可搬式汎用知能アーム 取扱説明書 （91－00048） Rev
Contents
1. 9 19 92. http www keyence co jp http www omrom co jp 6 8 Et YY SN 6 9 8
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4. bk 0 1 y a a A DANGER Moving robot can cause severe injury Keep away from the robot while operating 3
5. 7 2 PA 10 IS
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8. 4 y 1i PU Ne yy 4 B 14 6 5 4 ON ON
9. 5cm 10cm 4 2 3 OO
10. PC AT MS DOS 1 OS PC DOS Ver 5 0 V Windows 95 4 00 950a i80486DX 25MHz CPU i80386SX 25MHz Pentiume 2 2MB 4MB 32MB NN OS 20MB MDD SM 1 2GB FDD 2 720KB 1 44MB 640X480 256 NSR RG x Ga RD 1024X768 256 ISA x2 3 1 OS 2 4MB 3 2 27 3 A 3 1 3 1
11. 1 my DT A 7 1
12. 1 3 A Oo PA 10A CBL1 PA 10A CBL2 23 5mmX5m 25m 19 5mm X5m 25m 0 52kgf m 0 53kgf m 250mm 200mm PA 10A CBLO 2 P 3m 2 22 2 3 7 T O
13. 1 2 1 1 2
14. 6 10 7 Qr 7T 7 1 1 EE 3 PA 10 PA 10 i lt H 1 1 3 0 0 0 100
15. SCSI 2 256Kbyte 1200Kbyte sec 150msec 310msec 1012 0 6Vrms 32 Q 0 8Vrms 47kQ 5 40C 20 60 C 8 80 5 100 AC100V 50 60Hz Imml OS X 158 0X57 3X314 5 2 7kgf MS DOS Ver 6 2 V PC DOS Ver J6 3 V Windows 3 1 Windows 95 1 SCSI 2 SCSI CD ROM PC AT ISA PIO SCSI BIOS ROM E SCSI SCST 2 Fast SCSD
16. 3 FDD PA 10 7 3 7 3 1
17. GX9 BXL N m GxL Kg m2 lt ea Kg L m L Lp W1 Lr W2 2 2 1 2 3 2 IPM PS BOX PA 10A CNT 2 225W X 343H x 395D 4 225W X515H Xx 395D 2 14kgf 4 21kgf mm 2 AC100V 10 50 60Hz 3 1kVAX1
18. 4 1 1 2 3 AC100V 1kVA 2 P 4 AC100V AC200V 0 15kVA 2 P 2 6
19. 4 2 1 OFF OFF 5 ON ON O FF 5 ON 2 mm 2 3 1 0 0 0 4 1 2
20. Me ARCNET 1 c KN S C E Re ev SC ri eS CG EE S C
21. 6 3 3 PA 10 2
22. 665xus PI PB RS485 ARCNET 5 Mbps 100m HYC2485 TMC ON OFF ON OFF ON OFF ON AOFF 2 13 2 ARCNET MHI MHI D5602 MHI D6780 CPU lt gt 3 AT a ARCNET ID ARCNET_ID
23. PA Veri 00 Ver 1 00 for MHI D6 780 Ver 2 de se a I lt SS ss8888s 1810155 181016 1707325 17073605 1707374 1707385 1707395 1707412 1707424 1707460C 1707480 1707505 17075225 17075545 17075625 1810155z 1810163 3 6 DOS V PC 9800 Windows 9 5 DOS V PC 9800 RS 282C
24. 6 1 6 2 1
25. MH I CPU 10ms C gt lt gt 7 2 17 0 da C No 1 No 4 C S E C OFTF MHI CPU
26. EA ID FEH ID FFH C 58 SR 1 S1 a 1 MMHG 2 No 2 1 W2 1 2 19 RV 0 001Nm digit RV RV degX214X50 360 e ARCNET i 0 1 2 3 X A ed tt 255 Ye NO No X ARCNET DID No FE TDD No FF lt No gt
