遨博机器人i系列英文版宣传册202003

爱普生机器人LS20系列-机器人操作手册【中文资料】 基本篇 关于安全 3 1.1 关于正文中的符号 ..................................................................................... 3 1.2 设计与安装注意事项.................................................................................. 4 1.2.1 滚珠丝杠花键的强度 ...................................................................... 5 1.3 操作注意事项............................................................................................. 6 1.4 紧急停止.................................................................................................... 8 1.5 无驱动电源时的紧急移动 ........................................................................ 10 1.6 CP运动的ACCELS设置............................................................................11 1.7 机器人标签 .............................................................................................. 12 规格 14 2.1 LS20系列机器人的特征........................................................................... 14 2.2 型号......................................................................................................... 15 2.3 部件名称和外形尺寸................................................................................ 16 2.3.1 LS20-804*.................................................................................... 16 2.3.2 LS20-A04* ................................................................................... 20 2.4 规格......................................................................................................... 24 2.5 机型设定方法........................................................................................... 26 环境与安装 27 3.1 环境......................................................................................................... 27 3.2 台架......................................................................................................... 28 3.3 机器人安装尺寸....................................................................................... 29 3.3.1 LS20-804*.................................................................................... 29 3.3.2 LS20-A04* ................................................................................... 31 3.4 开箱与搬运 .............................................................................................. 33 3.4.1 搬运注意事项 ............................................................................... 33 3.4.2 搬运.............................................................................................. 34 3.5 安装步骤.................................................................................................. 35 3.5.1 标准环境规格 ............................................................................... 35 3.5.2 洁净环境规格 ............................................................................... 36 3.6 电缆连接.................................................................................................. 37 3.7 用户配线与配管....................................................................................... 38 3.8 移设与保管 .............................................................................................. 39 3.8.1 移设与保管注意事项 .................................................................... 39 3.8.2 移设.............................................................................................. 40 夹具末端的设定 41 4.1 夹具末端的安装....................................................................................... 41 4.2 相机∕气动阀等的安装............................................................................ 42 4.3 Weight设定与Inertia设定......................................................................... 43 4.3.1 Weight设定................................................................................... 43 4.3.2 Inertia设定.................................................................................... 45目录 x LS20 Rev.1 4.4 第3关节自动加∕减速注意事项................................................................49 动作区域 50 5.1 利用脉冲范围设定动作区域（全关节） ...................................................50 5.1.1 第1关节***大脉冲范围...................................................................51 5.1.2 第2关节***大脉冲范围...................................................................51 5.1.3 第3关节***大脉冲范围...................................................................52 5.1.4 第4关节***大脉冲范围...................................................................52 5.2 利用机械挡块设定动作区域......................................................................53 5.2.1 第1关节∕第2关节的机械挡块设定...............................................54 5.2.2 第3关节的机械挡块设定 ...............................................................56 5.3 机器人XY坐标系中的矩形范围设定（第1关节和第2关节）.....................58 5.4 标准动作区域 ...........................................................................................58 维护篇 关于维护时的安全 ........................................................................ 61 维护概要 ...................................................................................... 62 2.1 维护检查 ..................................................................................................62 2.1.1 维护检查进度表 ..........................................................................62 2.1.2 检查内容 .....................................................................................63 2.2 检修..........................................................................................................64 2.3 润滑脂加注...............................................................................................65 2.4 内六角螺栓的紧固....................................................................................66 2.5 关于原点位置 ...........................................................................................66 2.6 维护部件的配置........................................................................................67 外罩 ............................................................................................. 68 3.1 机械臂顶部外罩........................................................................................69 3.2 机械臂底部外罩........................................................................................70 3.3 第1机械臂外罩 .........................................................................................70 3.4 连接器板 ..................................................................................................71 3.5 连接器子板...............................................................................................72 3.6 用户板......................................................................................................72 电缆 ............................................................................................. 73 4.1 电缆单元的更换........................................................................................73 4.2 配线表......................................................................................................78 4.2.1 信号电缆.......................................................................................78 4.2.2 电源电缆.......................................................................................79 4.2.3 用户电缆.......................................................................................80 4.3 M/C电缆的更换 ........................................................................................81目录 LS20 Rev.1 xi 第1机械臂 ................................................................................... 84 5.1 第1关节电机的更换 ................................................................................. 85 5.2 第1关节减速机的更换.............................................................................. 88 第2机械臂 ................................................................................... 91 6.1 第2关节电机的更换 ................................................................................. 92 6.2 第2关节减速机的更换.............................................................................. 96 第3机械臂 ................................................................................. 100 7.1 第3关节电机的更换 ............................................................................... 101 7.2 同步皮带的更换..................................................................................... 105 7.3 制动器的更换......................................................................................... 109 7.4 同步皮带拉力的检查...............................................................................113 第4机械臂 .................................................................................. 114 8.1 第4关节电机的更换 ................................................................................115 8.2 同步皮带的更换......................................................................................119 8.3 制动器的更换......................................................................................... 123 8.4 减速机的更换......................................................................................... 124 8.5 同步皮带拉力的检查.............................................................................. 126 伸缩罩 ....................................................................................... 127 滚珠丝杠花键单元 ................................................................... 129 10.1 滚珠丝杠花键单元的润滑脂加注............................................................ 129 10.1.1 标准环境规格（S型）................................................................ 130 10.1.2 洁净环境规格 ............................................................................. 131 10.2 滚珠丝杠花键单元的更换 ...................................................................... 133 锂电池和电池板 ....................................................................... 136 11.1 电池单元（锂电池）的更换................................................................... 138 11.2 分解器板的更换..................................................................................... 139 11.3 控制板的更换......................................................................................... 141 LED指示灯 .............................................................................. 142 原点调整 ................................................................................. 143 13.1 关于原点调整......................................................................................... 143 13.2 原点调整步骤......................................................................................... 144 13.3 第2关节的正确原点调整........................................................................ 154 13.4 不使用向导的原点调整步骤................................................................... 156 维护部件表 .............................................................................. 160

