器 ·················································································· 236 控制器选件 ············································································ 236 机器人 ·················································································· 236

爱普生机器人RC90控制器安全，功能，设置，操作，维护手册（中文资料） 爱普生机器人RC90控制器安全，功能，设置，操作，维护手册（中文资料） 安全篇 关于安全 3 关于正文中的符号 3 安全注意事项 4 功能篇 规格 9 1.1 系统构成示例..............................................................................9 1.2 规格表.......................................................................................10 1.3 外形尺寸...................................................................................12 各部分的名称与功能 13 2.1 名称 ..........................................................................................13 2.2 功能 ..........................................................................................13 2.3 LED...........................................................................................15 2.4 安全相关功能............................................................................16 设置 18 3.1 同箱物品...................................................................................18 3.2 设置条件...................................................................................18 3.2.1 设置环境........................................................................18 3.2.2 设置方法与空间.............................................................19 3.3 电源 ..........................................................................................20 3.3.1 电源规格........................................................................20 3.3.2 AC 电源电缆..................................................................21 3.3.3 M/C 电源电缆 ................................................................22 3.4 电缆连接...................................................................................23 3.4.1 连接示例........................................................................24 3.4.2 控制器和机器人的连接..................................................25 3.5 抗干扰措施要点 ........................................................................27目录 viii RC90 / RC90-B (EPSON RC+ 7.0) Rev.23 操作模式(TEACH, AUTO, TEST) 28 4.1 操作模式概要............................................................................28 4.2 操作模式的切换........................................................................28 4.3 程序模式(AUTO) ......................................................................29 4.3.1 什么是程序模式(AUTO)? ..............................................29 4.3.2 利用 EPSON RC+ 7.0 进行设定 ...................................29 4.4 自动运转模式(AUTO)...............................................................30 4.4.1 什么是自动运转模式(AUTO)?.......................................30 4.4.2 利用 EPSON RC+ 7.0 进行设定 ...................................30 4.4.3 控制装置的设定.............................................................31 开发用 PC 连接专用端口 32 5.1 什么是开发用 PC 连接专用端口?.............................................32 5.2 注意事项...................................................................................33 5.3 软件设定与连接确认.................................................................33 5.4 开发用 PC 与控制器的切断连接...............................................34 存储器端口 35 6.1 什么是控制器状态保存功能?....................................................35 6.2 使用控制器状态保存功能之前..................................................35 6.2.1 注意事项........................................................................35 6.2.2 可使用的 USB 存储器 ...................................................35 6.3 控制器状态保存的使用.............................................................36 6.3.1 利用触发按钮保存控制器状态.......................................36 6.3.2 利用 EPSON RC+ 7.0 读入数据 ...................................36 6.3.3 利用电子邮件进行传送..................................................38 6.4 保存数据的详细内容.................................................................38 LAN(以太网通信)端口 39 7.1 什么是 LAN(以太网通信)端口?.................................................39 7.2 关于 IP 地址..............................................................................39 7.3 控制器 IP 地址变更步骤 ...........................................................40 7.4 通过以太网连接开发用 PC 与控制器........................................41 7.5 切断经由以太网的开发用 PC 与控制器的连接.........................42 TP 端口 43 8.1 什么是 TP 端口?.......................................................................43 8.2 示教盒的连接............................................................................43目录 RC90 / RC90-B (EPSON RC+ 7.0) Rev.23 ix EMERGENCY 44 9.1 安全防护门开关与闩锁解除开关的连接....................................44 9.1.1 安全防护门开关.............................................................44 9.1.2 闩锁解除开关.................................................................45 9.1.3 开关功能的确认.............................................................45 9.2 紧急停止开关的连接.................................................................46 9.2.1 紧急停止开关.................................................................46 9.2.2 紧急停止开关的功能确认 ..............................................46 9.2.3 从紧急停止状态的恢复..................................................46 9.3 针脚分配...................................................................................47 9.4 电路图与配线示例.....................................................................48 9.4.1 例 1: 连接外部紧急停止开关时.....................................48 