爱普生机器人控制器-RC700RC90-选件PG-动作系统 爱普生机器人控制器-RC700RC90-选件PG-动作系统 操作入门 .................................................................... 1 1.1 简介 ..................................................................... 1 1.2 系统概述 ................................................................. 1 1.3 如何设置和使用系统 ....................................................... 2 1.3.1 硬件设置概述 ....................................................... 2 1.3.2 软件设置概述 ....................................................... 2 硬件 ........................................................................ 3 2.1 PG 板规格 ................................................................ 3 2.2 部件名称与功能 ........................................................... 5 2.2.1 组件名称与位置 ..................................................... 5 2.2.2 DIP 开关设置 ....................................................... 6 2.2.3 跳线设置 ........................................................... 7 2.2.4 旋转开关设置 ....................................................... 7 2.2.5 LED ................................................................ 7 2.2.6 连接器 ............................................................. 7 2.2.7 控制器内部安装 ..................................................... 7 2.3 内部电路 ................................................................. 8 2.3.1 信号功能 ........................................................... 8 2.3.2 输入电路 .......................................................... 10 2.3.3 输出电路 .......................................................... 11 2.4 布线 .................................................................... 12 2.4.1 *小化噪声干扰 .................................................... 12 2.4.2 连接器 ............................................................ 13 2.4.3 PG 板连接器针脚引线 ............................................... 14 2.4.4 PG 端子板针脚引线 ................................................. 16 2.4.5 典型应用 .......................................................... 18 2.5 安全功能 ................................................................ 19 2.5.1 紧急停止电路的典型应用 ............................................ 20 软件 ....................................................................... 21 3.1 在 EPSON RC+ 中创建 PG 机器人 ............................................ 21 3.2 PG 机器人配置 ........................................................... 23 3.2.1 PG 机器人参数概览 ................................................. 23 3.2.2 PG 参数 ........................................................... 24 3.2.3 PG 参数 Joint ...................................................... 25 3.2.4 备份和恢复参数数据 ................................................ 30 3.3 [机器人管理器]配置 ...................................................... 32 目录 RC700/RC90 选件 PG 动作系统 Rev.2 3.3.1 [机器人管理器]概述 ................................................ 32 3.3.2 [范围] ............................................................ 33 3.3.3 [起始点配置] ...................................................... 33 3.3.4 [Mcal 顺序] ........................................................ 34 3.4 在 EPSON RC+ 中使用 PG 机器人 ............................................. 35 3.4.1 PG 直角坐标机器人 .................................................. 35 3.4.2 PG 关节型机器人 .................................................... 35 3.4.3 调谐 .............................................................. 35 3.4.4 动作命令 .......................................................... 36 3.4.5 SLock 和 SFree ..................................................... 36 3.4.6 模拟演示 .......................................................... 36 3.4.7 PG 信号状态显示 .................................................... 37 校准类型 .................................................................... 38 故障排查 .................................................................... 50 维护部件列表 ................................................................ 54

爱普生机器人EPSON RC+ 7 0用户指南项目发展与管理（中文资料） 简介 1 1.1 欢迎使用EPSON RC+ 7.0 ........................................ 1 1.2 系统概述 ..................................................... 2 1.2.1 控制器 ................................................ 2 1.2.2 软件 .................................................. 3 1.2.3 仿真器 ................................................ 3 1.2.4 系统方框图 ............................................ 4 1.3 选件 ......................................................... 5 1.4 使用Windows 7时的注意事项 .................................... 5 1.5 EPSON RC+ 5.x和6.x用户 ....................................... 5 1.6 EPSON RC+ 3.x和4.x用户 ....................................... 5 1.7 SPEL for Windows用户 ......................................... 5 1.8 文档 ......................................................... 6 安全 7 2.1 概述 ......................................................... 7 2.2 定义 ......................................................... 7 2.2.1 机器人电源 ............................................ 7 2.2.2 安全防护 .............................................. 8 2.2.3 操作模式 .............................................. 8 2.2.4 启动模式 .............................................. 8 2.2.5 更改操作模式 .......................................... 9 2.2.6 紧急停止 .............................................. 9 2.2.7 示教控制设备 .......................................... 9 2.3 安全相关要求 ................................................ 10 2.4 安装及设计注意事项 .......................................... 11 2.4.1 设计安全的机器人系统 ................................. 11 2.4.2 机器人系统的安装、启动和测试 ......................... 14 2.5 机器人操作注意事项 .......................................... 16 2.5.1 一般注意事项 ......................................... 16 2.5.2 自动操作 ............................................. 16 2.5.3 机器人示教点 ......................................... 16 2.5.4 返回到自动操作 ....................................... 17 2.5.5 程序验证 ............................................. 17 2.5.6 故障排查 ............................................. 17 2.5.7 维护 ................................................. 17 2.5.8 项目和控制器的备份 ................................... 18 2.6 ***终用户使用手册 ............................................ 19 2.7 ***终用户培训 ................................................ 19 目录 viii EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 操作入门 20 3.1 硬件安装 ..................................................... 20 3.2 软件安装 ..................................................... 20 3.3 Windows 安全管理 ............................................. 20 操作 21 4.1 系统上电程序 ................................................. 21 4.2 启动EPSON RC+ 7.0 ............................................ 21 4.2.1 启动顺序 ............................................. 21 4.2.2 启动配置 ............................................. 24 4.2.3 启动模式 ............................................. 24 4.2.4 启动模式对话框 ....................................... 25 4.2.5 启动模式：程序 ....................................... 25 4.2.6 启动模式：自动 ....................................... 26 4.2.7 自动启动 ............................................. 26 4.2.8 使用监视模式 ......................................... 27 4.2.9 Windows登录 .......................................... 27 4.2.10 命令行选项 .......................................... 28 4.2.11 使用命令行选项 ...................................... 29 4.3 与控制器通信 ................................................. 30 4.3.1 配置与控制器通信 ..................................... 30 4.3.2 USB通信 .............................................. 30 4.3.3 以太网通信 ........................................... 31 4.3.4 控制装置不是个人电脑时的连接 ......................... 