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爱普生机器人水平多关节型RS系列机器人手册 一、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 ............................................................................ 3 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 .............................................................................................. 7 1.5 无驱动电源时的紧急移动 ..................................................................... 9 1.6 CP运动的ACCELS设置 ..................................................................... 10 1.7 标签 .................................................................................................... 11 规格 13 2.1 T系列机器人的特征 ........................................................................... 13 2.2 型号 .................................................................................................... 14 2.3 部件名称 ............................................................................................ 15 2.3.1 T3 ........................................................................................... 15 2.3.2 T6 ........................................................................................... 16 2.4 外形尺寸 ............................................................................................ 17 2.4.1 T3 ........................................................................................... 17 2.4.2 T6 ........................................................................................... 18 2.5 系统示例 ............................................................................................ 19 2.6 规格 .................................................................................................... 20 2.7 机型设定方法 ..................................................................................... 23 环境与安装 24 3.1 环境 .................................................................................................... 24 3.2 台架 .................................................................................................... 25 3.3 机器人安装尺寸 ................................................................................. 26 3.4 开箱与搬运 ......................................................................................... 28 3.5 安装步骤 ............................................................................................ 29 3.6 电源 .................................................................................................... 30 3.6.1 规格 ........................................................................................ 30 3.6.2 AC电源电缆 ........................................................................... 30 3.6.3 断路器 .................................................................................... 31 3.6.4 电源单元 ................................................................................ 32 3.6.5 接地 ........................................................................................ 33 3.7 电缆连接 ............................................................................................ 34 3.7.1 连接示例 ................................................................................ 35 3.7.2 噪声措施 ................................................................................ 36 3.8 空气管 ................................................................................................ 37 3.9 移设与保管 ......................................................................................... 39 3.9.1 移设与保管注意事项 .............................................................. 39 3.9.2 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 4.4 第3关节自动加/减速注意事项 ............................................................. 50 动作区域 51 5.1 利用脉冲范围设定动作区域(全关节)................................................... 51 5.1.1 第1关节最大脉冲范围 ............................................................. 52 5.1.2 第2关节最大脉冲范围 ............................................................. 52 5.1.3 第3关节最大脉冲范围 ............................................................. 53 5.1.4 第4关节最大脉冲范围 ............................................................. 53 5.2 利用机械挡块设定动作区域 ................................................................ 54 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 操作模式与LED 59 6.1 操作模式的概述 .................................................................................. 59 6.2 切换操作模式 ...................................................................................... 59 6.3 程序模式(AUTO) ................................................................................ 60 6.3.1 什么是程序模式(AUTO)？ ...................................................... 60 6.3.2 从EPSON RC+ 7.0进行设置 .................................................. 60 6.4 自动模式(AUTO) ................................................................................ 61 6.4.1 什么是自动模式(AUTO)？ ...................................................... 61 6.4.2 从EPSON RC+ 7.0进行设置 .................................................. 61 6.4.3 从控制设备进行设置 ............................................................... 62 6.5 LED ..................................................................................................... 63 开发用PC的连接端口 64 7.1 什么是开发用PC连接端口 .................................................................. 64 7.2 注意事项 ............................................................................................. 65 7.3 软件设定和连接检查 ........................................................................... 65 7.4 断开开发用PC和机器人 ...................................................................... 66 存储器端口 67 8.1 什么是控制器状态存储功能？ ........................................................... 67 8.2 使用控制器状态存储功能前 ............................................................... 67 8.2.1 注意事项 ................................................................................ 67 8.2.2 可采用的USB存储器 .............................................................. 67 8.3 控制器状态存储功能 .......................................................................... 68 8.3.1 控制器状态存储 ..................................................................... 68 8.3.2 通过EPSON RC+ 7.0加载数据 .............................................. 69 8.3.3 使用电子邮件进行传输 ........................................................... 70 8.4 数据详细信息 ..................................................................................... 71 LAN(Ethernet通信)端口 72 9.1 什么是LAN(Ethernet通信)端口 .......................................................... 72 9.2 IP地址 ................................................................................................ 72 9.3 更改机器人IP地址 .............................................................................. 73 9.4 通过Ethernet连接开发用PC和机器人 ................................................ 74 9.5 断开通过Ethernet连接的开发用PC与机器人 ..................................... 75 TP端口 76 10.1 什么是TP端口？ .............................................................................. 76 10.2 示教器连接 ....................................................................................... 76 EMERGENCY 77 11.1 安全防护门开关和闩锁释放开关 ...................................................... 77 11.1.1 安全防护门开关 ................................................................... 78 11.1.2 闩锁释放开关 ....................................................................... 78 11.1.3 确认闩锁释放开关操作......................................................... 