9.4.2 例 2: 连接外部安全继电器时.........................................49 标准 RS-232C 端口 50 10.1 关于 RS-232C 端口 ................................................................50 10.2 利用 EPSON RC+ 7.0 进行确认(RS-232C) ...........................50 10.3 通信设定(RS-232C)................................................................51 10.4 通信电缆(RS-232C)................................................................51 I/O 连接器 52 11.1 RC90(I/O 连接器)....................................................................53 11.1.1 输入电路(RC90)..........................................................53 11.1.2 输出电路(RC90)..........................................................55 11.2 RC90-B(I/O 连接器)................................................................58 11.2.1 输入电路(RC90-B).......................................................58 11.2.2 输出电路(RC90-B).......................................................60 11.3 针脚分配 .................................................................................62 I/O 的远程设定 63 12.1 输出入信号的功能...................................................................63 12.1.1 输入 .............................................................................64 12.1.2 输出 .............................................................................68 12.2 时序图.....................................................................................71 12.2.1 输入信号注意事项 .......................................................71 12.2.2 动作执行序列的时序....................................................71 12.2.3 程序执行序列的时序....................................................71 12.2.4 安全防护门输入序列的时序.........................................72 12.2.5 紧急停止序列的时序....................................................72目录 x RC90 / RC90-B (EPSON RC+ 7.0) Rev.23 选配插槽 73 13.1 什么是选配插槽?....................................................................73 13.2 扩展 I/O 电路板.......................................................................73 13.2.1 关于扩展 I/O 电路板....................................................73 13.2.2 电路板的设定(扩展 I/O 电路板)...................................73 13.2.3 利用 EPSON RC+ 7.0 进行确认(扩展 I/O 电路板)......74 13.2.4 输入电路(扩展 I/O 电路板) ..........................................74 13.2.5 输出电路(扩展 I/O 电路板) ..........................................76 13.2.6 针脚分配(扩展 I/O 电路板) ..........................................79 13.3 现场总线 I/O 电路板 ...............................................................80 13.4 RS-232C 电路板.....................................................................80 13.4.1 关于 RS-232C 电路板...................................................80 13.4.2 电路板的设定(RS-232C).............................................80 13.4.3 利用 EPSON RC+ 7.0 进行确认(RS-232C)................81 13.4.4 通信设定(RS-232C) ....................................................81 13.4.5 通信电缆(RS-232C) ....................................................82 13.5 模拟 I/O 电路板.......................................................................83 13.5.1 有关模拟 I/O 电路板....................................................83 13.5.2 电路板的设定(模拟 I/O 电路板)...................................84 13.5.3 利用 EPSON RC+进行确认(模拟 I/O 电路板).............87 13.5.4 输入电路(模拟 I/O 电路板) ..........................................88 13.5.5 输出电路(模拟 I/O 电路板) ..........................................88 13.5.6 针脚分配(模拟 I/O 电路板) ..........................................89 13.6 EUROMAP67 电路板.............................................................90 13.6.1 关于 EUROMAP67 电路板..........................................91 13.6.2 电路板的设定(EUROMAP67 电路板)..........................93 13.6.3 设定方法(EUROMAP67 电路板).................................93 13.6.4 用 EPSON RC+ 7.0 的确认(EUROMAP67 电路板)....95 13.6.5 样例(EUROMAP67 电路板) ........................................95 13.6.6 电路概要(EUROMAP67 电路板).................................96 13.6.7 输入电路(EUROMAP67 电路板).................................97 13.6.8 输出电路(EUROMAP67 电路板).................................97 13.6.9 紧急停止, 安全防护门(EUROMAP67 电路板)............98 13.6.10 I/O 针脚分配(EUROMAP67 电路板).........................99 13.6.11 紧急停止连接器的针脚分配(EUROMAP67 电路板)100目录 RC90 / RC90-B (EPSON RC+ 7.0) Rev.23 xi 维护篇 维护安全注意事项 105 1.1 注意事项................................................................................ 105 1.2 上锁/挂牌............................................................................... 106 上锁器具的安装...................................................................... 106 挂锁的尺寸与重量.................................................................. 107 使用注意事项 ......................................................................... 107 定期检查 108 控制器的内部结构 109 3.1 部件配置................................................................................ 109 3.1.1 RC90(LS3, LS6 用) .................................................... 109 3.1.2 RC90(LS20 用)........................................................... 109 3.1.3 RC90-B(LS3-B, LS6-B 用) ......................................... 110 3.1.4 RC90-B(LS10-B, LS20-B 用) ..................................... 110 3.2 电缆连接图 .............................................................................111 3.2.1 RC90(LS3, LS6 用), RC90-B(LS3-B, LS6-B 用)........ 111 3.2.2 RC90(LS20 用), RC90-B(LS10-B, LS20-B 用) .......... 