31 4.4 编写您的***个程序 ........................................... 33 EPSON RC+ 7.0 GUI 38 5.1 GUI概述 ...................................................... 38 5.2 项目管理器窗格 ............................................... 39 上下文菜单 ................................................. 39 5.3 状态窗口面板 ................................................. 39 5.4 状态栏 ....................................................... 40 5.5 联机帮助 ..................................................... 41 5.6 [文件]菜单 ................................................... 42 5.6.1 “新建”命令（文件菜单） ............................. 42 5.6.2 “打开”命令（文件菜单） ............................. 43 5.6.3 “关闭”命令（文件菜单） ............................. 43 5.6.4 “保存”命令（文件菜单） ............................. 44 5.6.5 “另存为”命令（文件菜单） ........................... 44 5.6.6 “恢复”命令（文件菜单） ............................. 44 5.6.7 “重命名”命令（文件菜单） ........................... 44 5.6.8 “删除”命令（文件菜单） ............................. 45 目录 EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 ix 5.6.9 “导入”命令（文件菜单） ............................. 46 5.6.10 “打印”命令（文件菜单） ............................ 47 5.6.11 “退出”命令（文件菜单） ............................ 48 5.7 [编辑] 菜单 ................................................. 49 5.7.1 [撤消]命令（编辑菜单） ............................... 49 5.7.2 [重做]命令（编辑菜单） ............................... 49 5.7.3 [剪切]命令（编辑菜单） ............................... 49 5.7.4 [复制]命令（编辑菜单） ............................... 49 5.7.5 [粘贴]命令（编辑菜单） ............................... 49 5.7.6 [查找]命令（编辑菜单） ............................... 50 5.7.7 [查找下一个]命令（编辑菜单） ......................... 50 5.7.8 [替换]命令（编辑菜单） ............................... 51 5.7.9 [全选]命令（编辑菜单） ............................... 51 5.7.10 [缩进]命令（编辑菜单） .............................. 51 5.7.11 [减少缩进]命令（编辑菜单） .......................... 52 5.7.12 [转换批注]命令（编辑菜单） .......................... 52 5.7.13 [取消转换批注]命令（编辑菜单） ...................... 52 5.7.14 [跳转定义]命令（编辑菜单） .......................... 52 5.8 [查看]菜单 .................................................. 53 5.8.1 [项目浏览器]命令（查看菜单） ......................... 53 5.8.2 状态窗口命令（查看菜单） ............................. 53 5.8.3 系统历史记录命令（查看菜单） ......................... 54 5.9 [项目]菜单 .................................................. 55 5.9.1 [新建]命令（项目菜单） ............................... 55 5.9.2 [打开]命令（项目菜单） ............................... 56 5.9.3 “***近的项目”子菜单（项目菜单） ..................... 57 5.9.4 [关闭]命令（项目菜单） ............................... 57 5.9.5 [编辑]命令（项目菜单） ............................... 57 5.9.6 [保存]命令（项目菜单） ............................... 59 5.9.7 [另存为]命令（项目菜单） ............................. 59 5.9.8 [重新命名]命令（项目菜单） ........................... 60 5.9.9 [导入]命令（项目菜单） ............................... 61 5.9.10 [导出]命令（项目菜单） .............................. 65 5.9.11 [复制]命令（项目菜单） .............................. 67 5.9.12 [删除]命令（项目菜单） .............................. 68 5.9.13 [创建]命令（项目菜单） .............................. 68 5.9.14 [重新创建]命令（项目菜单） .......................... 68 5.9.15 [属性]命令（项目菜单） .............................. 69 5.10 [运行]菜单 ................................................. 79 5.10.1 [运行窗口]命令（运行菜单） .......................... 79 5.10.2 [操作员窗口]命令（运行菜单） ........................ 79 5.10.3 [进入]命令（运行菜单） .............................. 79 5.10.4 [跳过]命令（运行菜单） .............................. 79 目录 x EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 5.10.5 [执行]命令（运行菜单） .............................. 80 5.10.6 [重新开始]命令（运行菜单） .......................... 80 5.10.7 [停止]命令（运行菜单） .............................. 80 5.10.8 [断点切换]命令（运行菜单） .......................... 80 5.10.9 [清除所有断点]命令（运行菜单） ...................... 81 5.10.10 [显示变量]命令（运行菜单） ......................... 81 5.10.11 [显示调用栈]命令（运行菜单） ....................... 82 5.11 [工具]菜单 .................................................. 83 5.11.1 [机器人管理器] 命令（工具菜单） ..................... 83 [控制面板] .......................................... 84 [步进示教] .......................................... 85 [点数据] ............................................ 90 [Arch 设置] .......................................... 91 [本地坐标] .......................................... 92 [工具] .............................................. 98 [手臂] ............................................. 106 [ECP] .............................................. 107 [阵列] ............................................. 108 [工作空间] ......................................... 112 [工作平面] ......................................... 115 [重量] ............................................. 119 [惯性] ............................................. 120 [XYZ 限定] .......................................... 121 [范围] ............................................. 122 [起始点配置] ....................................... 123 5.11.2 [命令窗口]命令（工具菜单） ......................... 124 5.11.3 [I/O监控器]命令（工具菜单） ........................ 125 5.11.4 任务管理器命令（工具菜单） ......................... 127 5.11.5 宏命令（工具菜单） ................................. 130 5.11.6 [I/O标签编辑器]命令（工具菜单） .................... 131 5.11.7 用户错误编辑器命令（工具菜单） ..................... 133 5.11.8 [控制器]命令（工具菜单） ........................... 134 备份控制器 ......................................... 134 恢复控制机器 ....................................... 135 观看控制器状态 ..................................... 136 重置控制器 ......................................... 137 控制器报警 ......................................... 137 5.12 [设置]菜单 ................................................. 138 5.12.1 [电脑与控制器通信]命令（设置菜单） ................. 138 5.12.2 [设置控制器]命令（设置菜单） ....................... 139 启动 ............................................... 139 控制器 ............................................. 142 驱动单元 ........................................... 147 目录 EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 xi 机器人 ............................................. 147 输入/输出 .......................................... 150 远程 ............................................... 151 远程控制输入 ....................................... 151 远程控制输出 ....................................... 152 RS232 .............................................. 153 TCP/IP ............................................. 154 传送带编码器 ....................................... 154 5.12.3 [选项]命令（设置菜单） ............................. 155 工作空间 ........................................... 155 编辑器 ............................................. 156 机器人管理器 ....................................... 157 运行窗口 ........................................... 159 命令窗口 ........................................... 160 语言 ............................................... 161 5.12.4 [选项]命令（设置菜单） ............................. 162 5.13 [Window]菜单 .............................................. 163 5.13.1 [层叠]命令（窗口菜单） ............................. 163 5.13.2 [垂直瓦片式]命令（窗口菜单） ....................... 163 5.13.3 [水平瓦片式]命令（窗口菜单） ....................... 164 5.13.4 [图标排列]命令（窗口菜单） ......................... 164 5.13.5 [关闭所有]命令（窗口菜单） ......................... 165 5.13.6 1、2、3命令（窗口菜单） ............................ 165 5.13.7 [窗口]命令（窗口菜单） ............................. 165 5.14 [帮助]菜单 ................................................ 166 5.14.1 [帮助]命令（帮助菜单） ............................. 166 5.14.2 [目录]命令（帮助菜单） ............................. 166 5.14.3 [索引]命令（帮助菜单） ............................. 167 5.14.4 [搜索]命令（帮助菜单） ............................. 167 5.14.5 [手册]子菜单（帮助菜单） ........................... 168 5.14.6 [关于 EPSON RC+ 7.0]命令（帮助菜单） ............... 