79 11.2 紧急停止开关连接 ............................................................................ 79 11.2.1 紧急停止开关 ....................................................................... 79 11.2.2 确认紧急停止开关操作......................................................... 80 11.2.3 从紧急停止恢复 ................................................................... 80 11.3 针脚分配 .......................................................................................... 81 11.4 电路图与配线示例 ............................................................................ 82 11.4.1 示例1: 外部紧急停止开关典型用途 ..................................... 82 11.4.2 示例2: 外部安全继电器典型用途 ......................................... 83 标准I/O连接器 84 12.1 输入电路 .......................................................................................... 84 12.1.1 输入电路图与配线示例1....................................................... 85 12.1.2 输入电路图与配线示例2....................................................... 85 12.1.3 输入电路的针脚分配 ............................................................ 86 12.2 输出电路 .......................................................................................... 86 12.2.1 输出电路图与配线示例1....................................................... 87 12.2.2 输出电路图与配线示例2 ....................................................... 87 12.2.3 输出电路的针脚分配 ............................................................. 88 12.3 I/O电缆的制作步骤 ........................................................................... 89 12.3.1 连接I/O电缆的方法 ............................................................... 89 12.3.2 固定I/O电缆的方法 ............................................................... 89 机械手臂I/O连接器 90 13.1 电源规格 ........................................................................................... 90 13.2 输入电路 ........................................................................................... 91 13.2.1 输入电路图与配线示例1 ....................................................... 91 13.2.2 输入电路图与配线示例2 ....................................................... 91 13.3 输出电路 ........................................................................................... 92 13.3.1 输出电路图与配线示例1 ....................................................... 92 13.3.2 输出电路图与配线示例2 ....................................................... 92 13.4 针脚分配 ........................................................................................... 93 13.5 控制机械手臂I/O的方法 .................................................................... 93 I/O远程设置 95 14.1 I/O信号的功能................................................................................... 96 14.1.1 远程输入信号 ........................................................................ 96 14.1.2 远程输出信号 ...................................................................... 100 14.2 时序规格 ......................................................................................... 103 14.2.1 远程输入信号的注意事项 .................................................... 103 14.2.2 操作执行顺序的时序图 ....................................................... 103 14.2.3 程序执行顺序的时序图 ....................................................... 103 14.2.4 安全防护门输入顺序的时序图 ............................................ 104 14.2.5 紧急停止顺序的时序图 ....................................................... 104 SD卡槽 105 重置开关 106 现场总线I/O 107 二、维护篇 关于维护时的安全 111 维护概要 112 2.1 维护检查 .......................................................................................... 112 2.1.1 维护检查进度表 .................................................................. 112 2.1.2 检查内容 ............................................................................. 113 2.2 检修(更换部件) ................................................................................. 114 2.3 润滑脂加注 ....................................................................................... 116 2.4 内六角螺栓的紧固 ............................................................................ 117 2.5 关于原点位置 ................................................................................... 117 2.6 维护部件的配置 ............................................................................... 118 机器人构成 119 报警 121 4.1 维护 .................................................................................................. 122 4.2 维护信息 .......................................................................................... 123 4.2.1 查看维护信息的方法 ............................................................ 123 4.2.2 编辑维护信息的方法 ............................................................ 124 4.2.3 报警通知方法 ....................................................................... 125 4.2.4 取消报警的方法 ................................................................... 125 备份与恢复 126 5.1 备份控制器功能是什么 .................................................................... 126 5.2 备份数据类型 ................................................................................... 126 5.3 备份 .................................................................................................. 127 5.4 恢复 .................................................................................................. 128 固件更新 131 6.1 更新固件 .......................................................................................... 131 6.2 固件升级步骤 ................................................................................... 131 6.3 机器人恢复 ....................................................................................... 134 6.4 固件初始化步骤 ............................................................................... 135 外罩 137 7.1 机械臂顶部外罩 ............................................................................... 139 7.2 机械臂底部外罩 ............................................................................... 140 7.3 电源电缆外罩 ................................................................................... 140 7.4 连接器板 .......................................................................................... 141 7.5 电源单元外罩 ................................................................................... 142 7.6 底座侧外罩 ....................................................................................... 143 7.7 用户板 ............................................................................................... 144 电缆 145 8.1 电缆单元的更换 ................................................................................ 145 8.2 装入或拉出电源电缆 ......................................................................... 153 第1关节 154 9.1 第1关节电机的更换 .......................................................................... 155 9.2 第1关节减速机的更换 ....................................................................... 165 第2关节 168 10.1 第2关节电机的更换 ........................................................................ 169 10.2 第2关节减速机的更换 ..................................................................... 173 第3关节 176 11.1 第3关节电机的更换 ........................................................................ 177 11.2 同步皮带的更换 .............................................................................. 183 11.3 制动器的更换 .................................................................................. 184 11.4 同步皮带拉力的检查(Z皮带) ........................................................... 185 第4关节 186 12.1 第4关节电机的更换 ........................................................................ 187 12.2 同步皮带的更换 .............................................................................. 193 12.2.1 U2皮带(T6) ......................................................................... 