BenutzerhandbuchInhaltsverzeichnisSafety11.1. Introduction11.2. Relevant Safety Regulations11.3. Safety Training11.4. Safety Related Nameplate11.4.1. Safety Marking11.4.2. Safety Nameplate11.5. Definition of Safety Functions11.6. Installation11.6.1. Safety Fence11.6.2. Placement of Robot & Peripheral Equipment11.6.3. Installing the Robot11.6.4. Space for Robot Installation11.7. Safety Operation for Robot Handling11.7.1. Safety Precautions for Robot Handling11.7.2. Safety Precautions for Operating Test11.7.3. Safety Precautions for Automatic Operation11.8. Safety Precautions for Access to Safety Fence11.9. Safety Precautions for Maintenance and Repair11.9.1. Safety Precautions for Hi4a Controller Maintenance and Repair11.9.3. Necessary Actions after Maintenance and Repair11.10. Safety Functions11.10.1. Operating a Safety Circuit11.10.2. Emergency stop11.10.3. Operating Speed11.10.4. Connecting the Safety Devices11.10.5. Restricting the working Envelope11.10.6. Monitoring Function11.11. Safety Related to End Effectors11.11.1. Gripper11.11.2. Tool / Workpiece11.11.3. Pneumatic and Hydraulic Systems11.12. Liabilities1Specifications22.1. Robot Machinery Part22.2. Location of Robot Identification Plate22.3. Basic Specifications22.4. Robot Dimension and Working Envelope22.5. Axis Identification22.6. Details of Wrist Axis Attachment Surface22.7. Details of Upper 1st ARM Attachment Surface22.8. Application Wiring and Inspection Wiring Diagram22.8.1. Details of Customer Application Connectors22.9. Restricting the Working Envelope22.9.1. Axis 1(Axis S)2Instructions33.1. Robot Component Name33.2. Location of Safety Nameplate33.3. How to operate33.3.1. Using Crane33.3.2. Using Forklift Truck33.4. How to Install33.4.1. Operating Conditions33.4.2. Installating the Robot Manipulator33.4.3. Dimension of Installation Surface33.4.4. Accuracy of Installation Surface33.5. Allowable Load of Wrist Axis33.6. Recommended Standy Posture3Inspection44.1. Inspection Item and Period44.2. Inspection Item and Period44.3. Inspection of Main External Bolts44.4. Inspection of Wrist Backlash44.5. Inspection Internal Wiring44.5.1. The Conditions of Safety Inspection44.5.2. Inspection Part45. Maintenance55.1. Grease Replenishment/Replacement55.1.1. S-Axis Reduction Gear55.1.2. H-Axis Reduction Gear55.1.3. V-Axis Reduction Gear55.1.4. R2-Axis Reduction Gear55.1.5. B-Axis Reduction Gear55.1.6. R1-Axis Reduction Gear55.1.7. Bearing Joint Parts55.1.8. A1 Frame - Gear Box55.1.9. Wrist - Gear Box55.2. Battery Replacement55.2.1. Instructions for Battery Storage55.3. Internal Wiring55.3.1. Wiring Connection Diagram5Trobleshooting66.1. Troubleshooting Procedure66.2. Trouble Symptoms and Possible Causes66.3. Diagnostics and Resolutions for Major Parts Failure66.3.1. Fulcrum Bearings66.3.2. Reduction Gear66.3.3. Brakes66.3.4. Motor66.3.5. Encoder66.4. Motor Replacement66.4.1. Necessary Tools and Parts66.4.2. How to Replace Motor66.5. Encoder Zero Setting66.5.1. Zero Setting66.5.2. Encoder Reset66.5.3. Confirming the Reset66.5.4. Encoder Calibration(Data input) and Selection67. Recommended Spare Parts7Diagram88.1. Manipulator Configuration88.2. Wiring Diagram8Decommissioning9Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)1Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate)1Fig 1.3 Placement of Peripheral Equipment and Operator1Fig 1.4 Space for robot installation1Fig 1.5 Robot’s Safety Circuit1Fig 1.6 Emergency Stop1Fig 1.7 Emergency Stop Connection of External System1FIg 2.1 Robot Machinery Part2Fig 2.2 The location of identification plate2Fig 2.3 Robot Dimension and Working Envelope : [HX300]2Fig 2.4 Robot Dimension and Working Envelope : [HX400]2Fig 2.5 Robot Dimension and Working Envelope : [HX200L]2Fig 2.6 Robot Dimension and Working Envelope : [HX200L-2000]2Fig 2.7 Robot Dimension and Working Envelope : [HX300L]2Fig 2.8 Robot Dimension and Axis [HX300/400/200L/200L-2000/300L]2Fig 2.9 Details of Wrist Axis Attachment Surface : [HX300/400/300L]2Fig 2.10 Details of Wrist Axis Attachment Surface : [HX200L]2FIg 2.11 Details of Upper 1st ARM Attachment