Adept technology 300CR Uživatelský manuál stáhnout pdf (Strana 77)

MCP Usage for Six-Axis Robots

AdeptSix 300CR Robot Instruction Handbook, Rev. A 77

WORLD Coordinate System (WORLD Mode on the MCP)

The WORLD coordinate system is fixed. All translation motions are parallel to the

WORLD coordinates. The RX, RY, and RZ rotations are made with respect to the WORLD

coordinates. Use the + or - speed bar key to specify motions. See Figure 8-2.

Figure 8-2. World Mode

Moves in parallel with

Z-Axis

Moves in parallel with X- Axis

X-

X+

Y+

Z-

Z+

Y-

Y Moves in parallel with Y- Axis

X-Axis

Y-Axis

Z-Axis

1 2 ... 72 73 74 75 76 77 78 79 80 81 82 ... 105 106

AdeptSix 300CR Robot 1
Table of Contents 5
List of Figures 9
List of Tables 11
Introduction 1 13
1.3 Checking Package Contents 14
Location 15
1.6 Related Manuals 16
1.5 How Can I Get Help? 16
1.7 Knowledge Express 17
Safety 2 19
Safety Barriers 20
Chapter 2 - Safety 22
2.3 Risk Assessment 23
Avoidance 24
2.5 Robot Modifications 26
2.7 Transport 27
2.9 Working Areas 28
Robot Installation 3 33
3.2 Transporting Method 34
Using the Forklift 36
3.3 Shipping Bracket and Jig 37
3.4 Installing Cover Bolts 37
3.5 Types of Mounting 38
3.7 Axis Naming Conventions 40
3.8 Grounding the Robot 41
M8 Bolt - for grounding 42
(provided at factory) 42
or more 42
4.1 System Cable Diagrams 43
Adept SmartController System 44
Connection to the Robot 45
MAI STATUS 47
DSP STATUS 47
Installing the MV Controller 48
SmartController 49
5.1 Allowable Wrist Load 51
5.2 Wrist Tool Flange 52
Example 1 54
Center of Gravity Position 55
= (100, 0, 70) 55
Total Weight 55
Approx. 6.3 [kg] 55
7.00 [kg] 55
* Unit of Length: [m] 56
* Unit of Ix, Iy, Iz: [kg.m 56
* Unit of Weight: [kg] 56
Example 2 57
Example 3 59
System Operation 63
MV Controller 6 63
6.5 Calibrate Robot 68
6.6 Turning Off the System 68
SmartController 7 69
7.5 Calibrate Robot 73
7.6 Turning Off the System 73
Using the Manual Control 75
Pendant (MCP) 8 75
Figure 8-1. Joint Mode 76
Moves in parallel with 77
Z-Axis 77
Coordinate System Definitions 78
Maintenance and Inspection 9 79
Operation 80
Connector Base (Top View) 84
Maintenance Procedures 85
Axis 6 speed reducer 90
Ti: Grease Inlet 90
G Nipple A-PT1/16 90
Notes for Maintenance 91
9.3 Spare Parts 93
Technical Specifications 10 95
10.4 Baseplate Dimensions 97
Point P working 98
Dimensions in mm 98
10.6 Axis 5 Working Range 99
-51˚ (Axis 3) 100
Numerics 101
01600-000, Rev. A 106

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