爱普生机器人LS20-B系列-机器人操作手册【中文资料】 爱普生机器人LS20-B系列-机器人操作手册【中文资料】 基本篇 关于安全 3 1.1 关于正文中的符号......................................................................................3 1.2 设计与安装注意事项..................................................................................4 1.2.1 滚珠丝杠花键的强度......................................................................4 1.3 操作注意事项.............................................................................................5 1.4 紧急停止 ....................................................................................................6 1.5 无驱动电源时的紧急移动...........................................................................8 1.6 CP运动的ACCELS设置.............................................................................9 1.7 机器人标签...............................................................................................10 规格 12 2.1 LS10-B系列机器人的特征 .......................................................................12 2.2 型号..........................................................................................................13 2.3 部件名称和外形尺寸................................................................................14 2.3.1 标准环境规格(LS20-B4S).........................................................14 2.3.2 洁净环境规格(LS20-B4C).........................................................16 2.4 规格表......................................................................................................18 2.5 机型设定方法...........................................................................................20 环境与安装 21 3.1 环境..........................................................................................................21 3.2 台架..........................................................................................................22 3.3 机器人安装尺寸 .......................................................................................23 3.4 开箱与搬运...............................................................................................24 3.5 安装步骤 ..................................................................................................26 3.5.1 标准环境规格...............................................................................26 3.5.2 洁净环境规格...............................................................................27 3.6 连接电缆 ..................................................................................................28 3.7 用户配线与配管 .......................................................................................31 3.8 移设与保管...............................................................................................33 3.8.1 移设与保管注意事项....................................................................33 3.8.2 移设..............................................................................................34 夹具末端的设定 33 4.1 夹具末端的安装 .......................................................................................33 4.2 相机和气动阀等的安装 ............................................................................34 4.3 Weight设定与Inertia设定.........................................................................35 4.3.1 Weight设定 ..................................................................................35 4.3.2 Inertia设定 ...................................................................................37 4.4 第3关节自动加/减速注意事项..................................................................42 动作区域 43 5.1 利用脉冲范围设定动作区域.....................................................................43 5.1.1 第1关节***大脉冲范围..................................................................44 5.1.2 第2关节***大脉冲范围..................................................................44目录 viii LS20-B Rev.2 5.1.3 第3关节***大脉冲范围.................................................................. 45 5.1.4 第4关节***大脉冲范围.................................................................. 45 5.2 利用机械挡块设定动作区域.....................................................................46 5.2.1 第1关节和第2关节的机械挡块设定.............................................. 47 5.2.2 第3关节的机械挡块设定.............................................................. 49 5.3 机器人XY坐标系中的矩形范围设定(第1关节和第2关节).........................51 5.4 标准动作区域...........................................................................................52 维护篇 关于维护时的安全 57 维护概要 58 2.1 维护检查..................................................................................................58 2.1.1 维护检查进度表........................................................................... 58 2.1.2 检查内容...................................................................................... 59 2.2 检修(部件的更换).....................................................................................60 2.3 润滑脂加注 ..............................................................................................62 2.4 内六角螺栓的紧固 ...................................................................................63 2.5 关于原点位置...........................................................................................63 2.6 维护部件的配置.......................................................................................64 外罩 65 3.1 机械臂顶部外罩.......................................................................................66 3.2 机械臂底部外罩.......................................................................................67 3.3 第1机械臂外罩.........................................................................................67 3.4 连接器板..................................................................................................68 3.5 连接器子板 ..............................................................................................69 3.6 用户板......................................................................................................69 3.7 管道板......................................................................................................70 电缆 71 4.1 电缆单元的更换.......................................................................................72 4.2 配线表......................................................................................................77 4.2.1 信号电缆...................................................................................... 77 4.2.2 电源电缆...................................................................................... 78 4.2.3 用户电缆...................................................................................... 79 4.2.4 电缆的颜色 .................................................................................. 80 4.3 M/C电缆的更换........................................................................................81 第1关节 86 5.1 第1关节电机的更换 .................................................................................87 5.2 第1关节减速机的更换..............................................................................91 第2关节 94 6.1 第2关节电机的更换 .................................................................................95 6.2 第2关节减速机的更换..............................................................................99目录 LS20-B Rev.2 ix 第3关节 103 7.1 第3关节电机的更换................................................................................104 7.2 同步皮带的更换 .....................................................................................108 7.3 制动器的更换.........................................................................................112 7.4 同步皮带拉力的检查(Z皮带)..................................................................116 第4关节 117 8.1 第4关节电机的更换................................................................................118 8.2 同步皮带的更换 .....................................................................................122 8.3 制动器的更换.........................................................................................127 8.4 减速机的更换.........................................................................................131 8.5 同步皮带拉力的检查(U皮带)..................................................................134 伸缩罩 135 滚珠丝杠花键单元 137 10.1 滚珠丝杠花键单元的润滑脂加注..........................................................137 10.1.1 标准环境规格...........................................................................138 10.1.2 洁净环境规格...........................................................................139 10.2 滚珠丝杠花键单元的更换.....................................................................140 电路板 143 11.1 电源转换电路板的更换.........................................................................144 11.2 控制板的更换 .......................................................................................145 LED指示灯 146 原点调整 147 13.1 关于原点调整.......................................................................................147 13.2 原点调整步骤.......................................................................................148 13.3 第2关节的正确原点调整 ......................................................................157 13.4 补充: 不使用向导的原点调整步骤.......................................................159 维护部件表 163

爱普生机器人LS10-B系列-机器人操作手册【中文资料】 爱普生机器人LS10-B系列-机器人操作手册【中文资料】 基本篇 关于安全 3 1.1 关于正文中的符号......................................................................................3 1.2 设计与安装注意事项..................................................................................4 1.2.1 滚珠丝杠花键的强度......................................................................4 1.3 操作注意事项.............................................................................................5 1.4 紧急停止 ....................................................................................................6 1.5 无驱动电源时的紧急移动...........................................................................8 1.6 CP运动的ACCELS设置.............................................................................9 1.7 机器人标签...............................................................................................10 规格 12 2.1 LS10-B系列机器人的特征 .......................................................................12 2.2 型号..........................................................................................................13 2.3 部件名称和外形尺寸................................................................................14 2.3.1 标准环境规格(LS10-B***S)..........................................................14 2.3.2 洁净环境规格(LS10-B***C)..........................................................16 2.4 规格表......................................................................................................18 2.5 机型设定方法...........................................................................................20 环境与安装 21 3.1 环境..........................................................................................................21 3.2 台架..........................................................................................................22 3.3 机器人安装尺寸 .......................................................................................23 3.4 开箱与搬运...............................................................................................24 3.5 安装步骤 ..................................................................................................25 3.5.1 标准环境规格...............................................................................25 3.5.2 洁净环境规格...............................................................................26 3.6 电缆连接 ..................................................................................................27 3.7 用户配线与配管 .......................................................................................28 3.8 移设与保管...............................................................................................29 3.8.1 移设与保管注意事项....................................................................29 3.8.2 移设..............................................................................................30 夹具末端的设定 31 4.1 夹具末端的安装 .......................................................................................31 4.2 相机和气动阀等的安装 ............................................................................32 4.3 Weight设定与Inertia设定.........................................................................33 4.3.1 Weight设定 ..................................................................................33 4.3.2 Inertia设定 ...................................................................................35 4.4 第3关节自动加/减速注意事项..................................................................40 动作区域 41 5.1 利用脉冲范围设定动作区域(全关节)........................................................41 5.1.1 第1关节***大脉冲范围..................................................................42 5.1.2 第2关节***大脉冲范围...........................................................................42目录 viii LS10-B Rev.5 5.1.3 第3关节***大脉冲范围.................................................................. 43 5.1.4 第4关节***大脉冲范围.................................................................. 43 5.2 利用机械挡块设定动作区域.....................................................................44 5.2.1 第1关节和第2关节的机械挡块设定.............................................. 45 5.2.2 第3关节的机械挡块设定.............................................................. 47 5.3 机器人XY坐标系中的矩形范围设定(第1关节和第2关节).........................48 5.4 标准动作区域...........................................................................................49 维护篇 关于维护时的安全 55 维护概要 56 2.1 维护检查..................................................................................................56 2.1.1 维护检查进度表........................................................................... 