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基本篇
1. 關(guān)于安全
3
1.1 關(guān)于正文中的符號...................................................................................3
1.2 設(shè)計與安裝注意事項...............................................................................4
1.3 操作注意事項..........................................................................................5
1.4 緊急停止 .................................................................................................6
1.5 如何使用電磁制動器移動機械臂.............................................................8
1.5.1 使用制動解除單元移動機械臂 ....................................................9
1.5.2 使用軟件移動機械臂...................................................................9
1.6 低功率狀態(tài)下的操作注意事項 ................................................................9
1.7 警告標簽 ...............................................................................................10
2. 規(guī)格
12
2.1 機器人的特征........................................................................................12
2.2 型號.......................................................................................................12
2.3 部件名稱及各個機械臂的動作范圍.......................................................13
2.4 外形尺寸 ...............................................................................................15
2.5 標準動作區(qū)域........................................................................................16
2.6 規(guī)格.......................................................................................................17
2.6.1 規(guī)格表.......................................................................................17
2.6.2 選件...........................................................................................20
2.7 機型設(shè)定方法........................................................................................21
3. 環(huán)境與安裝
22
3.1 環(huán)境.......................................................................................................22
3.2 開箱, 搬運, 移設(shè) ..................................................................................23
3.3 機器人安裝尺寸 ....................................................................................26
3.3.1 電纜后方拉出規(guī)格.....................................................................26
3.3.2 電纜下方拉出規(guī)格.....................................................................27
3.4 安裝.......................................................................................................28
3.5 電纜連接 ...............................................................................................30
3.6 用戶配線與配管 ....................................................................................32
配線(電線) .............................................................................................33
空氣管...................................................................................................33
3.7 基本定向檢查........................................................................................34
4. 夾具末端
35
4.1 夾具末端的安裝 ....................................................................................35
4.2 相機/氣動閥等的安裝............................................................................36
4.3 WEIGHT與INERTIA設(shè)定......................................................................37
4.3.1 WEIGHT設(shè)定............................................................................39
4.3.2 INERTIA設(shè)定 ............................................................................42
4.4 自動加/減速度注意事項 ........................................................................47目錄
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C12 Rev.2
5. 動作區(qū)域
48
5.1 利用脈沖范圍設(shè)定動作區(qū)域(每個關(guān)節(jié)) .................................................48
5.1.1 第1關(guān)節(jié)***大脈沖范圍...............................................................49
5.1.2 第2關(guān)節(jié)***大脈沖范圍...............................................................49
5.1.3 第3關(guān)節(jié)***大脈沖范圍...............................................................50
5.1.4 第4關(guān)節(jié)***大脈沖范圍...............................................................50
5.1.5 第5關(guān)節(jié)***大脈沖范圍...............................................................51
5.1.6 第6關(guān)節(jié)***大脈沖范圍...............................................................51
5.2 利用機械擋塊設(shè)定動作區(qū)域..................................................................52
5.2.1 第1關(guān)節(jié)的動作區(qū)域設(shè)定...........................................................52
5.2.2 第2關(guān)節(jié)的動作區(qū)域設(shè)定...........................................................53
5.2.3 第3關(guān)節(jié)的動作區(qū)域設(shè)定...........................................................53
5.3 通過關(guān)節(jié)角度組合限制機器人的操作 ...................................................54
5.4 坐標系...................................................................................................55
5.5 機器人的改裝........................................................................................56
5.6 機器人XY坐標系中的矩形范圍設(shè)定......................................................57
6. 選件
58
6.1 制動解除單元........................................................................................58
制動解除單元的安裝.............................................................................60
制動解除單元的拆卸.............................................................................60
制動解除單元的使用方法 .....................................................................61
6.2 相機板單元 ...........................................................................................62
6.3 工具適配器(ISO法蘭) ...........................................................................64
6.4 可調(diào)機械擋塊........................................................................................65
6.5 用戶配線與配管....................................................................................66
維護篇
1. 關(guān)于維護時的安全
69
2. 維護概要
70
2.1 維護檢查...............................................................................................70
2.1.1 維護檢查進度表........................................................................70
2.1.2 檢查內(nèi)容...................................................................................71
2.2 檢修(更換部件) .....................................................................................73
2.3 潤滑脂加注 ...........................................................................................75
2.3.1 第1關(guān)節(jié)減速機..........................................................................77
2.3.2 第2關(guān)節(jié)減速機..........................................................................78
2.3.3 第3關(guān)節(jié)減速機..........................................................................79
