1 Safety...........................

1 Safety..............................................................................................................................................1-1
1.1 For Your Safety..................................................................................................................1-1
1.2 Special Training .................................................................................................................1-2
1.3 Motoman Manual List.........................................................................................................1-2
1.4 Personnel Safety................................................................................................................1-3
1.5 Motoman Safety.................................................................................................................1-5
1.5.1 Installation and Wiring Safety ...............................................................................1-5
1.5.2 Work Area Safety..................................................................................................1-9
1.5.3 Operation Safety.................................................................................................1-10
1.6 Notes for Moving and Transferring the MOTOMAN......................................................... 1-13
1.7 Notes on MOTOMAN Disposal ........................................................................................ 1-14
2 Product Confirmation ......................................................................................................................2-1
2.1 Contents Confirmation .......................................................................................................2-1
2.2 Order Number Confirmation...............................................................................................2-2
3 Installation.......................................................................................................................................3-1
3.1 Handling Procedure ...........................................................................................................3-1
3.1.1 Using a Crane to Move the Controller ..................................................................3-1
3.1.2 Using a Forklift to Move the Controller .................................................................3-2
3.2 Place of Installation............................................................................................................3-3
3.3 Location .............................................................................................................................3-4
3.4 Mounting the Controller......................................................................................................3-5
3.5 Procedure of Stacking the Controllers ...............................................................................3-6
4 Connection......................................................................................................................................4-1
4.1 Notes on Cable Junctions ..................................................................................................4-2
4.2 Power Supply.....................................................................................................................4-3
4.2.1 Three-Phase Power Supply..................................................................................4-3
4.2.2 Noise Filter Installation .........................................................................................4-3
4.2.3 Leakage Breaker Installation ................................................................................4-4
4.2.4 Primary Power Supply Breaker Installation ..........................................................4-5
4.3 Connection Methods..........................................................................................................4-6
4.3.1 Connecting the Primary Power Supply .................................................................4-6
4.3.2 Connecting the Manipulator Cable ..................................................................... 4-11
Contents
ix
4.3.3 Connecting the Programming Pendant .............................................................. 4-12
4.3.4 User I/O Cable Connection................................................................................. 4-13
5 Turning ON and OFF the Power Supply......................................................................................... 5-1
5.1 Turning ON the Main Power Supply .................................................................................. 5-1
5.1.1 Initial Diagnosis .................................................................................................... 5-2
5.1.2 When Initial Diagnosis are Complete ................................................................... 5-2
5.2 Turning ON the Servo Power............................................................................................. 5-3
5.2.1 During Play Mode................................................................................................. 5-3
5.2.2 During Teach Mode.............................................................................................. 5-3
5.3 Turning OFF the Power Supply ......................................................................................... 5-5
5.3.1 Turning OFF the Servo Power (Emergency Stop)................................................ 5-5
5.3.2 Turning OFF the Main Power ............................................................................... 5-5
6 Test of Program Operation ............................................................................................................. 6-1
6.1 Movement of the Axes....................................................................................................... 6-3
7 Security System.............................................................................................................................. 7-1
7.1 Protection Through Security Mode Settings ...................................................................... 7-1
7.1.1 Security Mode ...................................................................................................... 7-1
7.1.1.1 Changing the Security Mode................................................................... 7-6
7.1.2 User ID ................................................................................................................. 7-9
7.1.2.1 Changing User ID.................................................................................... 7-9
8 System Setup.................................................................................................................................. 8-1
8.1 Home Position Calibration ................................................................................................. 8-2
8.1.1 Home Position Calibration.................................................................................... 8-4
8.1.2 Calibrating Operation............................................................................................ 8-5
8.1.2.1 Registering All Axes at One Time ........................................................... 8-5
8.1.2.2 Registering Individual Axes ..................................................................... 8-8
8.1.2.3 Changing the Absolute Data ................................................................... 8-9
8.1.2.4 Clearing Absolute Data ........................................................................... 8-9
8.1.3 Home Position of the Robot................................................................................ 8-11
8.2 Setting the Second Home Position (Check Point) ........................................................... 8-12
8.2.1 Purpose of Position Check Operation ................................................................ 8-14
8.2.2 Procedure for the Second Home Position Setting (Check Point) ....................... 8-16
8.2.3 Procedure after the Alarm .................................................................................. 8-18
8.3 Tool Data Setting ............................................................................................................. 8-20
Contents
x
8.3.1 Registering Tool Files ......................................................................................... 8-20
8.3.1.1 Number of Tool Files .............................................................................8-20
8.3.1.2 Registering Coordinate Data .................................................................8-20
8.3.1.3 Registering Tool Angle ..........................................................................8-23
8.3.1.4 Setting the Tool Load Information ......................................................... 8-24
8.3.2 Tool Calibration................................................................................................... 8-25
8.3.2.1 Tool Calibration ..................................................................................... 8-25
8.3.2.2 Setting of Tool Calibration Method ........................................................ 8-25
8.3.2.3 Teaching of Calibration Point ................................................................8-26
8.3.2.4 Clearing Calibration Data ...................................................................... 8-32
8.3.2.5 Checking the TCP .................................................................................8-34
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity................. 8-36
8.3.3.1 What is the Automatic Measurement of the Tool Load and
the Center of Gravity? ........................................................................... 8-36
8.3.3.2 Measurement of the Tool Load and the Center of Gravity .................... 8-36
8.4 ARM Control ....................................................................................................................

