1. Manuals
  2. Brands
  3. HSR Manuals
  4. Robotics
  5. JH615-2000
  6. Operation & maintenance manual

HSR JH615-2000 Operation & Maintenance Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
HSR-JH615-2000
HSR-JH620-1800
机械操作维护手册
Mechanical Operation Maintenance Manual
A1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the JH615-2000 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for HSR JH615-2000

Summary of Contents for HSR JH615-2000

  • Page 1 HSR-JH615-2000 HSR-JH620-1800 机械操作维护手册 Mechanical Operation Maintenance Manual...
  • Page 2 本说明书的更新事宜，由华数机器人有限公司授权并组织实施。未经本公司授权或书面许可， 任何单位和个人无权对本说明书内容进行修改或更正，本公司概不负责由此而造成的客户损失。 The update of this manual is authorized and organized by Huashu Robot Co., Ltd. Without the authorization or written permission of the company, no unit or individual has the right to modify or correct the content of this manual, and the company is not responsible for the customer losses caused thereby.

  • Page 3: Table Of Contents

    目录 Content 引言 Introduction ............................1 安全 Safety ............................3 机器人安全须知 Robot Safe Use Instructions ................3 1.1.1 调整、操作、保全等作业时的安全注意事项 Safety precautions during Adjustment, Operation, Preservation, etc......................3 1.1.2 机器人本体的安全对策 Security Countermeasures of Robot Body........ 7 机器人的转移、转让、变卖 Transport, Transfer or Sell the Robot ........13 机器人的废弃...
  • Page 4 电气连接 Electrical connections ....................45 2.7.1 本体与控制柜连接 Connection between the main body and the control cabinet ..46 2.7.2 本体接地 grounding......................47 2.7.3 信号线和气管 Signal line and trachea ................48 机器人外部走线管线包 Robot external wiring pipeline package ..........49 检修及维护 Overhaul and Maintenance ..................50 维修检验项目及周期...

  • Page 5: 引言 Introduction

    HSR-JH615-2000/HSR-JH620-1800 industrial robot, which is a basic manual for users to learn and use quickly. 在使用机器人之前， 请仔细阅读本手册及其他相关手册， 务必理解并熟悉手册中所说明的内容。 Before using the robot, please read this manual and other relevant manuals carefully, and be sure to understand and familiarize yourself with the content described in the manual.
  • Page 6 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图示 说明 illustration graphic 表示处理有误时，会导致使用者死亡或者负重伤，危险性非常高的情形。 It indicates that improper handling can cause death or serious injury to the user, and the risk is very high. 表示处理有误时，会导致使用者死亡或者负重伤的情形。 It indicates that improper handling can cause death or serious injury to the user, and the risk is very high.

  • Page 7: 安全 Safety

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 1 安全 Safety 工业机器人符合现行安全技术规定。尽管如此，违规操作可能会造成人身伤害，机器人或其他 设备损坏。 The industrial robot complies with current safety technical regulations. Even though, operations against these regulations can result in personal injury, damage to the robot or other equipment. 只允许在机器人完好的状态下按规定且有安全意识地使用工业机器人。必须遵守本说明书使用 机器人，必须及时排除有安全隐患的故障。...
  • Page 8 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual (2) 投入电源时，请确认机器人的动作范围内没有作业人员。 Before connecting power supply, please make sure that there is no operator within robot's motion range. (3) 机器人处于自动模式时，不允许任何人员进入机器人运动所及范围。 When the robot is in Automatic Mode, no personnel should enter the robot's motion range.
  • Page 9 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 机器人配有各种自我诊断功能及异常检测功能，即使发生异常也能安全停止。即便如此，因机 器人造成的事故仍然时有发生。 The robot is equipped with various self-diagnosis and abnormal detection functions, so it can stop safely after an abnormal occurs. Even so, accidents caused by robots still happen. 机器人事故以下列情况居多： Those conditions prevail in robot accidents: (1) 未确认机器人的动作范围内是否有人，就执行了自动运转。...
  • Page 10 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual (3) 因周边设备等发生异常和程序错误，启动了不同的程序。 Another program starts due to peripheral equipment abnormality and program error. (4) 因噪声、故障、缺陷等原因导致异常动作。 Abnormal actions due to noise, failure, defects, etc. (5) 误操作。 Mis-operation. (6) 原想以低速再生执行动作，却执行了高速动作。 Has intended to perform the action at a low speed, but execute the high speed action.

