Справочник ПользователяСодержаниеBefore using the robot (Be sure to read the following notes.)3Introduction5Clean Room Models YK120XC, YK150XC6CONTENTS7CHAPTER 1 Using the Robot Safely111 Safety Information132 Essential Caution Items143 Special Training for Industrial Robot Operation224 Robot Safety Functions235 Safety Measures for the System246 Trial Operation257 Work Within the Safeguard Enclosure268 Automatic Operation279 Adjustment and Inspection2710 Repair and Modification2711 Warranty2812 CE Marking30CHAPTER 2 Functions311 Robot Manipulator332 Robot Controller373 Robot initialization number list384 Parameters for Clean Room Models YK120XC, YK150XC39CHAPTER 3 Installation411 Robot Installation Conditions431-1 Installation environments431-2 Installation base452 Installation472-1 Unpacking472-2 Checking the product482-3 Moving the robot492-4 Installing the robot503 Protective Bonding514 Robot Cable Connection535 User Wiring and User Tubing556 Connecting a suction hose (YK120XC, YK150XC)587 Attaching The End Effector597-1 R-axis tolerable moment of inertia and acceleration coefficient597-1-1 Acceleration coefficient vs. moment of inertia (YK120X)617-1-2 Acceleration coefficient vs. moment of inertia (YK150X)637-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X)657-2 Equation for moment of inertia calculation667-3 Example of moment of inertia calculation697-4 Attaching the end effector717-5 Gripping force of end effector748 Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope75CHAPTER 4 Adjustment771 Overview792 Safety Precautions793 Adjusting the origin803-1 Absolute reset method813-1-1 YK120X series (YK120X, YK150X)813-1-1-1 Sensor method (R-axis)813-1-1-2 Stroke end method (X-axis, Y-axis)823-1-1-3 Stroke end method (Z-axis)843-1-2 YK180X series (YK180X, YK220X)853-1-2-1 Sensor method (R-axis)853-1-2-2 Sensor method (X-axis, Y-axis)863-1-2-3 Stroke end method (Z-axis)873-2 Machine reference883-3 Absolute reset procedures893-3-1 Sensor method (R-axis)893-3-2 Stroke end method (X and Y axes of YK120X, YK150X)913-3-3 Stroke end method (Z-axis)933-3-4 Sensor method (X and Y axes of YK180X, YK220X)943-4 Adjusting the machine reference963-4-1 YK120X series (YK120X, YK150X)973-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X)973-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC)993-4-1-3 Adjusting the X-axis machine reference1013-4-1-4 Adjusting the Y-axis machine reference1033-4-1-5 Adjusting the Z-axis machine reference1053-4-2 YK180X series (YK180X, YK220X)1083-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X)1083-4-2-2 Adjusting the X-axis machine reference1103-4-2-3 Adjusting the Y-axis machine reference1123-4-2-4 Adjusting the Z-axis machine reference1144 Setting the Soft Limits1175 Setting the Standard Coordinates1206 Affixing Stickers for Movement Directions and Axis Names1217 Removing the Robot Covers123CHAPTER 5 Periodic Inspecition1271 Overview1292 Precautions1303 Daily Inspection1314 Six-Month Inspection1335 Replacing the Harmonic Drive Grease1365-1 Replacement period136CHAPTER 6 Increasing the robot operating speed1391 Increasing the robot operating speed141CHAPTER 7 Specifications1471 Manipulator1491-1 Basic specification1491-2 External view and dimensions1501-3 Robot inner wiring diagram1621-4 Wiring table163Размер: 1,4 МБСтраницы: 168Язык: EnglishПросмотреть