56 2.1.2 检查内容...................................................................................... 57 2.2 检修(部件的更换).....................................................................................58 2.3 润滑脂加注 ..............................................................................................60 2.4 内六角螺栓的紧固 ...................................................................................61 2.5 关于原点位置...........................................................................................61 2.6 维护部件的配置.......................................................................................62 外罩 63 3.1 机械臂顶部外罩.......................................................................................64 3.2 机械臂底部外罩.......................................................................................64 3.3 连接器板..................................................................................................65 3.4 连接器子板 ..............................................................................................66 3.5 用户板......................................................................................................66 电缆 67 4.1 电缆单元的更换.......................................................................................68 4.2 配线表......................................................................................................72 4.2.1 信号电缆...................................................................................... 72 4.2.2 电源电缆...................................................................................... 73 4.2.3 用户电缆...................................................................................... 74 4.2.4 电缆的颜色 .................................................................................. 74 4.3 M/C电缆的更换........................................................................................75 第1关节 80 5.1 第1关节电机的更换 .................................................................................81 5.2 第1关节减速机的更换..............................................................................85 第2关节 88 6.1 第2关节电机的更换 .................................................................................89 6.2 第2关节减速机的更换..............................................................................93 第3关节 97 7.1 第3关节电机的更换 .................................................................................98目录 LS10-B Rev.5 ix 7.2 同步皮带的更换 .....................................................................................102 7.3 制动器的更换.........................................................................................106 7.4 同步皮带拉力的检查(Z皮带)..................................................................110 第4关节 111 8.1 第4关节电机的更换................................................................................112 8.2 同步皮带的更换 .....................................................................................116 8.2.1 U2皮带.......................................................................................117 8.2.2 U1皮带.......................................................................................123 8.3 制动器的更换.........................................................................................127 8.4 同步皮带拉力的检查(U1, U2皮带).........................................................130 伸缩罩 130 滚珠丝杠花键单元 132 10.1 滚珠丝杠花键单元的润滑脂加注..........................................................132 10.1.1 标准环境规格...........................................................................133 10.1.2 洁净环境规格...........................................................................134 10.2 滚珠丝杠花键单元的更换.....................................................................135 电路板 138 11.1 电源转换电路板的更换.........................................................................139 11.2 控制板的更换 .......................................................................................141 LED指示灯 142 原点调整 143 13.1 关于原点调整.......................................................................................143 13.2 原点调整步骤.......................................................................................144 13.3 第2关节的正确原点调整 ......................................................................153 13.4 补充: 不使用向导的原点调整步骤.......................................................155 维护部件表 159

爱普生机器人LS3-B、LS6-B系列-机器人操作手册【中文资料】 爱普生机器人LS3-B、LS6-B系列-机器人操作手册【中文资料】 基本篇 关于安全 3 1.1 关于正文中的符号......................................................................................3 1.2 设计与安装注意事项..................................................................................4 1.2.1 滚珠丝杠花键的强度......................................................................4 1.3 操作注意事项.............................................................................................5 1.4 紧急停止 ....................................................................................................6 1.5 无驱动电源时的紧急移动...........................................................................8 1.6 CP运动的ACCELS设置.............................................................................9 1.7 机器人标签...............................................................................................10 规格 12 2.1 LS3-B/LS6-B系列机器人的特征 ..............................................................12 2.2 型号..........................................................................................................13 2.3 部件名称和外形尺寸................................................................................14 2.3.1 LS3-B...........................................................................................14 2.3.2 LS6-B...........................................................................................18 2.4 规格..........................................................................................................22 2.5 机型设定方法...........................................................................................24 环境与安装 25 3.1 环境..........................................................................................................25 3.2 台架..........................................................................................................26 3.3 机器人安装尺寸 .......................................................................................27 3.4 开箱与搬运...............................................................................................28 3.5 安装步骤 ..................................................................................................29 3.5.1 标准环境规格...............................................................................29 3.5.2 洁净环境规格...............................................................................30 3.6 电缆连接 ..................................................................................................31 3.7 用户配线与配管 .......................................................................................32 3.8 移设与保管...............................................................................................34 3.8.1 移设与保管注意事项....................................................................34 3.8.2 移设..............................................................................................35 夹具末端的设定 36 4.1 夹具末端的安装 .......................................................................................36 4.2 相机和气动阀等的安装 ............................................................................37 4.3 Weight设定与Inertia设定.........................................................................38 4.3.1 Weight设定 ..................................................................................38 4.3.2 Inertia设定 ...................................................................................42 4.4 第3关节自动加/减速注意事项..................................................................47 动作区域 49 5.1 利用脉冲范围设定动作区域(全关节)........................................................49 5.1.1 第1关节***大脉冲范围..................................................................50目录 viii LS3-B/LS6-B Rev.4 5.1.2 第2关节***大脉冲范围.................................................................. 50 5.1.3 第3关节***大脉冲范围.................................................................. 51 5.1.4 第4关节***大脉冲范围.................................................................. 51 5.2 利用机械挡块设定动作区域.....................................................................52 5.2.1 第1关节和第2关节的机械挡块设定.............................................. 53 5.2.2 第3关节的机械挡块设定.............................................................. 55 5.3 机器人XY坐标系中的矩形范围设定(第1关节和第2关节).........................56 5.4 标准动作区域...........................................................................................57 维护篇 关于维护时的安全 63 维护概要 64 2.1 维护检查..................................................................................................64 2.1.1 维护检查进度表........................................................................... 64 2.1.2 检查内容...................................................................................... 65 2.2 检修(部件的更换).....................................................................................66 2.3 润滑脂加注 ..............................................................................................68 2.4 内六角螺栓的紧固 ...................................................................................69 2.5 关于原点位置...........................................................................................69 2.6 维护部件的配置.......................................................................................70 外罩 71 3.1 机械臂顶部外罩.......................................................................................72 3.2 机械臂底部外罩.......................................................................................72 3.3 连接器板..................................................................................................73 3.4 连接器子板 ..............................................................................................74 3.5 用户板......................................................................................................74 电缆 75 4.1 电缆单元的更换.......................................................................................75 4.2 配线表......................................................................................................80 4.2.1 信号电缆...................................................................................... 80 4.2.2 电源电缆...................................................................................... 82 4.2.3 用户电缆...................................................................................... 83 4.2.4 电缆的颜色 .................................................................................. 83 4.3 M/C电缆的更换........................................................................................84 第1关节 89 5.1 第1关节电机的更换 .................................................................................90 5.2 第1关节减速机的更换..............................................................................94 第2关节 97 6.1 第2关节电机的更换 .................................................................................98 6.2 第2关节减速机的更换............................................................................102目录 LS3-B/LS6-B Rev.4 ix 第3关节 106 7.1 第3关节电机的更换................................................................................107 7.2 同步皮带的更换 ..................................................................................... 111 7.3 制动器的更换.........................................................................................115 7.4 同步皮带拉力的检查(Z皮带)..................................................................119 第4关节 120 8.1 第4关节电机的更换................................................................................121 8.2 同步皮带的更换 .....................................................................................125 8.2.1 U2皮带.......................................................................................126 8.2.2 U1皮带.......................................................................................132 8.3 制动器的更换(仅限LS6-B).....................................................................136 8.4 同步皮带拉力的检查(U1, U2皮带).........................................................139 伸缩罩 140 滚珠丝杠花键单元 142 10.1 滚珠丝杠花键单元的润滑脂加注..........................................................142 10.1.1 标准环境规格...........................................................................143 10.1.2 洁净环境规格...........................................................................144 10.2 滚珠丝杠花键单元的更换.....................................................................145 电路板 148 11.1 电源转换电路板的更换.........................................................................149 11.2 控制板的更换 .......................................................................................151 LED指示灯 152 原点调整 154 13.1 关于原点调整.......................................................................................154 13.2 原点调整步骤.......................................................................................155 13.3 第2关节的正确原点调整 ......................................................................164 13.4 补充: 不使用向导的原点调整步骤.......................................................166 维护部件表 170 14.1 LS3-B...................................................................................................170 14.2 LS6-B...................................................................................................171