112 备份/恢复 113 4.1 什么是控制器设定备份? .........................................................113 4.2 备份的数据 .............................................................................113 4.3 备份 ........................................................................................114 4.4 恢复 ........................................................................................115 固件的升级 118 5.1 关于固件的升级 ......................................................................118 5.2 固件版本升级步骤...................................................................118 5.3 控制器的恢复......................................................................... 121 5.4 固件初始化安装步骤.............................................................. 121 报警功能 124 6.1 控制器固件 7.1.8.x 以前版本................................................. 125 6.1.1 报警设置..................................................................... 125 6.1.2 查看报警信息.............................................................. 126 6.1.3 编辑报警信息.............................................................. 127 6.1.4 报警通知方法.............................................................. 127目录 xii RC90 / RC90-B (EPSON RC+ 7.0) Rev.23 6.1.5 解除报警......................................................................128 6.2 控制器固件 7.2.0.x 以后版本..................................................129 6.2.1 维护.............................................................................129 6.2.2 查看维护信息 ..............................................................130 6.2.3 編集维护信息 ..............................................................132 6.2.4 报警通知方法 ..............................................................133 6.2.5 解除报警......................................................................133 维护部件更换步骤 134 7.1 风扇过滤器 .............................................................................135 7.2 风扇 ........................................................................................136 7.3 电池 ........................................................................................137 7.4 CF(小型闪存卡)......................................................................138 7.5 MDB .......................................................................................139 7.6 DMB .......................................................................................141 7.7 DMB 副板 ...............................................................................145 7.8 DPB........................................................................................146 7.9 选配电路板 .............................................................................148 机器人系统的动作确认 150 故障排除 151 9.1 错误代码表 .............................................................................151 9.2 即使用 USB 线缆连接开发用 PC 与控制器也不能进行通信时 ....................................................224 9.2.1 利用 Windows 设备管理器进行确认............................224 9.2.2 Windows 设备管理器识别为“其他设备”时..............226 维护部件表 227 RC90 用 ..........................................................................................227 RC90-B 用.......................................................................................228 和 RC90 / RC90-B 相同..................................................................228 配件 ..............................................................................................229

爱普生机器人RC90控制器安全和安装手册（中文资料） 爱普生机器人RC90控制器安全和安装手册（中文资料） 目录 安全 1 1.1 关于正文中的符号 ........................................................................ 1 1.2 设计、设置注意事项..................................................................... 2 1.2.1 相关手册 ........................................................................... 2 1.2.2 为了帮助您设计安全的机器人系统.................................... 3 1.3 操作注意事项 ............................................................................... 7 1.3.1 安全遵守事项 .................................................................... 8 1.3.2 各部分名称与动作方向....................................................10 1.3.3 操作模式 .........................................................................13 1.4 维护注意事项 .............................................................................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......................................18 1.5.2 关于紧急停止状态的重置 ................................................ 19 1.6 警告标签.....................................................................................20 1.6.1 控制器.............................................................................20 1.6.2 机械手............................................................................. 21 1.7 安全功能.....................................................................................23 1.8 上锁/挂牌....................................................................................26 1.9 机械手规格................................................................................. 