Surface2Fig 2.12 Application Wiring and Inspection Wiring Diagram2Fig 2.13 Details of Application Connector (Encoder)2Fig 2.14 Details of Application Connector (Power)2Fig 3.1 Identification of Robot Components3Fig 3.2 Location of Safety Nameplate3Fig 3.3 How to Transport: Using crane [HX300/400]3Fig 3.4 How to Transport: Using crane [HX200L/300L]3[HX300/400/200L/200L-2000/300L]3Fig 3.6 Dimension of Robot Installation3Fig 3.7 Accuracy of Installation surface3Fig 3.8 Wrist Axis Torque Mapping:[HX300/300L]3Fig 3.9 Wrist Axis Torque Mapping : [HX400]3Fig 3.10 Wrist Axis Torque Mapping : [HX200L]3Fig 3.11 Recommended Standby Posture3Fig 4.1 Inspection Part for Main Bolts [HX300/400/300L]4Fig 4.2 Abnormal Backlash Inspecting Directions4Fig 4.3 Cable Inspection Parts : [HX300/400/200L/200L-2000/300L]4Fig 5.1 Explains of internal wiring5Fig 6.1 How to prevent dropping of ARM Axis H & V6Fig 6.2 Encoder Reset Connector6Fig 8.1 Manipulator Configuration8Fig 8.2 Motor and Brake wiring connection No.18Fig 8.3 Motor and Brake wiring connection No.28Fig 8.4 Encoder wiring Connection No.18Fig 8.5 Encoder Wiring Connection No.28Fig 8.6 Encoder Wiring Connection No.38Fig 8.7 Application Wiring Connection No.18Fig 8.8 Application Wiring Connection No.28Table 1-1 Safety marking1Table 1-2 State of robot stop1Table 2-1 Basic Specifications for Models2Table 2-2 Axis Motion2Table 3-1 Components name3Table 3-2 Allowable load weight3Table 3-3 Allowable Load Torque3Table 3-4 Allowable Moment of Inertia3Table 4-1 Inspection Schedule4Table 4-2 Inspection Items and Periods4Table 4-3 Inspection part for main bolts4Table 6-1 Trouble phenomenon and cause6Table 6-2 Motor Weight6Table 6-3 Necessary Tools6Table 6-4 Necessary parts6Table 6-5 Reset connectors corresponding to axes6Table 6-6 Data range after resetting6Table 7-1 Spare Parts ListⅠ7Table 7-2 Spare Parts ListⅡ7Table 7-3 Spare Parts List Ⅲ7Table 7-4 Spare Parts List Ⅳ7Table 7-5 Spare Parts List Ⅴ7Table 9-1 Materials of each part9Größe: 3,5 MBSeiten: 147Language: EnglishHandbuch öffnen
BenutzerhandbuchInhaltsverzeichnisSafety11.1. Introduction11.2. Relevant Safety Regulations11.3. Safety Training11.4. Safety Related Nameplate11.4.1. Safety Marking11.4.2. Safety Nameplate11.5. Definition of Safety Functions11.6. Installation11.6.1. Safety Fence11.6.2. Placement of Robot & Peripheral Equipment11.6.3. Installing the Robot11.6.4. Space for Robot Installation11.7. Safety Operation for Robot Handling11.7.1. Safety Precautions for Robot Handling11.7.2. Safety Precautions for Operating Test11.7.3. Safety Precautions for Automatic Operation11.8. Safety Precautions for Access to Safety Fence11.9. Safety Precautions for Maintenance and Repair11.9.1. Safety Precautions for Hi4a Controller Maintenance and Repair11.9.3. Necessary Actions after Maintenance and Repair11.10. Safety Functions11.10.1. Operating a Safety Circuit11.10.2. Emergency stop11.10.3. Operating Speed11.10.4. Connecting the Safety Devices11.10.5. Restricting the working Envelope11.10.6. Monitoring Function11.11. Safety Related to End Effectors11.11.1. Gripper11.11.2. Tool / Workpiece11.11.3. Pneumatic and Hydraulic Systems11.12. Liabilities1Specifications22.1. Robot Machinery Part22.2. Location of Robot Identification Plate22.3. Basic Specifications22.4. Robot Dimension and Working Envelope22.5. Axis Identification22.6. Details of Wrist Axis Attachment Surface22.7. Details of Upper 1st ARM Attachment Surface22.8. Application Wiring and Inspection Wiring Diagram22.8.1. Details of Customer Application Connectors22.9. Restricting the Working Envelope22.9.1. Axis 1(Axis S)2Instructions33.1. Robot Component Name33.2. Location of Safety Nameplate33.3. How to operate33.3.1. Using Crane33.3.2. Using Forklift Truck33.4. How to Install33.4.1. Operating Conditions33.4.2. Installating the Robot Manipulator33.4.3. Dimension of Installation Surface33.4.4. Accuracy of Installation Surface33.5. Allowable Load of Wrist Axis33.6. Recommended Standy Posture3Inspection44.1. Inspection Item and Period44.2. Inspection Item and Period44.3. Inspection of Main