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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
1.3 操作注意事項(xiàng)............................................................................................ 5
1.4 緊急停止 ................................................................................................... 7
1.4.1 RC180、RC620............................................................................ 7
1.4.2 RC700-A ....................................................................................... 9
1.5 無驅(qū)動(dòng)電源時(shí)的緊急移動(dòng).........................................................................11
1.6 機(jī)器人標(biāo)簽.............................................................................................. 12
2. 規(guī)格
15
2.1 G3系列機(jī)器人的特征.............................................................................. 15
2.2 型號(hào)和型號(hào)差異 ...................................................................................... 16
2.3 部件名稱和外形尺寸............................................................................... 18
2.3.1 臺(tái)式安裝...................................................................................... 18
2.3.2 多方位安裝.................................................................................. 22
2.4 規(guī)格......................................................................................................... 26
2.5 機(jī)型設(shè)定方法.......................................................................................... 30
3. 環(huán)境與安裝
31
3.1 環(huán)境......................................................................................................... 31
3.2 臺(tái)架......................................................................................................... 32
3.3 機(jī)器人安裝尺寸 ...................................................................................... 34
3.3.1 臺(tái)式安裝 - 直臂 ......................................................................... 35
3.3.2 臺(tái)式安裝 - 左彎臂...................................................................... 36
3.3.3 臺(tái)式安裝 - 右彎臂...................................................................... 37
3.3.4 多方位安裝 - 直臂...................................................................... 38
3.3.5 多方位安裝 - 左彎臂.................................................................. 39
3.3.6 多方位安裝 - 右彎臂.................................................................. 40
3.4 開箱與搬運(yùn).............................................................................................. 41
3.5 安裝......................................................................................................... 42
3.5.1 臺(tái)式安裝...................................................................................... 42
3.5.2 多方位安裝.................................................................................. 43
3.5.3 潔凈環(huán)境規(guī)格 .............................................................................. 44
3.6 電纜連接 ................................................................................................. 45
3.7 用戶配線與配管 ...................................................................................... 46
3.8 移設(shè)與保管.............................................................................................. 48
3.8.1 移設(shè)與保管注意事項(xiàng) ................................................................... 48
3.8.2 臺(tái)式安裝...................................................................................... 49
3.8.3 多方位安裝.................................................................................. 50目錄
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G3 Rev.8
4. 夾具末端的設(shè)定
51
4.1 夾具末端的安裝 .......................................................................................51
4.2 相機(jī)／氣動(dòng)閥等的安裝 ............................................................................52
4.3 Weight設(shè)定與Inertia設(shè)定.........................................................................53
4.3.1 Weight設(shè)定 ..................................................................................53
4.3.2 Inertia設(shè)定 ...................................................................................55
4.4 第3關(guān)節(jié)自動(dòng)加/減速注意事項(xiàng)..................................................................59
5. 動(dòng)作區(qū)域
60
5.1 利用脈沖范圍設(shè)定動(dòng)作區(qū)域（全關(guān)節(jié)）...................................................60
5.1.1 第1關(guān)節(jié)***大脈沖范圍..................................................................61
5.1.2 第2關(guān)節(jié)***大脈沖范圍..................................................................62
5.1.3 第3關(guān)節(jié)***大脈沖范圍..................................................................63
5.1.4 第4關(guān)節(jié)***大脈沖范圍..................................................................63
5.2 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域.....................................................................64
5.2.1 第1關(guān)節(jié)/第2關(guān)節(jié)的機(jī)械擋塊設(shè)定 ................................................64
5.2.2 第3關(guān)節(jié)的機(jī)械擋塊設(shè)定 ..............................................................68
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)、第2關(guān)節(jié)）....................70
5.4 標(biāo)準(zhǔn)動(dòng)作區(qū)域...........................................................................................70
維護(hù)篇
1. 關(guān)于維護(hù)時(shí)的安全
73
2. 維護(hù)概要
74
2.1 維護(hù)檢查..................................................................................................74
2.1.1 維護(hù)檢查進(jìn)度表 ...........................................................................74
2.1.2 檢查內(nèi)容 ....................................................................................75
2.2 檢修 .........................................................................................................76
2.3 潤(rùn)滑脂加注 ..............................................................................................77
2.4 內(nèi)六角螺栓的緊固....................................................................................78
2.5 關(guān)于原點(diǎn)位置...........................................................................................78
2.6 維護(hù)部件的配置 .......................................................................................79
2.6.1 臺(tái)式安裝 ......................................................................................79
2.6.2 多方位安裝...................................................................................80
3. 外罩
81
3.1 機(jī)械臂頂部外罩 .......................................................................................83
3.2 機(jī)械臂底部外罩 .......................................................................................84
3.3 機(jī)械臂蓋..................................................................................................85
3.4 連接器底板 ..............................................................................................85
3.5 連接器子板 ..............................................................................................86
3.6 用戶板......................................................................................................86
3.7 散熱板......................................................................................................87
3.8 底座底部外罩...........................................................................................87
