參考仿真軟件e rs

RSseriesSCARARS ManipulatorSCARARS ManipulatorCopyright2008-2010SEIKOEPSONAllrightsRSiThankyouforpurchasingourrobotThankyouforpurchasingourrobotThismanualcontainstheinformationnecessaryforthecorrectuseofthemanipulator.PleasecarefullyreadthismanualandotherrelatedmanualsbeforeinstallingtherobotKeepthismanualhandyforeasyaccessatallTheManipulatoranditsoptionalpartsareshippedtoourcustomersonlyafterbeingsubjectedtothestrictestqualitycontrols,tests,andinspectionstocertifyitscompliancewithourhighperformancestandards.Productmalfunctionsresultingfromnormalhandlingoroperationwillberepairedfreeofchargeduringthenormalwarrantyperiod.(PleaseaskyourRegionalSalesOfficeforwarrantyperiodHowever,customerswillbechargedforrepairsinthefollowingcases(eveniftheyduringthewarrantyDamageormalfunctioncausedbyimproperusewhichisnotdescribedinthemanual,orcarelessuse.Malfunctionscausedbycustomers’unauthorizeddisassembly.Damageduetoimproperadjustmentsorunauthorizedrepairattempts.Damagecausedbynaturaldisasterssuchasearthquake,flood,IftheManipulatororassociatedequipmentisusedoutsideoftheusageconditionsandproductspecificationsdescribedinthemanuals,thiswarrantyisvoid.IfyoudonotfollowtheWARNINGSandCAUTIONSinthismanual,wecannotberesponsibleforanymalfunctionoraccident,eveniftheresultisinjuryordeath.Wecannotforeseeallpossibledangersandconsequences.Therefore,thiscannotwarntheuserofallpossibleRSMicrosoft,Windows,andWindowslogoareeitherregisteredtrademarksortrademarksofMicrosoftCorporationintheUnitedStatesMicrosoft,Windows,andWindowslogoareeitherregisteredtrademarksortrademarksofMicrosoftCorporationintheUnitedStatesand/orothercountries.Otherbrandandproductnamesaretrademarksorregisteredtrademarksoftherespectiveholders.Nopartofthismanualmaybecopiedorreproducedwithoutauthorization.Thecontentsofthismanualaresubjecttochangewithoutnotice.PleasenotifyusifyoushouldfindanyerrorsinthismanualorifyouhaveanyregardingitsContactthefollowingservicecenterforrobotrepairs,inspectionsorIfservicecenterinformationisnotindicatedbelow,pleasecontactthesupplierofficeforyourregion.PleasepreparethefollowingitemsbeforeyoucontactYourcontrollermodelanditsserialnumberYourmanipulatormodelanditsserialnumberSoftwareanditsversioninyourrobotAdescriptionoftheSERVICERSMANUFACTURER&Japan&SEIKOEPSONSuwaMANUFACTURER&Japan&SEIKOEPSONSuwaMinami1010Fujimi,Fujimi-machi,Suwa-gun,Nagano,399-:+81-(0)266-61-:+81-(0)266-61-North&SouthEPSONAMERICA,18300CentralAvenueCarson,CA:+1-562-290-:+1-562-290-E-MAIL:EPSONDEUTSCHLAND:+49-(0)-2159-538-:+49-(0)-2159-538-E-MAIL:RSForCustomersintheForCustomersintheEuropeanThecrossedoutwheeledbinlabelthatcanbefoundonyourproductindicatesthatthisproductandincorporatedbatteriesshouldnotbedisposedofviathenormalhouseholdwastestream.Topreventpossibleharmtotheenvironmentorhumanhealthpleaseseparatethisproductanditsbatteriesfromotherwastestreamstoensurethatitcanberecycledinanenvironmentallysoundmanner.Formoredetailsonavailablecollectionfacilitiespleasecontactyourlocalgovernmentofficeortheretailerwhereyoupurchasedthisproduct.UseofthechemicalsymbolsPb,CdorHgindicatesifthesemetalsareusedinthebattery.ThisinformationonlyappliestocustomersintheEuropeanUnion,accordingtoDIRECTIVE2006/66/ECOFTHEEUROPEANPARLIAMENTANDOFTHECOUNCILOF6September2006onbatteriesandaccumulatorsandwastebatteriesandaccumulatorsandrepealingDirective91/157/EECandlegislationtransposingandimplementingitintothevariousnationallegalsystems.Forothercountries,pleasecontactyourlocalgovernmenttoinvestigatethepossibilityofrecyclingyourproduct.Thebatteryremoval/replacementprocedureisdescribedinthefollowingmanuals:Controllermanual/Manipulatormanual(Maintenancesection)RSvBeforeReadingThisBeforeReadingThisStructureofControlTheRSseriesManipulatorscanbeusedwiththefollowingcombinationsofControllersandTheoperatingmethodsanddescriptionsaredifferentdependingonwhichsoftwareyouareusing.Thefollowingiconsareputbesideappropriatetextasnecessary.Usethedescriptionsthatpertaintothesoftwareyouareusing.Fordetailsoncommands,refertoUser’sGuideor“On-lineTurningON/OFFWhenyouseetheinstruction“TurnON/OFFtheController”inthismanual,besuretoturnON/OFFallthehardwarecomponents.FortheControllercomposition,refertothetableShapeofTheshapeofthemotorsusedfortheManipulatorthatyouareusingmaybedifferentfromtheshapeofthemotorsdescribedinthismanualbecauseofthespecifications.SettingbyUsingThismanualcontainssettingproceduresbyusingsoftware. Theyaremarkedwiththefollowingicon.FiguresinthisThefiguresofmanipulatorsindicatedinthismanualarebasicallyStandard-modelManipulator.Unlessspecialinstructionisprovided,thespecificationsofStandard-model,Cleanroom-model,andProtected-model(IP54/IP65)arethesame.RSEPSONRC+5.0Ver.5.3orDriveUnitEPSONRC+6.0Ver.6.0orTABLEOFTABLEOFBeforeReadingThis Setup& TABLEOFTABLEOFBeforeReadingThis Setup& DesignandInstallation Operation Emergency EmergencyMovementWithoutDrive Manipulator FeaturesofRSseries ModelNumberandModel PartNamesandOuter HowtoSetthe Base Mounting Unpackingand Installation Connectingthe UserWiresandPneumatic Relocationand AttachinganEnd AttachingCamerasandAir WeightandInertia PrecautionsforAutoAcceleration/DecelerationofJoint MotionRangeSettingbyPulse Max.PulseRangeofJoint Max.PulseRangeofJoint Max.PulseRangeofJoint Max.PulseRangeofJoint MotionRangeSettingbyJoint#3Mechanical SettingtheCartesian(Rectangular)RangeintheXYSystemoftheManipulator(forJoints#1and RS Motion SettingofEnd Environmentsand TABLEOFScheduleforMaintenance Inspection InspectionWhilethePoweris InspectionWhiletheTABLEOFScheduleforMaintenance Inspection InspectionWhilethePoweris InspectionWhilethePoweris TighteningHexagonSocketHeadCap Matching LayoutofMaintenance Arm Arm Arm#2 Under Arm#2Maintenance Base User ReplacingCable Wiring Signal Power User ReplacingJoint#1 ReplacingJoint#1ReductionGear ReplacingJ1 ReplacingJoint#2 ReplacingJoint#2ReductionGear ReplacingJ2 ReplacingJoint#3 ReplacingtheTiming Replacingthe RS Arm Arm Arm Cable General Safety TABLEOFReplacingJoint#4 ReplacingtheTiming ReplacingtheTABLEOFReplacingJoint#4 ReplacingtheTiming Replacingthe GreasingtheBallScrewSpline Cleanroom-model/Protected- ReplacingtheBallScrewSpline ReplacingtheBatteryUnit(Lithium ReplacingtheBattery About AccurateCalibrationofJoint