  • Page 11: 机器人本体的安全对策 Security Countermeasures Of Robot Body

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 机器人动作期间，请配置可立即按下紧急停止按钮的监视人（第三者），监视 安全状况。 During robot action, please configure a monitor (a third party) who can immediately press the Emergency Stop button to monitor the security situation. 机器人动作期间，应以可立即按下紧急停止按钮的态势进行作业。 The robot must be operated in a condition that the Emergency Stop button can be pressed at any time during its action.
  • Page 12 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual not allowed to be operated. 在末端执行器及机械臂上安装附带机器时，应严格遵守本书规定尺寸、数量的 螺栓，使用扭矩扳手按规定扭矩紧固。 When install the attached machine to the end effector or manipulator arm, please strictly comply with this manual and use bolt of the size and quantity exactly specified in this manual and tighten it with torque wrench at specified torque.
  • Page 13 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 严禁供应规格外的电力、压缩空气、焊接冷却水，会影响机器人的动作性能， 引起异常动作或故障、损坏等危险情况发生。 Supplying off-specification power, compressed air, welding cooling water is forbidden because this will affect the motion performance, cause abnormal action or dangerous situations like failures, damages, etc. 电磁波干扰虽与其种类或强度有关，但以当前的技术尚无完善对策。机器人操 作中、通电中等情况下，应遵守操作注意事项规定。由于电磁波、其它噪声以 及基板缺陷等原因，会导致所记录的数据丢失。 lthough electromagnetic wave interference is related to its kind or intensity, there is no perfect countermeasure with current technology.
  • Page 14 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 产业用机器人手势法（示例） Industrial Robot Gestures (Sample) 1.接通 Power on 做出接通开关的动作。 Make a posture to switch on. 2.不行！断开 No! Power-off 右手高举，左右大力地挥动。 Raise your right hand high and wave it vigorously. 3.可以吗（确认） Is that OK? (to confirm) 右手向前高高地举起。...
  • Page 15 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 作业人员在作业中，也应随时保持逃生意识。 Operators should always be ready to escape from danger during operation. 必须确保在紧急情况下，可以立即逃生。 So they can escape from danger in case of emergency. 时刻注意机器人的动作，不得背向机器人进行作业。 Always focus on the action of robot and can't operate back to the robot.
  • Page 16 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 不需要使机器人动作和操作时，请切断电源后再执行作业。 When the robot is not required to move or act, please cut off power supply to continue the operation. 示教时，应先确认程序号码或步骤号码，再进行作业。 Before teaching, confirm the number of program or steps, then continue the operation.

  • Page 17: 机器人的转移、转让、变卖 Transport, Transfer Or Sell The Robot

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual After the teaching operation completed, should operate cleaning and make sure all tools have been taken. Oil pollution in operation area or left tools will cause accidents like slipping. 确保安全首先从整理整顿开始。 Ensure safety from cleaning up.

  • Page 18: 机器人的废弃 Discard Robot

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual user. 转移、转让、变卖到国外时，客户必须负责准备适当语言的操作维修保养说明 书，修改显示语言，并保证符合当地法律规定。 When transport, transfer or sell the robot abroad, the client must take the responsibility to prepare operation and maintenance manuals in proper language and alter the display language, and make sure to comply with local regulations.
  • Page 19 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 电缆线、外部接线从连接器、接线盒拆除后，请勿做进一步分解再废弃。否则 可能因导体等导致手或眼受伤。 Detach the cable, external circuit connection from connector and junction box, then discard them directly without further decomposition. Or the hand or eyes may get injured by conductor, etc. 进行废弃作业时，请充分注意不要被夹伤、受伤。 Please pay full attention to avoiding clamping or injury during discarding operation.

  • Page 20: 基本说明 Basic Explanation

    2 基本说明 Basic Explanation 2.1 型号规格说明 Explanation of Type and Specification 公司机器人型号说明如下： Explanation of Type: HSR – X X X X X – X X X X / X X 机器人特性、特殊行业代号（首拼）： Robot characteristics, special industry code (first spelling) DM-打磨 polish，PT-喷涂 paint，ZZ-铸造 foundry ，...

