爱普生机器人系统安全与设置_RC700_EPSON RC+7.0（中文） - 资源下载

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爱普生机器人系统安全与设置_RC700_EPSON RC+7.0（中文）

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爱普生机器人系统安全与设置_RC700_EPSON RC+7.0（中文）

关于安全 1
1 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 ····································································· 8
3.1 安全遵守事项 ·························································· 10
3.2 部件名称∕机械臂动作 ·············································· 11
3.3 操作模式 ································································ 33
4 关于维护时的安全 ····························································· 34
5 紧急停止 ········································································· 36
5.1 关于紧急停止时的自由行走距离 ·································· 40
5.2 紧急模式的重置方法 ················································· 49
6 标签 ··············································································· 50
6.1 控制器 ··································································· 50
6.2 机器人 ··································································· 53
7 安全功能 ········································································· 68
8 机器人规格 ······································································ 70
9 利用机械挡块设定动作区域 ··············································· 112
10 最终用户培训 ································································ 129
安装 130 系统示例 ··············································································· 131
1 从开箱到操作机器人系统的概述 ········································· 135
2 开箱 ············································································· 136
2.1 开箱注意事项 ························································ 136
3 搬运 ············································································· 137
3.1 搬运注意事项 ························································ 137
3.2 搬运机器人 ··························································· 138
4 安装机器人 ···································································· 145
4.1 安装注意事项 ························································ 145
4.2 环境 ···································································· 146
4.3 噪声级 ································································· 147
4.4 台架 ···································································· 148
4.5 安装步骤 ······························································ 150
5 安装控制单元和驱动单元 ·················································· 166
5.1 环境 ···································································· 166
5.2 安装····································································· 168
5.3 墙面安装选件························································· 169
6 连接至EMERGENCY连接器 ··············································· 170
6.1 安全门开关和闩锁释放开关······································· 170
6.2 安全门开关···························································· 171
6.3 闩锁释放开关························································· 171
6.4 确认闩锁释放开关操作············································· 172
6.5 紧急停止开关························································· 173
6.6 确认紧急停止开关操作············································· 173
6.7 针脚分配······························································· 175
6.8 电路图–控制单元··················································· 176
6.9 电路图–驱动单元··················································· 178
7 电源∕AC电源电缆 ··························································· 182
7.1 电源····································································· 182
7.2 AC电源电缆 ·························································· 183
8 连接驱动单元 ·································································· 184
9 设定驱动单元 ·································································· 185
10 连接机器人和控制器 ······················································· 186
10.1 连接注意事项 ······················································· 186
11 接通电源 ······································································· 187
11.1 接通电源注意事项 ················································· 187
11.2 接通电源的步骤 ···················································· 189
12 保存默认状态 ································································ 190
13 添加追加系统的信息 ······················································· 190
第一步 193
1 安装EPSON RC+ 7.0软件 ·················································· 193
2 连接开发用PC和控制器 ····················································· 196
2.1 用于开发用PC的USB连接端口 ·································· 196
2.2 注意事项······························································· 197
2.3 软件设定和连接检查················································ 197
2.4 备份控制器的初始状态············································· 198
2.5 断开开发用PC和控制器 ··········································· 199
2.6 将机器人移动到初始位置·········································· 199
3 编写第一个程序 ······························································· 205
第二步 212
1 与外部装置连接 ······························································· 212
1.1 远程控制 ······························································ 212
1.2 以太网 ································································· 212
1.3 RS-232C（选件）·················································· 212
1.4 模拟I/O板（选件） ·················································· 212
1.5 力传感器I/F板（选件） ············································· 212
2 开发用PC和控制器的以太网连接 ········································ 213
3 连接示教器（选件） ························································ 213
维护概要 214
1 维护 ············································································· 214
1.1 机器人 ································································· 214
1.2 控制单元（RC700、RC700-A） ······························· 217
1.3 驱动单元（RC700DU、RC700DU-A） ······················ 218
2 检修（更换部件） ····························································· 219
3 内六角螺栓的紧固 ····························································· 221
4 润滑脂加注 ···································································· 222
5 电池处理和废弃 ······························································ 225
手册 227 软件 ····················································································· 227 软件选件 ··············································································· 227 控制器 ·················································································· 228 控制器选件 ············································································ 228 机器人 ·················································································· 228