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目錄
1. 安全
1
1.1 關(guān)于正文中的符號 ........................................................................ 1
1.2 設(shè)計(jì)、設(shè)置注意事項(xiàng)..................................................................... 2
1.2.1 相關(guān)手冊 ........................................................................... 2
1.2.2 為了幫助您設(shè)計(jì)安全的機(jī)器人系統(tǒng).................................... 3
1.3 操作注意事項(xiàng) ............................................................................... 7
1.3.1 安全遵守事項(xiàng) .................................................................... 8
1.3.2 各部分名稱與動(dòng)作方向....................................................10
1.3.3 操作模式 .........................................................................13
1.4 維護(hù)注意事項(xiàng) .............................................................................14
1.5 緊急停止.....................................................................................16
1.5.1 關(guān)于緊急停止時(shí)的自由行走距離......................................18
1.5.2 關(guān)于緊急停止?fàn)顟B(tài)的重置 ................................................ 19
1.6 警告標(biāo)簽.....................................................................................20
1.6.1 控制器.............................................................................20
1.6.2 機(jī)械手............................................................................. 21
1.7 安全功能.....................................................................................23
1.8 上鎖/掛牌....................................................................................26
1.9 機(jī)械手規(guī)格................................................................................. 28
1.10 利用機(jī)械擋塊設(shè)置動(dòng)作區(qū)域........................................................30
1.11 訓(xùn)練............................................................................................31
2. 設(shè)置
32
系統(tǒng)構(gòu)成示例 ......................................................................................33
2.1 機(jī)器人系統(tǒng)開箱～使用的流程 ....................................................34
2.2 開箱............................................................................................35
2.2.1 包裝的構(gòu)成示例...............................................................35
2.2.2 開箱注意事項(xiàng) ..................................................................35
2.3 搬運(yùn)............................................................................................36
2.3.1 搬運(yùn)注意事項(xiàng) ..................................................................36
2.3.2 機(jī)械手的搬運(yùn) ..................................................................37
2.4 機(jī)械手的設(shè)置 .............................................................................38
2.4.1 設(shè)置注意事項(xiàng) ..................................................................38
2.4.2 設(shè)置環(huán)境 .........................................................................39
2.4.3 關(guān)于噪聲級......................................................................39
2.4.4 關(guān)于臺(tái)架 .........................................................................40
2.4.5 設(shè)置方法 .........................................................................41
2.5 控制器的設(shè)置 .............................................................................42
2.5.1 設(shè)置注意事項(xiàng) ..................................................................42
2.5.2 設(shè)置方法與空間............................................................... 43 x
安全 設(shè)置 (RC90 / EPSON RC+7.0) Rev.4
2.6 連接到 EMERGENCY 連接器（控制器）................................. 45
2.6.1 安全門開關(guān)與閂鎖解除開關(guān)的連接..................................45
2.6.2 安全門開關(guān)......................................................................46
2.6.3 閂鎖解除開關(guān) ..................................................................46
2.6.4 開關(guān)功能的確認(rèn)...............................................................47
2.6.5 緊急停止開關(guān) ..................................................................48
2.6.6 緊急停止開關(guān)的功能確認(rèn) ................................................48
2.6.7 EMERGENCY 連接器信號配置......................................49
2.6.8 電路圖與配線示例...........................................................50
2.7 電源/AC電源電纜/斷路器............................................................52
2.7.1 電源規(guī)格 .........................................................................52
2.7.2 AC 電源電纜 ...................................................................53
2.8 機(jī)械手與控制器的連接 ...............................................................55
2.8.1 連接注意事項(xiàng) ..................................................................55
2.9 打開電源.....................................................................................56
2.9.1 打開電源注意事項(xiàng)...........................................................56
2.9.2 電源打開步驟 ..................................................................57
2.10 出廠設(shè)定的保存..........................................................................58
3. ***步-首先
59
3.1 EPSON RC+ 7.0 軟件的安裝.....................................................59
3.2 開發(fā)用PC與控制器的連接 ..........................................................62
3.2.1 什么是開發(fā)用 PC 連接專用端口? ....................................62
3.2.2 注意事項(xiàng) .........................................................................63
3.2.3 軟件設(shè)定與連接確認(rèn) .......................................................63
3.2.4 控制器初始狀態(tài)的備份....................................................64
3.2.5 開發(fā)用 PC 與控制器的切斷連接......................................65
3.2.6 使機(jī)器人進(jìn)入初始姿態(tài)的操作方法..................................65
3.3 編寫簡單的程序..........................................................................70
4. 第二步-其次
77
4.1 與外部設(shè)備的連接 ......................................................................77
4.1.1 遠(yuǎn)程控制 .........................................................................77
4.1.2 以太網(wǎng).............................................................................77
4.1.3 RS-232C（選件）...........................................................77
4.2 通過以太網(wǎng)連接開發(fā)用PC與控制器............................................77
4.3 示教盒（選件）的連接 ...............................................................78安全 設(shè)置 (RC90 / EPSON RC+7.0) Rev.4
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5. 定期檢查
79
5.1 檢查進(jìn)度表.................................................................................79
5.2 檢查內(nèi)容.....................................................................................80
5.2.1 電源 OFF 時(shí)（不動(dòng)作時(shí)）的檢查....................................80
5.2.2 電源 ON 時(shí)（動(dòng)作時(shí)）的檢查 .........................................81
5.2.3 內(nèi)六角螺栓的緊固...........................................................82
5.2.4 潤滑脂加注......................................................................83
5.2.5 蓄電池的使用和廢棄 .......................................................84
6. 手冊
85
軟件 ...................................................................................................85
軟件選件 .............................................................................................85
控制器................................................................................................. 86
控制器選件..........................................................................................86
機(jī)械手................................................................................................. 86
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