  • Page 21: 机械系统的组成 Mechanical System Composition

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.2 机械系统的组成 Mechanical System Composition 本节介绍华数机器人本体的组成部分。 This section focuses on the composition of Huashu robot. 机器人机械系统是指机械本体组成，机器人本体主要由底座、大臂、小臂、手腕等构成，其相 关关系见图 2.1 机器人系统组成图，详细细节图见图 2.1-2.7。 Robot mechanical system refers to the basic machine composition of the robot body, including pedestal, big arm, forearm, wrist, etc., see Diagram 2.1 for its system composition relations, See Figure...
  • Page 22 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2-2 底座 Diagram 2.2 Pedestal 图 2.3 大臂 Diagram 2.3 Big arm 图 2-4 小臂 Diagram 2.4 Forearm - 18 -...
  • Page 23 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2-5 手腕 Diagram 2.5 Wrist 图 2-6 末端法兰 Diagram 2.6 End flange 图 2.7 铭牌 Diagram 2.7 Data plate - 19 -...

  • Page 24: 机械性能参数 Mechanical Performance Parameter

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.3 机械性能参数 Mechanical Performance Parameter 本节介绍机器人的性能参数，如机器人运动范围、速度、可达空间等。 This section introduces the performance parameters of the robot, such as motion range, speed, reachable space, etc. 2.3.1 相关性能参数 Performance Parameter 表 2-1 机器人性能参数 Table 2.1 Robot Performance Parameter 型号...

  • Page 25: 工作半径及运动范围 Working Radius And Motion Range

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 湿度 20%~80% Humidity 避免与易燃易爆或腐蚀性气体、液体接触，远离电子噪声源 其他 （等离子） Others Avoid contact with flammable, explosive or corrosive gases or liquids and stay away from electronic noise sources (plasma) 本体防护等级 IP54/手臂 IP67 Level of protection 安装方式 地面安装、倒挂安装、侧挂安装 Assembly position Ground, upside-down and side mounted installation 本体重量...
  • Page 26 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2.8（1）HSR-JH615-2000 机器人工作空间 Diagram 2.8（2） HSR-JH615-2000 robot work space - 22 -...
  • Page 27 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2.8（2） HSR-JH620-1800 机器人工作空间 Diagram 2.8（2） HSR-JH620-1800 robot work space - 23 -...

  • Page 28: 搬运和存放 Handling And Storage

    This section introduces unpacking, handling and related precautions of the robot, and in principle, crane or forklift should be used for robot handling. During the transport and storage of HSR-JH605-C30 industrial robot, proper preventive measures should be taken; it should be transported and stored within the temperature range of -25℃...
  • Page 29 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 不要强制扳动、悬吊、骑坐机器人。 Don't wrench, suspend or sit on the robot. 图 2.9 包装示意图 Diagram 2.9 Packaging diagram - 25 -...
  • Page 30 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Robot Transport support frame tray 图 2.10 机器人状态示意图 Diagram 2.10 Robot states diagram 机器人在上电运动前应拆除运输支撑架。 The robot should dismantle the transport support frame before powering on the movement - 26 -...

  • Page 31: 搬运 Handling

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.4.2 搬运 Handling 起吊重量约 280kg（不含外设、搬运固定夹具及托盘），请选用承重能力足够大 的叉车或起重机及足够强度的吊绳。 The lifting weight is about 280kg (excluding peripherals, handling fixtures and pallets), please choose a forklift or crane with a large enough load-bearing capacity and a lifting rope with sufficient strength.
  • Page 32 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual When lift the robot, hold it with hands to ensure balance. Robot may fall due to unstable lifting can cause serious injury or major damage, it is very dangerous. 使用用搬运固定夹具搬运时使用完成后务必将其拆卸。 When using the carry-on fixture, be sure to disassemble it after use.
  • Page 33 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual center of gravity M16 screw Spring pad tray 图 2.11 搬运时机器人姿势 Diagram 2.11 Robot posture during handling 图 2.12 使用叉车搬运 Diagram 2.12 Handle by a forklift - 29 -...
  • Page 34 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 使用行车（起重机）搬运，先设置机器人姿势（同表 2.3），然后在机器人底座上安装 4 只吊 环螺栓（M16），电机座上安装 1 只吊环螺栓（M10），用钢索起吊，应在钢索与机器人主体接触 的部位套上橡胶软管等进行保护，并注意钢索不能与电机及管线包接触，如图 2.13。吊装时注意机 器人重心靠上或者不平倾覆问题。 When handling by a crane, first adjust the position of robot（Diagram 2.3）, then fix 4 eyebolts (M16) at the pedestal of the robot, fix 1 eyebolts(M10) at the motor base, and protect the connecting part of the tightwire and robot with rubber hoses and foam blocks;...

  • Page 35: 安装 Installation

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.5 安装 Installation 本节介绍机器人的安装及其注意事项、机器人的安装示例、安装环境等。 The section introduces the installation and related notices, practices for installation, the installation environment, etc. 机器人使用设置安全围栏，否则可能发生人身伤害、设备损坏等事故。 Set safety fence for robot operation, or accidents like body injury, equipment damage may occur.

  • Page 36: 安全围栏 Safety Switch

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.5.1 安全围栏 Safety Switch 应该遵守中华人民共和国国家标准 GB11291.2-2013 《机器人与机器人装备 工业机器人的安全 要求 第 2 部分：机器人系统与集成》中 5.4 机器人运动限制规定“机器人设备的设计和集成，应减 少人员可能暴露于危险中的情况”。5.4.2 建立安全防护空间和限定空间规定“应通过周边防护来建 立安全防护空间。建立安全防护空间应充分考虑机器的位置和布局以及安全防护空间内的危险”。 5.5.2 干预通道“需要手动高速方式的任务，提供的最小间隙应为 0.5m”。5.10 安全防护规定“当设 计不能去除危险或不能充分降低危险时，那么应应用安全防护。到危险区域的通道应被安全防护装 置保护，如防护装置和保护装置”。 It should comply with the National Standard of the People's Republic of China GB11291.2-2013 "Robots and Robot Equipment - Safety Requirements for Industrial Robots Part 2: Robot Systems and...
  • Page 37 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual surrounding environment; (2) 安全围栏的出入口尽量少，有可能的情况下尽量只留一个，并设置带锁的安全门，防止无关人 员随意进入，造成人身伤害； The entrances and exits of the safety fence should be as few as possible, and only one should be left as much as possible if possible, and a locked safety door should be set up to prevent unrelated personnel from entering at will and causing personal injury;...
  • Page 38 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Robot motion range Locked door Electric control cabinet 图 2.15 安全范围 Diagram 2.15 Safe range - 34 -...

  • Page 39: 安装环境 Installation Environment

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.5.2 安装环境 Installation Environment 机器人的安装对其功能的发挥十分重要，机器人安装环境如下： Installation environment is of great importance to robot performance, and the installation environment is as follows: (1) 安装面的平面度在 0.5mm 以内； Flatness deviation of installation surface subject to 0.5mm; (2) 环境温度 0°～45°；...

  • Page 40: 机器人安装及固定尺寸 Robot Installation And Fixing Dimension

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.5.3 机器人安装及固定尺寸 Robot Installation and Fixing Dimension 图 2.16 机器人安装尺寸分布图 Diagram 2.16 Robot Installation and Fixing Dimension 末端法兰安装尺寸，图 2.17 End flange installation dimension, see Diagram 2.17 附属设备安装区域 I，图 2.18 Installation area I for accessory equipment, see Diagram 2.18 附属设备安装区域...
  • Page 41 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 附属设备安装区域Ⅲ，图 2.20 Installation area Ⅲ for accessory equipment, see Diagram 2.20 附属设备安装区域Ⅳ，图 2.21 Installation area Ⅳ for accessory equipment, see Diagram 2.21 机器人底座安装尺寸，图 2.22 Installation dimension for robot pedestal, see Diagram 2.22 图 2.17 末端法兰尺寸 Diagram 2.17 Dimension of end flange 图...
  • Page 42 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2.19 附属设备安装区域Ⅱ Diagram 2.19 Installation area II for accessory equipment 图 2.20 附属设备安装区域Ⅲ Diagram 2.20 Installation area Ⅲ for accessory equipment - 38 -...
  • Page 43 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 图 2.21 附属设备安装区域Ⅳ Diagram 2.21 Installation area Ⅳ for accessory equipment 图 2.22 机器人底座安装尺寸 Diagram 2.22 Installation dimension for robot pedestal - 39 -...