External Bolts44.4. Inspection of Wrist Backlash44.5. Inspection Internal Wiring44.5.1. The Conditions of Safety Inspection44.5.2. Inspection Part45. Maintenance55.1. Grease Replenishment/Replacement55.1.1. S-Axis Reduction Gear55.1.2. H-Axis Reduction Gear55.1.3. V-Axis Reduction Gear55.1.4. R2-Axis Reduction Gear55.1.5. B-Axis Reduction Gear55.1.6. R1-Axis Reduction Gear55.1.7. Bearing Joint Parts55.1.8. A1 Frame - Gear Box55.1.9. Wrist - Gear Box55.2. Battery Replacement55.2.1. Instructions for Battery Storage55.3. Internal Wiring55.3.1. Wiring Connection Diagram5Trobleshooting66.1. Troubleshooting Procedure66.2. Trouble Symptoms and Possible Causes66.3. Diagnostics and Resolutions for Major Parts Failure66.3.1. Fulcrum Bearings66.3.2. Reduction Gear66.3.3. Brakes66.3.4. Motor66.3.5. Encoder66.4. Motor Replacement66.4.1. Necessary Tools and Parts66.4.2. How to Replace Motor66.5. Encoder Zero Setting66.5.1. Zero Setting66.5.2. Encoder Reset66.5.3. Confirming the Reset66.5.4. Encoder Calibration(Data input) and Selection67. Recommended Spare Parts7Diagram88.1. Manipulator Configuration88.2. Wiring Diagram8Decommissioning9Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)1Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate)1Fig 1.3 Placement of Peripheral Equipment and Operator1Fig 1.4 Space for robot installation1Fig 1.5 Robot’s Safety Circuit1Fig 1.6 Emergency Stop1Fig 1.7 Emergency Stop Connection of External System1FIg 2.1 Robot Machinery Part2Fig 2.2 The location of identification plate2Fig 2.3 Robot Dimension and Working Envelope : [HX300]2Fig 2.4 Robot Dimension and Working Envelope : [HX400]2Fig 2.5 Robot Dimension and Working Envelope : [HX200L]2Fig 2.6 Robot Dimension and Working Envelope : [HX200L-2000]2Fig 2.7 Robot Dimension and Working Envelope : [HX300L]2Fig 2.8 Robot Dimension and Axis [HX300/400/200L/200L-2000/300L]2Fig 2.9 Details of Wrist Axis Attachment Surface : [HX300/400/300L]2Fig 2.10 Details of Wrist Axis Attachment Surface : [HX200L]2FIg 2.11 Details of Upper 1st ARM Attachment Surface2Fig 2.12 Application Wiring and Inspection Wiring Diagram2Fig 2.13 Details of Application Connector (Encoder)2Fig 2.14 Details of Application Connector (Power)2Fig 3.1 Identification of Robot Components3Fig 3.2 Location of Safety Nameplate3Fig 3.3 How to Transport: Using crane [HX300/400]3Fig 3.4 How to Transport: Using crane [HX200L/300L]3[HX300/400/200L/200L-2000/300L]3Fig 3.6 Dimension of Robot Installation3Fig 3.7 Accuracy of Installation surface3Fig 3.8 Wrist Axis Torque Mapping:[HX300/300L]3Fig 3.9 Wrist Axis Torque Mapping : [HX400]3Fig 3.10 Wrist Axis Torque Mapping : [HX200L]3Fig 3.11 Recommended Standby Posture3Fig 4.1 Inspection Part for Main Bolts [HX300/400/300L]4Fig 4.2 Abnormal Backlash Inspecting Directions4Fig 4.3 Cable Inspection Parts : [HX300/400/200L/200L-2000/300L]4Fig 5.1 Explains of internal wiring5Fig 6.1 How to prevent dropping of ARM Axis H & V6Fig 6.2 Encoder Reset Connector6Fig 8.1 Manipulator Configuration8Fig 8.2 Motor and Brake wiring connection No.18Fig 8.3 Motor and Brake wiring connection No.28Fig 8.4 Encoder wiring Connection No.18Fig 8.5 Encoder Wiring Connection No.28Fig 8.6 Encoder Wiring Connection No.38Fig 8.7 Application Wiring Connection No.18Fig 8.8 Application Wiring Connection No.28Table 1-1 Safety marking1Table 1-2 State of robot stop1Table 2-1 Basic Specifications for Models2Table 2-2 Axis Motion2Table 3-1 Components name3Table 3-2 Allowable load weight3Table 3-3 Allowable Load Torque3Table 3-4 Allowable Moment of Inertia3Table 4-1 Inspection Schedule4Table 4-2 Inspection Items and Periods4Table 4-3 Inspection part for main bolts4Table 6-1 Trouble phenomenon and cause6Table 6-2 Motor Weight6Table 6-3 Necessary Tools6Table 6-4 Necessary parts6Table 6-5 Reset connectors corresponding to axes6Table 6-6 Data range after resetting6Table 7-1 Spare Parts ListⅠ7Table 7-2 Spare Parts ListⅡ7Table 7-3 Spare Parts List Ⅲ7Table 7-4 Spare Parts List Ⅳ7Table 7-5 Spare Parts List Ⅴ7Table 9-1 Materials of each part9Größe: 3,5 MBSeiten: 147Language: EnglishHandbuch öffnen