194 12.2.2 U1皮带(T6) ......................................................................... 199 12.2.3 U皮带(T3) ........................................................................... 200 12.3 同步皮带拉力的检查 ....................................................................... 201 滚珠丝杠花键单元 202 13.1 滚珠丝杠花键单元的润滑脂加注 ..................................................... 203 13.2 滚珠丝杠花键单元的更换 ............................................................... 204 锂电池、电路板、SD卡和过滤器 207 14.1 CPU/DPB板的更换 ......................................................................... 208 14.2 锂电池的更换 .................................................................................. 211 14.3 SD卡的更换 .................................................................................... 212 14.4 电源板的更换 .................................................................................. 213 14.4.1 空气过滤器的更换 ............................................................... 213 14.4.2 电源板的更换 ...................................................................... 214 LED指示灯单元 216 原点调整 218 16.1 关于原点调整 ................................................................................. 218 16.2 原点调整步骤 ................................................................................. 219 16.3 第2关节的正确原点调整 ................................................................ 229 16.4 参考: 不使用向导的原点调整步骤 ................................................. 231 限制 235 17.1 无法使用命令 ................................................................................. 235 17.2 指定RS-232C时命令会引起动作错误 ............................................ 235 17.3 命令引起错误 ................................................................................. 236 17.3.1 6轴机器人命令 ................................................................... 236 17.3.2 输送机跟踪命令 ................................................................. 236 17.3.3 PG命令 .............................................................................. 237 17.3.4 R-I/O命令 ........................................................................... 237 17.3.5 力传感命令 ......................................................................... 237 17.3.6 其他(FineDist) .................................................................... 237 17.3.7 其他(HealthCalcPeriod) ..................................................... 237 17.3.8 其他(ChDisk)...................................................................... 237 17.4 功能限制 ........................................................................................ 238 17.4.1 TP3 .................................................................................... 238 17.4.2 循环处理 ............................................................................ 238 17.4.3 按CV1/CV2进行相机搜索 .................................................. 239 17.4.4 恢复备份控制器数据的功能 ............................................... 239 错误代码表 240 维护部件表 240 19.1 T3 ................................................................................................... 241 19.2 T6 ................................................................................................... 242 附录A: T系列产品的开源软件许可证 243

爱普生水平多关节型机器人T系列机器人手册_r9（中文） 一、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 ............................................................................ 3 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 .............................................................................................. 7 1.5 无驱动电源时的紧急移动 ..................................................................... 9 1.6 CP运动的ACCELS设置 ..................................................................... 10 1.7 标签 .................................................................................................... 11 规格 13 2.1 T系列机器人的特征 ........................................................................... 13 2.2 型号 .................................................................................................... 14 2.3 部件名称 ............................................................................................ 15 2.3.1 T3 ........................................................................................... 15 2.3.2 T6 ........................................................................................... 16 2.4 外形尺寸 ............................................................................................ 17 2.4.1 T3 ........................................................................................... 17 2.4.2 T6 ........................................................................................... 18 2.5 系统示例 ............................................................................................ 19 2.6 规格 .................................................................................................... 20 2.7 机型设定方法 ..................................................................................... 23 环境与安装 24 3.1 环境 .................................................................................................... 24 3.2 台架 .................................................................................................... 25 3.3 机器人安装尺寸 ................................................................................. 26 3.4 开箱与搬运 ......................................................................................... 28 3.5 安装步骤 ............................................................................................ 29 3.6 电源 .................................................................................................... 30 3.6.1 规格 ........................................................................................ 30 3.6.2 AC电源电缆 ........................................................................... 30 3.6.3 断路器 .................................................................................... 31 3.6.4 电源单元 ................................................................................ 32 3.6.5 接地 ........................................................................................ 33 3.7 电缆连接 ............................................................................................ 34 3.7.1 连接示例 ................................................................................ 35 3.7.2 噪声措施 ................................................................................ 36 3.8 空气管 ................................................................................................ 37 3.9 移设与保管 ......................................................................................... 39 3.9.1 移设与保管注意事项 .............................................................. 39 3.9.2 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 4.4 第3关节自动加/减速注意事项 ............................................................. 50 动作区域 51 5.1 利用脉冲范围设定动作区域(全关节)................................................... 51 5.1.1 第1关节最大脉冲范围 ............................................................. 52 5.1.2 第2关节最大脉冲范围 ............................................................. 52 5.1.3 第3关节最大脉冲范围 ............................................................. 53 5.1.4 第4关节最大脉冲范围 ............................................................. 53 5.2 利用机械挡块设定动作区域 ................................................................ 54 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 操作模式与LED 59 6.1 操作模式的概述 .................................................................................. 