爱普生机器人LS3、LS6系列-机器人操作手册【中文资料】 爱普生机器人LS3、LS6系列-机器人操作手册【中文资料】 基本篇 关于安全.......................................................................................3 1.1 关于正文中的符号 ...................................................................................... 3 1.2 设计与安装注意事项................................................................................... 4 1.2.1 滚珠丝杠花键的强度....................................................................... 5 1.3 操作注意事项.............................................................................................. 6 1.4 紧急停止..................................................................................................... 8 1.4.1 控制器固件7.0.2.3版或更早版本..................................................... 8 1.4.2 控制器固件7.0.2.4或更新版本 ...................................................... 10 1.5 无驱动电源时的紧急移动.......................................................................... 12 1.6 CP运动的ACCELS设置............................................................................ 13 1.7 机器人标签 ............................................................................................... 14 规格 ............................................................................................16 2.1 LS系列机器人的特征 ................................................................................ 16 2.2 型号.......................................................................................................... 17 2.3 部件名称和外形尺寸................................................................................. 18 2.3.1 LS3 ............................................................................................... 18 2.3.2 LS6 ............................................................................................... 22 2.4 规格.......................................................................................................... 26 2.5 机型设定方法............................................................................................ 28 环境与安装..................................................................................29 3.1 环境.......................................................................................................... 29 3.2 台架.......................................................................................................... 30 3.3 机器人安装尺寸........................................................................................ 31 3.3.1 LS3 ............................................................................................... 31 3.3.2 LS6 ............................................................................................... 33 3.4 开箱与搬运 ............................................................................................... 35 3.5 安装步骤................................................................................................... 36 3.5.1 标准环境规格................................................................................ 37 3.5.2 洁净环境规格................................................................................ 38 3.6 电缆连接................................................................................................... 39 3.7 用户配线与配管........................................................................................ 40 3.8 移设与保管................................................................................................ 41 3.8.1 移设与保管注意事项..................................................................... 41 3.8.2 移设............................................................................................... 42 夹具末端的设定 ..........................................................................43 4.1 夹具末端的安装........................................................................................ 43 4.2 相机∕气动阀等的安装 ............................................................................. 45 4.3 Weight设定与Inertia设定.......................................................................... 46 4.3.1 Weight设定 ................................................................................... 46 4.3.2 Inertia设定 .................................................................................... 49 4.4 第3关节自动加∕减速注意事项 ................................................................ 53目录 xii LS Rev.8 动作区域..................................................................................... 54 5.1 利用脉冲范围设定动作区域（全关节）.................................................... 54 5.1.1 第1关节***大脉冲范围................................................................... 55 5.1.2 第2关节***大脉冲范围................................................................... 55 5.1.3 第3关节***大脉冲范围................................................................... 56 5.1.4 第4关节***大脉冲范围................................................................... 56 5.2 利用机械挡块设定动作区域 ..................................................................... 57 5.2.1 第1关节∕第2关节的机械挡块设定............................................... 58 5.2.2 第3关节的机械挡块设定............................................................... 60 5.3 机器人XY坐标系中的矩形范围设定（第1关节和第2关节）..................... 62 5.4 标准动作区域 ........................................................................................... 62 维护篇 关于维护时的安全 ...................................................................... 65 维护概要..................................................................................... 66 2.1 维护检查................................................................................................... 66 2.1.1 维护检查进度表 .......................................................................... 66 2.1.2 检查内容 ..................................................................................... 67 2.2 检修.......................................................................................................... 68 2.3 润滑脂加注............................................................................................... 69 2.4 内六角螺栓的紧固 .................................................................................... 70 2.5 关于原点位置............................................................................................ 70 2.6 维护部件的配置........................................................................................ 71 外罩............................................................................................ 72 3.1 机械臂顶部外罩........................................................................................ 73 3.2 机械臂底部外罩........................................................................................ 73 3.3 连接器板................................................................................................... 74 3.4 连接器子板 ............................................................................................... 75 3.5 用户板....................................................................................................... 75 电缆............................................................................................ 76 4.1 电缆单元的更换........................................................................................ 77 4.2 配线表....................................................................................................... 82 4.2.1 信号电缆....................................................................................... 82 4.2.2 电源电缆....................................................................................... 84 4.2.3 用户电缆....................................................................................... 85 4.3 M/C电缆的更换 ........................................................................................ 86 第1机械臂................................................................................... 89 5.1 第1关节电机的更换 .................................................................................. 90 5.2 第1关节减速机的更换............................................................................... 93目录 LS Rev.8 xiii 第2机械臂...................................................................................96 6.1 第2关节电机的更换................................................................................... 97 6.2 第2关节减速机的更换............................................................................. 101 第3机械臂.................................................................................105 7.1 第3关节电机的更换................................................................................. 106 7.2 同步皮带的更换 ...................................................................................... 110 7.3 制动器的更换.......................................................................................... 114 7.4 同步皮带拉力的检查（Z皮带） .............................................................. 118 第4机械臂................................................................................. 119 8.1 第4关节电机的更换................................................................................. 120 8.2 同步皮带的更换 ...................................................................................... 124 8.2.1 U2皮带........................................................................................ 125 8.2.2 U1皮带........................................................................................ 130 8.3 制动器的更换（对于LS6系列）.............................................................. 133 8.4 同步皮带拉力的检查（U1、U2皮带） ................................................... 135 伸缩罩.......................................................................................136 滚珠丝杠花键单元...................................................................138 10.1 滚珠丝杠花键单元的润滑脂加注........................................................... 138 10.1.1 标准环境规格（S型）............................................................... 139 10.1.2 洁净环境规格............................................................................ 140 10.2 滚珠丝杠花键单元的更换...................................................................... 141 锂电池和电池板.......................................................................144 11.1 电池单元（锂电池）的更换 .................................................................. 146 11.2 分解器板的更换..................................................................................... 147 11.3 控制板的更换 ........................................................................................ 149 LED指示灯..............................................................................150 原点调整.................................................................................151 13.1 关于原点调整........................................................................................ 151 13.2 原点调整步骤........................................................................................ 152 13.3 第2关节的正确原点调整 ....................................................................... 162 13.4 不使用向导的原点调整步骤.................................................................. 164 维护部件表..............................................................................168 14.1 LS3 ....................................................................................................... 168 14.2 LS6 ....................................................................................................... 169

