在線客服
企業(yè)微信
愛普生EPSON水平多關(guān)節(jié)型機(jī)器人LS系列機(jī)器人手冊（中文）
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(jì)與安裝注意事項(xiàng) ................................................................................... 4
1.2.1 滾珠絲杠花鍵的強(qiáng)度 ....................................................................... 5
1.3 操作注意事項(xiàng) .............................................................................................. 6
1.4 緊急停止 ..................................................................................................... 8
1.4.1 控制器固件7.0.2.3版或更早版本 ..................................................... 8
1.4.2 控制器固件7.0.2.4或更新版本 ...................................................... 10
1.5 無驅(qū)動電源時的緊急移動 .......................................................................... 12
1.6 CP運(yùn)動的ACCELS設(shè)置 ............................................................................ 13
1.7 機(jī)器人標(biāo)簽 ............................................................................................... 14
2. 規(guī)格 ............................................................................................ 16
2.1 LS系列機(jī)器人的特征 ................................................................................ 16
2.2 型號 .......................................................................................................... 17
2.3 部件名稱和外形尺寸 ................................................................................. 18
2.3.1 LS3 ............................................................................................... 18
2.3.2 LS6 ............................................................................................... 22
2.4 規(guī)格 .......................................................................................................... 26
2.5 機(jī)型設(shè)定方法 ............................................................................................ 28
3. 環(huán)境與安裝.................................................................................. 29
3.1 環(huán)境 .......................................................................................................... 29
3.2 臺架 .......................................................................................................... 30
3.3 機(jī)器人安裝尺寸 ........................................................................................ 31
3.3.1 LS3 ............................................................................................... 31
3.3.2 LS6 ............................................................................................... 33
3.4 開箱與搬運(yùn) ............................................................................................... 35
3.5 安裝步驟 ................................................................................................... 36
3.5.1 標(biāo)準(zhǔn)環(huán)境規(guī)格 ................................................................................ 37
3.5.2 潔凈環(huán)境規(guī)格 ................................................................................ 38
3.6 電纜連接 ................................................................................................... 39
3.7 用戶配線與配管 ........................................................................................ 40
3.8 移設(shè)與保管 ................................................................................................ 41
3.8.1 移設(shè)與保管注意事項(xiàng) ..................................................................... 41
3.8.2 移設(shè) ............................................................................................... 42
4. 夾具末端的設(shè)定 .......................................................................... 43
4.1 夾具末端的安裝 ........................................................................................ 43
4.2 相機(jī)∕氣動閥等的安裝 ............................................................................. 45
4.3 Weight設(shè)定與Inertia設(shè)定 .......................................................................... 46
4.3.1 Weight設(shè)定 ................................................................................... 46
4.3.2 Inertia設(shè)定 .................................................................................... 49
4.4 第3關(guān)節(jié)自動加∕減速注意事項(xiàng) ................................................................ 53
5. 動作區(qū)域 ..................................................................................... 54
5.1 利用脈沖范圍設(shè)定動作區(qū)域（全關(guān)節(jié)） .................................................... 54
5.1.1 第1關(guān)節(jié)最大脈沖范圍 ................................................................... 55
5.1.2 第2關(guān)節(jié)最大脈沖范圍 ................................................................... 55
5.1.3 第3關(guān)節(jié)最大脈沖范圍 ................................................................... 56
5.1.4 第4關(guān)節(jié)最大脈沖范圍 ................................................................... 56
5.2 利用機(jī)械擋塊設(shè)定動作區(qū)域 ..................................................................... 57
5.2.1 第1關(guān)節(jié)∕第2關(guān)節(jié)的機(jī)械擋塊設(shè)定............................................... 58
5.2.2 第3關(guān)節(jié)的機(jī)械擋塊設(shè)定 ............................................................... 60
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)） ..................... 62
5.4 標(biāo)準(zhǔn)動作區(qū)域 ........................................................................................... 62
維護(hù)篇
1. 關(guān)于維護(hù)時的安全 ...................................................................... 65
2. 維護(hù)概要 ..................................................................................... 66
2.1 維護(hù)檢查 ................................................................................................... 66
2.1.1 維護(hù)檢查進(jìn)度表 .......................................................................... 66
2.1.2 檢查內(nèi)容 ..................................................................................... 67
