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愛(ài)普生水平多關(guān)節(jié)型機(jī)器人T系列機(jī)器人手冊(cè)_r9（中文）
一、基本篇
1. 關(guān)于安全 3
1.1 關(guān)于正文中的符號(hào) ................................................................................ 3
1.2 設(shè)計(jì)與安裝注意事項(xiàng) ............................................................................ 3
1.2.1 滾珠絲杠花鍵的強(qiáng)度 ................................................................ 4
1.3 操作注意事項(xiàng) ....................................................................................... 5
1.4 緊急停止 .............................................................................................. 7
1.5 無(wú)驅(qū)動(dòng)電源時(shí)的緊急移動(dòng) ..................................................................... 9
1.6 CP運(yùn)動(dòng)的ACCELS設(shè)置 ..................................................................... 10
1.7 標(biāo)簽 .................................................................................................... 11
2. 規(guī)格 13
2.1 T系列機(jī)器人的特征 ........................................................................... 13
2.2 型號(hào) .................................................................................................... 14
2.3 部件名稱 ............................................................................................ 15
2.3.1 T3 ........................................................................................... 15
2.3.2 T6 ........................................................................................... 16
2.4 外形尺寸 ............................................................................................ 17
2.4.1 T3 ........................................................................................... 17
2.4.2 T6 ........................................................................................... 18
2.5 系統(tǒng)示例 ............................................................................................ 19
2.6 規(guī)格 .................................................................................................... 20
2.7 機(jī)型設(shè)定方法 ..................................................................................... 23
3. 環(huán)境與安裝 24
3.1 環(huán)境 .................................................................................................... 24
3.2 臺(tái)架 .................................................................................................... 25
3.3 機(jī)器人安裝尺寸 ................................................................................. 26
3.4 開(kāi)箱與搬運(yùn) ......................................................................................... 28
3.5 安裝步驟 ............................................................................................ 29
3.6 電源 .................................................................................................... 30
3.6.1 規(guī)格 ........................................................................................ 30
3.6.2 AC電源電纜 ........................................................................... 30
3.6.3 斷路器 .................................................................................... 31
3.6.4 電源單元 ................................................................................ 32
3.6.5 接地 ........................................................................................ 33
3.7 電纜連接 ............................................................................................ 34
3.7.1 連接示例 ................................................................................ 35
3.7.2 噪聲措施 ................................................................................ 36
3.8 空氣管 ................................................................................................ 37
3.9 移設(shè)與保管 ......................................................................................... 39
3.9.1 移設(shè)與保管注意事項(xiàng) .............................................................. 39
3.9.2 移設(shè) ........................................................................................ 40
4. 夾具末端的設(shè)定 41
4.1 夾具末端的安裝 .................................................................................. 41
4.2 相機(jī)/氣動(dòng)閥等的安裝 .......................................................................... 42
4.3 Weight設(shè)定與Inertia設(shè)定 .................................................................... 43
4.3.1 Weight設(shè)定 ............................................................................. 43
4.3.2 Inertia設(shè)定 .............................................................................. 45
4.4 第3關(guān)節(jié)自動(dòng)加/減速注意事項(xiàng) ............................................................. 50
5. 動(dòng)作區(qū)域 51
5.1 利用脈沖范圍設(shè)定動(dòng)作區(qū)域(全關(guān)節(jié))................................................... 51
5.1.1 第1關(guān)節(jié)最大脈沖范圍 ............................................................. 52
5.1.2 第2關(guān)節(jié)最大脈沖范圍 ............................................................. 52
5.1.3 第3關(guān)節(jié)最大脈沖范圍 ............................................................. 53