28 1.10 利用机械挡块设置动作区域........................................................30 1.11 训练............................................................................................31 设置 32 系统构成示例 ......................................................................................33 2.1 机器人系统开箱～使用的流程 ....................................................34 2.2 开箱............................................................................................35 2.2.1 包装的构成示例...............................................................35 2.2.2 开箱注意事项 ..................................................................35 2.3 搬运............................................................................................36 2.3.1 搬运注意事项 ..................................................................36 2.3.2 机械手的搬运 ..................................................................37 2.4 机械手的设置 .............................................................................38 2.4.1 设置注意事项 ..................................................................38 2.4.2 设置环境 .........................................................................39 2.4.3 关于噪声级......................................................................39 2.4.4 关于台架 .........................................................................40 2.4.5 设置方法 .........................................................................41 2.5 控制器的设置 .............................................................................42 2.5.1 设置注意事项 ..................................................................42 2.5.2 设置方法与空间............................................................... 43 x 安全 设置 (RC90 / EPSON RC+7.0) Rev.4 2.6 连接到 EMERGENCY 连接器（控制器）................................. 45 2.6.1 安全门开关与闩锁解除开关的连接..................................45 2.6.2 安全门开关......................................................................46 2.6.3 闩锁解除开关 ..................................................................46 2.6.4 开关功能的确认...............................................................47 2.6.5 紧急停止开关 ..................................................................48 2.6.6 紧急停止开关的功能确认 ................................................48 2.6.7 EMERGENCY 连接器信号配置......................................49 2.6.8 电路图与配线示例...........................................................50 2.7 电源/AC电源电缆/断路器............................................................52 2.7.1 电源规格 .........................................................................52 2.7.2 AC 电源电缆 ...................................................................53 2.8 机械手与控制器的连接 ...............................................................55 2.8.1 连接注意事项 ..................................................................55 2.9 打开电源.....................................................................................56 2.9.1 打开电源注意事项...........................................................56 2.9.2 电源打开步骤 ..................................................................57 2.10 出厂设定的保存..........................................................................58 ***步-首先 59 3.1 EPSON RC+ 7.0 软件的安装.....................................................59 3.2 开发用PC与控制器的连接 ..........................................................62 3.2.1 什么是开发用 PC 连接专用端口? ....................................62 3.2.2 注意事项 .........................................................................63 3.2.3 软件设定与连接确认 .......................................................63 3.2.4 控制器初始状态的备份....................................................64 3.2.5 开发用 PC 与控制器的切断连接......................................65 3.2.6 使机器人进入初始姿态的操作方法..................................65 3.3 编写简单的程序..........................................................................70 第二步-其次 77 4.1 与外部设备的连接 ......................................................................77 4.1.1 远程控制 .........................................................................77 4.1.2 以太网.............................................................................77 4.1.3 RS-232C（选件）...........................................................77 4.2 通过以太网连接开发用PC与控制器............................................77 4.3 示教盒（选件）的连接 ...............................................................78安全 设置 (RC90 / EPSON RC+7.0) Rev.4 xi 定期检查 79 5.1 检查进度表.................................................................................79 5.2 检查内容.....................................................................................80 5.2.1 电源 OFF 时（不动作时）的检查....................................80 5.2.2 电源 ON 时（动作时）的检查 .........................................81 5.2.3 内六角螺栓的紧固...........................................................82 5.2.4 润滑脂加注......................................................................83 5.2.5 蓄电池的使用和废弃 .......................................................84 手册 85 软件 ...................................................................................................85 软件选件 .............................................................................................85 控制器................................................................................................. 86 控制器选件..........................................................................................86 机械手................................................................................................. 86

爱普生机器人RC90-B控制器安全和安装手册（中文资料） 爱普生机器人RC90-B控制器安全和安装手册（中文资料） 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 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 xii 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 ***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 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 xiii 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 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 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