27. TC C ON OFF ON OFF ON ID FFH ID FEH C 35 3 0 ON OFF 1 ON 0 OFF 9 1 ON 0 OFF 1 0 1 0 Ne 1 1 S1 0 001Nm digit lt trpm 2zX50X100 2 82 lt 0 0 0002 rad s digit No 4 1 W2
28. 5 8 1 8 7 2
29. E 7 o qd 6 6 9 719 6 7 6
30. nD OFF RN OR Se 4 2 3 PA 10A AF 6
31. 0 NDE PTCHTRRCNGLTRRYNTHRCIODGKREOSKGBASRSSMERKRSWGABERISTW 4 7 telltale tt 4 7 OUONS NGO RGmNko5hNoctRrnaniaciCTaSerac22rersediER 4 8 5 1 rr es egress 5 1 5 1 5 1 5 2 NORE Se ee Td re 5 5 6 6 1 0 ol EO ES TE SER SDT TDI RAS 6 1 6 2 on 6 2 1 2 SSC 6 5 4 ON 6 6 0 NSR35 SE 83RSET68 6 6 6022 0 ORO petty tn dR 6 8 7 DO 6 8 8 6 10 C93 hp 6 10 7 SHE 7 1 Ve le 7 1 013R 7 1 2 S 7 2 1 7 3 7 De 7 4 Fern eT gr STDP 8 1 SR 8 1 8 FER2ST3oR29923h2FBE DTT TS 8 1 SO RS 8 1 8 1 6190 8 1 8 1 35 8 2 SA 5 dT Treo 8 2 1
32. 180 ISO M SG1 S3 E2 W1 50
33. 2 2 1 6 2 2 PA 10
34. 125 psec max PA 10 1 PA 10 5m 67X25 180g 0 5 0 3 13 ra 2 3 14 3 11 1 DUO
35. pa_ext_arm pa_stp_arm Da_SuS_aTm Da_rsm_aTm Da_eXe_aXS pa_mov_XYZ pa_mov_YPR pa_mov_mat pa_ply_pnt pa_add_pnt pa_set_pnt pa_mod_ve l pa_odr_jou pa_mod_dpd pa_set_mat pa_get_mod pa_inp_dio 32ch pa_oup_dio 32ch pa_set_tol 3 3 3 3 PA Windows Visual C DLL Visual C Visua
36. 91 00048 Rev 2 0 01 ga 1 1 2 1 2 NT A 2 2 1 Sosas dah STS SSS STs 2 2 2 TTT 2 4 3 SD 2 5 0 rs 2 6 ET br 2 7 6 2 8 2 2 NG EG ESS 2 10 2 5 2 10 C2 lt lt 2 11 2 3 2 13 GNSS CR TSS 2 13 2 2 14 2 4 2 22 CE 2 22 COI A EE SE NT Ss 2 23 2 5 BOX es 2 24 00 0 1 i 2 24 C23 2 24 2 6 Oost 2 25 2 7 2 26 3 3 1 1 See 3 2 3 2 PA DOSV 3 3 9 9 Wiigows8 mmmP NHTtedheeamstsSkhsacaceoceesc
37. PC DOS IBM Turbo C Borland WinRT Blue Water Systems Inc
38. DI DO DT O DI DO DI 40 DO 40 a DI O 5 2 ARCNET RS232C ch0 RUN LED 4bit ROTALY SW ABORT SW RS232C ch0 Dsub9 654321 5 3 4bit ROTALY SW By dn dea a le asd ea eau le ed ea ea ea ea a ek a keke ke ke ke la lak kta tale Ey Hd old loo a on kw Oo ROTALY SW
39. B 125 3 2 3 2 PA DOS V Borland C C PA Turbo C r Turbo C Ver 4 0 wx PA pa_ini_sys PA pa_ter_sys PA pa_opn_arm pa_cls_arm pa_sta_arm
40. PA 10 3 1 8 PA 10 PA 10 1 3
41. box CN3 4 7 2 DO DO DI O 12V 24V 3 DC12 24V DC12 24V DI O 1 0 5A DICOM0 DOO DOCOMO DOCOMO DI 8 ch to I 830pF TLP121 ERES DO 8 ch J DI O HI DL O n J
42. ID No lt gt S C E T MP R EEPROM W EEPROM P EEPROM k C E 2 21 2 4