CalibrationProcedurewithoutusingCalibration Common PartsbyEnvironment RS MaintenanceParts LED Lithium BallScrewSpline Arm xRSxRSSetup&ThisSetup&ThisvolumecontainsinformationforsetupandoperationoftheRSseriesManipulators.PleasereadthisvolumethoroughlybeforesettingupandoperatingtheManipulators.Setup& 1. Installationandtransportationofrobotsandroboticequipmentshallbeperformedbyqualifiedpersonnelandshouldconformtoallnationalandlocalcodes.PleasereadthismanualandotherrelatedmanualsbeforeinstallingtherobotsystemorbeforeconnectingSetup& 1. Installationandtransportationofrobotsandroboticequipmentshallbeperformedbyqualifiedpersonnelandshouldconformtoallnationalandlocalcodes.PleasereadthismanualandotherrelatedmanualsbeforeinstallingtherobotsystemorbeforeconnectingKeepthismanualhandyforeasyaccessatall safetyconsiderationsareindicatedthroughouttheBesuretoreadthedescriptionsshownwitheachbytheRS3Thissymbolindicatesthatadangerofpossibleseriousinjuryordeathexistsiftheassociatedinstructionsarenotfollowedproperly.Thissymbolindicatesthatadangerofpossibleseriousinjuryordeathcausedbyelectricshockexistsiftheassociatedinstructionsarenotfollowedproperly.ThissymbolindicatesthatadangerofpossibleharmtopeopleorphysicaldamagetoequipmentandfacilitiesexistsiftheassociatedinstructionsarenotfollowedSetup& 1. DesignandInstallationSetup& 1. DesignandInstallation Onlytrainedpersonnelshoulddesignandinstalltherobotpersonnelaredefinedasthosewhohavetakenrobotsystemtrainingandmaintenancetrainingclassesheldbythemanufacturer,dealer,orlocalrepresentativecompany,orthosewhounderstandthemanualsthoroughlyandhavethesameknowledgeandskilllevelasthosewhohavecompletedthetrainingToensuresafety,asafeguardmustbeinstalledfortherobotsystem.Fordetailsonthesafeguard,refertotheInstallationandDesignPrecautionsintheSafetychapteroftheEPSONRC+User’sThefollowingitemsaresafetyprecautionsfordesignFurtherprecautionsforinstallationarementionedinthechapterSetup&3.EnvironmentsandInstallation.Pleasereadthischaptercarefullytounderstandsafeinstallationproceduresbeforeinstallingtherobotsandrobotic4RSPersonnelwhodesignand/orconstructtherobotsystemwiththisproductmustreadtheSafetychapterintheEPSONRC+User’sGuidetounderstandthesafetyrequirementsbeforedesigningand/orconstructingtherobotsystem.Designingand/orconstructingtherobotsystemwithoutunderstandingthesafetyrequirementsisextremelyhazardous,mayresultinseriousbodilyinjuryand/orsevereequipmentdamagetotherobotsystem,andmaycauseserioussafetyTheManipulatorandtheControllermustbeusedwithintheenvironmentalconditionsdescribedintheirrespectivemanuals.Thisproducthasbeendesignedandmanufacturedstrictlyforuseinanormalindoorenvironment.Usingtheproductinanenvironmentthatexceedsthespecifiedenvironmentalconditionsmaynotonlyshortenthelifecycleoftheproductbutmayalsocauseserioussafetyproblems.Therobotsystemmustbeusedwithintheinstallationrequirementsdescribedinthemanuals.UsingtherobotsystemoutsideoftheinstallationrequirementsmaynotonlyshortenthelifecycleoftheproductbutalsocauseserioussafetySetup& 1. Operation ThefollowingSetup& 1. Operation