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STE 58764
CHAPTER 2
INSTALLATION
2.1 INSTALLATION ENVIRONMENT
Table 2.1 shows the environmental conditions for the location in which the SR-HSP Series Robot
and SR7000 Controller are to be installed.
Table 2.1 Environmental Conditions for the Robot and Controller
Item Specifications
0 to 40 ℃
Temperature In operation :
-10 to 50
In storage : ℃
Humidity 20 to 90 % (Non-condensing)
Do not install the robot where it may be subject to flui
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STE 58764 Fig. 2.1 External view of SR-504HSP robot 2-2 － －
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STE 58764 Fig. 2.2 External view of SR-554HSP robot 2-3 － －
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STE 58764 Fig. 2.3 External view of SR-654HSP robot 2-4 － －
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STE 58764 Fig. 2.4 External view of SR-854HSP robot 2-5 － －
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STE 58764 Fig. 2.5 External view of SR-1054HSP robot 2-6 － －
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STE 58764 2.2.2 Working Space Figs. 2.6 to 2.10 show the working space of the robot. Each axis can operate within the working space. To keep the robot from moving out of the working space by mis-operation, the robot is equipped with mechanical stoppers outside the moving range. In addition, soft limits are provided which may be set as desired by the user. 110° 137° R184 R500 R250 137° 110° Fig. 2.6 SR-504HSP robot working space
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STE 58764 115° R193 R550 120° 120° 115° Fig. 2.7 SR-554HSP robot working space 115° R227 140° R650 140° 115° Fig. 2.8 SR-654HSP robot working space 2-8 － － 100 200 100 200
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STE 58764 115° 145° R350 R850 145° 115° Fig. 2.9 SR-854HSP robot working space 115° R333 145° R1050 145° 115° Fig. 2.10 SR-1054HSP working space 2-9 － － 110 200 150 200
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STE 58764 2.2.3 Coordinate System The robot's joint angle zero point (0° or 0mm position) has been calibrated before shipment in respect to the base reference planes. The base coordinate system will be determined according to this calibration. Figs. 2.11 to 2.15 show the base coordinate system and the zero positions of each axis joint angle. Reference plane Reference plane (-) (-) (-) 0° 0° 0° XB Axis 4 (+) (+) (+) Axis 2 90 Axis 1 250 250 YB
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STE 58764 Reference plane Reference plane (-) (-) (-) XB Axis 4 (+) Axis 2 (+) (+) 105 Axis 1 250 300 YB ZB Axis 3 XB (+) Origin of base coordinate system 0mm ◎ View A View A Fig. 2.12 SR-554HSP base coordinate system and joint angle zero point 2-11 － － 100 210
ページ12に含まれる内容の要旨
STE 58764 Reference plane Reference plane (-) (-) (-) 0° 0° 0° XB Axis 4 (+) (+) Axis 1 (+) 105 Axis 2 300 350 YB ZB XB Axis 3 (+) Origin of base View A coordinate system 0mm ◎ View A Fig. 2.13 SR-654HSP base coordinate system and joint angle zero point 2-12 － － 100 210
ページ13に含まれる内容の要旨
STE 58764 Reference plane Reference plane (-) (-) (-) 0° 0° 0° XB Axis 4 (+) (+) Axis 1 (+) 105 Axis 2 300 550 YB ZB Axis 3 XB (+) Origin of base View A 0mm coordinate system ◎ View A Fig. 2.14 SR-854HSP base coordinate system and joint angle zero point 2-13 － － 110 210
ページ14に含まれる内容の要旨
STE 58764 Reference plane Reference plane (-) (-) (-) 0° 0° 0° XB (+) Axis 2 Axis 4 (+) Axis 1(+) 150 470 580 YB ZB Axis 3 XB (+) Origin of base View A 0mm coordinate system ◎ View A Fig. 2.15 SR-1054HSP base coordinate system and joint angle zero point 2-14 － － 150 300
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STE 58764 2.2.4 Installing the Robot The robot is fastened down using the mounting holes in the base. Use M12 hexagon socket bolts for the SR-504HSP and M16 hexagon socket bolts for the SR-554HSP, SR-654HSP, SR-854HSP and SR-1054HSP. The robot installation method is shown in Figs. 2.16 to 2.18. A reference plane is prepared on the base section and is marked with "xxx". To align the robot's base coordinate system position or when the robot must b
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STE 58764 M16 hexagon Reference plane socket bolt 160 4-φ18 hole,counterbore 26 ××× × × ×× 105 104 Reference plane 160 Fig. 2.17 Installing the SR-554HSP,SR-654HSP, SR-854HSP robot Reference plane 240 4-φ18 hole,counterbore 26 ××× × × M16 hexagon socket bolt × × ×××× 150 148 Reference plane 185 Fig. 2.18 Installing the SR-1054HSP robot 2-16 － － 105 105 150 150 160 240 40 40 25 25
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STE 58764 2.3 INSTALLING THE CONTROLLER 2.3.1 External Dimensions An external view of the controller is shown in Fig 2.19. Top Right side 430 Front Rear Fig. 2.19 External view of the controller 2-17 － － 381 30.5 20.5 330 11 230 241
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STE 58764 2.3.2 Rack Mounting Dimensions When mounting the SR-7000 robot controller in a rack, set the side brackets using the screw holes provided on both ends of the front panel, and secure the controller to the rack. (① in Fig. 2.20: Side brackets are optional.) 10 460 10 4-R3 Adaptive screw diameter 5mm ① ① Fig. 2.20 Dimensions of controller rack mounting holes 2.3.3 Precautions for Rack Mounting Pay attention to the followin
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Robot Controller SR7000 STE 58764 (3) The upper cover must be removed during maintenance. (See Fig. 2.21.) Keep this in mind when installing the controller. Specifically, the controller should be easily removable from the rack. Practically, be careful of the following points. (a) Arrange the cables around the rear panel of the controller (so that the controller can be removed). (b) Arrange the cables between the controller and the control panel when th
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STE 58764 2.3.4 Precautions for Direct Installation When two or more controllers are used, it is necessary to provide a clearance of 50 mm or more in the horizontal direction and a clearance of 100 mm or more in the vertical direction between the controllers. Caution ･ Provide a ventilation space at the side of the controller so that the air vent holes are not blocked. The space equal to the length of the support should be kept below the lower