  • Page 44: 安装举例 Installation Practice

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.5.4 安装举例 Installation Practice 机器人的安装固定 Installation and fixing of robot 机器人加减速时，在底座的所有方向都会产生较大的反作用力。因此安装机器人时基座必须具 有足够的强度和刚度。 Robot acceleration or deceleration will generate a large reacting force in all directions of the pedestal. So the pedestal must possess sufficient intensity and rigidity during the robot installation.
  • Page 45 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 机器人安装于基座 install the robot on the baseboard Robot M16 screw Spring pat Robot installation seat 图 2.23 机器人安装举例 Diagram 2.23 Installation practice for robot 机器人安装在安装座上，安装座应具有足够的强度，同时安装座与地面连接时地面应平整无凹 凸不平和龟裂。安装时应注意自身安全及机器人倾覆。 Install the robot on the installation seat, which should possess sufficient intensity, and the ground connecting the seat should be flat, without bumps or cracks.
  • Page 46 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 机器人倒挂安装 install the robot upside down Fall protection M16 screw Spring pat 图 2.24 机器人倒挂安装举例 Diagram 2.24 Practice for inverted installation 机器人倒挂或侧挂时除了采用螺钉固定，必要时增加定位销及防坠落架提高安全性。同时，机 器人在吊装、安装时严禁以小臂、手腕受力进行吊装搬运，机器人小臂、手腕受力过大会导致机器 人损坏。倒挂或侧挂安装在安装及拆卸时应注意人身安全，以防出现碰伤、压伤等事故。 During inverted or side-hanging installation, fix the robot with screws, add positioning bolt and fall prevention device if necessary to improve the safety.

  • Page 47: 机器人负荷允许值 Allowable Robot Load

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.6 机器人负荷允许值 Allowable robot load 本节重点介绍机器人载荷。在选用机器人时若相关负载、转矩、惯量超过容许值请选用更大负 载机器人或咨询我司。 This section focuses on robot load. Where the relevant robot, torque, inertia exceeds the allowable value, please choose robot with larger load or consult our company. 在机器人本体上安装设备尺寸及示例参照章节 2.5.3 和 2.5.4。...
  • Page 48 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Contact us when the user load exceeds that value, and we can evaluate and mitigate the risks according to the working condition, so as to prevent unnecessary losses. （2）机器人容许最大静态负荷扭矩 Allowable Maximum Static Load Torque of the Robot 表...

  • Page 49: 电气连接 Electrical Connections

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual （4）机器人负载图 Robot load diagram 图 2.25 HSR-JH615-2000/HSR-JH620-1800 机器人负荷图 Diagram 2.25 HSR-JH615-2000/HSR-JH620-1800 robot work load diagram =√X 注：Z 向为末端法兰轴向方向；L 。 Note: Z direction is the axial direction of the end flange; L =√X 2.7 电气连接 Electrical connections 本节重点介绍机器人的电气连接准备工作，包括机器人本体与控制柜之间的连接，机器人本体...

  • Page 50: 本体与控制柜连接 Connection Between The Main Body And The Control Cabinet

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.7.1 本体与控制柜连接 Connection between the main body and the control cabinet 机器人本体铭牌号务必与控制柜铭牌号匹配，铭牌号匹配错误将导致机器人精 度偏差。 The nameplate number of the robot body must match the nameplate number of the control cabinet, and the wrong matching of the nameplate number will lead to the deviation of the robot's accuracy.

  • Page 51: 本体接地 Grounding

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.7.2 本体接地 grounding 机器人底座位置有 M8 接地螺丝孔，用于连接地线接地端子。 There is an M8 grounding screw hole at the base of the robot for connecting the grounding terminal. 接通控制柜电源之前，请将本体可靠接地。尚未连接地线的情况下，有触电危 险。 Before turning on the power supply of the control cabinet, please reliably ground the main body.

  • Page 52: 信号线和气管 Signal Line And Trachea

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.7.3 信号线和气管 Signal line and trachea 机器人提供了从底座通往小臂的电气信号和气管通路，用于供应末端执行机构的使用。 The robot provides an electrical signal from the base to the forearm and tracheal access for the use of the end-effector. 24 pin I/O plug 3×Φ8 gas connector Welding current carrying line 3×Φ8 gas connector...

  • Page 53: 机器人外部走线管线包 Robot External Wiring Pipeline Package

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 2.8 机器人外部走线管线包 Robot external wiring pipeline package 本节重点介绍机器人走线。在使用机器人时若有外部线束，请选用如图 2.29 所示的走线方式或 咨询我司，安装尺寸请参考 2.5.3 机器人安装及固定尺寸，或者根据自身需求来设计安装尺寸。 This section focuses on robot wiring. If there is an external wiring harness when using the robot, please choose the wiring method as shown in Figure 2.29 or consult our company, please refer to 2.5.3 Robot installation and fixed size for installation size, or design the installation size according to your own needs.