ThefollowingitemsaresafetyprecautionsforqualifiedOperatorRS5Wheneverpossible,onlyonepersonshouldoperatetherobotsystem.Ifitisnecessarytooperatetherobotsystemwithmorethanoneperson,ensurethatallpeopleinvolvedcommunicatewitheachotherastowhattheyaredoingandtakeallnecessarysafetyprecautions.Toshutoffpowertotherobotsystem,pulloutthepowerplugfromthepowersource.BesuretoconnecttheACpowercabletoapowerreceptacle.DONOTconnectitdirectlytoafactorypowersource.Beforeperforminganyreplacementprocedure,turnOFFtheControllerandrelatedequipment,andthenpulloutthepowerplugfromthepowersource.andmayresultinelectricshockand/ormalfunctionoftherobotsystem.DonotinsertorpulloutthemotorconnectorswhilethepowertotherobotsystemisturnedON.InsertingorpullingoutthemotorconnectorswiththepowerONisextremelyhazardousandmayresultinseriousbodilyinjuryastheManipulatormaymoveabnormally,andalsomayresultinelectricshockand/ormalfunctionoftherobotsystem.PleasecarefullyreadtheSafety-relatedRequirementsintheSafetychapteroftheEPSONRC+User’sGuidebeforeoperatingtherobotsystem.Operatingtherobotsystemwithoutunderstandingthesafetyrequirementsisextremelyhazardousandmayresultinseriousbodilyinjuryand/orsevereequipmentdamagetotherobotsystem.DonotentertheoperatingareaoftheManipulatorwhilethepowertotherobotsystemisturnedON.EnteringtheoperatingareawiththepowerONisextremelyhazardousandmaycauseserioussafetyproblemsastheManipulatormaymoveevenifitseemstobestopped.Beforeoperatingtherobotsystem,makesurethatnooneisinsidethesafeguardedarea.Therobotsystemcanbeoperatedinthemodeforteachingevenwhensomeoneisinsidethesafeguardedarea.ThemotionoftheManipulatorisalwaysinrestricted(lowspeedsandlowpower)statustosecurethesafetyofanoperator.However,operatingtherobotsystemwhilesomeoneisinsidethesafeguardedareaisextremelyhazardousandmayImmediatelypresstheEmergencyStopswitchwhenevertheManipulatormovesabnormallywhiletherobotsystemisoperated.Setup& 1. Emergency IftheManipulatormovesabnormallyduringoperation,immediatelypresstheEmergencyStopswitch.Stopsthepowersupplytothemotor,andthearmstopsintheshortestdistancewiththedynamicbrakeandmechanicalbrake.However,avoidpressingtheEmergencyStopswitchunnecessarilywhiletheManipulatorisrunningnormally.Otherwise,theManipulatormayhittheperipheralequipmentsincetheoperatingtrajectorywhiletherobotsystemstopsisdifferentfromthatinnormalToSetup& 1. Emergency IftheManipulatormovesabnormallyduringoperation,immediatelypresstheEmergencyStopswitch.Stopsthepowersupplytothemotor,andthearmstopsintheshortestdistancewiththedynamicbrakeandmechanicalbrake.However,avoidpressingtheEmergencyStopswitchunnecessarilywhiletheManipulatorisrunningnormally.Otherwise,theManipulatormayhittheperipheralequipmentsincetheoperatingtrajectorywhiletherobotsystemstopsisdifferentfromthatinnormalToplacethesysteminemergencymodeduringnormaloperation,presstheEmergencyStopswitchwhentheManipulatorisnotmoving.RefertotheControllermanualforinstructionsonhowtowiretheEmergencyStopFreerunningdistanceinTheoperatingManipulatorcannotstopimmediatelyaftertheEmergencyStopswitchisThefreerunningtime/angle/distanceoftheManipulatorareshownrememberthatthevaluesvarydependingonfollowingWeightoftheend