5.1.4 第4關(guān)節(jié)最大脈沖范圍 ............................................................. 53
5.2 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域 ................................................................ 54
5.2.1 第1關(guān)節(jié)/第2關(guān)節(jié)的機(jī)械擋塊設(shè)定 ........................................... 54
5.2.2 第3關(guān)節(jié)的機(jī)械擋塊設(shè)定 ......................................................... 56
5.3 機(jī)器人XY坐標(biāo)系中的矩形范圍設(shè)定(第1關(guān)節(jié)和第2關(guān)節(jié)) .................... 58
5.4 標(biāo)準(zhǔn)動(dòng)作區(qū)域 ...................................................................................... 58
6. 操作模式與LED 59
6.1 操作模式的概述 .................................................................................. 59
6.2 切換操作模式 ...................................................................................... 59
6.3 程序模式(AUTO) ................................................................................ 60
6.3.1 什么是程序模式(AUTO)？ ...................................................... 60
6.3.2 從EPSON RC+ 7.0進(jìn)行設(shè)置 .................................................. 60
6.4 自動(dòng)模式(AUTO) ................................................................................ 61
6.4.1 什么是自動(dòng)模式(AUTO)？ ...................................................... 61
6.4.2 從EPSON RC+ 7.0進(jìn)行設(shè)置 .................................................. 61
6.4.3 從控制設(shè)備進(jìn)行設(shè)置 ............................................................... 62
6.5 LED ..................................................................................................... 63
7. 開(kāi)發(fā)用PC的連接端口 64
7.1 什么是開(kāi)發(fā)用PC連接端口 .................................................................. 64
7.2 注意事項(xiàng) ............................................................................................. 65
7.3 軟件設(shè)定和連接檢查 ........................................................................... 65
7.4 斷開(kāi)開(kāi)發(fā)用PC和機(jī)器人 ...................................................................... 66
8. 存儲(chǔ)器端口 67
8.1 什么是控制器狀態(tài)存儲(chǔ)功能？ ........................................................... 67
8.2 使用控制器狀態(tài)存儲(chǔ)功能前 ............................................................... 67
8.2.1 注意事項(xiàng) ................................................................................ 67
8.2.2 可采用的USB存儲(chǔ)器 .............................................................. 67
8.3 控制器狀態(tài)存儲(chǔ)功能 .......................................................................... 68
8.3.1 控制器狀態(tài)存儲(chǔ) ..................................................................... 68
8.3.2 通過(guò)EPSON RC+ 7.0加載數(shù)據(jù) .............................................. 69
8.3.3 使用電子郵件進(jìn)行傳輸 ........................................................... 70
8.4 數(shù)據(jù)詳細(xì)信息 ..................................................................................... 71
9. LAN(Ethernet通信)端口 72
9.1 什么是LAN(Ethernet通信)端口 .......................................................... 72
9.2 IP地址 ................................................................................................ 72
9.3 更改機(jī)器人IP地址 .............................................................................. 73
9.4 通過(guò)Ethernet連接開(kāi)發(fā)用PC和機(jī)器人 ................................................ 74
9.5 斷開(kāi)通過(guò)Ethernet連接的開(kāi)發(fā)用PC與機(jī)器人 ..................................... 75
10. TP端口 76
10.1 什么是TP端口？ .............................................................................. 76
10.2 示教器連接 ....................................................................................... 76
11. EMERGENCY 77
11.1 安全防護(hù)門開(kāi)關(guān)和閂鎖釋放開(kāi)關(guān) ...................................................... 77
11.1.1 安全防護(hù)門開(kāi)關(guān) ................................................................... 78
11.1.2 閂鎖釋放開(kāi)關(guān) ....................................................................... 78
11.1.3 確認(rèn)閂鎖釋放開(kāi)關(guān)操作......................................................... 79
11.2 緊急停止開(kāi)關(guān)連接 ............................................................................ 79
11.2.1 緊急停止開(kāi)關(guān) ....................................................................... 79
11.2.2 確認(rèn)緊急停止開(kāi)關(guān)操作......................................................... 80
11.2.3 從緊急停止恢復(fù) ................................................................... 80
11.3 針腳分配 .......................................................................................... 81
11.4 電路圖與配線示例 ............................................................................ 82
11.4.1 示例1: 外部緊急停止開(kāi)關(guān)典型用途 ..................................... 82
11.4.2 示例2: 外部安全繼電器典型用途 ......................................... 83
12. 標(biāo)準(zhǔn)I/O連接器 84
12.1 輸入電路 .......................................................................................... 84
12.1.1 輸入電路圖與配線示例1....................................................... 85
12.1.2 輸入電路圖與配線示例2....................................................... 85
12.1.3 輸入電路的針腳分配 ............................................................ 86