爱普生机器人C12系列-机器人操作手册【中文资料】 爱普生机器人C12系列-机器人操作手册【中文资料】 基本篇 关于安全 3 1.1 关于正文中的符号...................................................................................3 1.2 设计与安装注意事项...............................................................................4 1.3 操作注意事项..........................................................................................5 1.4 紧急停止 .................................................................................................6 1.5 如何使用电磁制动器移动机械臂.............................................................8 1.5.1 使用制动解除单元移动机械臂 ....................................................9 1.5.2 使用软件移动机械臂...................................................................9 1.6 低功率状态下的操作注意事项 ................................................................9 1.7 警告标签 ...............................................................................................10 规格 12 2.1 机器人的特征........................................................................................12 2.2 型号.......................................................................................................12 2.3 部件名称及各个机械臂的动作范围.......................................................13 2.4 外形尺寸 ...............................................................................................15 2.5 标准动作区域........................................................................................16 2.6 规格.......................................................................................................17 2.6.1 规格表.......................................................................................17 2.6.2 选件...........................................................................................20 2.7 机型设定方法........................................................................................21 环境与安装 22 3.1 环境.......................................................................................................22 3.2 开箱, 搬运, 移设 ..................................................................................23 3.3 机器人安装尺寸 ....................................................................................26 3.3.1 电缆后方拉出规格.....................................................................26 3.3.2 电缆下方拉出规格.....................................................................27 3.4 安装.......................................................................................................28 3.5 电缆连接 ...............................................................................................30 3.6 用户配线与配管 ....................................................................................32 配线(电线) .............................................................................................33 空气管...................................................................................................33 3.7 基本定向检查........................................................................................34 夹具末端 35 4.1 夹具末端的安装 ....................................................................................35 4.2 相机/气动阀等的安装............................................................................36 4.3 WEIGHT与INERTIA设定......................................................................37 4.3.1 WEIGHT设定............................................................................39 4.3.2 INERTIA设定 ............................................................................42 4.4 自动加/减速度注意事项 ........................................................................47目录 viii C12 Rev.2 动作区域 48 5.1 利用脉冲范围设定动作区域(每个关节) .................................................48 5.1.1 第1关节***大脉冲范围...............................................................49 5.1.2 第2关节***大脉冲范围...............................................................49 5.1.3 第3关节***大脉冲范围...............................................................50 5.1.4 第4关节***大脉冲范围...............................................................50 5.1.5 第5关节***大脉冲范围...............................................................51 5.1.6 第6关节***大脉冲范围...............................................................51 5.2 利用机械挡块设定动作区域..................................................................52 5.2.1 第1关节的动作区域设定...........................................................52 5.2.2 第2关节的动作区域设定...........................................................53 5.2.3 第3关节的动作区域设定...........................................................53 5.3 通过关节角度组合限制机器人的操作 ...................................................54 5.4 坐标系...................................................................................................55 5.5 机器人的改装........................................................................................56 5.6 机器人XY坐标系中的矩形范围设定......................................................57 选件 58 6.1 制动解除单元........................................................................................58 制动解除单元的安装.............................................................................60 制动解除单元的拆卸.............................................................................60 制动解除单元的使用方法 .....................................................................61 6.2 相机板单元 ...........................................................................................62 6.3 工具适配器(ISO法兰) ...........................................................................64 6.4 可调机械挡块........................................................................................65 6.5 用户配线与配管....................................................................................66 维护篇 关于维护时的安全 69 维护概要 70 2.1 维护检查...............................................................................................70 2.1.1 维护检查进度表........................................................................70 2.1.2 检查内容...................................................................................71 2.2 检修(更换部件) .....................................................................................73 2.3 润滑脂加注 ...........................................................................................75 2.3.1 第1关节减速机..........................................................................77 2.3.2 第2关节减速机..........................................................................78 2.3.3 第3关节减速机..........................................................................79 2.3.4 第4关节减速机..........................................................................80 2.3.5 第5关节减速机..........................................................................81 2.3.6 第6关节减速机..........................................................................82 2.3.7 第6关节锥形齿轮......................................................................83 2.4 内六角螺栓的紧固 ................................................................................84 2.5 维护部件的配置....................................................................................85目录 C12 Rev.2 ix 外罩 86 3.1 第1机械臂中央外罩...............................................................................88 3.2 第1机械臂侧外罩 ..................................................................................89 3.3 第2机械臂侧外罩 ..................................................................................90 3.4 第3机械臂外罩......................................................................................90 3.5 第3机械臂维护外罩...............................................................................91 3.6 第4机械臂侧外罩 ..................................................................................92 3.7 第4机械臂维护外罩...............................................................................94 3.8 第4机械臂D-sub连接件.........................................................................94 3.9 底座外罩 ...............................................................................................95 3.9.1 M/C电缆后拉规格 .....................................................................95 3.9.2 M/C电缆下拉规格 .....................................................................96 3.10 底座维护外罩......................................................................................98 3.11 连接器板 .............................................................................................99 3.11.1 M/C电缆后拉规格....................................................................99 3.11.2 M/C电缆下拉规格................................................................. 101 3.12 连接器子板....................................................................................... 102 电缆单元 103 4.1 电缆单元的更换 ................................................................................. 103 4.1.1 更换电缆单元(M/C电缆后拉规格) .......................................... 104 4.1.2 更换电缆单元(M/C电缆下拉规格) .......................................... 132 4.2 连接器针脚分配 ................................................................................. 137 4.2.1 信号电缆 ................................................................................ 137 4.2.2 电源电缆 ................................................................................ 140 4.2.3 用户电缆 ................................................................................ 142 4.2.4 电缆颜色 ................................................................................ 142 第1关节 143 5.1 M/C电缆后拉规格(第1关节) ............................................................... 144 5.1.1 第1关节电机的更换(M/C电缆后拉规格) ................................. 144 5.1.2 第1关节减速机的更换(M/C电缆后拉规格) ............................. 152 5.1.3 第1关节同步皮带的更换(M/C电缆后拉规格) ......................... 159 5.1.4 第1关节电磁制动器的更换(M/C电缆后拉规格) ...................... 166 5.2 M/C电缆下拉规格(第1关节) ............................................................... 168 5.2.1 第1关节电机的更换(M/C电缆下拉规格) ................................. 168 5.2.2 第1关节减速机的更换(M/C电缆下拉规格) ............................. 172 5.2.3 第1关节同步皮带的更换(M/C电缆下拉规格) ......................... 175 5.2.4 第1关节电磁制动器的更换(M/C电缆下拉规格) ...................... 180 第2关节 183 6.1 第2关节电机的更换............................................................................ 184 6.2 第2关节减速机的更换........................................................................ 193 6.3 第2关节同步皮带的更换 .................................................................... 200 6.4 第2关节电磁制动器的更换................................................................. 201目录 x C12 Rev.2 第3关节 202 7.1 第3关节电机的更换 ............................................................................203 7.2 第3关节减速机的更换.........................................................................211 7.3 第3关节同步皮带的更换.....................................................................217 7.4 第3关节电磁制动器的更换 ................................................................. 218 第4关节 219 8.1 第4关节电机的更换 ............................................................................220 8.2 第4关节减速机的更换.........................................................................226 8.3 第4关节同步皮带的更换.....................................................................233 8.4 第4关节电磁制动器的更换 ................................................................. 239 第5关节 240 9.1 第5关节电机的更换 ............................................................................241 9.2 第5关节减速机的更换(第5、6关节减速机单元的更换) ......................248 9.3 第5关节同步皮带的更换.....................................................................252 9.4 第5关节电磁制动器的更换 ................................................................. 253 第6关节 255 10.1 第6关节电机的更换 ..........................................................................256 10.2 第6关节减速机的更换(第5、6关节减速机单元的更换) ....................262 10.3 第6关节同步皮带的更换...................................................................263 10.4 第6关节电磁制动器的更换 ...............................................................264 电池的更换 266 11.1 电池(锂电池)的更换 ..........................................................................268 11.2 电池板的更换....................................................................................270 控制板的更换 273 12.1 控制板1的更换..................................................................................274 12.2 控制板2的更换..................................................................................276 LED指示灯的更换 278 M/C电缆的更换 280 风扇的更换 283 原点调整 285 16.1 原点调整概述....................................................................................285 16.2 原点调整步骤....................................................................................288 维护部件表 292 选件部件表 296