2.3.4 第4關(guān)節(jié)減速機..........................................................................80
2.3.5 第5關(guān)節(jié)減速機..........................................................................81
2.3.6 第6關(guān)節(jié)減速機..........................................................................82
2.3.7 第6關(guān)節(jié)錐形齒輪......................................................................83
2.4 內(nèi)六角螺栓的緊固 ................................................................................84
2.5 維護部件的配置....................................................................................85目錄
C12 Rev.2
ix
3. 外罩
86
3.1 第1機械臂中央外罩...............................................................................88
3.2 第1機械臂側(cè)外罩 ..................................................................................89
3.3 第2機械臂側(cè)外罩 ..................................................................................90
3.4 第3機械臂外罩......................................................................................90
3.5 第3機械臂維護外罩...............................................................................91
3.6 第4機械臂側(cè)外罩 ..................................................................................92
3.7 第4機械臂維護外罩...............................................................................94
3.8 第4機械臂D-sub連接件.........................................................................94
3.9 底座外罩 ...............................................................................................95
3.9.1 M/C電纜后拉規(guī)格 .....................................................................95
3.9.2 M/C電纜下拉規(guī)格 .....................................................................96
3.10 底座維護外罩......................................................................................98
3.11 連接器板 .............................................................................................99
3.11.1 M/C電纜后拉規(guī)格....................................................................99
3.11.2 M/C電纜下拉規(guī)格................................................................. 101
3.12 連接器子板....................................................................................... 102
4. 電纜單元
103
4.1 電纜單元的更換 ................................................................................. 103
4.1.1 更換電纜單元(M/C電纜后拉規(guī)格) .......................................... 104
4.1.2 更換電纜單元(M/C電纜下拉規(guī)格) .......................................... 132
4.2 連接器針腳分配 ................................................................................. 137
4.2.1 信號電纜 ................................................................................ 137
4.2.2 電源電纜 ................................................................................ 140
4.2.3 用戶電纜 ................................................................................ 142
4.2.4 電纜顏色 ................................................................................ 142
5. 第1關(guān)節(jié)
143
5.1 M/C電纜后拉規(guī)格(第1關(guān)節(jié)) ............................................................... 144
5.1.1 第1關(guān)節(jié)電機的更換(M/C電纜后拉規(guī)格) ................................. 144
5.1.2 第1關(guān)節(jié)減速機的更換(M/C電纜后拉規(guī)格) ............................. 152
5.1.3 第1關(guān)節(jié)同步皮帶的更換(M/C電纜后拉規(guī)格) ......................... 159
5.1.4 第1關(guān)節(jié)電磁制動器的更換(M/C電纜后拉規(guī)格) ...................... 166
5.2 M/C電纜下拉規(guī)格(第1關(guān)節(jié)) ............................................................... 168
5.2.1 第1關(guān)節(jié)電機的更換(M/C電纜下拉規(guī)格) ................................. 168
5.2.2 第1關(guān)節(jié)減速機的更換(M/C電纜下拉規(guī)格) ............................. 172
5.2.3 第1關(guān)節(jié)同步皮帶的更換(M/C電纜下拉規(guī)格) ......................... 175
5.2.4 第1關(guān)節(jié)電磁制動器的更換(M/C電纜下拉規(guī)格) ...................... 180
6. 第2關(guān)節(jié)
183
6.1 第2關(guān)節(jié)電機的更換............................................................................ 184
6.2 第2關(guān)節(jié)減速機的更換........................................................................ 193
6.3 第2關(guān)節(jié)同步皮帶的更換 .................................................................... 200
6.4 第2關(guān)節(jié)電磁制動器的更換................................................................. 201目錄
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C12 Rev.2
7. 第3關(guān)節(jié)
202
7.1 第3關(guān)節(jié)電機的更換 ............................................................................203
7.2 第3關(guān)節(jié)減速機的更換.........................................................................211
7.3 第3關(guān)節(jié)同步皮帶的更換.....................................................................217
7.4 第3關(guān)節(jié)電磁制動器的更換 ................................................................. 218
8. 第4關(guān)節(jié)
219
8.1 第4關(guān)節(jié)電機的更換 ............................................................................220
8.2 第4關(guān)節(jié)減速機的更換.........................................................................226
8.3 第4關(guān)節(jié)同步皮帶的更換.....................................................................233
8.4 第4關(guān)節(jié)電磁制動器的更換 ................................................................. 239
9. 第5關(guān)節(jié)
240
9.1 第5關(guān)節(jié)電機的更換 ............................................................................241
9.2 第5關(guān)節(jié)減速機的更換(第5、6關(guān)節(jié)減速機單元的更換) ......................248
9.3 第5關(guān)節(jié)同步皮帶的更換.....................................................................252
9.4 第5關(guān)節(jié)電磁制動器的更換 ................................................................. 253
10. 第6關(guān)節(jié)
255
10.1 第6關(guān)節(jié)電機的更換 ..........................................................................256
10.2 第6關(guān)節(jié)減速機的更換(第5、6關(guān)節(jié)減速機單元的更換) ....................262
10.3 第6關(guān)節(jié)同步皮帶的更換...................................................................263
10.4 第6關(guān)節(jié)電磁制動器的更換 ...............................................................264
11. 電池的更換
266
11.1 電池(鋰電池)的更換 ..........................................................................268
11.2 電池板的更換....................................................................................270
12. 控制板的更換
273
12.1 控制板1的更換..................................................................................274
12.2 控制板2的更換..................................................................................276
13. LED指示燈的更換
278
14. M/C電纜的更換
280
15. 風(fēng)扇的更換
283
16. 原點調(diào)整
285
16.1 原點調(diào)整概述....................................................................................285
16.2 原點調(diào)整步驟....................................................................................288
17. 維護部件表
292
18. 選件部件表
296
