YASKAWA Motoman XRC 2001, Системное руководство

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MOTO MAN i ArcWorld II-200 System Manual
TABLE OF CONTENTS
Section
Page
LIST OF FIGURES...........................................................................................................................iii
LIST OF TABLES ............................................................................................................................iii
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 System Overview .......................................................................................................... 1-2
1.2.1
System Layout ................................................................................................ 1-2
1.2.2 Major Components ......................................................................................... 1-3
1.2.3 Optional Equipment ........................................................................................ 1-3
1.3 Reference to Other Documentation................................................................................ 1-3
1.4 Customer Service Information ...................................................................................... 1-4
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions .................................................................................................. 2-2
2.3 General Safeguarding Tips............................................................................................ 2-3
2.4 Mechanical Safety Devices ........................................................................................... 2-3
2.5 Installation Safety ......................................................................................................... 2-4
2.6 Programming Safety ..................................................................................................... 2-4
2.7 Operation Safety ........................................................................................................... 2-5
2.8 Maintenance Safety....................................................................................................... 2-6
3 EQUIPMENT DESCRIPTION
3.1 UP-series Robot Description ........................................................................................ 3-1
3.2 XRC 2001 Controller .................................................................................................... 3-1
3.2.1
Playback Panel ............................................................................................... 3-2
3.2.2 Programming Pendant .................................................................................... 3-3
3.2.3 Brake Release ................................................................................................. 3-6
3.3 Operator Station............................................................................................................ 3-6
3.3.1
Cycle Start ...................................................................................................... 3-6
3.3.2 AUTO/MANUAL .............................................................................................. 3-7
3.3.3 Emergency Stop (E-STOP) .............................................................................. 3-7
3.4 Barrier Assembly .......................................................................................................... 3-7
3.4.1
Stationary Weld Tables ................................................................................... 3-7
3.5 Safety Features ............................................................................................................. 3-8
3.5.1
Arc Screens .................................................................................................... 3-8
3.5.2 Fencing ........................................................................................................... 3-8
3.5.3 Emergency Stops (E-STOPS) .......................................................................... 3-8
3.5.4 ENABLE Switch ............................................................................................... 3-9
3.5.5 Interlocked Cell Door ...................................................................................... 3-9
3.5.6 Light Curtains ................................................................................................. 3-9
3.5.7 Brake Release ................................................................................................. 3-9