59 6.2 切换操作模式 ...................................................................................... 59 6.3 程序模式(AUTO) ................................................................................ 60 6.3.1 什么是程序模式(AUTO)？ ...................................................... 60 6.3.2 从EPSON RC+ 7.0进行设置 .................................................. 60 6.4 自动模式(AUTO) ................................................................................ 61 6.4.1 什么是自动模式(AUTO)？ ...................................................... 61 6.4.2 从EPSON RC+ 7.0进行设置 .................................................. 61 6.4.3 从控制设备进行设置 ............................................................... 62 6.5 LED ..................................................................................................... 63 开发用PC的连接端口 64 7.1 什么是开发用PC连接端口 .................................................................. 64 7.2 注意事项 ............................................................................................. 65 7.3 软件设定和连接检查 ........................................................................... 65 7.4 断开开发用PC和机器人 ...................................................................... 66 存储器端口 67 8.1 什么是控制器状态存储功能？ ........................................................... 67 8.2 使用控制器状态存储功能前 ............................................................... 67 8.2.1 注意事项 ................................................................................ 67 8.2.2 可采用的USB存储器 .............................................................. 67 8.3 控制器状态存储功能 .......................................................................... 68 8.3.1 控制器状态存储 ..................................................................... 68 8.3.2 通过EPSON RC+ 7.0加载数据 .............................................. 69 8.3.3 使用电子邮件进行传输 ........................................................... 70 8.4 数据详细信息 ..................................................................................... 71 LAN(Ethernet通信)端口 72 9.1 什么是LAN(Ethernet通信)端口 .......................................................... 72 9.2 IP地址 ................................................................................................ 72 9.3 更改机器人IP地址 .............................................................................. 73 9.4 通过Ethernet连接开发用PC和机器人 ................................................ 74 9.5 断开通过Ethernet连接的开发用PC与机器人 ..................................... 75 TP端口 76 10.1 什么是TP端口？ .............................................................................. 76 10.2 示教器连接 ....................................................................................... 76 EMERGENCY 77 11.1 安全防护门开关和闩锁释放开关 ...................................................... 77 11.1.1 安全防护门开关 ................................................................... 78 11.1.2 闩锁释放开关 ....................................................................... 78 11.1.3 确认闩锁释放开关操作......................................................... 79 11.2 紧急停止开关连接 ............................................................................ 79 11.2.1 紧急停止开关 ....................................................................... 79 11.2.2 确认紧急停止开关操作......................................................... 80 11.2.3 从紧急停止恢复 ................................................................... 80 11.3 针脚分配 .......................................................................................... 81 11.4 电路图与配线示例 ............................................................................ 82 11.4.1 示例1: 外部紧急停止开关典型用途 ..................................... 82 11.4.2 示例2: 外部安全继电器典型用途 ......................................... 83 标准I/O连接器 84 12.1 输入电路 .......................................................................................... 84 12.1.1 输入电路图与配线示例1....................................................... 85 12.1.2 输入电路图与配线示例2....................................................... 85 12.1.3 输入电路的针脚分配 ............................................................ 86 12.2 输出电路 .......................................................................................... 86 12.2.1 输出电路图与配线示例1....................................................... 87 12.2.2 输出电路图与配线示例2 ....................................................... 87 12.2.3 输出电路的针脚分配 ............................................................. 88 12.3 I/O电缆的制作步骤 ........................................................................... 89 12.3.1 连接I/O电缆的方法 ............................................................... 89 12.3.2 固定I/O电缆的方法 ............................................................... 89 机械手臂I/O连接器 90 13.1 电源规格 ........................................................................................... 90 13.2 输入电路 ........................................................................................... 91 13.2.1 输入电路图与配线示例1 ....................................................... 91 13.2.2 输入电路图与配线示例2 ....................................................... 91 13.3 输出电路 ........................................................................................... 92 13.3.1 输出电路图与配线示例1 ....................................................... 92 13.3.2 输出电路图与配线示例2 ....................................................... 92 13.4 针脚分配 ........................................................................................... 93 13.5 控制机械手臂I/O的方法 .................................................................... 93 I/O远程设置 95 14.1 I/O信号的功能................................................................................... 96 14.1.1 远程输入信号 ........................................................................ 96 14.1.2 远程输出信号 ...................................................................... 100 14.2 时序规格 ......................................................................................... 103 14.2.1 远程输入信号的注意事项 .................................................... 103 14.2.2 操作执行顺序的时序图 ....................................................... 103 14.2.3 程序执行顺序的时序图 ....................................................... 103 14.2.4 安全防护门输入顺序的时序图 ............................................ 104 14.2.5 紧急停止顺序的时序图 ....................................................... 104 SD卡槽 105 重置开关 106 现场总线I/O 107 二、维护篇 关于维护时的安全 111 维护概要 112 2.1 维护检查 .......................................................................................... 112 2.1.1 维护检查进度表 .................................................................. 112 2.1.2 检查内容 ............................................................................. 113 2.2 检修(更换部件) ................................................................................. 114 2.3 润滑脂加注 ....................................................................................... 116 2.4 内六角螺栓的紧固 ............................................................................ 117 2.5 关于原点位置 ................................................................................... 117 2.6 维护部件的配置 ............................................................................... 118 机器人构成 119 报警 121 4.1 维护 .................................................................................................. 122 4.2 维护信息 .......................................................................................... 