爱普生机器人G3系列-机器人操作手册【技术资料】 爱普生机器人G3系列-机器人操作手册【技术资料】 基本篇 关于安全 3 1.1 关于正文中的符号..................................................................................... 3 1.2 设计与安装注意事项................................................................................. 4 1.3 操作注意事项............................................................................................ 5 1.4 紧急停止 ................................................................................................... 7 1.4.1 RC180、RC620............................................................................ 7 1.4.2 RC700-A ....................................................................................... 9 1.5 无驱动电源时的紧急移动.........................................................................11 1.6 机器人标签.............................................................................................. 12 规格 15 2.1 G3系列机器人的特征.............................................................................. 15 2.2 型号和型号差异 ...................................................................................... 16 2.3 部件名称和外形尺寸............................................................................... 18 2.3.1 台式安装...................................................................................... 18 2.3.2 多方位安装.................................................................................. 22 2.4 规格......................................................................................................... 26 2.5 机型设定方法.......................................................................................... 30 环境与安装 31 3.1 环境......................................................................................................... 31 3.2 台架......................................................................................................... 32 3.3 机器人安装尺寸 ...................................................................................... 34 3.3.1 台式安装 - 直臂 ......................................................................... 35 3.3.2 台式安装 - 左弯臂...................................................................... 36 3.3.3 台式安装 - 右弯臂...................................................................... 37 3.3.4 多方位安装 - 直臂...................................................................... 38 3.3.5 多方位安装 - 左弯臂.................................................................. 39 3.3.6 多方位安装 - 右弯臂.................................................................. 40 3.4 开箱与搬运.............................................................................................. 41 3.5 安装......................................................................................................... 42 3.5.1 台式安装...................................................................................... 42 3.5.2 多方位安装.................................................................................. 43 3.5.3 洁净环境规格 .............................................................................. 44 3.6 电缆连接 ................................................................................................. 45 3.7 用户配线与配管 ...................................................................................... 46 3.8 移设与保管.............................................................................................. 48 3.8.1 移设与保管注意事项 ................................................................... 48 3.8.2 台式安装...................................................................................... 49 3.8.3 多方位安装.................................................................................. 50目录 x G3 Rev.8 夹具末端的设定 51 4.1 夹具末端的安装 .......................................................................................51 4.2 相机／气动阀等的安装 ............................................................................52 4.3 Weight设定与Inertia设定.........................................................................53 4.3.1 Weight设定 ..................................................................................53 4.3.2 Inertia设定 ...................................................................................55 4.4 第3关节自动加/减速注意事项..................................................................59 动作区域 60 5.1 利用脉冲范围设定动作区域（全关节）...................................................60 5.1.1 第1关节***大脉冲范围..................................................................61 5.1.2 第2关节***大脉冲范围..................................................................62 5.1.3 第3关节***大脉冲范围..................................................................63 5.1.4 第4关节***大脉冲范围..................................................................63 5.2 利用机械挡块设定动作区域.....................................................................64 5.2.1 第1关节/第2关节的机械挡块设定 ................................................64 5.2.2 第3关节的机械挡块设定 ..............................................................68 5.3 机器人XY坐标系中的矩形范围设定（第1关节、第2关节）....................70 5.4 标准动作区域...........................................................................................70 维护篇 关于维护时的安全 73 维护概要 74 2.1 维护检查..................................................................................................74 2.1.1 维护检查进度表 ...........................................................................74 2.1.2 检查内容 ....................................................................................75 2.2 检修 .........................................................................................................76 2.3 润滑脂加注 ..............................................................................................77 2.4 内六角螺栓的紧固....................................................................................78 2.5 关于原点位置...........................................................................................78 2.6 维护部件的配置 .......................................................................................79 2.6.1 台式安装 ......................................................................................79 2.6.2 多方位安装...................................................................................80 外罩 81 3.1 机械臂顶部外罩 .......................................................................................83 3.2 机械臂底部外罩 .......................................................................................84 3.3 机械臂盖..................................................................................................85 3.4 连接器底板 ..............................................................................................85 3.5 连接器子板 ..............................................................................................86 3.6 用户板......................................................................................................86 3.7 散热板......................................................................................................87 3.8 底座底部外罩...........................................................................................87

爱普生机器人G1系列-机器人操作手册【技术资料】 爱普生机器人G1系列-机器人操作手册【技术资料】 Setup & Operation Safety 3 1.1 Conventions .......................................................................................... 3 1.2 Design and Installation Safety .............................................................. 4 1.2.1 Strength of the Ball Screw Spline ............................................. 5 1.3 Operation Safety................................................................................... 6 1.4 Emergency Stop ................................................................................... 8 1.4.1 RC180 ....................................................................................... 8 1.4.2 RC700-A ................................................................................. 10 1.5 Emergency Movement Without Drive Power...................................... 12 1.6 ACCELS Setting for CP Motions ....................................................... 13 1.7 Warning Labels ................................................................................... 14 Specifications 16 2.1 Features of G1 series Manipulators ................................................... 16 2.2 Model Number and Model Differences............................................... 16 2.3 Part Names and Outer Dimensions.................................................... 17 2.3.1 4-axis spec.............................................................................. 17 2.3.2 3-axis spec.............................................................................. 21 2.4 Specifications...................................................................................... 25 2.5 How to Set the Model ......................................................................... 27 Environments and Installation 28 3.1 Environmental Conditions................................................................... 28 3.2 Base Table .......................................................................................... 29 3.3 Mounting Dimensions ......................................................................... 31 3.3.1 4-axis spec.............................................................................. 32 3.3.2 3-axis spec.............................................................................. 33 3.4 Unpacking and Transportation............................................................ 34 3.5 Installation Procedure ......................................................................... 35 3.6 Connecting the Cables ....................................................................... 36 3.7 User Wires and Pneumatic Tubes ...................................................... 37 3.8 Relocation and Storage ...................................................................... 38 Setting of End Effectors 39 4.1 Attaching an End Effector................................................................... 39 4.2 Weight and Inertia Settings................................................................. 40 4.2.1 Weight Setting......................................................................... 40 4.2.2 Inertia Setting.......................................................................... 42 4.3 Precautions for Auto Acceleration/Deceleration of Joint #3 ............... 45 TABLE OF CONTENTS viii G1 Rev.12G1 Rev.12 Motion Range 46 5.1 Motion Range Setting by Pulse Range (for All Joints)........................46 5.2 Motion Range Setting by Mechanical Stops .......................................48 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2).............................53 5.4 Standard Motion Range.......................................................................53 Maintenance Safety Maintenance 57 General Maintenance 58 2.1 Maintenance Inspection.......................................................................58 2.1.1 Schedule for Maintenance Inspection .....................................58 2.1.2 Inspection Point .....................................................................59 2.2 Overhaul (Parts Replacement)............................................................60 2.3 Greasing ..............................................................................................62 2.4 Tightening Hexagon Socket Head Cap Bolts......................................64 2.5 Matching Origins..................................................................................64 2.6 Layout of Maintenance Parts...............................................................65 3. Covers 67 3.1 Arm Top Cover.....................................................................................68 3.2 Connector Plate...................................................................................69 3.3 Connector Sub Plate ...........................................................................70 3.4 User Plate............................................................................................70 Cable 71 4.1 Replacing Cable Unit...........................................................................72 4.2 Wiring Diagrams ..................................................................................78 4.2.1 Signal Cable.............................................................................78 4.2.2 Power Cable ............................................................................79 4.2.3 User Cable...............................................................................81 4.3 Replacing M/C Cable...........................................................................82 5. Arm #1 84 5.1 Motor....................................................................................................85 5.2 Reduction Gear Unit............................................................................88 6. Arm #2 89 6.1 Motor....................................................................................................90 6.2 Reduction Gear Unit............................................................................92