168 SPEL+ 语言 169 6.1 概述 ....................................................... 170 6.2 程序结构 ................................................... 170 6.2.1 什么是SPEL+ 程序？ .................................. 170 6.2.2 调用函数 ............................................ 170 6.3 命令和语句 ................................................. 171 6.4 函数和变量名（命名限制） ................................... 171 6.5 数据类型 ................................................... 172 6.6 运算符 ..................................................... 172 6.7 使用变量 ................................................... 173 目录 xii EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 6.7.1 变量范围 ............................................ 173 6.7.2 本地变量 ............................................ 173 6.7.3 模块变量 ............................................ 173 6.7.4 全局变量 ............................................ 174 6.7.5 全局保留变量 ........................................ 174 6.7.6 数组 ................................................ 175 6.7.7 初始值 .............................................. 175 6.7.8 清除数组 ............................................ 175 6.8 使用字符串 .................................................. 176 6.9 使用文件 .................................................... 177 6.10 多语句 ..................................................... 178 6.11 标签 ....................................................... 178 6.12 批注 ....................................................... 179 6.13 错误处理 ................................................... 179 6.14 多任务处理 ................................................. 181 6.15 使用多台机器人 ............................................. 182 6.16 机器人坐标系 ............................................... 183 6.16.1 概述 ............................................... 183 6.16.2 机器人坐标系 ....................................... 183 6.16.3 本地坐标系 ......................................... 187 6.16.4 工具坐标系 ......................................... 187 6.16.5 ECP 坐标系（选配） ................................. 188 6.17 机器人手臂的方向 ........................................... 189 6.17.1 SCARA 机器人手臂的方向 ............................. 189 6.17.2 6 轴机器人手臂的方向 ............................... 190 6.17.3 RS系列手臂方向 ..................................... 194 6.18 机器人动作命令 ............................................. 196 6.18.1 让机器人回到起始点 ................................. 196 6.18.2 Point to point动作 ................................. 196 6.18.3 直线运动 ........................................... 196 6.18.4 曲线 ............................................... 196 6.18.5 关节动作 ........................................... 197 6.18.6 控制位置的精度 ..................................... 197 6.18.7 CP运动速度/加速度和工具方向 ........................ 198 6.18.8 小距离的PTP速度/加速度 ............................. 198 6.19 使用机器人点 ............................................... 199 6.19.1 定义各点 ........................................... 199 6.19.2 通过点标签来参考各点 ............................... 199 6.19.3 使用变量参考各点 ................................... 200 6.19.4 使用程序中的点 ..................................... 200 6.19.5 将点导入到程序中 ................................... 200 6.19.6 保存和加载点 ....................................... 200 目录 EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 xiii 6.19.7 点的属性 ........................................... 201 6.19.8 提取和设置点坐标 ................................... 202 6.19.9 更改各个点 ......................................... 202 6.20 输入和输出控制 ............................................ 203 6.20.1 硬件I/O ............................................ 203 6.20.2 内存I/O ............................................ 203 6.20.3 I/O命令 ............................................ 203 6.21 使用Trap .................................................. 204 6.21.1 在触发系统条件时注意Trap ........................... 205 6.22 特殊任务 .................................................. 205 6.22.1 使用特殊任务的注意事项 ............................. 205 6.22.2 NoPause/NoEmgAbort 的任务说明 ...................... 207 6.22.3 NoPause/NoEmgAbort 的任务示例 ...................... 208 6.23 后台任务 .................................................. 209 6.23.1 后台任务的主要功能 ................................. 209 6.23.2 建立并启动后台任务 ................................. 209 6.23.3 阻止后台任务（被激活） ............................. 210 6.23.4 将导致后台任务错误的命令 ........................... 212 6.23.5 后台任务和远程控制 ................................. 212 6.24 预定义的常量 .............................................. 213 6.25 调用动态链接库中的基本函数 ................................ 219 创建 SPEL+ 应用程序 224 7.1 设计应用程序 ............................................... 224 7.1.1 创建***简单的应用程序 ................................ 224 7.1.2 应用程序布局 ........................................ 224 7.1.3 开机时自动启动 ...................................... 226 7.2 管理项目 ................................................... 227 7.2.1 概述 ................................................ 227 7.2.2 创建新项目 .......................................... 228 7.2.3 配置项目 ............................................ 228 7.2.4 创建项目 ............................................ 229 7.2.5 备份项目 ............................................ 229 7.3 编辑程序 ................................................... 230 7.3.1 程序规则 ............................................ 230 7.3.2 键入程序代码 ........................................ 230 7.3.3 语法帮助 ............................................ 231 7.3.4 语法错误 ............................................ 232 7.4 编辑点 ..................................................... 232 7.5 运行和调试程序 ............................................. 235 7.5.1 运行窗口 ............................................ 235 7.5.2 调试 ................................................ 237 目录 xiv EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 7.6 操作窗口 .................................................... 241 7.6.1 操作窗口配置 ........................................ 242 7.6.2 自动启动配置 ........................................ 242 7.7 使用远程控制 ................................................ 242 7.8 使用加密文件 ................................................ 242 仿真器 244 8.1 仿真器的功能 ................................................ 244 8.1.1 概述 ................................................ 244 8.1.2 系统要求 ............................................ 245 8.2 使用仿真器 .................................................. 246 8.2.1 使用样本 ............................................ 246 8.2.2 使用用户创建的系统 .................................. 248 8.3 功能说明 .................................................... 256 8.3.1 仿真器窗口布局 ...................................... 256 8.3.2 模拟器设置 .......................................... 269 8.3.3 碰撞检测 ............................................ 271 8.3.4 CAD To Point ........................................ 272 8.3.5 虚拟控制器 .......................................... 275 8.3.6 与控制器的连接 ...................................... 276 8.4 仿真器的规范和限制 .......................................... 278 8.4.1 EPSON RC+ 7.0包装 ................................... 278 8.4.2 3维显示的规格及注意事项 ............................. 278 8.4.3 模拟的规范和注意事项（在PC上执行程序） .............. 279 8.4.4 EPSON RC+ 的规范和注意事项 .......................... 281 8.4.5 SPEL+ 命令执行时的限制 .............................. 281 8.4.6 EPSON RC+ 7.0试用版的规范和注意事项 ................. 284 动作系统 285 9.1 标准动作系统 ................................................ 285 9.2 驱动模块软件配置 ............................................ 285 9.3 PG 动作系统 ................................................. 285 机器人配置 286 10.1 设置机器人型号 ............................................. 