123 4.2.1 查看维护信息的方法 ............................................................ 123 4.2.2 编辑维护信息的方法 ............................................................ 124 4.2.3 报警通知方法 ....................................................................... 125 4.2.4 取消报警的方法 ................................................................... 125 备份与恢复 126 5.1 备份控制器功能是什么 .................................................................... 126 5.2 备份数据类型 ................................................................................... 126 5.3 备份 .................................................................................................. 127 5.4 恢复 .................................................................................................. 128 固件更新 131 6.1 更新固件 .......................................................................................... 131 6.2 固件升级步骤 ................................................................................... 131 6.3 机器人恢复 ....................................................................................... 134 6.4 固件初始化步骤 ............................................................................... 135 外罩 137 7.1 机械臂顶部外罩 ............................................................................... 139 7.2 机械臂底部外罩 ............................................................................... 140 7.3 电源电缆外罩 ................................................................................... 140 7.4 连接器板 .......................................................................................... 141 7.5 电源单元外罩 ................................................................................... 142 7.6 底座侧外罩 ....................................................................................... 143 7.7 用户板 ............................................................................................... 144 电缆 145 8.1 电缆单元的更换 ................................................................................ 145 8.2 装入或拉出电源电缆 ......................................................................... 153 第1关节 154 9.1 第1关节电机的更换 .......................................................................... 155 9.2 第1关节减速机的更换 ....................................................................... 165 第2关节 168 10.1 第2关节电机的更换 ........................................................................ 169 10.2 第2关节减速机的更换 ..................................................................... 173 第3关节 176 11.1 第3关节电机的更换 ........................................................................ 177 11.2 同步皮带的更换 .............................................................................. 183 11.3 制动器的更换 .................................................................................. 184 11.4 同步皮带拉力的检查(Z皮带) ........................................................... 185 第4关节 186 12.1 第4关节电机的更换 ........................................................................ 187 12.2 同步皮带的更换 .............................................................................. 193 12.2.1 U2皮带(T6) ......................................................................... 194 12.2.2 U1皮带(T6) ......................................................................... 199 12.2.3 U皮带(T3) ........................................................................... 200 12.3 同步皮带拉力的检查 ....................................................................... 201 滚珠丝杠花键单元 202 13.1 滚珠丝杠花键单元的润滑脂加注 ..................................................... 203 13.2 滚珠丝杠花键单元的更换 ............................................................... 204 锂电池、电路板、SD卡和过滤器 207 14.1 CPU/DPB板的更换 ......................................................................... 208 14.2 锂电池的更换 .................................................................................. 211 14.3 SD卡的更换 .................................................................................... 212 14.4 电源板的更换 .................................................................................. 213 14.4.1 空气过滤器的更换 ............................................................... 213 14.4.2 电源板的更换 ...................................................................... 214 LED指示灯单元 216 原点调整 218 16.1 关于原点调整 ................................................................................. 218 16.2 原点调整步骤 ................................................................................. 219 16.3 第2关节的正确原点调整 ................................................................ 229 16.4 参考: 不使用向导的原点调整步骤 ................................................. 231 限制 235 17.1 无法使用命令 ................................................................................. 235 17.2 指定RS-232C时命令会引起动作错误 ............................................ 235 17.3 命令引起错误 ................................................................................. 236 17.3.1 6轴机器人命令 ................................................................... 236 17.3.2 输送机跟踪命令 ................................................................. 236 17.3.3 PG命令 .............................................................................. 237 17.3.4 R-I/O命令 ........................................................................... 237 17.3.5 力传感命令 ......................................................................... 237 17.3.6 其他(FineDist) .................................................................... 237 17.3.7 其他(HealthCalcPeriod) ..................................................... 237 17.3.8 其他(ChDisk)...................................................................... 237 17.4 功能限制 ........................................................................................ 238 17.4.1 TP3 .................................................................................... 238 17.4.2 循环处理 ............................................................................ 238 17.4.3 按CV1/CV2进行相机搜索 .................................................. 239 17.4.4 恢复备份控制器数据的功能 ............................................... 239 错误代码表 240 维护部件表 240 19.1 T3 ................................................................................................... 241 19.2 T6 ................................................................................................... 242 附录A: T系列产品的开源软件许可证 243

欧姆龙爱德普工业机器人 - 3大类别，112种型号 - 提供全面的解决方案 机器人的多种应用实现生产方式的进化； 从生产设备到操作流程，欧姆龙通过使用种类广泛的控制设备和集成机器人，为各行提供自动化解决方案。 一、并联机器人 Hornet 565 Quattro 650/800 Hornet和Quattro适用于食品、制药和日化等行业，是具有高负载、高速和高精度性能的四轴并联机器人。 特点：伺服放大器和控制器完全嵌入机器人本身（驱控一体），减少接线、节省占地空间。 二、SCARA机器人 Cobra 450/500/650 eCobra 600/800 eCobra 800倒置式 高性能四轴SCARA机器人适用于机械组装、 物料搬运和包装等应用。 提供台面和悬挂2种安装方式。 三、六轴关节型机器人 Viper 650/850 六轴关节型机器人适用于机械组装、物料 搬运、包装和托盘包装。 四、编程软件 (ACE) ACE是一款具有模拟功能，提供高效的应用配置及 验证方式的多合一软件。 ACE提供一系列创新功能，提升效率，简化配置。

如何选择合适的机器人供应商？ •What do you want the robot to do? (What is the application?) •Have a rough idea of the layout for the robot workcell. (The right robot vendors can help you with this, but you should have a rough idea of what is needed) •What placement precision is required? (What are your manufacturing tolerances?) •What are the throughput requirements? (i.e. How many parts per minute?) •What peripheral devices will be working with the robots?(Vision, Feeders, Conveyors, etc.) •What kind of ROI do you need for your project to be successful? (Some robot projects can have ROI’s as little as 6 months although ROI’s vary tremendously depending upon the application)