12.2 輸出電路 .......................................................................................... 86
12.2.1 輸出電路圖與配線示例1....................................................... 87
12.2.2 輸出電路圖與配線示例2 ....................................................... 87
12.2.3 輸出電路的針腳分配 ............................................................. 88
12.3 I/O電纜的制作步驟 ........................................................................... 89
12.3.1 連接I/O電纜的方法 ............................................................... 89
12.3.2 固定I/O電纜的方法 ............................................................... 89
13. 機(jī)械手臂I/O連接器 90
13.1 電源規(guī)格 ........................................................................................... 90
13.2 輸入電路 ........................................................................................... 91
13.2.1 輸入電路圖與配線示例1 ....................................................... 91
13.2.2 輸入電路圖與配線示例2 ....................................................... 91
13.3 輸出電路 ........................................................................................... 92
13.3.1 輸出電路圖與配線示例1 ....................................................... 92
13.3.2 輸出電路圖與配線示例2 ....................................................... 92
13.4 針腳分配 ........................................................................................... 93
13.5 控制機(jī)械手臂I/O的方法 .................................................................... 93
14. I/O遠(yuǎn)程設(shè)置 95
14.1 I/O信號(hào)的功能................................................................................... 96
14.1.1 遠(yuǎn)程輸入信號(hào) ........................................................................ 96
14.1.2 遠(yuǎn)程輸出信號(hào) ...................................................................... 100
14.2 時(shí)序規(guī)格 ......................................................................................... 103
14.2.1 遠(yuǎn)程輸入信號(hào)的注意事項(xiàng) .................................................... 103
14.2.2 操作執(zhí)行順序的時(shí)序圖 ....................................................... 103
14.2.3 程序執(zhí)行順序的時(shí)序圖 ....................................................... 103
14.2.4 安全防護(hù)門輸入順序的時(shí)序圖 ............................................ 104
14.2.5 緊急停止順序的時(shí)序圖 ....................................................... 104
15. SD卡槽 105
16. 重置開(kāi)關(guān) 106
17. 現(xiàn)場(chǎng)總線I/O 107
二、維護(hù)篇
1. 關(guān)于維護(hù)時(shí)的安全 111
2. 維護(hù)概要 112
2.1 維護(hù)檢查 .......................................................................................... 112
2.1.1 維護(hù)檢查進(jìn)度表 .................................................................. 112
2.1.2 檢查內(nèi)容 ............................................................................. 113
2.2 檢修(更換部件) ................................................................................. 114
2.3 潤(rùn)滑脂加注 ....................................................................................... 116
2.4 內(nèi)六角螺栓的緊固 ............................................................................ 117
2.5 關(guān)于原點(diǎn)位置 ................................................................................... 117
2.6 維護(hù)部件的配置 ............................................................................... 118
3. 機(jī)器人構(gòu)成 119
4. 報(bào)警 121
4.1 維護(hù) .................................................................................................. 122
4.2 維護(hù)信息 .......................................................................................... 123
4.2.1 查看維護(hù)信息的方法 ............................................................ 123
4.2.2 編輯維護(hù)信息的方法 ............................................................ 124
4.2.3 報(bào)警通知方法 ....................................................................... 125
4.2.4 取消報(bào)警的方法 ................................................................... 125
5. 備份與恢復(fù) 126
5.1 備份控制器功能是什么 .................................................................... 126
5.2 備份數(shù)據(jù)類型 ................................................................................... 126
5.3 備份 .................................................................................................. 127
5.4 恢復(fù) .................................................................................................. 128
6. 固件更新 131
6.1 更新固件 .......................................................................................... 131
6.2 固件升級(jí)步驟 ................................................................................... 131
6.3 機(jī)器人恢復(fù) ....................................................................................... 134
6.4 固件初始化步驟 ............................................................................... 135
7. 外罩 137
7.1 機(jī)械臂頂部外罩 ............................................................................... 139
7.2 機(jī)械臂底部外罩 ............................................................................... 140
7.3 電源電纜外罩 ................................................................................... 140