WeightofworkOperating6RSRC180/RS3-FreerunningJoint#1+Joint#2Joint FreerunningJoint Joint Joint#1+Joint#2FreerunningJoint JointJointStopTargetPointwheretheemergencystopsignalisinputAccelLoad3Weight3Setup& 1. EmergencyMovementWithoutDrive WhenthesystemisSetup& 1. EmergencyMovementWithoutDrive Whenthesystemisplacedinemergencymode,pushthearmorjointoftheManipulatorbyhandasshownbelow:Arm PushthearmbyArm PushthearmbyJointThejointcannotbemovedup/downbyhanduntilelectromagneticbrakeappliedtothejointhasbeenMovethejointup/downRotatetheshaftbyJointBecarefuloftheshaftwhilethebrakereleasebuttonisbecausetheshaftmaybeloweredbytheweightofanendRS7Joint#1Joint ArmArm#1 ArmArm+Joint Joint(upand brakerelease+Joint#4Setup& 1. Manipulator ThefollowinglabelsareattachednearthelocationsofSetup& 1. Manipulator ThefollowinglabelsareattachednearthelocationsoftheManipulatorwherespecificdangersexist.BesuretocomplywithdescriptionsandwarningsonthelabelstooperateandtheManipulatorDonottear,damage,orremovetheUsemeticulouscarewhenhandlingpartsorunitstowhichthefollowinglabelsareattachedaswellasthenearby8RS ABeforelooseningthebasemountingscrews,holdthearmandsecureittightlywithabandtopreventhandsorfingersfrombeingcaughtintheManipulator.BCHazardousvoltageexistswhiletheManipulatorisON.Toavoidelectricshock,donottouchanyinternalelectricparts.DYoucancatchyourhandorfingersbetweentheshaftandArm#1whenbringingyourhandclosetomovingparts.Eどは、有資格作業(yè)者により、行ってください。無資格作業(yè)者による作業(yè)は、非常に危険で重傷や重大FGHSetup&1.LocationofHCC B(BothECFCGSetup&1.LocationofHCC B(BothECFCGARS9Setup& 2. FeaturesofRSseries TheRSseriesManipulatorsprovides“Operation-orientedSetup& 2. FeaturesofRSseries TheRSseriesManipulatorsprovides“Operation-orientedlayout”withhigh-performance,highspeed,highaccuracy,spacesaving,andflexibleinstallation.ThefeaturesoftheRSseriesManipulatorsareasCompactnessachievedbyusingaductlessSmallbodyandwidemotionCeilingmountingrealizesthecylindricalmotionOperationarea:approx.160%(comparedwithScararobotofsamearmMax.inscribed:approx.250%(comparedwithScararobotofsamearmGreatflexibilityforperipheralequipmentsAccesstoALLOperationefficiencyTheshortcutmotionwithinward Model RS3-351S-:UL:NonUL::Cleanroom&ESD(Anti-#3:130:100mm(withArm:350Cleanroom-ThismodelhasadditionalfeaturesthatreducedustemittedbytheManipulatortoenableuseincleanroomenvironments.Fordetailsofthespecifications,refertoSetup&Operation:2.4RS□1Setup& 2. PartNamesandOuter -WhentheSetup& 2. PartNamesandOuter -Whenthebrakereleasebuttonispressedinemergencymode,theJoints#3brakewillbeWhentheLEDlampislightingorthecontrollerpowerison,thecurrentisbeingappliedtothemanipulator.PerforminganyworkwiththepowerONisextremelyhazardousanditmayresultinelectricshockand/orimproperfunctionoftherobotsystem.MakesuretoturnOFFthecontrollerpowerbeforethemaintenancework.