爱普生机器人RC90-B控制器安全和安装手册（中文资料） - 资源下载

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爱普生机器人RC90-B控制器安全和安装手册（中文资料）

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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 关于正文中的符号 ······························································· 1
2 设计与安装注意事项 ···························································· 2
2.1 相关手册 ·································································· 2
2.2 设计安全的机器人系统 ················································ 3
3 操作注意事项 ····································································· 6
3.1 安全遵守事项 ···························································· 8
3.2 部件名称/机械臂动作 ·················································· 9
3.3 操作模式 ································································ 13
4 关于维护时的安全 ····························································· 14
5 紧急停止 ········································································· 16
5.1 关于紧急停止时的自由行走距离 ·································· 16
5.2 紧急模式的重置方法 ················································· 21
6 标签 ··············································································· 21
6.1 控制器 ··································································· 22
6.2 机器人 ··································································· 23
7 安全功能 ········································································· 28
8 上锁/挂牌 ········································································· 30
9 机器人规格 ······································································ 32
10 利用机械挡块设定动作区域 ················································ 39
11 ***终用户培训 ·································································· 40
安装 41 系统示例 ················································································· 42
1 从开箱到操作机器人系统的概述 ··········································· 43
2 开箱 ··············································································· 44
3 搬运 ··············································································· 44
3.1 搬运注意事项 ·························································· 44
3.2 搬运机器人 ····························································· 45
4 安装机器人 ······································································ 46
4.1 安装注意事项 ·························································· 46
4.2 环境 ······································································ 47
4.3 噪声级 ··································································· 48
4.4 台架 ······································································ 48
4.5 安装步骤 ································································ 49
5 安装控制器 ······································································ 51目录 xii 安全与设置 (RC90-B / EPSON RC+7.0) Rev.6
5.1 设置注意事项·························································· 51
5.2 设置环境································································ 52
5.3 安装······································································ 53
6 连接至EMERGENCY连接器 ················································ 55
6.1 安全防护门开关和闩锁释放开关·································· 55
6.2 安全防护门开关······················································· 56
6.3 闩锁释放开关·························································· 56
6.4 确认闩锁释放开关操作·············································· 57
6.5 紧急停止开关·························································· 57
6.6 确认紧急停止开关操作·············································· 58
6.7 EMERGENCY连接器针脚分配 ·································· 59
6.8 电路图与配线示例···················································· 60
7 电源 ··············································································· 62
7.1 电源规格································································ 62
7.2 AC电源电缆 ··························································· 63
7.3 M/C电源电缆 ·························································· 64
8 连接机器人和控制器 ·························································· 65
9 接通电源 ········································································· 66
9.1 接通电源注意事项···················································· 66
9.2 接通电源的步骤······················································· 67
10 保存默认状态 ································································· 67
***步 68
1 安装EPSON RC+ 7.0软件 ··················································· 68
2 连接开发用PC和控制器 ······················································ 71
2.1 用于开发用PC的USB连接端口 ··································· 71
2.2 注意事项································································ 72
2.3 软件设定和连接检查················································· 72
2.4 备份控制器的初始状态·············································· 73
2.5 断开开发用PC和控制器 ············································ 74
2.6 将机器人移动到初始位置··········································· 74
3 编写***个程序 ································································ 78
第二步 85
1 与外部装置连接 ································································ 85
1.1 远程控制································································ 85
1.2 以太网··································································· 85目录安全与设置 (RC90-B / EPSON RC+7.0) Rev.6 xiii
1.3 RS-232C(选件)························································ 85
1.4 模拟I/O板(选件) ······················································· 85
2 开发用PC和控制器的以太网连接 ·········································· 86
3 连接示教器(选件) ······························································ 86
维护概要 87
1 维护 ··············································································· 87
1.1 机器人 ··································································· 87
1.2 控制器 ··································································· 89
2 检修(更换部件) ································································· 90
3 内六角螺栓的紧固 ····························································· 92
4 润滑脂加注 ······································································ 93
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