爱普生机器人 T 系列安全和安装手册（中文资料） 爱普生机器人 T 系列安全和安装手册（中文资料） 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 部件名称和机械臂动作................................................... 9 1.3.3 操作模式 ...................................................................... 12 1.4 关于维护时的安全.................................................................... 13 1.5 紧急停止.................................................................................. 15 1.5.1 关于紧急停止时的自由行走距离................................... 15 1.5.2 紧急模式的重置方法 .................................................... 18 1.6 标签......................................................................................... 19 T 系列...................................................................................... 19 VT 系列 ................................................................................... 21 1.7 安全功能.................................................................................. 23 1.8 机器人规格 .............................................................................. 25 T 系列...................................................................................... 25 VT 系列 ................................................................................... 28 1.9 利用机械挡块设定动作区域 ..................................................... 33 T 系列...................................................................................... 33 VT 系列 ................................................................................... 33 1.10 ***终用户培训......................................................................... 36 安装 37 系统示例 .......................................................................................... 37 2.1 从开箱到操作机器人系统的概述 .............................................. 40 2.2 开箱......................................................................................... 41 2.2.1 开箱注意事项 ............................................................... 41 2.3 搬运......................................................................................... 42 2.3.1 搬运注意事项 ............................................................... 42 2.3.2 搬运机器人................................................................... 43 2.4 安装机器人 .............................................................................. 44 2.4.1 安装注意事项 ............................................................... 44 2.4.2 安装环境 ...................................................................... 45 2.4.3 噪声级.......................................................................... 46 2.4.4 台架 ............................................................................. 46 2.4.5 安装步骤 ...................................................................... 47目录 xii 安全与设置 (T, VT / EPSON RC+ 7.0) Rev.11 2.5 连接至 EMERGENCY 连接器.................................................. 49 2.5.1 安全防护门开关和闩锁释放开关................................... 50 2.5.2 安全防护门开关............................................................ 50 2.5.3 闩锁释放开关............................................................... 51 2.5.4 确认闩锁释放开关操作................................................. 51 2.5.5 紧急停止开关............................................................... 52 2.5.6 确认紧急停止开关操作................................................. 52 2.5.7 EMERGENCY 连接器 针脚分配.................................. 53 2.5.8 电路图与配线示例........................................................ 55 2.6 电源, AC 电源电缆, 断路器...................................................... 57 2.6.1 电源 ............................................................................. 57 2.6.2 AC 电源电缆 ................................................................ 58 2.7 接通电源.................................................................................. 60 2.7.1 接通电源注意事项........................................................ 60 2.7.2 接通电源的步骤............................................................ 61 2.8 保存默认状态........................................................................... 61 ***步 62 3.1 安装 EPSON RC+ 7.0 软件 ..................................................... 62 3.2 连接开发用 PC 和机器人 ......................................................... 65 3.2.1 用于开发用 PC 的连接端口.......................................... 66 3.2.2 注意事项 ...................................................................... 66 3.2.3 软件设定和连接检查 .................................................... 67 3.2.4 备份机器人的初始状态................................................. 68 3.2.5 断开开发用 PC 和机器人.............................................. 68 3.2.6 将机器人移动到初始位置 ............................................. 68 3.3 编写***个程序....................................................................... 74 第二步 81 4.1 与外部装置连接....................................................................... 81 4.1.1 远程控制 ...................................................................... 81 4.1.2 以太网.......................................................................... 81 4.2 开发用 PC 和机器人的以太网连接........................................... 81 4.3 连接示教器选件....................................................................... 81目录 安全与设置 (T, VT / EPSON RC+ 7.0) Rev.11 xiii 维护概要 82 5.1 维护检查进度表 ....................................................................... 82 5.2 检修(更换部件) ........................................................................ 85 5.3 内六角螺栓的紧固.................................................................... 87 5.4 润滑脂加注(T 系列).................................................................. 88 5.5 锂电池处理和废弃.................................................................... 90 手册 91 软件 ................................................................................................. 91 选件 ................................................................................................. 91 机器人.............................................................................................. 92

