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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(hào)......................................................................................3
1.2 設(shè)計(jì)與安裝注意事項(xiàng)..................................................................................4
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 ....................................................................................................6
1.5 無驅(qū)動(dòng)電源時(shí)的緊急移動(dòng)...........................................................................8
1.6 CP運(yùn)動(dòng)的ACCELS設(shè)置.............................................................................9
1.7 機(jī)器人標(biāo)簽...............................................................................................10
2. 規(guī)格
12
2.1 LS10-B系列機(jī)器人的特征 .......................................................................12
2.2 型號(hào)..........................................................................................................13
2.3 部件名稱和外形尺寸................................................................................14
2.3.1 標(biāo)準(zhǔn)環(huán)境規(guī)格(LS20-B**4S).........................................................14
2.3.2 潔凈環(huán)境規(guī)格(LS20-B**4C).........................................................16
2.4 規(guī)格表......................................................................................................18
2.5 機(jī)型設(shè)定方法...........................................................................................20
3. 環(huán)境與安裝
21
3.1 環(huán)境..........................................................................................................21
3.2 臺(tái)架..........................................................................................................22
3.3 機(jī)器人安裝尺寸 .......................................................................................23
3.4 開箱與搬運(yùn)...............................................................................................24
3.5 安裝步驟 ..................................................................................................26
3.5.1 標(biāo)準(zhǔn)環(huán)境規(guī)格...............................................................................26
3.5.2 潔凈環(huán)境規(guī)格...............................................................................27
3.6 連接電纜 ..................................................................................................28
3.7 用戶配線與配管 .......................................................................................31
3.8 移設(shè)與保管...............................................................................................33
3.8.1 移設(shè)與保管注意事項(xiàng)....................................................................33
3.8.2 移設(shè)..............................................................................................34
4. 夾具末端的設(shè)定
33
4.1 夾具末端的安裝 .......................................................................................33
4.2 相機(jī)和氣動(dòng)閥等的安裝 ............................................................................34
4.3 Weight設(shè)定與Inertia設(shè)定.........................................................................35
4.3.1 Weight設(shè)定 ..................................................................................35
4.3.2 Inertia設(shè)定 ...................................................................................37
4.4 第3關(guān)節(jié)自動(dòng)加/減速注意事項(xiàng)..................................................................42
5. 動(dòng)作區(qū)域
43
5.1 利用脈沖范圍設(shè)定動(dòng)作區(qū)域.....................................................................43
5.1.1 第1關(guān)節(jié)***大脈沖范圍..................................................................44
5.1.2 第2關(guān)節(jié)***大脈沖范圍..................................................................44目錄
viii
LS20-B Rev.2
5.1.3 第3關(guān)節(jié)***大脈沖范圍.................................................................. 45
5.1.4 第4關(guān)節(jié)***大脈沖范圍.................................................................. 45
5.2 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域.....................................................................46
5.2.1 第1關(guān)節(jié)和第2關(guān)節(jié)的機(jī)械擋塊設(shè)定.............................................. 47
5.2.2 第3關(guān)節(jié)的機(jī)械擋塊設(shè)定.............................................................. 49
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)).........................51
5.4 標(biāo)準(zhǔn)動(dòng)作區(qū)域...........................................................................................52
維護(hù)篇
1. 關(guān)于維護(hù)時(shí)的安全
57
2. 維護(hù)概要
58
2.1 維護(hù)檢查..................................................................................................58
2.1.1 維護(hù)檢查進(jìn)度表........................................................................... 58
2.1.2 檢查內(nèi)容...................................................................................... 59
2.2 檢修(部件的更換).....................................................................................60
2.3 潤(rùn)滑脂加注 ..............................................................................................62
2.4 內(nèi)六角螺栓的緊固 ...................................................................................63
2.5 關(guān)于原點(diǎn)位置...........................................................................................63
2.6 維護(hù)部件的配置.......................................................................................64
3. 外罩
65
3.1 機(jī)械臂頂部外罩.......................................................................................66
3.2 機(jī)械臂底部外罩.......................................................................................67
3.3 第1機(jī)械臂外罩.........................................................................................67
3.4 連接器板..................................................................................................68
3.5 連接器子板 ..............................................................................................69
3.6 用戶板......................................................................................................69
3.7 管道板......................................................................................................70
4. 電纜
71
4.1 電纜單元的更換.......................................................................................72
4.2 配線表......................................................................................................77
4.2.1 信號(hào)電纜...................................................................................... 77
4.2.2 電源電纜...................................................................................... 78
4.2.3 用戶電纜...................................................................................... 79
4.2.4 電纜的顏色 .................................................................................. 80
4.3 M/C電纜的更換........................................................................................81
5. 第1關(guān)節(jié)
86
5.1 第1關(guān)節(jié)電機(jī)的更換 .................................................................................87
5.2 第1關(guān)節(jié)減速機(jī)的更換..............................................................................91
6. 第2關(guān)節(jié)
94
6.1 第2關(guān)節(jié)電機(jī)的更換 .................................................................................95
6.2 第2關(guān)節(jié)減速機(jī)的更換..............................................................................99目錄
LS20-B Rev.2
ix
7. 第3關(guān)節(jié)
103
7.1 第3關(guān)節(jié)電機(jī)的更換................................................................................104
7.2 同步皮帶的更換 .....................................................................................108
7.3 制動(dòng)器的更換.........................................................................................112
7.4 同步皮帶拉力的檢查(Z皮帶)..................................................................116
8. 第4關(guān)節(jié)
117
8.1 第4關(guān)節(jié)電機(jī)的更換................................................................................118
8.2 同步皮帶的更換 .....................................................................................122
8.3 制動(dòng)器的更換.........................................................................................127
8.4 減速機(jī)的更換.........................................................................................131
8.5 同步皮帶拉力的檢查(U皮帶)..................................................................134
9. 伸縮罩
135
10. 滾珠絲杠花鍵單元
137
10.1 滾珠絲杠花鍵單元的潤(rùn)滑脂加注..........................................................137
10.1.1 標(biāo)準(zhǔn)環(huán)境規(guī)格...........................................................................138
10.1.2 潔凈環(huán)境規(guī)格...........................................................................139
10.2 滾珠絲杠花鍵單元的更換.....................................................................140
11. 電路板
143
11.1 電源轉(zhuǎn)換電路板的更換.........................................................................144
11.2 控制板的更換 .......................................................................................145
12. LED指示燈
146
13. 原點(diǎn)調(diào)整
147
13.1 關(guān)于原點(diǎn)調(diào)整.......................................................................................147
13.2 原點(diǎn)調(diào)整步驟.......................................................................................148
13.3 第2關(guān)節(jié)的正確原點(diǎn)調(diào)整 ......................................................................157
13.4 補(bǔ)充: 不使用向?qū)У脑c(diǎn)調(diào)整步驟.......................................................159
14. 維護(hù)部件表
163
