Table Of Contents - Denso HS-G Series Installation & Maintenance Manual

Horizontal articulated

General information manual (56 pages)

Table of Contents

Chapter 1 Installing Robot Components ........................................................................................................................ 1

1.1 Preparing a Proper Environment for Installation................................................................................................... 1

1.1.1 Ambient Temperature and Humidity .............................................................................................................. 1

1.1.2 Vibration......................................................................................................................................................... 1

1.1.3 Connecting the Robot Unit and Robot Controller .......................................................................................... 1

1.1.4 Installation Environment of the Robot Unit ................................................................................................... 2

1.2 Mounting the Robot Unit ...................................................................................................................................... 4

1.2.1 Transporting the Floor-Mount Type ............................................................................................................... 4

1.2.2 Transporting the Overhead-Mount Type (HSS-G series) ............................................................................... 6

1.2.3 Securing the Robot Unit ............................................................................................................................... 10

1.2.4 Grounding the Robot Unit ............................................................................................................................ 11

1.3 Installing the Robot Controller............................................................................................................................ 11

1.4 Electrical Wiring and Air Piping of the Robot Unit ............................................................................................ 12

1.4.1 Notes for Wiring and Piping Through a Hollow in the Z-axis Shaft ............................................................ 12

1.4.2 Reference Drawings for Stays that Clamp Wiring and Piping...................................................................... 13

1.4.3 Prohibition Against Use of Mechanical End Bolts and Mechanical Stoppers for Wiring or Piping............. 14

1.4.4 Piping of Source Air ..................................................................................................................................... 15

1.5 Installing the Flange Kit (Option) ....................................................................................................................... 16

1.6 Engineering-design Notes for Robot Hands........................................................................................................ 16

1.7 Moving Each Axis with Motor Power OFF in Emergency Stop ......................................................................... 17

1.8 Locking Out the Power Switch ........................................................................................................................... 19

Chapter 2 Customizing Your Robot .............................................................................................................................. 20

2.1 What Is Customization? ...................................................................................................................................... 20

2.2 Modifying Software Motion Limits to Define New Motion Space..................................................................... 21

2.2.1 What Is a Software Motion Limit? ............................................................................................................... 21

2.2.2 Software Motion Limits (Factory defaults) .................................................................................................. 22

2.2.3 Changing Software Motion Limits ............................................................................................................... 24

2.2.4 Precautions When Changing the Software Motion Limits ........................................................................... 25

2.2.5 Procedure for Changing the Software Motion Limits .................................................................................. 25

2.3 Changing Mechanical Ends to Define New Restricted Space............................................................................. 28

2.3.1 What is a Mechanical End Change? ............................................................................................................. 28

2.4 Performing CALSET .......................................................................................................................................... 29

2.4.1 What Is CALSET?........................................................................................................................................ 29

2.4.2 Preparation for CALSET .............................................................................................................................. 30

2.4.3 Performing CALSET.................................................................................................................................... 32

2.5 Setting Control Set of Motion Optimization ....................................................................................................... 38

2.6 Setting Robot Installation Conditions ................................................................................................................. 38

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