爱普生机器人G6系列-机器人操作手册【技术资料】 更多资料和机器人选型、报价可点击咨询：爱普生机器人服务商 基本篇 关于安全······················································································· 3 1.1 关于正文中的符号 ............................................................................... 3 1.2 设计与安装注意事项............................................................................ 4 1.3 操作注意事项....................................................................................... 5 1.4 紧急停止.............................................................................................. 7 1.4.1 RC180、RC620 ..........................................................................7 1.4.2 RC700-A......................................................................................9 1.5 无驱动电源时的紧急移动 ...................................................................11 1.6 机器人标签 ........................................................................................ 12 规格 ···························································································· 14 2.1 G6系列机器人的特征......................................................................... 14 2.2 型号和型号差异................................................................................. 15 2.3 部件名称和外形尺寸.......................................................................... 16 2.3.1 台式安装 ....................................................................................16 2.3.2 墙面安装 ....................................................................................22 2.3.3 天花板安装.................................................................................28 2.4 规格 ................................................................................................... 34 2.5 机型设定方法..................................................................................... 37 环境与安装·················································································· 38 3.1 环境 ................................................................................................... 38 3.2 台架 ................................................................................................... 40 3.3 机器人安装尺寸................................................................................. 42 3.4 开箱与搬运 ........................................................................................ 44 3.5 安装 ................................................................................................... 45 3.5.1 台式安装 ....................................................................................45 3.5.2 墙面安装 ....................................................................................46 3.5.3 天花板安装.................................................................................47 3.5.4 洁净环境规格.............................................................................48 3.5.5 保护规格 ....................................................................................48 3.6 电缆连接............................................................................................ 49 3.7 用户配线与配管................................................................................. 51 3.8 移设与保管 ........................................................................................ 53 3.8.1 移设与保管注意事项..................................................................53 3.8.2 台式安装 ....................................................................................54 3.8.3 墙面安装 ....................................................................................55 3.8.4 天花板安装.................................................................................56 夹具末端的设定 ·········································································· 57 4.1 夹具末端的安装................................................................................. 57 4.2 相机/气动阀等的安装......................................................................... 58 4.3 Weight设定与Inertia设定................................................................... 59

爱普生机器人G20系列-机器人操作手册【技术资料】 更多资料和机器人选型、报价可点击咨询：爱普生机器人服务商 Setup & Operation Safety 3 1.1 Conventions ............................................................................................. 3 1.2 Design and Installation Safety ................................................................. 4 1.2.1 Strength of the Ball Screw Spline.................................................. 5 1.3 Operation Safety ...................................................................................... 6 1.4 Emergency Stop ...................................................................................... 8 1.4.1 RC180............................................................................................ 8 1.4.2 RC700-A...................................................................................... 10 1.5 Emergency Movement Without Drive Power ........................................ 12 1.6 ACCELS Setting for CP Motions............................................................. 13 1.7 Warning Labels ...................................................................................... 14 Specifications 17 2.1 Features of G10 series and G20 series Manipulators .......................... 17 2.2 Model Number and Model Differences .................................................. 18 2.3 Part Names and Outer Dimensions ....................................................... 19 2.3.1 Table Top Mounting .................................................................... 19 2.3.2 Wall Mounting ............................................................................ 25 2.3.3 Ceiling Mounting ........................................................................ 31 2.3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37 2.4 Specifications ......................................................................................... 38 2.5 How to Set the Model ............................................................................ 41 Environments and Installation 42 3.1 Environmental Conditions ...................................................................... 42 3.2 Base Table ............................................................................................. 46 3.3 Mounting Dimensions ............................................................................ 45 3.4 Unpacking and Transportation .............................................................. 49 3.4.1 Precautions for Transportation .................................................. 49 3.4.2 Transportation ............................................................................ 50 3.5 Installation .............................................................................................. 50 3.5.1 Table Top Mounting .................................................................... 51 3.5.2 Wall Mounting ............................................................................ 52 3.5.3 Ceiling Mounting ........................................................................ 53 3.5.4 Cleanroom-model ...................................................................... 54 3.5.5 Protected-model ........................................................................ 54 3.6 Connecting the Cables .......................................................................... 55 3.7 User Wires and Pneumatic Tubes ......................................................... 57 3.8 Relocation and Storage ......................................................................... 59 3.8.1 Precautions for Relocation and Storage ................................... 59 3.8.2 Table Top Mounting .................................................................... 60 3.8.3 Wall Mounting ............................................................................ 61 3.8.4 Ceiling Mounting ........................................................................ 62TABLE OF CONTENTS viii G10 / G20 Rev.20 Setting of End Effectors 63 4.1 Attaching an End Effector .......................................................................63 4.2 Attaching Cameras and Valves ..............................................................65 4.3 Weight and Inertia Settings ....................................................................66 4.3.1 Weight Setting ............................................................................66 4.3.2 Inertia Setting .............................................................................70 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ...................75 Motion Range 76 5.1 Motion Range Setting by Pulse Range (for All Joints) ...........................77 5.1.1 Max. Pulse Range of Joint #1 ....................................................77 5.1.2 Max. Pulse Range of Joint #2 ....................................................78 5.1.3 Max. Pulse Range of Joint #3 ....................................................79 5.1.4 Max. Pulse Range of Joint #4 ....................................................79 5.2 Motion Range Setting by Mechanical Stops ..........................................80 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................81 5.2.2 Setting the Mechanical Stop of Joint #3 .....................................84 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2) ................................86 5.4 Standard Motion Range .........................................................................87 Maintenance Safety Maintenance 93 General Maintenance 94 2.1 Maintenance Inspection ...........................................................................94 2.1.1 Schedule for Maintenance Inspection ........................................94 2.1.2 Inspection Point ..........................................................................95 2.2 Overhaul (Parts Replacement) ................................................................96 2.3 Greasing .................................................................................................98 2.4 Tightening Hexagon Socket Head Cap Bolts .......................................100 2.5 Matching Origins ...................................................................................100 2.6 Layout of Maintenance Parts ...............................................................101 2.6.1 Table Top Mounting type ............................................................101 2.6.2 Wall Mounting type.....................................................................103 2.6.3 Ceiling Mounting type.................................................................105 2.6.4 G10-65***: For S/N1**** or later ...............................................107 Covers 108 3.1 Arm Top Cover ......................................................................................110 3.2 Arm Bottom Cover ................................................................................112 3.3 Arm #1 Cover .......................................................................................113 3.3.1 G10/G20-**S, G10/G20-**C ...............................................113 3.3.2 G10/G20-*D, P ....................................................................114 3.4 Connector Plate ....................................................................................115 3.5 Connector Sub Plate ............................................................................116TABLE OF CONTENTS G10 / G20 Rev.20 ix 3.6 User Plate .............................................................................................117 3.7 Maintenance Plate ................................................................................117 3.8 Base Bottom Cover ..............................................................................118 Cable 119 4.1 Replacing Cable Unit ........................................................................... 120 4.2 Wiring Diagrams .................................................................................. 132 4.2.1 Signal Cable ............................................................................ 132 4.2.2 Power Cable ............................................................................ 133 4.2.3 User Cable ............................................................................... 135 4.3 Replacing M/C Cable ........................................................................... 136 Arm #1 139 5.1 Replacing Joint #1 Motor ..................................................................... 