286 10.1.1 添加标准的机器人 ................................... 286 10.1.2 校准标准的机器人 ................................... 287 10.1.3 更改机器人系统参数 ................................. 287 10.1.4 删除标准的机器人 ................................... 288 10.1.5 更改机器人 ......................................... 289 10.2 附加轴的配置 ............................................... 290 10.2.1 添加附加的S轴 ...................................... 290 目录 EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 xv 10.2.2 添加附加的T轴 ...................................... 290 10.2.3 更改安装有附加轴的机器人的参数 ..................... 290 10.2.4 标准机器人和带附加轴的机器人的差异 ................. 291 10.2.5 删除附加轴 ......................................... 293 输入和输出 294 11.1 概述 ...................................................... 294 11.2 I/O命令 ................................................... 294 11.3 I/O配置 ................................................... 295 11.4 监控I/O ................................................... 295 11.5 虚拟I/O ................................................... 295 11.6 Fieldbus Master I/O ....................................... 295 11.7 Fieldbus Slave I/O ........................................ 295 11.8 用户定义的远程输出I/O ..................................... 301 远程控制 309 12.1 远程I/O ................................................... 309 12.1.1 远程控制的输入输出配置 ............................. 310 12.1.2 控制设备配置 ....................................... 310 12.1.3 自动模式下使用远程控制 ............................. 311 12.1.4 示教模式下使用远程控制 ............................. 311 12.1.5 调试远程控制 ....................................... 311 12.1.6 远程输入 ........................................... 312 12.1.7 远程输出 ........................................... 315 12.1.8 远程输入信号交换定时 ............................... 318 12.2 远程以太网 ................................................ 321 12.2.1 远程以太网配置 ..................................... 321 12.2.2 控制设备配置 ....................................... 321 12.2.3 执行远程以太网控制 ................................. 322 12.2.4 调试远程以太网控制 ................................. 322 12.2.5 远程以太网命令 ..................................... 323 12.2.6 监控命令 ........................................... 326 12.2.7 响应 ............................................... 327 12.2.8 远程以太网控制的响应时间 ........................... 329 12.3 远程RS232 ................................................. 329 12.3.1 远程RS232设置 ...................................... 329 12.3.2 控制设备设置 ....................................... 330 12.3.3 执行远程RS232控制 .................................. 330 12.3.4 调试远程RS232控制 .................................. 331 12.3.5 远程RS232命令 ...................................... 331 12.3.6 监控命令 ........................................... 337 12.3.7 响应 ............................................... 337 目录 xvi EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 12.3.8 远程以太网控制的响应时间 ........................... 340 RS-232C 通信 341 13.1 RS-232C软件配置 ............................................ 341 13.2 RS-232C命令 ................................................ 343 14.TCP/IP 通信 344 14.1 TCP/IP设置 ................................................. 344 14.1.1 以太网硬件 ......................................... 344 14.1.2 IP地址 ............................................. 344 14.1.3 IP网关 ............................................. 345 14.1.4 测试Windows TCP/IP设置 ............................. 345 14.2 TCP/IP软件配置 ............................................. 346 14.3 TCP/IP命令 ................................................. 346 15.安全 347 15.1 概述 ....................................................... 347 15.2 安全配置 ................................................... 347 15.3 安全审计查看器 ............................................. 351 15.4 SPEL+ 安全命令 ............................................. 351 传送带跟踪 352 16.1 概述 ....................................................... 352 16.2 传送带跟踪流程 ............................................. 354 16.3 系统结构 ................................................... 355 16.4 硬件安装 ................................................... 357 16.5 视觉传送带跟踪系统的布线示例 ............................... 365 16.6 传送带编码器配置 ........................................... 366 16.7 验证编码器操作 ............................................. 367 16.8 验证硬件传送带触发器/视觉触发器 ............................ 368 16.9 关键术语 ................................................... 369 16.10 传送带跟踪命令 ............................................ 370 16.11 在项目中创建传送带 ........................................ 372 16.12 配置传送带 ................................................ 373 16.13 视觉传送带 ................................................ 375 16.14 传感器传送带 .............................................. 397 16.15 拾取区域 .................................................. 413 16.16 调整Z值 ................................................... 421 16.17 队列排序 .................................................. 423 16.18 Cnv_QueReject ............................................. 424 目录 EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 xvii 16.19 样本程序 ................................................. 425 16.20 多条传送带 ............................................... 431 16.21 多机器人传送带 ........................................... 436 16.22 终止跟踪 ................................................. 441 16.23 用6轴机器人的传送带跟踪 .................................. 441 16.24 跟踪模式 ................................................. 441 16.25 如何缩短拾取的周期时间 ................................... 442 16.26 机器人姿势 ............................................... 442 16.27 跟踪终止线 ............................................... 443 16.28 传送带跟踪的准确性改进要点 ............................... 448 ECP 动作 457 17.1 概述 ...................................................... 457 如何用ECP动作移动手臂 ..................................... 457 力觉 459 18.1 概述 ...................................................... 459 18.2 规格 ...................................................... 459 18.3 安装 ...................................................... 460 18.4 力觉命令 .................................................. 465 18.5 使用力觉触发器 ............................................ 466 实时 I/O 467 19.1 概述 ...................................................... 467 19.2 规格 ...................................................... 467 19.3 用法 ...................................................... 469 附加轴 472 20.1 概述 ...................................................... 472 20.2 规格 ...................................................... 472 20.3 用法 ...................................................... 474 安装控制器选件 476 软件许可协议 477 目录 xviii EPSON RC+ 7.0 (Ver.7.1) 用户指南 Rev.1 附录一：项目导入的自动处理 A-1 EPSON RC+ 6.*的项目导入 ......................................... A-1 EPSON RC+ 5.的项目导入 ......................................... A-1 EPSON RC+ 3./4.*的项目导入 ..................................... A-1 SPEL for Windows 2.*的项目导入 .................................. A-3 附录二：EPSON RC+ 7.0 软件 B-1 安装EPSON RC+ 7.0软件之前 ....................................... B-1 EPSON RC+ 7.0软件安装 ........................................... B-3 EPSON RC+ 7.0软件更新 ........................................... B-5

爱普生机器人安装指导教学!（技术干货） 1、爱普生机器人本体安装流程 2、安装机器人控制器 3、供电电源线连接( AC Power Cable ) 4、连接机器人马达电缆(M/C Power Cable) 5、连接编码器电缆( M/C Signal cable) 6、紧急开关及安全门端子排连接 7、I/O (输入输出)接线 8、手册参考

