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爱普生机器人G10系列-机器人操作手册【技术资料】

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爱普生机器人G10系列-机器人操作手册【技术资料】更多资料和机器人选型、报价可点击咨询：爱普生机器人服务商 Setup & Operation

Safety 3
1 Conventions ............................................................................................. 3
2 Design and Installation Safety ................................................................. 4
2.1 Strength of the Ball Screw Spline.................................................. 5
3 Operation Safety ...................................................................................... 6
4 Emergency Stop ...................................................................................... 8
4.1 RC180............................................................................................ 8
4.2 RC700-A...................................................................................... 10
5 Emergency Movement Without Drive Power ........................................ 12
6 ACCELS Setting for CP Motions............................................................. 13
7 Warning Labels ...................................................................................... 14
Specifications 17
1 Features of G10 series and G20 series Manipulators .......................... 17
2 Model Number and Model Differences .................................................. 18
3 Part Names and Outer Dimensions ....................................................... 19
3.1 Table Top Mounting .................................................................... 19
3.2 Wall Mounting ............................................................................ 25
3.3 Ceiling Mounting ........................................................................ 31
3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37
4 Specifications ......................................................................................... 38
5 How to Set the Model ............................................................................ 41
Environments and Installation 42
1 Environmental Conditions ...................................................................... 42
2 Base Table ............................................................................................. 46
3 Mounting Dimensions ............................................................................ 45
4 Unpacking and Transportation .............................................................. 49
4.1 Precautions for Transportation .................................................. 49
4.2 Transportation ............................................................................ 50
5 Installation .............................................................................................. 50
5.1 Table Top Mounting .................................................................... 51
5.2 Wall Mounting ............................................................................ 52
5.3 Ceiling Mounting ........................................................................ 53
5.4 Cleanroom-model ...................................................................... 54
5.5 Protected-model ........................................................................ 54
6 Connecting the Cables .......................................................................... 55
7 User Wires and Pneumatic Tubes ......................................................... 57
8 Relocation and Storage ......................................................................... 59
8.1 Precautions for Relocation and Storage ................................... 59
8.2 Table Top Mounting .................................................................... 60
8.3 Wall Mounting ............................................................................ 61
8.4 Ceiling Mounting ........................................................................ 62TABLE OF CONTENTS viii G10 / G20 Rev.20
Setting of End Effectors 63
1 Attaching an End Effector .......................................................................63
2 Attaching Cameras and Valves ..............................................................65
3 Weight and Inertia Settings ....................................................................66
3.1 Weight Setting ............................................................................66
3.2 Inertia Setting .............................................................................70
4 Precautions for Auto Acceleration/Deceleration of Joint #3 ...................75
Motion Range 76
1 Motion Range Setting by Pulse Range (for All Joints) ...........................77
1.1 Max. Pulse Range of Joint #1 ....................................................77
1.2 Max. Pulse Range of Joint #2 ....................................................78
1.3 Max. Pulse Range of Joint #3 ....................................................79
1.4 Max. Pulse Range of Joint #4 ....................................................79
2 Motion Range Setting by Mechanical Stops ..........................................80
2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................81
2.2 Setting the Mechanical Stop of Joint #3 .....................................84
3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2) ................................86
4 Standard Motion Range .........................................................................87 Maintenance
Safety Maintenance 93
General Maintenance 94
1 Maintenance Inspection ...........................................................................94
1.1 Schedule for Maintenance Inspection ........................................94
1.2 Inspection Point ..........................................................................95
2 Overhaul (Parts Replacement) ................................................................96
3 Greasing .................................................................................................98
4 Tightening Hexagon Socket Head Cap Bolts .......................................100
5 Matching Origins ...................................................................................100
6 Layout of Maintenance Parts ...............................................................101
6.1 Table Top Mounting type ............................................................101
6.2 Wall Mounting type.....................................................................103
6.3 Ceiling Mounting type.................................................................105
6.4 G10-65***: For S/N1**** or later ...............................................107
Covers 108
1 Arm Top Cover ......................................................................................110
2 Arm Bottom Cover ................................................................................112
3 Arm #1 Cover .......................................................................................113
3.1 G10/G20-**S, G10/G20-**C ...............................................113
3.2 G10/G20-*D, P ....................................................................114
4 Connector Plate ....................................................................................115
5 Connector Sub Plate ............................................................................116TABLE OF CONTENTS G10 / G20 Rev.20 ix
6 User Plate .............................................................................................117
7 Maintenance Plate ................................................................................117
8 Base Bottom Cover ..............................................................................118
Cable 119
1 Replacing Cable Unit ........................................................................... 120
2 Wiring Diagrams .................................................................................. 132
2.1 Signal Cable ............................................................................ 132
2.2 Power Cable ............................................................................ 133
2.3 User Cable ............................................................................... 135
3 Replacing M/C Cable ........................................................................... 136
Arm #1 139
1 Replacing Joint #1 Motor ..................................................................... 140
2 Replacing Joint #1 Reduction Gear Unit ............................................. 142
Arm #2 145
1 Replacing Joint #2 Motor ..................................................................... 146
2 Replacing Joint #2 Reduction Gear Unit ............................................. 151
Arm #3 154
1 Replacing Joint #3 Motor ..................................................................... 155
2 Replacing the Timing Belt .................................................................... 159
2.1 G10 .......................................................................................... 160
2.2 G20 .......................................................................................... 164
3 Replacing the Brake ............................................................................ 165
Arm #4 167
1 Replacing Joint #4 Motor ..................................................................... 168
1.1 G10 .......................................................................................... 168
1.2 G20 .......................................................................................... 172
2 Replacing the Timing Belt .................................................................... 174
2.1 G10 .......................................................................................... 175
2.2 G20 .......................................................................................... 179
3 Replacing the Brake ............................................................................ 184
4 Replacing the Reduction Gear Unit ..................................................... 187
4.1 G10 .......................................................................................... 188
4.2 G20 .......................................................................................... 189
Bellows 191TABLE OF CONTENTS x G10 / G20 Rev.20