43. E E PA 10 H E HH 0 1 3000 H 1 PA 10 E 7 1 2
44. HJ MHI D6780 E Ad ih 7 PA ARCNET PTP CP 1Mbyte PTP 2000 CP 4 RS 232C 1ch 6 0 DI O 3 2 2 25 2 7 4 H
45. 8 3 8 4 1 1 3000 80 2
46. 8 2 2 0 Eb Se 8 2 8 6 8 3 8 8 3 PA 10 1
47. 7 4 FDD 1 O O W1 2 7 5 8 8 1 3 8 2
48. PA nm iy f 512KB PB SRAM 6 32MB EDO DRAM 16MB 2 2MB EDO DRAM Ss Trio64V27DX 640X480 1 600 800X600 1 600 1 024X768 65 536 1 280X1 024 256 3 5 720KB 1 44MB Enhanced IDEX2 1ch FDD 1 D sub25 X1 D sub9 X2 PS 2 DIN6 1 PS 2 DIN6 1 gt PCI 1 ISA 1 Windows 95 MS DOS Ver 6 2 V 2 26
49. AT Oo 1 1 7 41sos VSI 44aH0 1 OR 1 1 1 IS9S Ms i at 1 1 JA03 39 F NE 1 14a NO3 09 i 056sKOpuIA 1 V XA 4 EE 1 7 9 M 1 1 86 1 1 1 1 1 1 W 6S 9 8 4 14 1 Z X08 1 1 1 1 1 1 1 1 1 1 1 1 1 i T A i 45 1 i 1 1 1 1 1 1 1 1 eh 1 7 iM 0 Sra 600 94 0 10 GAEINA 9V3NA 00 Pe A A S00 MY qa 1 4 Vd 3 U 4g 3 EE NI 8 1 NC 4 7 4 WRXVVSI EH A S0q AC 4 TE VED ELLEYYd Ge 9 Z G6SMOPUIA EF HB VELCOLEEY SE ee 1L MEN RYVVSI 1 4 A S00 YZDLEE 6 2Vdl Ge ce 0 G6SMOPUIM a VS I WUUUIIIDE 0M
50. 5 4 7 T 5 2 Enhanced IDE COM2 D Sub 9 PS2 2 DIN 6 gt COM1 D Sub 9 PS2 DIN 6 PCI ISA D sub15 Trio64 V2 DX PCI 5 5 6 6 Hml 1 4 9 IS FA J SG http wwwrjisha or jp
51. 2 3 AT 8 6 DOS V Borland Turbo C Windows Blue Water Systems WinRTTM Microsoft
52. 0 50 C 0 40 C 20 65 C 20 65 C 30 90 RH 80 RH gt Re NO AR 3G RIO RE i AC100V 50760Hz 50MQ AC500V 1 i i 4 3 4 3 Ne 4 4 hE VS 1 Y VVS10 FAV Y 1 MVS 0 aa 4 1 VY lt 6 F0 4 13N9dV EE CEALY 6 4cSA EZ S8y NLET E 7 ML 4 VY
53. 7 R P R P R P R P S1 82 83 BE1 B2 W1 W2 S E W 315mm 82 450mm S2 E1l 500mm E1 W1 80mm W1 2 1 4 52 lt ME Grad seo 81 180 178 177 1 S2 94 92 91 1 83 180 175 174 1 9 El 143 138 137 2 E2 270 256 255 2 W1 180 166 165 2 W2 361 360 2 1550mm sec 10kgf a AC 2 0 50C 30 90 RH
54. DC 1 0 5kgf 7 0kgf gt 1 60mm 30mm I AC100V 0 4 0 5m DI O PA 10 D IO D I O 3 15 2 NN 10 HPHN 60 10 CLHSH 0 3 16 4
55. 12 E 32 5 A7075 T6 2 7 6 4 M6X1 10 47 45 6H7 1192 6 SUS304 A 2 8
56. 1 1 1 1 1 6 0 fax PA
57. RS 282C Windows 95 Windows 95 I AT RT da 9 7 3 7 1 PO AT 109 2 GUTI PS2 PC AT OS Windowse95 DOS V 8 15
58. EE HEE 7 T O 2 23 2 5 BOX 1 BOX PA 10A CBL3 1 b 5m 2 BOX 2 24 2 6 3 CPU 1 3 ISA VME SA VME
59. 0 2 1 1 2 9 50 mm 7 3 3 5 k g f 10kgf
