nachi机器人培训资料

1steditionFirsttimetouserobotFirsttimetouserobotRobotSchoolAXstandardcourseSection#1:IndustrialRobotSection#2:BasesofNACHIROBOTSection#3:CarryandInstallationSection#4:Cautionfortooldesignpage2Section#1IndustrialRobotFirsttimetouserobotpage3IndustrialrobothistoryIndustrialrobothistoryDiffusionofindustrialrobotIn1960s,industrialrobotwaspresentedintheindustrialnewspaperinUSA.Diffusedtoindustrialmarket.InJapan...ImportedfromUSA1967,andquicklydiffusedinJapaneseindustrialmarketbecause-Masterdangeroustaskinsteadofworker-Compensatethelackofworker-Preventfromhighwagesin1973and1979oilshock-Acceleratedbytheadvancedcontroltechnologypage4NACHIROBOT　historyNACHIROBOT　history19701980199020001994Concept:CompactandsavespaceSAseries2001Concept:ModuleconceptEasymaintenanceSHseries1987Concept:　highproduction　highreliability8608seriesManufactureindustrialrobotUNIMANseries1969ElectricindustrialrobotfirstinJapan8600series1980Concept:　fast&fineSFseries1998Firsttimetouserobotpage5Section#2BasesofNACHIROBOTpage6Howtoreadthetype(1)Howtoreadthetype(1)SH166T-03-AX10-5000Robot(manipulator)seriesnameSGseriesSCseriesSHseriesFirsttimetouserobotpage7Howtoreadthetype(2)Howtoreadthetype(2)SH166T-03-AX10-5000Ratedpayloadofrobotunit：KGBiggersizeforheavierpayloadpage8Howtoreadthetype(3)Howtoreadthetype(3)SH166T-03-AX10-5000RobotsupplementtypeT:tablemounttypeL:Longarmtype　　　andorsoSH166-03floormountSH166T-03tablemountSH166L-03LongarmFirsttimetouserobotpage9Howtoreadthetype(4)Howtoreadthetype(4)SH166T-03-AX10-5000Robotversion(Sample)SH166-03：InlinewristtypeSH166-04：OffsetwristtypeMotortypeandwristspecificationdiffersdependingonthisversionnumber.Basically,programisnotcompatible.page10Howtoreadthetype(5)Howtoreadthetype(5)SH166T-03-AX10-5000ControllerseriesnameAX10-****TypeCabinettypeRobotseriesharness0direct1connectortransformer0no1existlanguage0Japanese1EnglishFirsttimetouserobotpage11Howtoreadbasicspecification(1)Howtoreadbasicspecification(1)項目仕様ロボット型式SF133-02SF166-02SF200-02構造関節形自由度6駆動方式ACｻｰﾎﾞ方式Ｓ旋回±2.62radＨ前後＋1.40～－1.15rad腕Ｖ上下＋2.72～－2.18radＲ２回転２±6.28radＢ曲げ±2.36rad±2.18rad最大動作範囲手首Ｒ１回転１±6.28radＳ旋回2.27rad/s1.83rad/s1.66rad/sＨ前後2.27rad/s1.83rad/s1.48rad/s腕Ｖ上下2.27rad/s1.83rad/s1.48rad/sＲ２回転２3.94rad/s2.62rad/s1.92rad/sＢ曲げ3.94rad/s2.62rad/s1.92rad/s最大速度手首Ｒ１回転１5.32rad/s3.67rad/s3.14rad/sOperatingareaSpeedBasicconstructionRobottypepage12Howtoreadbasicspecification(2)Howtoreadbasicspecification(2)手首部133kg166kg200kg第１アーム上部25kg可搬質量アーム部Ｖ軸上部45kgＲ２回転２735N･m921N･m1274N･mＢ曲げ735N･m921N･m1274N･m手首トルクＲ１回転１392N･m461N･m686N･m位置繰り返し精度±0.3mm±0.5mm周囲温度0～45℃設置条件床置本体質量1280kg1330kgPayloadWristtorqueRepeatabilityAmbienttemperatureRobotweight！！！CAUTION！！！Carrytherobotinpropermethodreferringthemaintenancemanual.Otherwise,serioustroubleincludingdeathmayhappen.Firsttimetouserobotpage13OperatingareaOperatingareaOperatingareaofSH166-03Operatingareawritteninbasicspecificationsheetindicatesthelocusofthispositioncalled“pointA”.Whentoolisattached,theareabecomesmuchwider.page14Nameofparts(SHseries)Nameofparts(SHseries)Firsttimetouserobotpage15軸名動　作J1腕　旋　回J2腕　前　後J3腕　上　下J4手首回転２J5手首曲げJ6手首回転１AxisnameanditsmovementAxisnameanditsmovementPressaxisoperatingkeyPressaxisoperatingkeySwingingaxismovementForwardandbackwardUpanddownWristrotating2Wristrotating1Wristbendingpage16Section#3CarryandInstallationFirsttimetouserobotpage17Carrytherobot:FloormounttypeCarrytherobot:FloormounttypeReferringtherobotmaintenancemanual,carryandinstallrobotbypropermethod.CheckPoint1.Afterinstallation,removetheJ2axisfixingbracket.2.Protectarmwherethewirecontactsarmdirectly.(rubbercoverandorso)3.Refertherobotmaintenancemanualfortheproperwirequantity,lengthandthickness.(notes)RobotCOGshouldbelocatedincenterbeforecarryingtherobot.page18Carrytherobot:TablemounttypeCarrytherobot:TablemounttypeCheckPoint1.Afterinstallation,removethestandingbracketandwiringbracket.2.Protectarmwherethewirecontactsarmdirectly.(rubbercoverandorso)3.Refertherobotmaintenancemanualfortheproperwirequantity,lengthandthickness.Firsttimetouserobotpage19InstallationofrobotInstallationofrobotSizeofinstallationparts（SH166）page20Cautionsforinstallation(1)Cautionsforinstallation(1)CheckPoint(1)Flatnessoffourmountingplatesshouldbewithin1.0mm.(2)Clearanceoffourmountingplatesshouldbewithin1.0mm+/-0.5mm.Firsttimetouserobotpage21Cautionsforinstallation(2)Cautionsforinstallation(2)CheckPoint(3)Ifpre-describedtwospecificationsweredifficult,usethefollowingjackbolttocontactfourpointequally.！！！CAUTION！！！Iffourmountingpointsdonotcontacttothefloorequally,toolpositionmaybeunstablewhileplaybackandlifetimeofswingbasemaybeshortened.Pleaserefertothe“Installationmanual”section2fordetail.page22Safetyfence(1)Safetyfence(1)Installationofsafetyfence(sample)Safetyfence(robotsurroundingfence)mustbeinstalledtoprotectoperators.Otherwiserobotmayhittheoperatorandseriousinjuringmayhappen.SignboardsuchasTeaching-keepoutPlaybacking-keepoutSignboardsuchasTeaching-keepoutPlaybacking-keepoutEquipsafetyplugonthedoor.Equipsafetyplugonthedoor.Brushingpassandclimboverisneverpermitted.Removab