-RSPower (15-pinD-subFittingFitting Fitting for?6for?4 for?6 Joint Joint#2 PowerCable ArmArm#1 ArmFittingfor?4mmArm#2 Fittingfor?6 UserConnector (15-pinD-subConnector)Joint Fitting(upand for?6 Joint#3andJoint brakereleaseCE MTlabel(onlyforcustomSignature(SerialNo.ofURSetup&2.90ormore(*)Setup&2.90ormore(*)indicatesthestrokemarginbymechanicalthrough1mmflatConical?16h7shaft?30mechanicalstopEnlargedviewfromthroughholedepth6.5Referencethrough(OriginalorientationofJoint#3,(ViewfromthetopoftheRSSetup& 2.ThefollowingSetup& 2.ThefollowingfiguresshowthespecialpartsforCleanroom-model(TableTopmounting).ThesepartsaredifferentinappearancefromStandard-model.RS Platecover Setup&2.90ormore(*)Setup&2.90ormore(*)indicatesthestrokemarginbymechanicalthrough1mmflatConicalForManipulatorthroughdepth6.5（fromback?16h7Shaft?30MechanicalstopReferencethroughhole(Viewfromthetopofthebase)EnlargedviewfromA(OriginalorientationofJoint#3,#4)RSSetup& 2. RSRSArmArm#1,350175175ArmArmoperating Joints#1,6237Joints#1100Joint2600Joints#1,0.01Joints#0.01Joint0.01Payload1Setup& 2. RSRSArmArm#1,350175175ArmArmoperating Joints#1,6237Joints#1100Joint2600Joints#1,0.01Joints#0.01Joint0.01Payload13Joint#4allowablemomentofinertia*20.0050.05motionJoint225Joint225JointRS3-351S:130RS3-351C:100Joint720Joint2560000to+5973334Joint4177920JointRS3-351S:1479112pulseto0pulseRS3-351C:1137778pulseto0Joint3145728Joint0.0000527Joint0.0000538Joint0.0000879Joint0.000229Hand?16?11MountingWeight(cablesnot17kg:38(CommontoStandard&Cleanroom-DrivingACservoJoint400Joint200Joint150Joint100Cleanroom*3&Joint#3down150Installedwireforcustomer15wires:D-sub/15pinInstalledpneumatictubeforcustomer2pneumatictubes(?6mm):0.59Mpa(6kgf/cm2:861pneumatictube(?4mm):0.59Mpa(6kgf/cm2:86Ambient5to40C(withminimumtemperature10to80%RH(noNoise LAeq=70dBApplicableRC180,Setup& 2.*1:InthecaseofPTPcommand.MaximumoperatingspeedSetup& 2.*1:InthecaseofPTPcommand.MaximumoperatingspeedforCPcommandis2000mm/son*2:InthecasewherethecenterofgravityisatthecenterofJointIfthecenterofgravityisnotatthecenterofJoint#4,settheparameterusingInertia*3:TheexhaustsystemintheCleanroom-modelManipulatordrawsairfromthebaseinteriorandarmcoverinteriortogether.Acrackorotheropeninginthebaseunitcancauselossofnegativeairpressureintheouterpartofthearm,whichcancauseincreaseddustemission.DonotremovethemaintenancecoveronthefrontoftheSealtheexhaustportandtheexhausttubewithvinyltapesothatthejointisIftheexhaustflowisnotsufficient,dustparticleemissionmayexceedthespecifiedmaximumlevel.Cleanlinesslevel:ClassISO3(ISO14644-1)Inpreviouscriteria;CleanClass:10oritsAmountofDust(0.1μmdiameterorlarger)in28317cm3(1cft)sample-airaroundthecenterofthemotionrang:10particlesorExhaustSystem:Exhaustportdiameter:Innerdiameter:?12mm/Outerdiameter:?16Exhaust:PolyurethaneOuterdiameter:?12mm(Innerdiameter:?8mm)orInnerdiameter?16mmorlargerRecommendedexhaustflowrate:approx.1000cm3/s*4:ConditionsofManipulatorduringmeasurementasOperatingconditions:Underratedload,4-jointssimultaneousmotion,maximumspeed,maximumacceleration,andduty50%.:InfrontoftheManipulator,1000mmapartfromthemotionrange,50mmabovethebase-installedsurface.