ผลลัพธ์ (ไทย) 1:

1 Safety..............................................................................................................................................1-11.1 For Your Safety..................................................................................................................1-11.2 Special Training .................................................................................................................1-21.3 Motoman Manual List.........................................................................................................1-21.4 Personnel Safety................................................................................................................1-31.5 Motoman Safety.................................................................................................................1-51.5.1 การติดตั้งและเดินสายตู้...1-51.5.2 Work Area Safety..................................................................................................1-91.5.3 Operation Safety.................................................................................................1-101.6 การย้าย และการโอนย้าย MOTOMAN ... 1-131.7 หมายเหตุ MOTOMAN ทิ้ง... 1-142 Product Confirmation ......................................................................................................................2-12.1 Contents Confirmation .......................................................................................................2-12.2 Order Number Confirmation...............................................................................................2-23 Installation.......................................................................................................................................3-13.1 Handling Procedure ...........................................................................................................3-13.1.1 Using a Crane to Move the Controller ..................................................................3-13.1.2 Using a Forklift to Move the Controller .................................................................3-23.2 Place of Installation............................................................................................................3-33.3 Location .............................................................................................................................3-43.4 Mounting the Controller......................................................................................................3-53.5 Procedure of Stacking the Controllers ...............................................................................3-64 Connection......................................................................................................................................4-14.1 Notes on Cable Junctions ..................................................................................................4-24.2 Power Supply.....................................................................................................................4-34.2.1 Three-Phase Power Supply..................................................................................4-34.2.2 Noise Filter Installation .........................................................................................4-34.2.3 Leakage Breaker Installation ................................................................................4-44.2.4 Primary Power Supply Breaker Installation ..........................................................4-54.3 Connection Methods..........................................................................................................4-64.3.1 Connecting the Primary Power Supply .................................................................4-64.3.2 Connecting the Manipulator Cable ..................................................................... 4-11Contentsix4.3.3 Connecting the Programming Pendant .............................................................. 4-124.3.4 User I/O Cable Connection................................................................................. 4-135 ในการเปิด และปิดไฟ... 5-15.1 เปิดไฟหลัก... 5-15.1.1 Initial Diagnosis .................................................................................................... 5-25.1.2 เมื่อแรกวินิจฉัยจะเสร็จสมบูรณ์... 5-25.2 Turning ON the Servo Power............................................................................................. 5-35.2.1 During Play Mode................................................................................................. 5-35.2.2 During Teach Mode.............................................................................................. 5-35.3 ปิดไฟ... 5-55.3.1 ปิดไฟ Servo (หยุดฉุกเฉิน) ... 5-55.3.2 ปิดไฟหลัก... 5-56 Test of Program Operation ............................................................................................................. 6-16.1 Movement of the Axes....................................................................................................... 6-37 Security System.............................................................................................................................. 7-17.1 การป้องกันการตั้งค่าโหมดความปลอดภัย... 7-17.1.1 Security Mode ...................................................................................................... 7-17.1.1.1 การเปลี่ยนโหมดความปลอดภัย... 7-67.1.2 User ID ................................................................................................................. 7-97.1.2.1 Changing User ID.................................................................................... 7-98 System Setup.................................................................................................................................. 8-18.1 Home Position Calibration ................................................................................................. 8-28.1.1 บ้านตำแหน่งเทียบ... 8-48.1.2 Calibrating Operation............................................................................................ 8-58.1.2.1 ลงทะเบียนทั้งหมดแกนที... 8-58.1.2.2 ลงทะเบียนแต่ละแกน... 8-88.1.2.3 Changing the Absolute Data ................................................................... 8-98.1.2.4 Clearing Absolute Data ........................................................................... 8-98.1.3 Home Position of the Robot................................................................................ 8-118.2 Setting the Second Home Position (Check Point) ........................................................... 8-128.2.1 Purpose of Position Check Operation ................................................................ 8-148.2.2 Procedure for the Second Home Position Setting (Check Point) ....................... 8-168.2.3 Procedure after the Alarm .................................................................................. 8-188.3 Tool Data Setting ............................................................................................................. 8-20Contentsx8.3.1 Registering Tool Files ......................................................................................... 8-208.3.1.1 Number of Tool Files .............................................................................8-208.3.1.2 Registering Coordinate Data .................................................................8-208.3.1.3 Registering Tool Angle ..........................................................................8-238.3.1.4 Setting the Tool Load Information ......................................................... 8-248.3.2 Tool Calibration................................................................................................... 8-258.3.2.1 Tool Calibration ..................................................................................... 8-258.3.2.2 Setting of Tool Calibration Method ........................................................ 8-258.3.2.3 Teaching of Calibration Point ................................................................8-268.3.2.4 Clearing Calibration Data ...................................................................... 8-328.3.2.5 Checking the TCP .................................................................................8-348.3.3 Automatic Measurement of the Tool Load and the Center of Gravity................. 8-368.3.3.1 What is the Automatic Measurement of the Tool Load andthe Center of Gravity? ........................................................................... 8-368.3.3.2 Measurement of the Tool Load and the Center of Gravity .................... 8-368.4 ARM Control ....................................................................................................................

