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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 LS10-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 標準環(huán)境規(guī)格(LS10-B***S)..........................................................14
2.3.2 潔凈環(huán)境規(guī)格(LS10-B***C)..........................................................16
2.4 規(guī)格表......................................................................................................18
2.5 機型設(shè)定方法...........................................................................................20
3. 環(huán)境與安裝
21
3.1 環(huán)境..........................................................................................................21
3.2 臺架..........................................................................................................22
3.3 機器人安裝尺寸 .......................................................................................23
3.4 開箱與搬運...............................................................................................24
3.5 安裝步驟 ..................................................................................................25
3.5.1 標準環(huán)境規(guī)格...............................................................................25
3.5.2 潔凈環(huán)境規(guī)格...............................................................................26
3.6 電纜連接 ..................................................................................................27
3.7 用戶配線與配管 .......................................................................................28
3.8 移設(shè)與保管...............................................................................................29
3.8.1 移設(shè)與保管注意事項....................................................................29
3.8.2 移設(shè)..............................................................................................30
4. 夾具末端的設(shè)定
31
4.1 夾具末端的安裝 .......................................................................................31
4.2 相機和氣動閥等的安裝 ............................................................................32
4.3 Weight設(shè)定與Inertia設(shè)定.........................................................................33
4.3.1 Weight設(shè)定 ..................................................................................33
4.3.2 Inertia設(shè)定 ...................................................................................35
4.4 第3關(guān)節(jié)自動加/減速注意事項..................................................................40
5. 動作區(qū)域
41
5.1 利用脈沖范圍設(shè)定動作區(qū)域(全關(guān)節(jié))........................................................41
5.1.1 第1關(guān)節(jié)***大脈沖范圍..................................................................42
5.1.2 第2關(guān)節(jié)***大脈沖范圍...........................................................................42目錄
viii
LS10-B Rev.5
5.1.3 第3關(guān)節(jié)***大脈沖范圍.................................................................. 43
5.1.4 第4關(guān)節(jié)***大脈沖范圍.................................................................. 43
5.2 利用機械擋塊設(shè)定動作區(qū)域.....................................................................44
5.2.1 第1關(guān)節(jié)和第2關(guān)節(jié)的機械擋塊設(shè)定.............................................. 45
5.2.2 第3關(guān)節(jié)的機械擋塊設(shè)定.............................................................. 47
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)).........................48
5.4 標準動作區(qū)域...........................................................................................49
維護篇
1. 關(guān)于維護時的安全
55
2. 維護概要
56
2.1 維護檢查..................................................................................................56
2.1.1 維護檢查進度表........................................................................... 56
2.1.2 檢查內(nèi)容...................................................................................... 57
2.2 檢修(部件的更換).....................................................................................58
2.3 潤滑脂加注 ..............................................................................................60
2.4 內(nèi)六角螺栓的緊固 ...................................................................................61
2.5 關(guān)于原點位置...........................................................................................61
2.6 維護部件的配置.......................................................................................62
3. 外罩
63
3.1 機械臂頂部外罩.......................................................................................64
3.2 機械臂底部外罩.......................................................................................64
3.3 連接器板..................................................................................................65
3.4 連接器子板 ..............................................................................................66
3.5 用戶板......................................................................................................66
4. 電纜
67
4.1 電纜單元的更換.......................................................................................68
4.2 配線表......................................................................................................72
4.2.1 信號電纜...................................................................................... 72
4.2.2 電源電纜...................................................................................... 73
4.2.3 用戶電纜...................................................................................... 74
4.2.4 電纜的顏色 .................................................................................. 74
4.3 M/C電纜的更換........................................................................................75
5. 第1關(guān)節(jié)
80
5.1 第1關(guān)節(jié)電機的更換 .................................................................................81
5.2 第1關(guān)節(jié)減速機的更換..............................................................................85
6. 第2關(guān)節(jié)
88
6.1 第2關(guān)節(jié)電機的更換 .................................................................................89
6.2 第2關(guān)節(jié)減速機的更換..............................................................................93
7. 第3關(guān)節(jié)
97
7.1 第3關(guān)節(jié)電機的更換 .................................................................................98目錄
LS10-B Rev.5
ix
7.2 同步皮帶的更換 .....................................................................................102
7.3 制動器的更換.........................................................................................106
7.4 同步皮帶拉力的檢查(Z皮帶)..................................................................110
8. 第4關(guān)節(jié)
111
8.1 第4關(guān)節(jié)電機的更換................................................................................112
8.2 同步皮帶的更換 .....................................................................................116
8.2.1 U2皮帶.......................................................................................117
8.2.2 U1皮帶.......................................................................................123
8.3 制動器的更換.........................................................................................127
8.4 同步皮帶拉力的檢查(U1, U2皮帶).........................................................130
9. 伸縮罩
130
10. 滾珠絲杠花鍵單元
132
10.1 滾珠絲杠花鍵單元的潤滑脂加注..........................................................132
10.1.1 標準環(huán)境規(guī)格...........................................................................133
10.1.2 潔凈環(huán)境規(guī)格...........................................................................134
10.2 滾珠絲杠花鍵單元的更換.....................................................................135
11. 電路板
138
11.1 電源轉(zhuǎn)換電路板的更換.........................................................................139
11.2 控制板的更換 .......................................................................................141
12. LED指示燈
142
13. 原點調(diào)整
143
13.1 關(guān)于原點調(diào)整.......................................................................................143
13.2 原點調(diào)整步驟.......................................................................................144
13.3 第2關(guān)節(jié)的正確原點調(diào)整 ......................................................................153
13.4 補充: 不使用向?qū)У脑c調(diào)整步驟.......................................................155
14. 維護部件表
159