*5:Ingeneraluse,Accelsetting100istheoptimumsettingthatmaintainsthebalanceofaccelerationandvibrationwhenpositioning.However,youmayrequireanoperationwithhighaccelerationtoshortenthecycletimebydecreasingthevibrationatpositioning. Inthiscase,setAcceltolargerthan100.IfyouspecifyalargerAccelvalue,thefrequencyoftheoverloaderrorandoverheatmayriseduringcontinuousoperation. TheuseoflargeAccelsettingisrecommendedonlyfornecessarymotions.RSRS()Default1to(5)1to(10)to1to(50)to1to(200)to0to(10000)to0,175to(1,175)to 3SafetyUL1740(ThirdEdition,DatedDecember7,2007)ANSI/RIAR15.06-1999NFPA79(2007CSA/CANZ434-03(FebruaryCEMarkingMachineryDirective,LowVoltageDirective,EMCSetup& 2. HowtoSettheSetup& 2. HowtoSetthe TheManipulatormodelforyoursystemhasbeensetbeforeshipmentfromthefactory.Itisnormallynotrequiredtochangethemodelwhenyoureceiveyoursystem.IfanMTlabelisattachedtotherearofaManipulator,theManipulatorhasThecustomspecificationsmayrequireadifferentprocedure;checkthecustomspecificationsnumberdescribedontheMTlabelanduswhenTheManipulatormodelcanbesetfromRefertothechapterRobotConfigurationintheEPSONRC+User’sRSWhenyouneedtochangethesettingoftheManipulatormodel,besuretosettheManipulatormodelproperly.ImpropersettingoftheManipulatormodelmayresultinabnormalornooperationoftheManipulatorand/orcausesafetyproblems.Setup& 3.Environmentsand Environmentsand Environmental AsuitableSetup& 3.Environmentsand Environmentsand Environmental Asuitableenvironmentisnecessaryfortherobotsystemtofunctionproperlyandsafely.BesuretoinstalltherobotsysteminanenvironmentthatmeetsthefollowingManipulatorsarenotsuitableforoperationinharshenvironmentssuchaspaintingareas,etc.WhenusingManipulatorsininadequateenvironmentsthatdonotmeettheaboveconditions,pleasecontactus.*1TheambienttemperatureconditionsarefortheManipulatorsonly.FortheControllertheManipulatorsareconnectedto,refertotheControllermanual. Base AbasetableforanchoringtheManipulatorisnotsupplied.PleasemakeorobtainthebasetableforyourManipulator.Theshapeandsizeofthebasetablediffersdependingontheuseoftherobotsystem.Foryourreference,welistsomeManipulatortablerequirementsThebasetablemustnotonlybeabletobeartheweightoftheManipulatorbutalsobeabletowithstandthedynamicmovementoftheManipulatorwhentheManipulatoroperatesatmaximumacceleration.Ensurethatthereisenoughstrengthonthebasetablebyattachingreinforcingmaterialssuchascrossbeams.ThetorqueandreactionforceproducedbythemovementoftheManipulatorareMax.ReactiontorqueonthehorizontalplateMax.HorizontalreactionforceMax.Verticalreaction:500:1200:1100ThethreadedholesrequiredformountingtheManipulatorbaseareUseboltswithspecificationsconformingtoISO898-1propertyclass:10.9orFordimensions,refertoSetup&Operation:3.3MountingRSAmbienttemperature5to (withminimumtemperatureAmbientrelative10to (noFirsttransientburst2kVorElectrostatic6kVorInstallKeepawayfromdirectKeepawayfromdust,oilysmoke,salinity,metalpowderorothercontaminantsKeepawayfromflammableorcorrosivesolventsandgasesKeepawayfromKeepawayfromshocksorKeepawayfromsourcesofelectricSetup& 3.EnvironmentsandTheplatefortheManipulatormountingfaceshouldbe20mmthickormoreandmadeofsteeltoreducevibration.ThesurfaceroughnessofSetup& 