爱普生机器人系统安全设置操作流程教学 安全 1 1.1 关于正文中的符号··········································································· 1 1.2 设置与设计注意事项 ······································································· 2 1.3 操作注意事项 ·················································································· 3 1.4 维护注意事项 ·················································································· 7 1.5 紧急停止 ························································································· 9 1.6 警告标签 ······················································································· 11 1.7 安全功能 ······················································································· 17 设置 20 系统构成示例························································································· 21 2.1 机器人系统从开箱到使用的流程···················································· 22 2.2 开箱 ······························································································ 23 2.3 搬运 ······························································································ 24 2.4 机械手的设置 ················································································ 26 2.5 控制器的设置 ················································································ 29 2.6 连接到 EMERGENCY 连接器（控制器）···································· 32 2.7 电源 ······························································································ 39 2.8 机械手与控制器的连接·································································· 41 2.9 打开电源 ······················································································· 42 2.10 保存出厂设置················································································ 43 ***步 首先 44 3.1 EPSON RC+7.0 软件的安装 ························································· 44 3.2 开发用PC与控制器的连接····························································· 47 3.3 编写简单程序 ················································································ 51 第二步其次 58 4.1 与外部设备的连接········································································· 58 4.2 通过以太网连接开发用PC与控制器··············································· 58 4.3 TP2（选件）的连接······································································ 59 定期检查 60 5.1 检查进度表···················································································· 60 5.2 检查内容 ······················································································· 61 目录 viii 安全 设置 (RC700 / EPSON RC+ 7.0) Rev.2 手册 65 软件······································································································· 65 软件选件································································································ 65 控制器 ··································································································· 66 控制器选件 ···························································································· 66 机器人 ··································································································· 66

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

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爱普生机器人RC700安全和安装手册系统（中文资料） 爱普生机器人RC700安全和安装手册系统（中文资料） 关于安全 1 1.1 关于正文中的符号 ······························································· 1 1.2 设计与安装注意事项 ···························································· 2 1.2.1 相关手册 ·································································· 2 1.2.2 设计安全的机器人系统 ················································ 3 1.3 操作注意事项 ····································································· 8 1.3.1 安全遵守事项 ·························································· 10 1.3.2 部件名称/机械臂动作 ················································ 11 1.3.3 操作模式 ································································ 35 1.4 关于维护时的安全 ····························································· 36 1.5 紧急停止 ········································································· 38 1.5.1 关于紧急停止时的自由行走距离 ·································· 42 1.5.2 紧急模式的重置方法 ················································· 52 1.6 标签 ··············································································· 53 1.6.1 控制器 ··································································· 53 1.6.2 机器人 ··································································· 56 1.7 安全功能 ········································································· 71 1.8 机器人规格 ······································································ 73 1.9 利用机械挡块设定动作区域 ··············································· 117 1.10 ***终用户培训 ································································ 137 安装 138 2.1 从开箱到操作机器人系统的概述 ········································· 143 2.2 开箱 ············································································· 144 2.2.1 开箱注意事项 ························································ 144 2.3 搬运 ············································································· 145 2.3.1 搬运注意事项 ························································ 145 2.3.2 搬运机器人 ··························································· 146 2.4 安装机器人 ···································································· 153 2.4.1 安装注意事项 ························································ 153 2.4.2 环境 ···································································· 154 2.4.3 噪声级 ································································· 155 2.4.4 台架 ···································································· 156 2.4.5 安装步骤 ······························································ 158目录 xiv 安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21 2.5 安装控制单元和驱动单元 ··················································· 174 2.5.1 环境····································································· 174 2.5.2 安装····································································· 176 2.5.3 墙面安装选件························································· 177 2.6 连接至EMERGENCY连接器 ··············································· 178 2.6.1 连接安全防护门开关和闩锁释放开关··························· 178 2.6.2 安全防护门开关······················································ 179 2.6.3 闩锁释放开关························································· 179 2.6.4 确认闩锁释放开关操作············································· 180 2.6.5 紧急停止开关························································· 181 2.6.6 确认紧急停止开关操作············································· 181 2.6.7 EMERGENCY连接器 针脚分配 ································· 183 2.6.8 电路图与配线示例–控制单元···································· 184 2.6.9 电路图与配线示例–驱动单元···································· 186 2.7 电源, AC电源电缆 ···························································· 190 2.7.1 电源····································································· 190 2.7.2 AC电源电缆 ·························································· 191 2.8 连接控制单元与驱动单元 ··················································· 192 2.9 设定驱动单元 ·································································· 193 2.10 连接机器人和控制器 ······················································· 194 2.10.1 连接注意事项 ······················································· 194 2.11 接通电源 ······································································· 195 2.11.1 接通电源注意事项 ················································· 195 2.11.2 接通电源的步骤 ···················································· 197 2.12 保存默认状态 ································································ 198 2.13 添加追加系统的信息 ······················································· 198 ***步 201 3.1 安装EPSON RC+ 7.0软件 ·················································· 201 3.2 连接开发用PC和控制器 ····················································· 204 3.2.1 用于开发用PC的USB连接端口 ·································· 204 3.2.2 注意事项······························································· 205 3.2.3 软件设定和连接检查················································ 205 3.2.4 备份控制器的初始状态············································· 206 3.2.5 断开开发用PC和控制器 ··········································· 207 3.2.6 将机器人移动到初始位置·········································· 207 3.3 编写***个程序 ······························································· 213目录 安全与设置 (RC700 / EPSON RC+ 7.0) Rev.21 xv 第二步 220 4.1 与外部装置连接 ······························································ 220 4.1.1 远程控制 ······························································ 220 4.1.2 以太网 ································································· 220 4.1.3 RS-232C(选件)······················································ 220 4.1.4 模拟I/O板(选件) ····················································· 220 4.1.5 力觉传感器I/F板(选件) ············································ 220 4.2 开发用PC和控制器的以太网连接 ········································ 221 4.3 连接示教器(选件) ···························································· 221 维护概要 222 5.1 维护 ············································································· 222 5.1.1 机器人 ································································· 222 5.1.2 控制单元(RC700、RC700-A) ··································· 225 5.1.3 驱动单元(RC700DU、RC700DU-A) ·························· 226 5.2 检修(更换部件) ······························································· 227 5.3 内六角螺栓的紧固 ··························································· 229 5.4 润滑脂加注 ···································································· 230 5.5 电池处理和废弃 ······························································ 233 手册 235 软件 ····················································································· 235 软件选件 ··············································································· 235 控制器 ·················································································· 236 控制器选件 ············································································ 236 机器人 ·················································································· 236

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

爱普生机器人RC90控制器安全和安装手册（中文资料） 爱普生机器人RC90控制器安全和安装手册（中文资料） 目录 安全 1 1.1 关于正文中的符号 ........................................................................ 1 1.2 设计、设置注意事项..................................................................... 2 1.2.1 相关手册 ........................................................................... 2 1.2.2 为了帮助您设计安全的机器人系统.................................... 3 1.3 操作注意事项 ............................................................................... 7 1.3.1 安全遵守事项 .................................................................... 8 1.3.2 各部分名称与动作方向....................................................10 1.3.3 操作模式 .........................................................................13 1.4 维护注意事项 .............................................................................14 1.5 紧急停止.....................................................................................16 1.5.1 关于紧急停止时的自由行走距离......................................18 1.5.2 关于紧急停止状态的重置 ................................................ 19 1.6 警告标签.....................................................................................20 1.6.1 控制器.............................................................................20 1.6.2 机械手............................................................................. 21 1.7 安全功能.....................................................................................23 1.8 上锁/挂牌....................................................................................26 1.9 机械手规格................................................................................. 28 1.10 利用机械挡块设置动作区域........................................................30 1.11 训练............................................................................................31 设置 32 系统构成示例 ......................................................................................33 2.1 机器人系统开箱～使用的流程 ....................................................34 2.2 开箱............................................................................................35 2.2.1 包装的构成示例...............................................................35 2.2.2 开箱注意事项 ..................................................................35 2.3 搬运............................................................................................36 2.3.1 搬运注意事项 ..................................................................36 2.3.2 机械手的搬运 ..................................................................37 2.4 机械手的设置 .............................................................................38 2.4.1 设置注意事项 ..................................................................38 2.4.2 设置环境 .........................................................................39 2.4.3 关于噪声级......................................................................39 2.4.4 关于台架 .........................................................................40 2.4.5 设置方法 .........................................................................41 2.5 控制器的设置 .............................................................................42 2.5.1 设置注意事项 ..................................................................42 2.5.2 设置方法与空间............................................................... 43 x 安全 设置 (RC90 / EPSON RC+7.0) Rev.4 2.6 连接到 EMERGENCY 连接器（控制器）................................. 45 2.6.1 安全门开关与闩锁解除开关的连接..................................45 2.6.2 安全门开关......................................................................46 2.6.3 闩锁解除开关 ..................................................................46 2.6.4 开关功能的确认...............................................................47 2.6.5 紧急停止开关 ..................................................................48 2.6.6 紧急停止开关的功能确认 ................................................48 2.6.7 EMERGENCY 连接器信号配置......................................49 2.6.8 电路图与配线示例...........................................................50 2.7 电源/AC电源电缆/断路器............................................................52 2.7.1 电源规格 .........................................................................52 2.7.2 AC 电源电缆 ...................................................................53 2.8 机械手与控制器的连接 ...............................................................55 2.8.1 连接注意事项 ..................................................................55 2.9 打开电源.....................................................................................56 2.9.1 打开电源注意事项...........................................................56 2.9.2 电源打开步骤 ..................................................................57 2.10 出厂设定的保存..........................................................................58 ***步-首先 59 3.1 EPSON RC+ 7.0 软件的安装.....................................................59 3.2 开发用PC与控制器的连接 ..........................................................62 3.2.1 什么是开发用 PC 连接专用端口? ....................................62 3.2.2 注意事项 .........................................................................63 3.2.3 软件设定与连接确认 .......................................................63 3.2.4 控制器初始状态的备份....................................................64 3.2.5 开发用 PC 与控制器的切断连接......................................65 3.2.6 使机器人进入初始姿态的操作方法..................................65 3.3 编写简单的程序..........................................................................70 第二步-其次 77 4.1 与外部设备的连接 ......................................................................77 4.1.1 远程控制 .........................................................................77 4.1.2 以太网.............................................................................77 4.1.3 RS-232C（选件）...........................................................77 4.2 通过以太网连接开发用PC与控制器............................................77 4.3 示教盒（选件）的连接 ...............................................................78安全 设置 (RC90 / EPSON RC+7.0) Rev.4 xi 定期检查 79 5.1 检查进度表.................................................................................79 5.2 检查内容.....................................................................................80 5.2.1 电源 OFF 时（不动作时）的检查....................................80 5.2.2 电源 ON 时（动作时）的检查 .........................................81 5.2.3 内六角螺栓的紧固...........................................................82 5.2.4 润滑脂加注......................................................................83 5.2.5 蓄电池的使用和废弃 .......................................................84 手册 85 软件 ...................................................................................................85 软件选件 .............................................................................................85 控制器................................................................................................. 86 控制器选件..........................................................................................86 机械手................................................................................................. 86

爱普生机器人RC90-B控制器安全和安装手册（中文资料） 爱普生机器人RC90-B控制器安全和安装手册（中文资料） 关于安全 1 1.1 关于正文中的符号 ······························································· 1 1.2 设计与安装注意事项 ···························································· 2 1.2.1 相关手册 ·································································· 2 1.2.2 设计安全的机器人系统 ················································ 3 1.3 操作注意事项 ····································································· 6 1.3.1 安全遵守事项 ···························································· 8 1.3.2 部件名称/机械臂动作 ·················································· 9 1.3.3 操作模式 ································································ 13 1.4 关于维护时的安全 ····························································· 14 1.5 紧急停止 ········································································· 16 1.5.1 关于紧急停止时的自由行走距离 ·································· 16 1.5.2 紧急模式的重置方法 ················································· 21 1.6 标签 ··············································································· 21 1.6.1 控制器 ··································································· 22 1.6.2 机器人 ··································································· 23 1.7 安全功能 ········································································· 28 1.8 上锁/挂牌 ········································································· 30 1.9 机器人规格 ······································································ 32 1.10 利用机械挡块设定动作区域 ················································ 39 1.11 ***终用户培训 ·································································· 40 安装 41 系统示例 ················································································· 42 2.1 从开箱到操作机器人系统的概述 ··········································· 43 2.2 开箱 ··············································································· 44 2.3 搬运 ··············································································· 44 2.3.1 搬运注意事项 ·························································· 44 2.3.2 搬运机器人 ····························································· 45 2.4 安装机器人 ······································································ 46 2.4.1 安装注意事项 ·························································· 46 2.4.2 环境 ······································································ 47 2.4.3 噪声级 ··································································· 48 2.4.4 台架 ······································································ 48 2.4.5 安装步骤 ································································ 49 2.5 安装控制器 ······································································ 51目录 xii 安全与设置 (RC90-B / EPSON RC+7.0) Rev.6 2.5.1 设置注意事项·························································· 51 2.5.2 设置环境································································ 52 2.5.3 安装······································································ 53 2.6 连接至EMERGENCY连接器 ················································ 55 2.6.1 安全防护门开关和闩锁释放开关·································· 55 2.6.2 安全防护门开关······················································· 56 2.6.3 闩锁释放开关·························································· 56 2.6.4 确认闩锁释放开关操作·············································· 57 2.6.5 紧急停止开关·························································· 57 2.6.6 确认紧急停止开关操作·············································· 58 2.6.7 EMERGENCY连接器 针脚分配 ·································· 59 2.6.8 电路图与配线示例···················································· 60 2.7 电源 ··············································································· 62 2.7.1 电源规格································································ 62 2.7.2 AC电源电缆 ··························································· 63 2.7.3 M/C电源电缆 ·························································· 64 2.8 连接机器人和控制器 ·························································· 65 2.9 接通电源 ········································································· 66 2.9.1 接通电源注意事项···················································· 66 2.9.2 接通电源的步骤······················································· 67 2.10 保存默认状态 ································································· 67 ***步 68 3.1 安装EPSON RC+ 7.0软件 ··················································· 68 3.2 连接开发用PC和控制器 ······················································ 71 3.2.1 用于开发用PC的USB连接端口 ··································· 71 3.2.2 注意事项································································ 72 3.2.3 软件设定和连接检查················································· 72 3.2.4 备份控制器的初始状态·············································· 73 3.2.5 断开开发用PC和控制器 ············································ 74 3.2.6 将机器人移动到初始位置··········································· 74 3.3 编写***个程序 ································································ 78 第二步 85 4.1 与外部装置连接 ································································ 85 4.1.1 远程控制································································ 85 4.1.2 以太网··································································· 85目录 安全与设置 (RC90-B / EPSON RC+7.0) Rev.6 xiii 4.1.3 RS-232C(选件)························································ 85 4.1.4 模拟I/O板(选件) ······················································· 85 4.2 开发用PC和控制器的以太网连接 ·········································· 86 4.3 连接示教器(选件) ······························································ 86 维护概要 87 5.1 维护 ··············································································· 87 5.1.1 机器人 ··································································· 87 5.1.2 控制器 ··································································· 89 5.2 检修(更换部件) ································································· 90 5.3 内六角螺栓的紧固 ····························································· 92 5.4 润滑脂加注 ······································································ 93 5.5 电池处理和废弃 ································································ 95 手册 96 软件 ······················································································· 96 软件选件 ················································································· 96 控制器 ···················································································· 97 控制器选件 ·············································································· 97 机器人 ···················································································· 97