DENSO电装水平多关节机器人LPH系列SCARA机器人产品样本

电装机器人COBOTTA选购件_Optional_Products_C 电装机器人COBOTTA选购件_Optional_Products_C.pdf

以公司内部工厂的汽车零部件制造性能升级为目的，电装机器人的研发经历了50年的发展。引领新世纪的工业级协作机器人，COBOTTA.对人友好的外形构造，易于搬运的小型化设计。随时随地自由随行，快速实现自动化工作。并且，无需专业化知识，惊人的简便应用。人手不足，稍微需要一些帮助的时候。单纯枯燥的工作托付给机器人，自己希望做更有创造性的工作的时候。视客户的需求与应用方式的不同，无论走到哪里，均有无限可能的COBOTTA。其想象力，无穷无尽。

爱普生机器人RC700控制器安全篇，功能篇，通讯篇操作手册（中文资料） 爱普生机器人RC700控制器安全篇，功能篇，通讯篇操作手册（中文资料） 安全篇 关于安全 3 关于正文中的符号 3 安全注意事项 4 功能篇 规格 9 1.1 系统构成示例.............................................................................9 1.2 规格表 .....................................................................................10 1.3 外形尺寸..................................................................................12 各部位名称和功能 13 2.1 LED & 7 段LED .......................................................................16 2.1.1 LED & 7 段LED的显示 ......................................................16 2.1.2 特殊状态显示 ...................................................................17 2.2 安全相关功能...........................................................................18 设置 20 3.1 同捆物 .....................................................................................20 3.2 设置条件..................................................................................20 3.2.1 设置环境.........................................................................20 3.2.2 设置方法与空间..............................................................21 3.3 电源.........................................................................................22 3.3.1 电源规格.........................................................................22 3.3.2 AC电源电缆....................................................................23 3.4 电缆连接..................................................................................24 3.4.1 连接示例.........................................................................24 3.4.2 控制器与机械手的连接 ...................................................26 3.5 抗干扰措施要点.......................................................................27 操作模式 (TEACH, AUTO, TEST) 28 4.1 操作模式概要...........................................................................28 4.2 操作模式的切换.......................................................................29 4.3 程序模式 (AUTO)....................................................................30 4.3.1 什么是程序模式 (AUTO)？ ............................................30 RC700 Rev.3 vii目录 4.3.2 从EPSON RC+ 的设定.................................................. 30 4.4 自动运转模式 (AUTO)............................................................ 31 4.4.1 什么是自动运转模式 (AUTO)？..................................... 31 4.4.2 从EPSON RC+ 的设定.................................................. 31 4.4.3 控制设备的设定 ............................................................. 32 开发用PC连接专用USB端口 33 5.1 什么是开发用PC连接专用USB端口？..................................... 33 5.2 注意事项 ................................................................................. 34 5.3 通过开发用PC连接专用USB端口连接PC与 控制器..................................................................................... 34 5.4 切断开发用PC与控制器的连接................................................ 35 5.5 USB电缆固定方法................................................................... 35 存储器端口 36 6.1 什么是控制器设定备份？ ........................................................ 36 6.2 使用控制器设定备份功能之前................................................. 36 6.2.1 注意事项 ........................................................................ 36 6.2.2 可使用的USB存储器...................................................... 36 6.3 控制器设定备份功能的使用..................................................... 37 6.3.1 通过触发按钮进行控制器设定备份................................. 37 6.3.2 通过EPSON RC+ 7.0 读取数据 ..................................... 37 6.3.3 通过电子邮件转发.......................................................... 37 6.4 保存数据详情.......................................................................... 38 LAN（Ethernet通信）端口 39 7.1 什么是LAN（Ethernet通信）端口？ ....................................... 39 7.2 关于IP地址.............................................................................. 39 7.3 控制器IP地址的变更步骤 ........................................................ 40 7.4 通过以太网连接开发用PC和控制器 ........................................ 41 7.5 切断通过以太网进行的开发用PC和控制器之间的连接............ 42 TP端口 43 8.1 什么是TP端口？ ..................................................................... 43 8.2 示教盒的连接.......................................................................... 