3.EnvironmentsandTheplatefortheManipulatormountingfaceshouldbe20mmthickormoreandmadeofsteeltoreducevibration.Thesurfaceroughnessofthesteelplateshouldbe25μmorThetablemustbesecuredonthefloororwalltopreventitfrommoving.TheManipulatormustbeinstalledhorizontally.Whenusingalevelertoadjusttheheightofthebasetable,useascrewwithM16diameterormore.Ifyouarepassingcablesthroughtheholesonthebasetable,seethefiguresRC180M/CSignalM/CPower[unit:(Figure:RS3-351S)DonotremovetheM/CcablesfromtheTheM/CcablesareinstalledtotheManipulatorbodyandcannotberemoved.NevertrytoremovetheM/Ccables.Incasethatthebasetablehasnomaintenancewindow*,itneedstoremovethefromthebasetableforthemaintenance.Whendesigningthebasetable,considerthispoint.(*Refertonextpage.)ForenvironmentalconditionsregardingspacewhenplacingtheControlleronthetable,refertotheControllerRSToensuresafety,asafeguardmustbeinstalledfortherobotsystem.Fordetailsonthesafeguard,refertotheEPSONRC+User’sGuide.Setup& 3.EnvironmentsandBaseTable–DesignThefollowingSetup& 3.EnvironmentsandBaseTable–DesignThefollowingisanexamplefordesigningthebasetableofRS3DuringtheoperationofRS3inthemaximumacceleration/decelerationspeed,thebasetablemustbesteadyenoughtopreventthevibrationfromtransmittingtoRS3.Joint#1CenterofMaintenancewindowMakespacefortheArm#1covertoremoveXYAASpaceforAdjustableWightoftableAdjustableboltGeometricalmomentof(A-:::approx.250Ironpipe:□10050mm 3.2mmthick:Ix=10.3108Iy=10.3108SetlowaspectratioofthebasetableheightandPutcenterofgravitylowerpositionbyinstallingtheControlleronthebottomofthebasetable.ReinforcetheopenpartwithjoistorsimilarmaterialtominimizetheTheconditiondependsonthetableheight,width,thepositionofjoist,andthecenterofgravity.RSSetup& 3.Environmentsand Mounting TheSetup& 3.Environmentsand Mounting Themaximumspacedescribedinfiguresshowsthattheradiusoftheendeffectoris50mmorless.Iftheradiusoftheendeffectorexceeds50mm,definetheradiusasthedistancetotheouteredgeofmaximumspace.Ifacameraorelectromagneticvalveextendsoutsideofthearm,setthemaximumrangeincludingthespacethattheymayreach.BesuretoallowforthefollowingextraspacesinadditiontothespacerequiredformountingtheManipulator,Controller,andperipheralequipment.spaceforspaceformaintenanceandEnsureaspacetoopenthearm#1cover,rearsidecoverandthemaintenancecoverformaintenance.spaceforTheminimumbendradiusofthepowercableis90mm.Wheninstallingthecable,besuretomaintainsufficientdistancefromobstacles.Inaddition,leaveenoughspaceforothercablessothattheyarenotbentforcibly.Ensuredistancetothesafeguardfromthemaximummotionrangeismorethan50CenterofMaximumYXRSArm#1 175Joint#1Motion 225Arm#2 175Joint#2Motion 225Setup& 3.Environmentsand Unpackingand THESetup& 3.Environmentsand Unpackingand THEINSTALLATIONSHALLBEPREFORMEDBYQUALIFIEDRSUsingacartorsimilarequipment,transporttheManipulatorinthesamemannerasitwasdelivered.AfterremovingtheboltssecuringtheManipulatortothedeliveryequipment,theManipulatorcanfall.Becarefulnottogethandsorfingerscaught.Thearmissecuredwithawiretie.Leavethewiretiesecureduntilyoufinishtheinstallationsoasnottogethandsorfingerscaught.TocarrytheManipulator,havetwoormorepeopletoworkonitandsecuretheManipulatortothedeliveryequipmentorholdtheareasindicatedingrayinthefigure(bottomofArm#1andbottomofthebase)byhand.Whenholdingthebottomofthebasebyhand,beverycarefulnottogetyourhand