目 次
はじめに ................................................................................................................................................................................ i
1. 仕様 ............................................................................................................................................................................... 7
1.1 各部名称 .......................................................................................................................................................... 7
1.2 外形寸法 .......................................................................................................................................................... 9
1.3 仕様表 ............................................................................................................................................................ 19
2. 輸送 ............................................................................................................................................................................. 21
2.1 開梱・運搬 ..................................................................................................................................................... 21
2.2 質量、外形寸法 ........................................................................................................................................... 21
2.3 ロボット運搬時の注意事項 ..................................................................................................................... 24
3. 据付 ............................................................................................................................................................................. 25
3.1 設置環境 ........................................................................................................................................................ 25
3.2 外形図・動作領域 ....................................................................................................................................... 26
3.3 動作領域の変更について ....................................................................................................................... 31
3.4 吸引量について .......................................................................................................................................... 31
3.5 座標系 ............................................................................................................................................................ 32
3.6 ロボットの据付 ............................................................................................................................................. 38
3.7 コントローラの据付 ..................................................................................................................................... 38
4. システム接続 ........................................................................................................................................................... 38
5. ツールインターフェース ........................................................................................................................................ 39
5.1 ツール用エア配管 ...................................................................................................................................... 39
5.2 ツール用配管 ............................................................................................................................................... 43
6. 保守 ............................................................................................................................................................................. 44
6.1 保守項目 ........................................................................................................................................................ 44
6.1.1 ボールネジスプラインユニットのグリスアップ ...................................................................... 44
6.2 機構部品配置 .............................................................................................................................................. 48
6.3 カバーの取付け・取外し ........................................................................................................................... 50
6.3.1 第2アームカバー(KHL-300NSCN、KHL-400NSCN) ....................................................... 51
6.3.2 ベース部カバー(KHL-300NSCN、KHL-400NSCN) .......................................................... 52
6.3.3 第2アームカバー(KHL-500NSCN、KHL-600NSCN、KHL-700NSCN)...................... 54
7. 保守交換部品 .......................................................................................................................................................... 55
7.1 保守交換部品リスト ................................................................................................................................... 55