  • Page 54: 检修及维护 Overhaul And Maintenance

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 3 检修及维护 Overhaul and Maintenance 本章介绍机器人的检修、维护，为客户对机器人的维护提供指导。 This section focuses on the overhaul and maintenance of the robot and provide guidance for clients. 为了使机器人能够长期保持较高的性能，必须进行维修检查。 In order to maintain the effective performance of the robot in the long term, maintenance and overhaul must be carried out.

  • Page 55: 维修检验项目及周期

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 维修、检修、保养作业必须在确认周围安全、确保躲避危险所必须的通道和场 所的前提下安全地进行作业。 Repairing, overhaul and maintenance must be operated after confirming the surrounding safety, ensuring the necessary escape-way and shelter clear to escape from danger. 进行维修检修的人员必须是由接受过特殊指导教育或法律规定时间的教育，熟 知相关内容的人员担任。 Repairing and overhaul personnel must have received special instruction and education or be familiar with the relevant contents within the time specified by law.
  • Page 56 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 表 3.1 维修检验项目及周期 Table 3.1 Overhaul Items and Cycle 检修间隔 Overhaul Interval 检修处理内容 Overhaul 检修部位 方法 间隔 间隔 间隔 间隔 间隔 Overhaul Part Method Content 日常 Interval Interval Interval Interval Interval Daily 1000h 6000h...

  • Page 57: 主要螺栓的检修 Overhaul Of Main Bolt

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 检测有无异常 （异响、 震 动等） 各轴减速机 Check for any ● Each joint abnormality ( abnormal reducer sound or shake, etc.) 目测 检查有磨损，扭断 Visual 线缆 ● Check if there's any Cable inspecti abrasion or breakage 目测、 手...

  • Page 58: 润滑油的检查及更换 Check And Replacement Of Lubricant

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual properly before painting and fixing. Besides, the unloosened bolts cannot be tightened at the above torque. 3.3 润滑油的检查及更换 Check and replacement of Lubricant 本说明书所叙述的润滑油检查及更换均是在机器人地面安装时所进行的，若机器人是侧挂或倒 挂方式安装，润滑油具体更换操作详情请咨询我司服务部门。 The check and replacement of lubricant described in this manual applies to the robot installed on the ground;...

  • Page 59: 润滑油供给量 Lubricant Supply Amount

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual J6 port position, refer to Chapter 3.3.4, see Diagram 3.5 齿轮箱油口位置，参考章节 3.3.4，图 3.6 Gearbox position, refer to Chapter 3.3.4, see Diagram 3.6 检修时，如果必要数量以上的润滑油流出了机体外，请使用润滑油枪对流出部 分进行补充。补充润滑油量比流出量更多时，可能会导致润滑油渗漏或机器人 运作时的轨迹不良等，应加以注意。 During overhaul, if redundant lubricating oil flows out of the body, please use the lubricating gun to supplement.

  • Page 60: 润滑油添加时机器人位姿 Robot Pose During Lubricant Addition

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual lubricating 致润滑油渗漏，供 J2 轴减速机 grease 油速度应控制在 700cc G 1/4 J2 joint reducer 40cc/10 秒以下。 The oil supply speed should be controlled J3 轴减速机 400cc G 1/4 below 40cc/10 J3 joint reducer seconds, because rapid oiling can J5 轴减速机...