43 viii RC700 Rev.3目录 EMERGENCY 44 9.1 安全门开关与闩锁解除开关的连接 ..........................................44 9.1.1 安全门开关.....................................................................44 9.1.2 闩锁解除开关 .................................................................45 9.1.3 开关功能的确认..............................................................45 9.2 紧急停止开关的连接................................................................46 9.2.1 紧急停止开关 .................................................................46 9.2.2 紧急停止开关的功能确认 .................................................46 9.2.3 从紧急停止状态恢复.......................................................46 9.3 信号配置..................................................................................47 9.4 电路图和配线示例 ...................................................................48 9.4.1 例 1：连接外部紧急停止开关时 .....................................48 9.4.2 例 2：连接外部安全继电器时.........................................49 标准RS-232C端口 50 10.1 关于RS-232C端口 .................................................................50 10.2 通过EPSON RC+ 7.0 进行确认 (RS-232C) ..........................50 10.3 通信设定 (RS-232C).............................................................51 10.4 通信电缆 (RS-232C).............................................................51 I/O连接器 52 11.1 输入电路................................................................................52 11.2 输出电路................................................................................54 11.3 信号配置................................................................................56 I/O远程设定 57 12.1 输入输出信号的功能..............................................................57 12.1.1 输入................................................................................58 12.1.2 输出................................................................................61 12.2 时序图 ...................................................................................63 12.2.1 输入信号相关注意事项...................................................63 12.2.2 动作执行时序 .................................................................63 12.2.3 程序执行时序 .................................................................63 12.2.4 安全门输入时序..............................................................64 12.2.5 紧急停止时序 .................................................................64 RC700 Rev.3 ix目录 R-I/O连接器 65 13.1 输入电路 ............................................................................... 65 13.2 信号配置 ............................................................................... 66 选件插槽 67 14.1 什么是选件插槽？................................................................. 67 14.2 扩展I/O电路板....................................................................... 67 14.2.1 关于扩展I/O电路板....................................................... 67 14.2.2 电路板的设定（扩展I/O电路板）................................. 67 14.2.3 通过EPSON RC+ 7.0 进行确认（扩展I/O电路板）..... 68 14.2.4 输入电路（扩展I/O电路板） ........................................ 68 14.2.5 输出电路（扩展I/O电路板） ........................................ 70 14.2.6 信号配置（扩展I/O电路板） ........................................ 73 14.3 场总线I/O电路板 ..................................................................... 77 14.4 RS-232C电路板 .................................................................... 78 14.4.1 关于RS-232C电路板...................................................... 78 14.4.2 电路板的设定 (RS-232C).............................................. 78 14.4.3 通过EPSON RC+ 进行确认 (RS-232C) ....................... 79 14.4.4 通信设定 (RS-232C) ..................................................... 79 14.4.5 通信电缆 (RS-232C) ..................................................... 80 14.5 PG电路板.............................................................................. 80 维护篇 维护时安全相关注意事项 83 定期检查 85 2.1 检查日程 ................................................................................. 85 2.2 检查项目 ................................................................................. 86 2.2.1 电源OFF时的检查............................................................ 86 2.2.2 电源ON时的检查 ............................................................. 86 控制器内部结构 87 3.1 部件配置 ................................................................................. 87 3.2 电缆连接图.............................................................................. 87 x RC700 Rev.3目录 备份与恢复 88 4.1 什么是控制器设定备份？.........................................................88 4.2 备份数据 ....................................................................................88 4.3 备份.........................................................................................89 4.4 恢复.........................................................................................90 5.固件升级 92 5.1 关于固件升级...........................................................................92 5.2 固件版本升级步骤 ...................................................................92 5.3 控制器的恢复...........................................................................95 5.4 固件初始化安装步骤................................................................96 维护零件更换步骤 98 6.1 风扇过滤器 ..............................................................................98 6.2 风扇.........................................................................................99 6.3 蓄电池 ...................................................................................100 6.4 CF（小型闪光灯） ................................................................101 6.5 MDB ......................................................................................102 