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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
1.2.1 滾珠絲杠花鍵的強度......................................................................4
1.3 操作注意事項.............................................................................................5
1.4 緊急停止 ....................................................................................................6
1.5 無驅(qū)動電源時的緊急移動...........................................................................8
1.6 CP運動的ACCELS設(shè)置.............................................................................9
1.7 機器人標簽...............................................................................................10
2. 規(guī)格
12
2.1 LS3-B/LS6-B系列機器人的特征 ..............................................................12
2.2 型號..........................................................................................................13
2.3 部件名稱和外形尺寸................................................................................14
2.3.1 LS3-B...........................................................................................14
2.3.2 LS6-B...........................................................................................18
2.4 規(guī)格..........................................................................................................22
2.5 機型設(shè)定方法...........................................................................................24
3. 環(huán)境與安裝
25
3.1 環(huán)境..........................................................................................................25
3.2 臺架..........................................................................................................26
3.3 機器人安裝尺寸 .......................................................................................27
3.4 開箱與搬運...............................................................................................28
3.5 安裝步驟 ..................................................................................................29
3.5.1 標準環(huán)境規(guī)格...............................................................................29
3.5.2 潔凈環(huán)境規(guī)格...............................................................................30
3.6 電纜連接 ..................................................................................................31
3.7 用戶配線與配管 .......................................................................................32
3.8 移設(shè)與保管...............................................................................................34
3.8.1 移設(shè)與保管注意事項....................................................................34
3.8.2 移設(shè)..............................................................................................35
4. 夾具末端的設(shè)定
36
4.1 夾具末端的安裝 .......................................................................................36
4.2 相機和氣動閥等的安裝 ............................................................................37
4.3 Weight設(shè)定與Inertia設(shè)定.........................................................................38
4.3.1 Weight設(shè)定 ..................................................................................38
4.3.2 Inertia設(shè)定 ...................................................................................42
4.4 第3關(guān)節(jié)自動加/減速注意事項..................................................................47
5. 動作區(qū)域
49
5.1 利用脈沖范圍設(shè)定動作區(qū)域(全關(guān)節(jié))........................................................49
5.1.1 第1關(guān)節(jié)***大脈沖范圍..................................................................50目錄
viii
LS3-B/LS6-B Rev.4
5.1.2 第2關(guān)節(jié)***大脈沖范圍.................................................................. 50
5.1.3 第3關(guān)節(jié)***大脈沖范圍.................................................................. 51
5.1.4 第4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)和第2關(guān)節(jié)的機械擋塊設(shè)定.............................................. 53
5.2.2 第3關(guān)節(jié)的機械擋塊設(shè)定.............................................................. 55
5.3 機器人XY坐標系中的矩形范圍設(shè)定(第1關(guān)節(jié)和第2關(guān)節(jié)).........................56
5.4 標準動作區(qū)域...........................................................................................57
維護篇
1. 關(guān)于維護時的安全
63
2. 維護概要
64
2.1 維護檢查..................................................................................................64
2.1.1 維護檢查進度表........................................................................... 64
2.1.2 檢查內(nèi)容...................................................................................... 65
2.2 檢修(部件的更換).....................................................................................66
2.3 潤滑脂加注 ..............................................................................................68
2.4 內(nèi)六角螺栓的緊固 ...................................................................................69
2.5 關(guān)于原點位置...........................................................................................69
2.6 維護部件的配置.......................................................................................70
3. 外罩
71
3.1 機械臂頂部外罩.......................................................................................72
3.2 機械臂底部外罩.......................................................................................72
3.3 連接器板..................................................................................................73
3.4 連接器子板 ..............................................................................................74
3.5 用戶板......................................................................................................74
4. 電纜
75
4.1 電纜單元的更換.......................................................................................75
4.2 配線表......................................................................................................80
4.2.1 信號電纜...................................................................................... 80
4.2.2 電源電纜...................................................................................... 82
4.2.3 用戶電纜...................................................................................... 83
4.2.4 電纜的顏色 .................................................................................. 83
4.3 M/C電纜的更換........................................................................................84
5. 第1關(guān)節(jié)
89
5.1 第1關(guān)節(jié)電機的更換 .................................................................................90
5.2 第1關(guān)節(jié)減速機的更換..............................................................................94
6. 第2關(guān)節(jié)
97
6.1 第2關(guān)節(jié)電機的更換 .................................................................................98
6.2 第2關(guān)節(jié)減速機的更換............................................................................102目錄
LS3-B/LS6-B Rev.4
ix
7. 第3關(guān)節(jié)
106
7.1 第3關(guān)節(jié)電機的更換................................................................................107
7.2 同步皮帶的更換 ..................................................................................... 111
7.3 制動器的更換.........................................................................................115
7.4 同步皮帶拉力的檢查(Z皮帶)..................................................................119
8. 第4關(guān)節(jié)
120
8.1 第4關(guān)節(jié)電機的更換................................................................................121
8.2 同步皮帶的更換 .....................................................................................125
8.2.1 U2皮帶.......................................................................................126
8.2.2 U1皮帶.......................................................................................132
8.3 制動器的更換(僅限LS6-B).....................................................................136
8.4 同步皮帶拉力的檢查(U1, U2皮帶).........................................................139
9. 伸縮罩
140
10. 滾珠絲杠花鍵單元
142
10.1 滾珠絲杠花鍵單元的潤滑脂加注..........................................................142
10.1.1 標準環(huán)境規(guī)格...........................................................................143
10.1.2 潔凈環(huán)境規(guī)格...........................................................................144
10.2 滾珠絲杠花鍵單元的更換.....................................................................145
11. 電路板
148
11.1 電源轉(zhuǎn)換電路板的更換.........................................................................149
11.2 控制板的更換 .......................................................................................151
12. LED指示燈
152
13. 原點調(diào)整
154
13.1 關(guān)于原點調(diào)整.......................................................................................154
13.2 原點調(diào)整步驟.......................................................................................155
13.3 第2關(guān)節(jié)的正確原點調(diào)整 ......................................................................164
13.4 補充: 不使用向?qū)У脑c調(diào)整步驟.......................................................166
14. 維護部件表
170
14.1 LS3-B...................................................................................................170
14.2 LS6-B...................................................................................................171