爱普生机器人系统安全与设置_RC700_EPSON RC+7.0（中文） 关于安全 1 1.1 关于正文中的符号 ······························································· 1 1.2 设计与安装注意事项 ···························································· 2 1.2.1 相关手册 ·································································· 2 1.2.2 设计安全的机器人系统 ················································ 3 1.3 操作注意事项 ····································································· 8 1.3.1 安全遵守事项 ·························································· 10 1.3.2 部件名称∕机械臂动作 ·············································· 11 1.3.3 操作模式 ································································ 33 1.4 关于维护时的安全 ····························································· 34 1.5 紧急停止 ········································································· 36 1.5.1 关于紧急停止时的自由行走距离 ·································· 40 1.5.2 紧急模式的重置方法 ················································· 49 1.6 标签 ··············································································· 50 1.6.1 控制器 ··································································· 50 1.6.2 机器人 ··································································· 53 1.7 安全功能 ········································································· 68 1.8 机器人规格 ······································································ 70 1.9 利用机械挡块设定动作区域 ··············································· 112 1.10 最终用户培训 ································································ 129 安装 130 系统示例 ··············································································· 131 2.1 从开箱到操作机器人系统的概述 ········································· 135 2.2 开箱 ············································································· 136 2.2.1 开箱注意事项 ························································ 136 2.3 搬运 ············································································· 137 2.3.1 搬运注意事项 ························································ 137 2.3.2 搬运机器人 ··························································· 138 2.4 安装机器人 ···································································· 145 2.4.1 安装注意事项 ························································ 145 2.4.2 环境 ···································································· 146 2.4.3 噪声级 ································································· 147 2.4.4 台架 ···································································· 148 2.4.5 安装步骤 ······························································ 150 2.5 安装控制单元和驱动单元 ·················································· 166 2.5.1 环境 ···································································· 166 2.5.2 安装····································································· 168 2.5.3 墙面安装选件························································· 169 2.6 连接至EMERGENCY连接器 ··············································· 170 2.6.1 安全门开关和闩锁释放开关······································· 170 2.6.2 安全门开关···························································· 171 2.6.3 闩锁释放开关························································· 171 2.6.4 确认闩锁释放开关操作············································· 172 2.6.5 紧急停止开关························································· 173 2.6.6 确认紧急停止开关操作············································· 173 2.6.7 针脚分配······························································· 175 2.6.8 电路图–控制单元··················································· 176 2.6.9 电路图–驱动单元··················································· 178 2.7 电源∕AC电源电缆 ··························································· 182 2.7.1 电源····································································· 182 2.7.2 AC电源电缆 ·························································· 183 2.8 连接驱动单元 ·································································· 184 2.9 设定驱动单元 ·································································· 185 2.10 连接机器人和控制器 ······················································· 186 2.10.1 连接注意事项 ······················································· 186 2.11 接通电源 ······································································· 187 2.11.1 接通电源注意事项 ················································· 187 2.11.2 接通电源的步骤 ···················································· 189 2.12 保存默认状态 ································································ 190 2.13 添加追加系统的信息 ······················································· 190 第一步 193 3.1 安装EPSON RC+ 7.0软件 ·················································· 193 3.2 连接开发用PC和控制器 ····················································· 196 3.2.1 用于开发用PC的USB连接端口 ·································· 196 3.2.2 注意事项······························································· 197 3.2.3 软件设定和连接检查················································ 197 3.2.4 备份控制器的初始状态············································· 198 3.2.5 断开开发用PC和控制器 ··········································· 199 3.2.6 将机器人移动到初始位置·········································· 199 3.3 编写第一个程序 ······························································· 205 第二步 212 4.1 与外部装置连接 ······························································· 212 4.1.1 远程控制 ······························································ 212 4.1.2 以太网 ································································· 212 4.1.3 RS-232C（选件）·················································· 212 4.1.4 模拟I/O板（选件） ·················································· 212 4.1.5 力传感器I/F板（选件） ············································· 212 4.2 开发用PC和控制器的以太网连接 ········································ 213 4.3 连接示教器（选件） ························································ 213 维护概要 214 5.1 维护 ············································································· 214 5.1.1 机器人 ································································· 214 5.1.2 控制单元（RC700、RC700-A） ······························· 217 5.1.3 驱动单元（RC700DU、RC700DU-A） ······················ 218 5.2 检修（更换部件） ····························································· 219 5.3 内六角螺栓的紧固 ····························································· 221 5.4 润滑脂加注 ···································································· 222 5.5 电池处理和废弃 ······························································ 225 手册 227 软件 ····················································································· 227 软件选件 ··············································································· 227 控制器 ·················································································· 228 控制器选件 ············································································ 228 机器人 ·················································································· 228