2.2 檢修 .......................................................................................................... 68
2.3 潤滑脂加注 ............................................................................................... 69
2.4 內(nèi)六角螺栓的緊固 .................................................................................... 70
2.5 關(guān)于原點(diǎn)位置 ............................................................................................ 70
2.6 維護(hù)部件的配置 ........................................................................................ 71
3. 外罩 ............................................................................................ 72
3.1 機(jī)械臂頂部外罩 ........................................................................................ 73
3.2 機(jī)械臂底部外罩 ........................................................................................ 73
3.3 連接器板 ................................................................................................... 74
3.4 連接器子板 ............................................................................................... 75
3.5 用戶板 ....................................................................................................... 75
4. 電纜 ............................................................................................ 76
4.1 電纜單元的更換 ........................................................................................ 77
4.2 配線表 ....................................................................................................... 82
4.2.1 信號電纜 ....................................................................................... 82
4.2.2 電源電纜 ....................................................................................... 84
4.2.3 用戶電纜 ....................................................................................... 85
4.3 M/C電纜的更換 ........................................................................................ 86
5. 第1機(jī)械臂 ................................................................................... 89
5.1 第1關(guān)節(jié)電機(jī)的更換 .................................................................................. 90
5.2 第1關(guān)節(jié)減速機(jī)的更換 ............................................................................... 93
6. 第2機(jī)械臂 ................................................................................... 96
6.1 第2關(guān)節(jié)電機(jī)的更換 ................................................................................... 97
6.2 第2關(guān)節(jié)減速機(jī)的更換 ............................................................................. 101
7. 第3機(jī)械臂 ................................................................................. 105
7.1 第3關(guān)節(jié)電機(jī)的更換 ................................................................................. 106
7.2 同步皮帶的更換 ...................................................................................... 110
7.3 制動器的更換 .......................................................................................... 114
7.4 同步皮帶拉力的檢查（Z皮帶） .............................................................. 118
8. 第4機(jī)械臂 ................................................................................. 119
8.1 第4關(guān)節(jié)電機(jī)的更換 ................................................................................. 120
8.2 同步皮帶的更換 ...................................................................................... 124
8.2.1 U2皮帶 ........................................................................................ 125
8.2.2 U1皮帶 ........................................................................................ 130
8.3 制動器的更換（對于LS6系列） .............................................................. 133
8.4 同步皮帶拉力的檢查（U1、U2皮帶） ................................................... 135
9. 伸縮罩 ....................................................................................... 136
10. 滾珠絲杠花鍵單元 ................................................................... 138
10.1 滾珠絲杠花鍵單元的潤滑脂加注 ........................................................... 138
10.1.1 標(biāo)準(zhǔn)環(huán)境規(guī)格（S型） ............................................................... 139
10.1.2 潔凈環(huán)境規(guī)格 ............................................................................ 140
10.2 滾珠絲杠花鍵單元的更換 ...................................................................... 141
11. 鋰電池和電池板 ....................................................................... 144
11.1 電池單元（鋰電池）的更換 .................................................................. 146
11.2 分解器板的更換..................................................................................... 147
11.3 控制板的更換 ........................................................................................ 149
12. LED指示燈 .............................................................................. 150
12. LED指示燈 .............................................................................. 150
13. 原點(diǎn)調(diào)整 ................................................................................. 151
13.1 關(guān)于原點(diǎn)調(diào)整 ........................................................................................ 151
13.2 原點(diǎn)調(diào)整步驟 ........................................................................................ 152
13.3 第2關(guān)節(jié)的正確原點(diǎn)調(diào)整 ....................................................................... 162
13.4 不使用向?qū)У脑c(diǎn)調(diào)整步驟 .................................................................. 164
14. 維護(hù)部件表.............................................................................. 168
14.1 LS3 ....................................................................................................... 168
14.2 LS6 ....................................................................................................... 169
