MOTOMAN机器人_MA1400_说明书

YASKAWAYASKAWAMANUALNO.HW0484969MOTOMAN-MA1400INSTRUCTIONSTYPE:YR-MA01400-A00(STANDARDSPECIFICATION)TYPE:YR-MA01400-A01(SLU-AXESWITHLIMITSWITCHES)TYPE:YR-MA01400-A10(CEILING-MOUNTEDSPECIFICATION)TYPE:YR-MA01400-A11(CEILING-MOUNTED,SLU-AXESWITHLIMITSWITCHES)Uponreceiptoftheproductandpriortoinitialoperation,readtheseinstructionsthoroughly,andretainforfuturereference.MOTOMANINSTRUCTIONSMOTOMAN-MA1400INSTRUCTIONSDX100INSTRUCTIONSDX100OPERATOR’SMANUALDX100MAINTENANCEMANUALTheDX100operator’smanualabovecorrespondstospecificusage.Besuretousetheappropriatemanual.1/76MA1400iiHW0484969HW0484969MANDATORY•ThisinstructionmanualisintendedtoexplainmainlyonthemechanicalpartoftheMOTOMAN-MA1400fortheapplicationtotheactualoperationandforpropermaintenanceandinspection.Itdescribesonsafetyandhandling,detailsonspecifications,necessaryitemsonmaintenanceandinspection,toexplainoperatinginstructionsandmaintenanceprocedures.Besuretoreadandunderstandthisinstructionmanualthoroughlybeforeinstallingandoperatingthemanipulator.•GeneralitemsrelatedtosafetyarelistedinSection1:SafetyoftheDX100Instructions.Toensurecorrectandsafeoperation,carefullyreadtheDX100Instructionsbeforereadingthismanual.CAUTION•Somedrawingsinthismanualareshownwiththeprotectivecoversorshieldsremovedforclarity.Besureallcoversandshieldsarereplacedbeforeoperatingthisproduct.•Thedrawingsandphotosinthismanualarerepresentativeexamplesanddifferencesmayexistbetweenthemandthedeliveredproduct.•YASKAWAmaymodifythismodelwithoutnoticewhennecessaryduetoproductimprovements,modifications,orchangesinspecifications.•Ifsuchmodificationismade,themanualnumberwillalsoberevised.•Ifyourcopyofthemanualisdamagedorlost,contactaYASKAWArepresentativetoorderanewcopy.Therepresentativesarelistedonthebackcover.Besuretotelltherepresentativethemanualnumberlistedonthefrontcover.•YASKAWAisnotresponsibleforincidentsarisingfromunauthorizedmodificationofitsproducts.Unauthorizedmodificationvoidsyourproduct'swarranty.2/76MA1400iiiHW0484969HW0484969NotesforSafeOperationReadthismanualcarefullybeforeinstallation,operation,maintenance,orinspectionoftheMOTOMAN-MA1400.Inthismanual,theNotesforSafeOperationareclassifiedas“WARNING”,“CAUTION”,“MANDATORY”,or“PROHIBITED”.Evenitemsdescribedas“CAUTION”mayresultinaseriousaccidentinsomesituations.Atanyrate,besuretofollowtheseimportantitems.WARNINGIndicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultindeathorseriousinjurytopersonnel.CAUTIONIndicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultinminorormoderateinjurytopersonnelanddamagetoequipment.Itmayalsobeusedtoalertagainstunsafepractices.MANDATORYAlwaysbesuretofollowexplicitlytheitemslistedunderthisheading.PROHIBITEDMustneverbeperformed.NOTEToensuresafeandefficientoperationatalltimes,besuretofollowallinstructions,evenifnotdesignatedasCAUTIONandWARNING.3/76MA1400ivHW0484969HW0484969WARNING•Beforeoperatingthemanipulator,checkthatservopoweristurnedOFFpressingtheemergencystopbuttonsonthefrontdooroftheDX100andtheprogrammingpendant.WhentheservopoweristurnedOFF,theSERVOONLEDontheprogrammingpendantisturnedOFF.Injuryordamagetomachinerymayresultiftheemergencystopcircuitcannotstopthemanipulatorduringanemergency.Themanipulatorshouldnotbeusediftheemergencystopbuttonsdonotfunction.Fig.:EmergencyStopButton•Oncetheemergencystopbuttonisreleased,clearthecellofallitemswhichcouldinterferewiththeoperationofthemanipulator.ThenturntheservopowerON.Injurymayresultfromunintentionalorunexpectedmanipulatormotion.Fig.:ReleaseofEmergencyStopTURN•ObservethefollowingprecautionswhenperformingteachingoperationswithintheP-pointmaximumenvelopeofthemanipulator:–Viewthemanipulatorfromthefrontwheneverpossible.–Alwaysfollowthepredeterminedoperatingprocedure.–Ensurethatyouhaveasafeplacetoretreatincaseofemergency.Improperorunintendedmanipulatoroperationmayresultininjury.•ConfirmthatnopersonispresentintheP-pointmaximumenvelopeofthemanipulatorandthatyouareinasafelocationbefore:–TurningonthepowerfortheDX100.–Movingthemanipulatorwiththeprogrammingpendant.–Runningthesysteminthecheckmode.–Performingautomaticoperations.InjurymayresultifanyoneenterstheP-pointmaximumenvelopeofthemanipulatorduringoperation.Alwayspressanemergencystopbuttonimmediatelyifthereisaproblem.TheemergencystopbuttonsarelocatedontherightoffrontdooroftheDX100andtheprogrammingpendant.4/76MA1400vHW0484969HW0484969DefinitionofTermsUsedOfteninThisManualTheMOTOMANmanipulatoristheYASKAWAindustrialrobotproduct.TheMOTOMANusuallyconsistsofthecontroller,theprogrammingpendant,andsupplycables.Inthismanual,theequipmentisdesignatedasfollows:CAUTION•Performthefollowinginspectionprocedurespriortoconductingmanipulatorteaching.Ifproblemsarefound,repairthemimmediately,andbesurethatallothernecessaryprocessinghasbeenperformed.–Checkforproblemsinmanipulatormovement.–Checkfordamagetoinsulationandsheathingofexternalwires.•AlwaysreturntheprogrammingpendanttothehookonthecabinetoftheDX100afteruse.Theprogrammingpendantcanbedamagedifitisleftinthemanipulator'sworkarea,onthefloor,ornearfixtures.•Readandunder