爱普生机器人控制器RC700-A选件示教器_TP3_r2（中文） 功能与安装 关于安全............................................................................................... 3 1.1 关于正文中的符号.......................................................................................... 3 1.2 安全注意事项 ................................................................................................. 3 1.2.1 安装注意事项.....................................................................................3 1.2.2 安全遵守事项.....................................................................................5 1.3 紧急停止 ........................................................................................................ 6 1.4 安全防护区域内的示教器的使用.................................................................... 7 规格...................................................................................................... 8 2.1 部件名称与功能 ............................................................................................. 8 2.2 标准规格 ......................................................................................................10 2.3 外形尺寸 ......................................................................................................10 安装.................................................................................................... 11 3.1 安装内容 ......................................................................................................11 3.2 环境条件 ......................................................................................................11 3.3 操作注意事项 ...............................................................................................11 3.4 墙壁托架（选件）........................................................................................12 3.4.1 外形尺寸..........................................................................................12 3.4.2 示教器的安装及使用方法 ................................................................12 3.5 连接..............................................................................................................13 3.5.1 与控制器的连接...............................................................................13 3.5.2 连接示例..........................................................................................14 3.6 电源..............................................................................................................15 操作模式（TEACH、AUTO、TEST） ............................................... 16 4.1 操作模式概述 ...............................................................................................16 4.2 操作模式切换 ...............................................................................................18 步进键与 EXE.键................................................................................ 19 启用开关............................................................................................. 21 接触屏 ................................................................................................ 21 7.1 接触屏的操作 ...............................................................................................21 7.2 面板的操作...................................................................................................21 7.3 软键盘的操作...............................................................................................22 7.3.1 浮动模式 .........................................................................................23 警告音 (哔哔声) ................................................................................. 24 操作 示教程序 ............................................................................................ 27 1.1 步进操作 ......................................................................................................28 1.1.1 分布步进操作 ..................................................................................28 1.1.2 连续步进操作 ..................................................................................28 1.2 示教 .............................................................................................................28 1.3 直接示教 ......................................................................................................29 常用功能 ............................................................................................ 30 2.1 当前机器人...................................................................................................31 2.2 状态栏..........................................................................................................31 2.3 子菜单..........................................................................................................32 2.3.1 I/O 监视器 .......................................................................................32 2.3.2 机器人 3D 视图 ...............................................................................33 2.3.3 制动器设置......................................................................................35 2.3.4 命令窗口 .........................................................................................36 2.3.5 步进键调整......................................................................................37 2.3.6 任务管理器......................................................................................38 2.3.7 系统历史 .........................................................................................39 2.4 错误消息 ......................................................................................................41 TEACH/T1 模式 ................................................................................. 42 3.1 控制面板 ......................................................................................................42 3.1.1 电机................................................................................................. 43 3.1.2 自由关节 .........................................................................................43 3.1.3 命令按钮 .........................................................................................43 3.2 在线示教 ......................................................................................................44 3.2.1 模式................................................................................................. 45 3.2.2 速度................................................................................................. 45 3.2.3 坐标系.............................................................................................45 3.2.4 当前位置 .........................................................................................46 3.2.5 机械臂当前位置 ..............................................................................46 3.2.6 步进距离 .........................................................................................46 3.2.7 记录机器人位置...............................................................................47 3.2.8 命令.................................................................................................47 3.2.9 步进键说明......................................................................................48 3.3 编程..............................................................................................................49 3.3.1 当前项目管理 ..................................................................................49 3.3.2 编辑程序..........................................................................................49 3.3.3 管理点文件......................................................................................50 3.3.4 编辑点数据......................................................................................50 3.4 测试..............................................................................................................52 3.4.1 单任务程序验证...............................................................................53 3.4.2 多任务程序验证...............................................................................55 3.4.3 TEST 模式操作方法 ........................................................................58 