60. 10MB s 7 50 4 50 SCAM SCSI AIC 6370 SCSI for ey Windows 3 1 DOS bs SC81I for Windowss95 NT SCSI Select IRQ 11 9 10 12 1I O 840h 140h mml 67 173 3 SCSI CD ROM SCSI 50 D sub50 9 12 3 10 6 ISA VME PC 9800 1 Fx Fy 200N Fz 400N Mx My Mz 12 5N m PA 10 Z
61. 4 NO ARCNET ID FEH 110Q 1 9 No1 S1 182W No 2 S3 E1 No 3 E2 W1 No 4 W92 ll ARCNET MHT a 2 15 b 3 EEPROM 2 16 2 ARCNET 2
62. 3 i E 2 3 E E FGND ZE td 3 Es 2 E1 4 2 4 3 ZA Tuy t LU__T IL 1 lm gk 4 5
63. 35kgf 810 783 888 552 2 2 1 2 W2 360 180 M16 50mm E 0OD i F 0 05 4
64. U 2 W2 V 2 W2 W 2 S1 2 2 2 3 2 1 2 2 2 E1 _ SING 2 E1 SINO 3 E1 COS 8 E1 COS 3 E2 _SING E2 SINC E2 COSC W1 COSC W2 _COSG 6OIREF2C 2 6IINC E2 U W2 U W2 V W2 W 1 2 3 a S NG EE lt ht MINMN ni HH 1 LSW 1 3 LSW 3 2 LSW 2 388ILSW GND __ GND 3 IEG lo colco OQ 4 6 4 4 1 BOX 1 0 5A
65. CRT 5
66. 4 2 A 3 K PA 10 PA 10A ARM PA 10A CBL1 PA 10A CBL2 PA 10A AF
67. G6 C2 Sd LIN0 OO GGrCrApLrs lo WE FE A X0HT mE TTT Es WM CZ Sd MN 19d 3 ZN0 VS1 sg 4 5 U 2lS1lV S1 V 83ISI W IS1 W S2 U S2 V 6IS2W S2 W S3 U 8ISSV S3 V 9lS3W S3 W 6HRGS1 SINC IS1 SINC 8IRGS1 COS C S1 COSO 9 IRMS2 SINT IS2 SIN EN 10IRMS2 SINC IS2 SIN S2 COS S2 COS E1 U E1 V E1 W 16IRGS2 COSC IS2 COSC 1 W1 U 1 W1 V 18IRMS3 SIN C IS3 SINC 1 W1 W 19IRMS3 COSG S3 COS 1 W2
68. 4 1kVAX1 0 15kVA 1 2 10 2 4 aol 3 2 2 11 2 12 LED H qd A 2 3 2 2 2 1 7 NET 1000 1 1
69. 1 oo ji To I lt 3 lod oJ lod Ld Lo LS Led Len Led ooloolocol OO1 17 4 lt YO or by LO ES Dd ES cn 2 be xbd kd Ld Ed bEd 2 2 be pl ba bi La Ek bk kn NRN NANA NRN NR NR NR A co co co co eo oem IH TL IVA ddOFPF Sd IVf hc eleshololelole lolslelelalelalal lt heleIelelsTele e e a m1 YL DOCOM DOCOM 4 9 5 5 1 JP5 JP6 JP2 Arcnet 2 DipSW2 DipSW1 Dio 7 h No ISA i 7 2 DipSW1 ISA A9 A8 A7 A6 A5 A4 A3 A0 0 On 0 Off 1 2 0 0 hex 200hex DipSW2 7 A No ARM5 3 2 MSB 6 5 4 3 92 1 LSB On 0 Off 1 1 2 7 A No 7 ARMO Dio Dio 5 1 DLO 4
70. 3 8 3 8 DI O CPU DI O DI O DIO DO 3 1 DLO DI O 1 A 1 A1 40 49 B20 88 lt 400 gt 41 48 89 96 3 9 2 DO DO DDO 9 6 3m 3 10 3 9 CD ROM CD ROM 3 CD ROM 8SCSI CD ROM ISA 1 CD ROM SCSI 2 8 CD ROM
71. 4 CA 8 C6 4 rs gt 2 1 2 2 3 2 1 2 1 1 1 A 10A ARM
72. TD No lt gt SG SC E gt IT M R EEPROM W RAM EEPROM P EEPROM k C E 2 20 ii 8 We No No X ARCNET TDD No FT DID No FE lt No gt
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