6.6 DMB ......................................................................................104 6.7 DMB-SUB板..........................................................................108 6.8 DMB-LED板 ..........................................................................109 6.9 DMB-LED板 ..........................................................................110 机器人系统的动作确认 111 故障排除 112 8.1 错误代码表 ............................................................................112 8.2 即使用USB电缆连接开发用PC与控制器 仍无法通信时 ........................................................................177 8.2.1 通过Windows设备管理器进行确认...............................178 8.2.2 在Windows设备管理器 识别到“其他设备”时.................................................180 8.3 咨询时的检查清单 ...................................................................181 维护零件清单 183

爱普生机器人RC700 驱动单元安全，功能，安装手册（中文资料） 爱普生机器人RC700 驱动单元安全，功能，安装手册（中文资料） 安全篇 关于安全 3 关于正文中的符号 3 安全注意事项 4 功能篇 规格 9 1.1 系统构成示例.............................................................................9 1.2 驱动单元的规格表....................................................................10 1.3 外形尺寸..................................................................................11 各部位名称和功能 12 2.1 LED指示灯 ..............................................................................14 2.2 安全注意事项...........................................................................15 安装 17 3.1 随机附件..................................................................................17 3.2 安装条件..................................................................................17 3.2.1 安装环境.........................................................................17 3.2.2 安装方法与空间..............................................................18 3.2.3 壁挂选件.........................................................................19 3.3 电源.........................................................................................20 3.3.1 电源规格.........................................................................20 3.3.2 AC电源线 .......................................................................21 3.4 电缆连接..................................................................................22 3.4.1 连接示例.........................................................................23 3.4.2 驱动单元与机械手的连接................................................25 3.5 抗干扰措施要点 .......................................................................26 驱动单元的连接 27 驱动单元的设置 28 EMERGENCY 31 6.1 安全门开关与锁存解除开关的连接...........................................31 目录 viii RC700DU / RC700DU-A Rev.3 6.1.1 安全门开关..................................................................... 31 6.1.2 锁存解除开关................................................................. 32 6.1.3 开关功能的确认.............................................................. 32 6.2 紧急停止开关的连接 ............................................................... 33 6.2.1 紧急停止开关................................................................. 33 6.2.2 紧急停止开关的功能确认 ............................................... 33 6.2.3 从紧急停止状态恢复正常 ............................................... 33 6.3 引脚分配 ................................................................................. 34 6.4 电路图和配线示例................................................................... 35 6.4.1 电路图............................................................................ 35 6.4.2 紧急停止配线示例.......................................................... 36 6.4.3 安全门输入与锁存解除输入的配线示例.......................... 38 I/O连接器 39 7.1 输入电路 ................................................................................. 39 7.2 输出电路 ................................................................................. 41 7.3 引脚分配 ................................................................................. 43 R-I/O连接器 44 8.1 输入电路 ................................................................................. 44 8.2 引脚分配 ................................................................................. 45 维护篇 维护时的安全注意事项 49 定期检查 51 驱动单元的内部结构 52 3.1 部件配置 ................................................................................. 52 3.2 电缆连接图.............................................................................. 53 维护零件更换步骤 55 4.1 风扇过滤器.............................................................................. 55 4.2 风扇 ........................................................................................ 56 4.2.1 前置风扇 ........................................................................ 56 4.2.2 再生风扇（仅限于RC700DU-A）................................... 57 4.3 MDB........................................................................................ 59 4.4 DMB........................................................................................ 62 4.5 DMB-SUB板............................................................................ 64 目录 RC700DU / RC700DU-A Rev.3 ix 4.6 DMB-LED板.............................................................................65 4.7 DPB.........................................................................................67 机器人系统的动作确认 69 故障排除 70 6.1 错误代码表 ..............................................................................70 6.2 咨询时所需检查项目一览表 .....................................................71 维护零件清单 73