爱普生机器人 T 系列安全和安装手册（中文资料） 爱普生机器人 T 系列安全和安装手册（中文资料） 关于安全 1 1.1 关于正文中的符号...................................................................... 1 1.2 设计与安装注意事项.................................................................. 2 1.2.1 相关手册 ........................................................................ 2 1.2.2 设计安全的机器人系统................................................... 3 1.3 操作注意事项............................................................................. 6 1.3.1 安全遵守事项 ................................................................. 8 1.3.2 部件名称和机械臂动作................................................... 9 1.3.3 操作模式 ...................................................................... 12 1.4 关于维护时的安全.................................................................... 13 1.5 紧急停止.................................................................................. 15 1.5.1 关于紧急停止时的自由行走距离................................... 15 1.5.2 紧急模式的重置方法 .................................................... 18 1.6 标签......................................................................................... 19 T 系列...................................................................................... 19 VT 系列 ................................................................................... 21 1.7 安全功能.................................................................................. 23 1.8 机器人规格 .............................................................................. 25 T 系列...................................................................................... 25 VT 系列 ................................................................................... 28 1.9 利用机械挡块设定动作区域 ..................................................... 33 T 系列...................................................................................... 33 VT 系列 ................................................................................... 33 1.10 ***终用户培训......................................................................... 36 安装 37 系统示例 .......................................................................................... 37 2.1 从开箱到操作机器人系统的概述 .............................................. 40 2.2 开箱......................................................................................... 41 2.2.1 开箱注意事项 ............................................................... 41 2.3 搬运......................................................................................... 42 2.3.1 搬运注意事项 ............................................................... 42 2.3.2 搬运机器人................................................................... 43 2.4 安装机器人 .............................................................................. 44 2.4.1 安装注意事项 ............................................................... 44 2.4.2 安装环境 ...................................................................... 45 2.4.3 噪声级.......................................................................... 46 2.4.4 台架 ............................................................................. 46 2.4.5 安装步骤 ...................................................................... 47目录 xii 安全与设置 (T, VT / EPSON RC+ 7.0) Rev.11 2.5 连接至 EMERGENCY 连接器.................................................. 49 2.5.1 安全防护门开关和闩锁释放开关................................... 50 2.5.2 安全防护门开关............................................................ 50 2.5.3 闩锁释放开关............................................................... 51 2.5.4 确认闩锁释放开关操作................................................. 51 2.5.5 紧急停止开关............................................................... 52 2.5.6 确认紧急停止开关操作................................................. 52 2.5.7 EMERGENCY 连接器 针脚分配.................................. 53 2.5.8 电路图与配线示例........................................................ 55 2.6 电源, AC 电源电缆, 断路器...................................................... 57 2.6.1 电源 ............................................................................. 57 2.6.2 AC 电源电缆 ................................................................ 58 2.7 接通电源.................................................................................. 60 2.7.1 接通电源注意事项........................................................ 60 2.7.2 接通电源的步骤............................................................ 61 2.8 保存默认状态........................................................................... 61 ***步 62 3.1 安装 EPSON RC+ 7.0 软件 ..................................................... 62 3.2 连接开发用 PC 和机器人 ......................................................... 65 3.2.1 用于开发用 PC 的连接端口.......................................... 66 3.2.2 注意事项 ...................................................................... 66 3.2.3 软件设定和连接检查 .................................................... 67 3.2.4 备份机器人的初始状态................................................. 68 3.2.5 断开开发用 PC 和机器人.............................................. 68 3.2.6 将机器人移动到初始位置 ............................................. 68 3.3 编写***个程序....................................................................... 74 第二步 81 4.1 与外部装置连接....................................................................... 81 4.1.1 远程控制 ...................................................................... 81 4.1.2 以太网.......................................................................... 81 4.2 开发用 PC 和机器人的以太网连接........................................... 81 4.3 连接示教器选件....................................................................... 81目录 安全与设置 (T, VT / EPSON RC+ 7.0) Rev.11 xiii 维护概要 82 5.1 维护检查进度表 ....................................................................... 82 5.2 检修(更换部件) ........................................................................ 85 5.3 内六角螺栓的紧固.................................................................... 87 5.4 润滑脂加注(T 系列).................................................................. 88 5.5 锂电池处理和废弃.................................................................... 90 手册 91 软件 ................................................................................................. 91 选件 ................................................................................................. 91 机器人.............................................................................................. 92

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