爱普生机器人G1系列-机器人操作手册【技术资料】 - 资源下载

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爱普生机器人G1系列-机器人操作手册【技术资料】

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爱普生机器人G1系列-机器人操作手册【技术资料】爱普生机器人G1系列-机器人操作手册【技术资料】 Setup & Operation

Safety 3
1 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 16
1 Features of G1 series Manipulators ................................................... 16
2 Model Number and Model Differences............................................... 16
3 Part Names and Outer Dimensions.................................................... 17
3.1 4-axis spec.............................................................................. 17
3.2 3-axis spec.............................................................................. 21
4 Specifications...................................................................................... 25
5 How to Set the Model ......................................................................... 27
Environments and Installation 28
1 Environmental Conditions................................................................... 28
2 Base Table .......................................................................................... 29
3 Mounting Dimensions ......................................................................... 31
3.1 4-axis spec.............................................................................. 32
3.2 3-axis spec.............................................................................. 33
4 Unpacking and Transportation............................................................ 34
5 Installation Procedure ......................................................................... 35
6 Connecting the Cables ....................................................................... 36
7 User Wires and Pneumatic Tubes ...................................................... 37
8 Relocation and Storage ...................................................................... 38
Setting of End Effectors 39
1 Attaching an End Effector................................................................... 39
2 Weight and Inertia Settings................................................................. 40
2.1 Weight Setting......................................................................... 40
2.2 Inertia Setting.......................................................................... 42
3 Precautions for Auto Acceleration/Deceleration of Joint #3 ............... 45 TABLE OF CONTENTS viii G1 Rev.12G1 Rev.12
Motion Range 46
1 Motion Range Setting by Pulse Range (for All Joints)........................46
2 Motion Range Setting by Mechanical Stops .......................................48
3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2).............................53
4 Standard Motion Range.......................................................................53 Maintenance
Safety Maintenance 57
General Maintenance 58
1 Maintenance Inspection.......................................................................58
1.1 Schedule for Maintenance Inspection .....................................58
1.2 Inspection Point .....................................................................59
2 Overhaul (Parts Replacement)............................................................60
3 Greasing ..............................................................................................62
4 Tightening Hexagon Socket Head Cap Bolts......................................64
5 Matching Origins..................................................................................64
6 Layout of Maintenance Parts...............................................................65 3. Covers 67
1 Arm Top Cover.....................................................................................68
2 Connector Plate...................................................................................69
3 Connector Sub Plate ...........................................................................70
4 User Plate............................................................................................70
Cable 71
1 Replacing Cable Unit...........................................................................72
2 Wiring Diagrams ..................................................................................78 4.2.1 Signal Cable.............................................................................78
2.2 Power Cable ............................................................................79
2.3 User Cable...............................................................................81
3 Replacing M/C Cable...........................................................................82 5. Arm #1 84
1 Motor....................................................................................................85
2 Reduction Gear Unit............................................................................88 6. Arm #2 89
1 Motor....................................................................................................90
2 Reduction Gear Unit............................................................................92