  • Page 61: 润滑油更换 Replacement Of Lubricant

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 3.3.4 润滑油更换 Replacement of lubricant 该机器人保养需按照以下规定定期进行润滑油和检修以保证效率。 To ensure efficiency, the regular lubricating and overhaul of the robot should be complemented by the following regulations. 混用不同油品可能导致减速机严重受损。加注减速机润滑油时，请勿混用不同 油品，说明中另有规定的除外。只能使用制造商指定油品类型。 Mixing different lubricant can cause serious damage to reducer. When fill lubricant to the reducer, do not mix different oil products, unless otherwise specified in the instructions.
  • Page 62 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 润滑油补充或更换后，应将地面和机器人上的多余润滑油彻底清除，防止工作 人员因滑到而导致意外。 After the refilling or replacement, the excess oil on the ground and the robot should be completely removed to prevent accidents caused by the workers' sliding. 减速机润滑油更换油口位置及步骤： Port position and steps to replace the reducer lubricant J1 轴油脂补充与更换（参考图...
  • Page 63 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual removed, or it may cause motor failure or oil leakage.) (2) 安装油管及接头（G 1/4），准备注油及排油。 Install the filling pipe and connector(G 1/4), prepare for the oil filling and draining. (3) 采用油枪从注油口注油，注油油量与排出油量相等（排出的润滑油用废油桶接住并装好），注 射压力不得超过 0.03Mpa，不能直接使用工厂气源作为油枪动力。若注油油量大于排油油量， 可在未安装堵头情况下运动 J1 轴排除多余油脂。...
  • Page 64 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual (1) 将机器人移动到表 3.4 所示位置， 切断电源或急停处于激发状态， 取下注油口和排油口的堵头。 （注：严禁在未取排油口的堵头下进行注油，未取排油口的堵头下进行注油可能引起电机故障 或漏油。） Move the robot to the position shown in Figure 3.4, cut off power supply, remove the plug of the filling port and the draining port. (Note: It is forbidden to feed oil before the plug of draining port is removed, or it may cause motor failure or oil leakage.)
  • Page 65 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual J3 轴油脂补充与更换（参考图 3.3） Joint J3 lubricant feed and replacement (refer to Diagram 3.3) J3 joint draining port J3 joint filling port 图 3.3 J3 轴油口示意图 Diagram 3.3 Port position of Joint J3 (1) 将机器人移动到表 3.4 所示位置， 切断电源或急停处于激发状态， 取下注油口和排油口的堵头。...
  • Page 66 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual shall not exceed 0.03Mpa, and the factory air source shall not be directly used as the fuel gun power. If the amount of oil injected exceeds the amount of oil drained, the extra oil can be remove by moving joint J3 with the plug removed.
  • Page 67 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Use the oil gun to fill oil from the filling port, the amount of oil injected equals the amount of oil drained(the drained oil should be caught and collected in the waste oil tank The injection pressure shall not exceed 0.03Mpa, and the factory air source shall not be directly used as the...
  • Page 68 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual filling port and the draining port. (Note: It is forbidden to feed oil before the plug of draining port is removed, or it may cause motor failure or oil leakage.) 安装油管及接头（G 1/4），准备注油及排油。 Install the filling pipe and connector(G 1/4), prepare for the oil filling and draining.
  • Page 69 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 或漏油。） Move the robot to the position shown in Figure 3.4, cut off power supply, remove the plug of the filling port and the draining port. (Note: It is forbidden to feed oil before the plug of draining port is removed, or it may cause motor failure or oil leakage.)

  • Page 70: 电池更换 Replace Battery

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Start the robot and call in the single-axis motion program of the robot to run the maximum range of motion of a single axis, so that it can run continuously for 1h under full load and 100% speed;...
  • Page 71 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Screw M4×10 Battery box cover Battery Battery box 图 3.7 电池位置 Diagram 3.7 Position of battery 更换步骤： Replace steps: (1) 机器人回零点，按下机器人急停按钮，不要切断电源； Return the robot to zero and press the Emergency Stop button, don't cut off the power supply;...

  • Page 72: 零点校对 Zero Calibration

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual after battery replacement, please refer to section 3.5 for proofreading. Please contact us for the battery model and specification. 3.5 零点校对 Zero calibration 本节主要介绍机器人零点丢失情况下零位参考位置， 机器人在出厂前， 已经做好机械零点校对， 当 机 器 人 因 故 障 丢 失 零 点 位 置 ， 需 要 对 机 器 人 重 新 进 行 机 械 零 点 的 校 对 。...

  • Page 73: 故障处理 Failure Treatment

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 4 故障处理 Failure Treatment 4.1 调查故障原因的方法 Methods to Investigate Reasons of Failure 机器人设计上必须达到即使发生异常情况，也可以立即检测出异常，并立即停止运行。即便如 此，由于仍然处于危险状态下，绝对禁止继续运行。 The robot design must meet the following requirement: the abnormality can be detected immediately as it occurs and the robot is stopped. Even so, running is forbidden because the robot is still in danger.
  • Page 74 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual occurs, and contact security operator with prescribed training, and let them to investigate reason and repair. Besides, these content should be added into the operation regulations, and establish a complete system that can be effectively implemented. Or the accidents can occur.