7.4 連接器板 .......................................................................................... 141
7.5 電源單元外罩 ................................................................................... 142
7.6 底座側(cè)外罩 ....................................................................................... 143
7.7 用戶板 ............................................................................................... 144
8. 電纜 145
8.1 電纜單元的更換 ................................................................................ 145
8.2 裝入或拉出電源電纜 ......................................................................... 153
9. 第1關(guān)節(jié) 154
9.1 第1關(guān)節(jié)電機(jī)的更換 .......................................................................... 155
9.2 第1關(guān)節(jié)減速機(jī)的更換 ....................................................................... 165
10. 第2關(guān)節(jié) 168
10.1 第2關(guān)節(jié)電機(jī)的更換 ........................................................................ 169
10.2 第2關(guān)節(jié)減速機(jī)的更換 ..................................................................... 173
11. 第3關(guān)節(jié) 176
11.1 第3關(guān)節(jié)電機(jī)的更換 ........................................................................ 177
11.2 同步皮帶的更換 .............................................................................. 183
11.3 制動(dòng)器的更換 .................................................................................. 184
11.4 同步皮帶拉力的檢查(Z皮帶) ........................................................... 185
12. 第4關(guān)節(jié) 186
12.1 第4關(guān)節(jié)電機(jī)的更換 ........................................................................ 187
12.2 同步皮帶的更換 .............................................................................. 193
12.2.1 U2皮帶(T6) ......................................................................... 194
12.2.2 U1皮帶(T6) ......................................................................... 199
12.2.3 U皮帶(T3) ........................................................................... 200
12.3 同步皮帶拉力的檢查 ....................................................................... 201
13. 滾珠絲杠花鍵單元 202
13.1 滾珠絲杠花鍵單元的潤(rùn)滑脂加注 ..................................................... 203
13.2 滾珠絲杠花鍵單元的更換 ............................................................... 204
14. 鋰電池、電路板、SD卡和過(guò)濾器 207
14.1 CPU/DPB板的更換 ......................................................................... 208
14.2 鋰電池的更換 .................................................................................. 211
14.3 SD卡的更換 .................................................................................... 212
14.4 電源板的更換 .................................................................................. 213
14.4.1 空氣過(guò)濾器的更換 ............................................................... 213
14.4.2 電源板的更換 ...................................................................... 214
15. LED指示燈單元 216
16. 原點(diǎn)調(diào)整 218
16.1 關(guān)于原點(diǎn)調(diào)整 ................................................................................. 218
16.2 原點(diǎn)調(diào)整步驟 ................................................................................. 219
16.3 第2關(guān)節(jié)的正確原點(diǎn)調(diào)整 ................................................................ 229
16.4 參考: 不使用向?qū)У脑c(diǎn)調(diào)整步驟 ................................................. 231
17. 限制 235
17.1 無(wú)法使用命令 ................................................................................. 235
17.2 指定RS-232C時(shí)命令會(huì)引起動(dòng)作錯(cuò)誤 ............................................ 235
17.3 命令引起錯(cuò)誤 ................................................................................. 236
17.3.1 6軸機(jī)器人命令 ................................................................... 236
17.3.2 輸送機(jī)跟蹤命令 ................................................................. 236
17.3.3 PG命令 .............................................................................. 237
17.3.4 R-I/O命令 ........................................................................... 237
17.3.5 力傳感命令 ......................................................................... 237
17.3.6 其他(FineDist) .................................................................... 237
17.3.7 其他(HealthCalcPeriod) ..................................................... 237
17.3.8 其他(ChDisk)...................................................................... 237
17.4 功能限制 ........................................................................................ 238
17.4.1 TP3 .................................................................................... 238
17.4.2 循環(huán)處理 ............................................................................ 238
17.4.3 按CV1/CV2進(jìn)行相機(jī)搜索 .................................................. 239
17.4.4 恢復(fù)備份控制器數(shù)據(jù)的功能 ............................................... 239
18. 錯(cuò)誤代碼表 240
19. 維護(hù)部件表 240
19.1 T3 ................................................................................................... 241
19.2 T6 ................................................................................................... 242
附錄A: T系列產(chǎn)品的開(kāi)源軟件許可證 243