ผลลัพธ์ (ไทย) 3:

1 Safety..............................................................................................................................................1-1
1.1 For Your Safety..................................................................................................................1-1
1.2 Special Training ................................................................................................................. 1-2
1.3 โมโตแมนคู่มือรายการ ......................................................................................................... 1-2
1.4 เจ้าหน้าที่ความปลอดภัย ................................................................................................................ 1-3
1.5 โมโตแมน ................................................................................... ความปลอดภัย..............................1-5
1.5.1 Installation and Wiring Safety ...............................................................................1-5
1.5.2 Work Area Safety..................................................................................................1-9
1.5.3 Operation Safety.................................................................................................1-10
1.6 หมายเหตุสำหรับการเคลื่อนย้ายและการถ่ายโอน ......................................................... โมโตแมน 1-13
1.7 บันทึกในการกำจัด ........................................................................................ โมโตแมน ยืนยันสินค้า 1-14
2 ...................................................................................................................... 2-1
21 Contents Confirmation .......................................................................................................2-1
2.2 Order Number Confirmation...............................................................................................2-2
3 Installation............................................................................................................................... . . 3-1
3.1 การจัดการกระบวนการ ........................................................................................................... 3-1
3.1.1 ใช้เครน ย้าย .................................................................. ควบคุม 3-1
3.1.2 ใช้รถยกเพื่อย้ายตัวควบคุม ................................................................. 3-2
32 สถานที่ติดตั้ง ............................................................................................................ 3-3
3.3 ที่ตั้ง ............................................................................................................................. 3-4
3.4 การติดตั้งตัวควบคุม ......................................................................................................3-5
3.5 Procedure of Stacking the Controllers ...............................................................................3-6
4 Connection......................................................................................................................................4-1
4.1 Notes on Cable Junctions ....................................................................................ยกระดับ 4-2
4.2 แหล่งจ่ายไฟ ..................................................................................................................... 4-3
4.2.1 สามเฟส ประปา ไฟฟ้า .................................................................................. 4-3
4.2.2 เสียงกรองติดตั้ง ......................................................................................... 4-3
42.3 Leakage Breaker Installation ................................................................................4-4
4.2.4 Primary Power Supply Breaker Installation ..........................................................4-5
4.3 Connection Methods..........................................................................................................4-6
4.3.1 Connecting the Primary Power Supply .................................................................4-6
4.3.2 Connecting the Manipulator Cable ..................................................................... 4-11
Contents
ix
4.3.3 Connecting the Programming Pendant .............................................................. 4-12
4.3.4 User I/O Cable Connection................................................................................. 4-13
5 Turning ON and OFF the Power Supply......................................................................................... 5-1
5.1 Turning ON the Main Power Supply .................................................................................. 5-1
5.1.1 Initial Diagnosis .................................................................................................... เมื่อเริ่มต้นการวินิจฉัยเป็น 5-2
5.1.2 ................................................................... สมบูรณ์ 5-2
5.2 เปิดพลัง ............................................................................................. เซอร์โว 5.2.1 ในโหมดเล่น ......................................................................................... 5-3
. . . . . ในโหมด .............................................................................................. 5-3
5.2.2 สอน 5-3
5.3 ปิดแหล่งจ่ายไฟ ......................................................................................... 5-5
5.3.1 ปิดเซอร์โว Power ( หยุดฉุกเฉิน ) ................................................ 5.3.2 เป็น 5-5
ปิดพลังงานหลัก.............................................................................. 5-5
6 ทดสอบการทํางานของโปรแกรม ............................................................................................................. การเคลื่อนไหวของแกน ....................................................................................................... 6-1
. ......................... 6-3
7 ระบบรักษาความปลอดภัย..................................................................................................... 7-1
7.1 Protection Through Security Mode Settings ...................................................................... 7-1
7.1.1 Security Mode ...................................................................................................... 7-1
7.1.1.1 Changing the Security Mode................................................................... การขอรหัสผู้ใช้ ................................................................................................................. 7-6
7-9
7.1.2.1 เปลี่ยน ID ผู้ใช้ .................................................................................... 7-9
8 ระบบการติดตั้ง .................................................................................................................................. 8-1
8.1 Home Position Calibration ................................................................................................. 8-2
8.1.1 Home Position Calibration.................................................................................... 8-4
8.1.2 Calibrating Operation............................................................................................ 8-5
8.1.2.1 ลงทะเบียนแกนทั้งหมดในครั้งเดียว ........................................................... 8-5
8.1.2.2 ลงทะเบียน ..................................................................... แต่ละแกน 8-8
8.1.2.3 เปลี่ยน ................................................................... ข้อมูลแบบสัมบูรณ์ 8-9
8.1.2.4 ล้าง……ข้อมูลที่แน่นอน