3.5 机器人参数...................................................................................................59 3.5.1 本地坐标系设置...............................................................................59 3.5.2 工具坐标系设置...............................................................................60 3.5.3 附加机械臂设置...............................................................................61 TEACH/T2 模式..................................................................................62 4.1 测试 2 ...........................................................................................................63 AUTO 模式.........................................................................................64 5.1 操作员面板...................................................................................................65 5.1.1 程序执行..........................................................................................66 5.2 维护..............................................................................................................67 5.2.1 备份.................................................................................................67 5.2.2 恢复.................................................................................................68 5.3 设置..............................................................................................................69 5.3.1 参数选择..........................................................................................69 5.3.2 系统信息..........................................................................................70 5.3.3 固件更新..........................................................................................70 5.3.4 关机.................................................................................................71 密码设置.............................................................................................72 故障排查.............................................................................................73 维护部件表 .........................................................................................74

爱普生机器人控制器RC700_RC90选件示教器_TP2_Rev.2（中文） 功能与安装 安全 ................................................ 3 1.1 惯例 .............................................................. 3 1.2 安全注意事项 ...................................................... 3 1.3 紧急停止 .......................................................... 6 1.4 模式选择器钥匙开关 ................................................ 7 1.5 安全防护区域内的示教器的使用 ...................................... 7 规格 ................................................ 8 2.1 部件名称与功能 .................................................... 8 2.2 标准规格 .......................................................... 9 2.3 外形尺寸 ......................................................... 10 安装 ............................................... 11 3.1 安装内容 ......................................................... 11 3.2 环境条件 ......................................................... 11 3.3 操作注意事项 ..................................................... 11 3.4 连接 ............................................................. 12 3.4.1 典型的电缆连接 ........................................... 12 3.4.2 与控制器的连接 ........................................... 13 3.5 电源 ............................................................. 13 操作模式（TEACH/AUTO） ............................. 14 4.1 概述 ............................................................. 14 4.2 切换操作模式 ..................................................... 15 操作面板（按键描述） ............................... 16 5.1 按键描述 ......................................................... 16 启用开关 ........................................... 19 操作 示教程序 ........................................... 23 1.1 步进操作 ......................................................... 23 1.2 示教 ............................................................. 24 1.3 直接示教 ......................................................... 25 TEACH 模式 ......................................... 26 2.1 Jog & Teach ...................................................... 27 2.1.1 当前位置显示 ............................................ 29 2.1.2 重置错误 ................................................ 31 2.1.3 电机ON/OFF ............................................. 31 2.1.4 执行返回起始点 .......................................... 31 2.1.5 执行MCal ............................................... 32 2.1.6 指定步进速度 ............................................ 32 2.1.7 执行步进动作 ............................................ 32 2.1.8 通过RST移动机器人 ...................................... 33 2.1.9 更改Local/Tool/Arm/ECP ................................. 34 2.1.10 步进模式 ................................................ 35 2.1.11 步进距离 ................................................ 36 2.1.12 SFREE ................................................... 37 2.1.13 示教操作 ................................................ 37 2.1.14 更改点编号 .............................................. 38 2.1.15 将点数据保存至文件 ...................................... 38 2.1.16 从文件中加载点数据 ...................................... 38 2.1.17 切换机器人 .............................................. 39 2.2 点编辑器 ......................................................... 40 2.2.1 切换点编辑器显示 ......................................... 41 2.2.2 编辑点数据 ............................................... 42 2.2.3 删除点数据 ............................................... 44 2.3 I/O 命令 ......................................................... 45 2.3.1 输入状态显示 ............................................. 45 2.3.2 更改输出位 ............................................... 45 2.4 动作命令 ........................................................ 46 2.4.1 执行动作命令 ............................................. 47 2.4.2 Go ....................................................... 49 2.4.3 Move ..................................................... 49 2.4.4 Arc3 ..................................................... 50 2.4.5 GoHereTLZ ................................................ 50 2.4.6 MoveHereTLZ .............................................. 51 2.4.7 GoAlignHere .............................................. 51 2.4.8 Jump Z(0) ................................................ 52 2.4.9 Jump ..................................................... 52 2.4.10 Arc ..................................................... 53 2.5 Free Joints ...................................................... 54 2.5.1 切换[Free Joint]显示 ..................................... 55 2.5.2 各关节的 SFREE ............................................ 55 2.5.3 J7、J8 和J9的SFREE ...................................... 55 2.5.4 所有关节的 SFREE .......................................... 56 2.6 制动器 ........................................................... 57 2.6.1 启动制动器 ON ............................................. 57 2.6.2 制动器 OFF ................................................ 57 2.7 机器人 ........................................................... 58 2.7.1 切换机器人 ............................................... 58 AUTO 模式 .......................................... 59 3.1 Auto ............................................................. 59 3.2 系统历史 ......................................................... 60 3.3 错误/警告 ........................................................ 61 故障排查 ........................................... 62 维护部件列表 ....................................... 63