  • Page 75: 故障现象和原因 Failure Phenomenon And Causes

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 判明出现问题的部件后， 按 4.3 所示方法进行处理。 当弄不清原因， 又不知道如何采取对策时， 请联系本公司服务部门。 After define the failure part, process it with methods in figure 4.3. When the cause is unclear and it is unclear how to take countermeasures, please contact our company's service department.

  • Page 76: 各个零部件的检查方法及处理方法 Check Method And Treatment For Each Part

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual [注 2]：动作时的振动现象。 [Note 2]: This phenomenon means vibration during action. [注 3]：停机时在停机位置周围反复晃动数次的现象。 [Note 3]:This phenomenon means repeated shaking at stop position. 4.3 各个零部件的检查方法及处理方法 Check Method and Treatment for Each Part 4.3.1 减速机 Reducer 减速机损坏时会产生振动、异常声音。此外，会妨碍正常运转，导致过载、偏差异常，出现异...

  • Page 77: 电机 Motor

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual operation, it can be basically judged that the reducer has been damaged. （2）处理方法 Handling Method 请更换减速机。由于更换减速机比较复杂，需更换时请联系本公司服务部门。 Please replace the reducer. Due to the complexity of replacing reducer, please contact our company's service department if needed.

  • Page 78: 附录 Appendix

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 5 附录 Appendix 5.1 机器人备件目录 Spare parts of the robot 参考章节 名称 规格 编号 单位 数量 Referred Name Specification Unit Number chapter 编码器电池 个 encoder eve14505 battery 机器人减速机专用 减速机润滑脂 润滑脂 grease robot reducer lubricating grease 乐泰...
  • Page 79 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual 螺钉安装及注意事项： Screw Installation and Precautions: (1) 安装前观察螺钉外观是否合格，按要求领取螺钉。 Obtain the screw as required and check their appearance before installation. (2) 螺钉紧固时可在螺钉上做好标记区分紧固与未紧固的螺钉，紧固完成后在螺钉及紧固件上皆做 上标记，如下图。 When tighten the screws,make marks to distinguish the tightened and not-tightened screws. After tightening, mark both the screws and fastener, as shown in the below picture.

  • Page 80: 密封胶应用 Application Of Sealant

    HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Discard the thread-damaged screw after repeated use (5) 用螺钉紧固零部件的过程中，如果出现螺钉被螺孔卡紧，无法继续打进的情况，为防止螺钉打 滑或拧断螺钉，必须将螺钉退出，换用另外一颗。 When fasten the parts with screws, if the screw get stuck in the hole and cannot move forward, to prevent the screw from slipping or breaking, must unplug this screw and use another one.
  • Page 81 HSR-JH615-2000/HSR-JH620-1800-机械操作维护手册 HSR-JH615-2000/HSR-JH620-1800- Mechanical Operation Maintenance Manual Blow dry the surface with gas. (2) 施加密封胶 Apply sealant ① 确保安装表面是干燥的（无残留的清洗剂，如果有，将其擦干或吹干）。 Make sure the mounting surface is dry and with no residual detergent (if any, wipe it out or dry it). ② 在表面上施加密封胶，密封胶涂抹均匀，需密封地方密封胶不能存在断线情况。...
  • Page 82 中英官网：www.hsrobotics.cn 服务热线：400-9655-321/400-6007-826 佛山华数机器人有限公司 重庆华数机器人有限公司 广东省佛山市南海高新区桃园东路 19 号 重庆市北碚区水土云汉大道 5 号附 69 号 邮编：528234 邮编：400714 电话：400-9655-321 电话：400-6007-826 Email：huashu@hzncc.com Email：huashu@hzncc.com 网站：www.hsrobotics.cn 网站：www.hsrobotics.cn 苏州华数机器人有限公司 泉州华数机器人有限公司 苏州高新区科技城五台山路 116 号 16 幢 福建省泉州市经济技术开发区崇宏街 288 号 邮编：215000 邮编：362000 电话：400-9655-321 电话：400-9655-321 Email：suzhou@hzncc.com Email：quanzhou@hzncc. com 网站：www.hsrobotics.cn 网站：www.hsrobotics.cn 深圳华数机器人有限公司 东莞华数机器人有限公司...

This manual is also suitable for:

Jh620-1800

Table of Contents