140 5.2 Replacing Joint #1 Reduction Gear Unit ............................................. 142 Arm #2 145 6.1 Replacing Joint #2 Motor ..................................................................... 146 6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 151 Arm #3 154 7.1 Replacing Joint #3 Motor ..................................................................... 155 7.2 Replacing the Timing Belt .................................................................... 159 7.2.1 G10 .......................................................................................... 160 7.2.2 G20 .......................................................................................... 164 7.3 Replacing the Brake ............................................................................ 165 Arm #4 167 8.1 Replacing Joint #4 Motor ..................................................................... 168 8.1.1 G10 .......................................................................................... 168 8.1.2 G20 .......................................................................................... 172 8.2 Replacing the Timing Belt .................................................................... 174 8.2.1 G10 .......................................................................................... 175 8.2.2 G20 .......................................................................................... 179 8.3 Replacing the Brake ............................................................................ 184 8.4 Replacing the Reduction Gear Unit ..................................................... 187 8.4.1 G10 .......................................................................................... 188 8.4.2 G20 .......................................................................................... 189 Bellows 191TABLE OF CONTENTS x G10 / G20 Rev.20

爱普生机器人G10系列-机器人操作手册【技术资料】 更多资料和机器人选型、报价可点击咨询：爱普生机器人服务商 Setup & Operation Safety 3 1.1 Conventions ............................................................................................. 3 1.2 Design and Installation Safety ................................................................. 4 1.2.1 Strength of the Ball Screw Spline.................................................. 5 1.3 Operation Safety ...................................................................................... 6 1.4 Emergency Stop ...................................................................................... 8 1.4.1 RC180............................................................................................ 8 1.4.2 RC700-A...................................................................................... 10 1.5 Emergency Movement Without Drive Power ........................................ 12 1.6 ACCELS Setting for CP Motions............................................................. 13 1.7 Warning Labels ...................................................................................... 14 Specifications 17 2.1 Features of G10 series and G20 series Manipulators .......................... 17 2.2 Model Number and Model Differences .................................................. 18 2.3 Part Names and Outer Dimensions ....................................................... 19 2.3.1 Table Top Mounting .................................................................... 19 2.3.2 Wall Mounting ............................................................................ 25 2.3.3 Ceiling Mounting ........................................................................ 31 2.3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37 2.4 Specifications ......................................................................................... 38 2.5 How to Set the Model ............................................................................ 41 Environments and Installation 42 3.1 Environmental Conditions ...................................................................... 42 3.2 Base Table ............................................................................................. 46 3.3 Mounting Dimensions ............................................................................ 45 3.4 Unpacking and Transportation .............................................................. 49 3.4.1 Precautions for Transportation .................................................. 49 3.4.2 Transportation ............................................................................ 50 3.5 Installation .............................................................................................. 50 3.5.1 Table Top Mounting .................................................................... 51 3.5.2 Wall Mounting ............................................................................ 52 3.5.3 Ceiling Mounting ........................................................................ 53 3.5.4 Cleanroom-model ...................................................................... 54 3.5.5 Protected-model ........................................................................ 54 3.6 Connecting the Cables .......................................................................... 55 3.7 User Wires and Pneumatic Tubes ......................................................... 57 3.8 Relocation and Storage ......................................................................... 59 3.8.1 Precautions for Relocation and Storage ................................... 59 3.8.2 Table Top Mounting .................................................................... 60 3.8.3 Wall Mounting ............................................................................ 61 3.8.4 Ceiling Mounting ........................................................................ 62TABLE OF CONTENTS viii G10 / G20 Rev.20 Setting of End Effectors 63 4.1 Attaching an End Effector .......................................................................63 4.2 Attaching Cameras and Valves ..............................................................65 4.3 Weight and Inertia Settings ....................................................................66 4.3.1 Weight Setting ............................................................................66 4.3.2 Inertia Setting .............................................................................70 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ...................75 Motion Range 76 5.1 Motion Range Setting by Pulse Range (for All Joints) ...........................77 5.1.1 Max. Pulse Range of Joint #1 ....................................................77 5.1.2 Max. Pulse Range of Joint #2 ....................................................78 5.1.3 Max. Pulse Range of Joint #3 ....................................................79 5.1.4 Max. Pulse Range of Joint #4 ....................................................79 5.2 Motion Range Setting by Mechanical Stops ..........................................80 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................81 5.2.2 Setting the Mechanical Stop of Joint #3 .....................................84 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2) ................................86 5.4 Standard Motion Range .........................................................................87 Maintenance Safety Maintenance 93 General Maintenance 94 2.1 Maintenance Inspection ...........................................................................94 2.1.1 Schedule for Maintenance Inspection ........................................94 2.1.2 Inspection Point ..........................................................................95 2.2 Overhaul (Parts Replacement) ................................................................96 2.3 Greasing .................................................................................................98 2.4 Tightening Hexagon Socket Head Cap Bolts .......................................100 2.5 Matching Origins ...................................................................................100 2.6 Layout of Maintenance Parts ...............................................................101 2.6.1 Table Top Mounting type ............................................................101 2.6.2 Wall Mounting type.....................................................................103 2.6.3 Ceiling Mounting type.................................................................105 2.6.4 G10-65***: For S/N1**** or later ...............................................107 Covers 108 3.1 Arm Top Cover ......................................................................................110 3.2 Arm Bottom Cover ................................................................................112 3.3 Arm #1 Cover .......................................................................................113 3.3.1 G10/G20-**S, G10/G20-**C ...............................................113 3.3.2 G10/G20-*D, P ....................................................................114 3.4 Connector Plate ....................................................................................115 3.5 Connector Sub Plate ............................................................................116TABLE OF CONTENTS G10 / G20 Rev.20 ix 3.6 User Plate .............................................................................................117 3.7 Maintenance Plate ................................................................................117 3.8 Base Bottom Cover ..............................................................................118 Cable 119 4.1 Replacing Cable Unit ........................................................................... 120 4.2 Wiring Diagrams .................................................................................. 132 4.2.1 Signal Cable ............................................................................ 132 4.2.2 Power Cable ............................................................................ 133 4.2.3 User Cable ............................................................................... 135 4.3 Replacing M/C Cable ........................................................................... 136 Arm #1 139 5.1 Replacing Joint #1 Motor ..................................................................... 140 5.2 Replacing Joint #1 Reduction Gear Unit ............................................. 142 Arm #2 145 6.1 Replacing Joint #2 Motor ..................................................................... 146 6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 151 Arm #3 154 7.1 Replacing Joint #3 Motor ..................................................................... 155 7.2 Replacing the Timing Belt .................................................................... 159 7.2.1 G10 .......................................................................................... 160 7.2.2 G20 .......................................................................................... 164 7.3 Replacing the Brake ............................................................................ 165 Arm #4 167 8.1 Replacing Joint #4 Motor ..................................................................... 168 8.1.1 G10 .......................................................................................... 168 8.1.2 G20 .......................................................................................... 172 8.2 Replacing the Timing Belt .................................................................... 174 8.2.1 G10 .......................................................................................... 175 8.2.2 G20 .......................................................................................... 179 8.3 Replacing the Brake ............................................................................ 184 8.4 Replacing the Reduction Gear Unit ..................................................... 187 8.4.1 G10 .......................................................................................... 188 8.4.2 G20 .......................................................................................... 189 Bellows 191TABLE OF CONTENTS x G10 / G20 Rev.20