Chapter 1 Standard Specifications of the Robot 機器人的技術規格 1.1 Robot arm機器人本體 1.2 Rated load and operating range額定負載與動作範圍 1.2.1 Relationship between mass capacity and movement area for 4-axis robot4軸機器人負載質量與動作範圍關係 1.2.2 Relationship between mass capacity and movement area for 6-axis robot6軸機器人負載質量與動作範圍關係 1.3 Relationship between mass capacity and speed負載質量與速度的關係 1.4 Relationship between height of shaft（J3 axis）and acceleration/deceleration speedJ3軸行程高度與加減速度的關係 1.5 Outside dimensions外形尺寸 1.6 Tooling工具（外圍附件） 1.7 Controller控制器 1.8 Options選件 Chapter 2 Installing the Robot機器人的安裝 2.1 Unpacking to installation開箱及安裝 2.2 Connecting the power cable and grounding cable連接電源電纜和接地電纜 2.3 Attachments installation procedures附件安裝 Chapter 3 Setting the Robot機器人的設置 3.1 Setting the origin原點設置 3.1.1 Origin data input method數據輸入方式 3.1.2 Preparing the T/B操作使用T/B示教單元 3.2 Resetting the origin原點重新設置 3.2.1 Mechanical stopper method機械擋塊方式 3.2.2 Jig method校正棒方式 3.2.3 ABS origin methodABS設置原點方式 3.3 Changing the operating range調整運行範圍 3.3.1 The structure of mechanical stopper機械擋塊的構成 3.3.2 The installation of stopper block機械擋塊的安裝 3.3.3 Installation of J1 axis operating range change optionJ1軸行程擋塊的安裝 Chapter 4 How to Operate Robot機器人的操作 4.1 Operation panel（O/P）functions操作面板的使用 4.2 Installation of teaching pendant示教單元的安裝 4.3 Explanation of operation methods操作方式說明 4.3.1 JOINT jog關節型點動 4.3.2 XYZ jog直交型點動 4.3.3 TOOL jog以工具坐標係為基準點動 4.3.43 -axis XYZ jog三軸型點動 4.3.5 CYLINDER jog圓柱型點動 4.3.6 WORK jog在工件坐標系中的點動 4.4 Aligning the hand機械手整列操作 Chapter 5 Programming機器人編程 5.1 Creation procedures編製程序的流程 5.2 Creating the program新建程序 Chapter 6 Commands of the Robot機器人編程指令 6.1 Coordinate system description of the robot機器人使用的坐標系種類 6.2 Mechanical interface coordinate system機械介面坐標系 6.3 Tool coordinate system工具坐標系 6.3.1 Definition定義 6.3.2 Effects of using tool coordinate system使用工具坐標系的效果 6.4 Robot operation control機器人動作指令 6.4.1 Interpolation movement插補指令 6.4.2 Cnt（Continuous）連續軌跡運行
6.4.3 Pallet operation碼垛指令 6.5 Robot operation control機器人運行控制 6.6 Detailed explanation of command words指令詳細解釋 Chapter 7 Functions Set with Parameters參數設置 7.1 Standard tool coordinate標準工具坐標系 7.2 Standard base coordinate標準基本坐標系 7.3 Free plane limit自由平面限制 7.4 Automatic return setting after jog feed at pause點動暫停后返回軌跡設置 7.5 Warm-up operation mode暖機運行模式 7.6 High-speed RAM operation image高速RAM運行圖 7.7 Collision detection function碰撞檢測 7.8 Simulation and robot calibration operation模擬及機器人校準運行 Chapter 8 Advanced Functions高級功能 8.1 Configuration flag結構標誌 8.1.1 Configuration flag of 6-axis robot6軸機器人的結構標誌 8.1.2 Configuration flag for horizontal multi-joint robot水平多關節型機器人的結構標誌 8.2 Spline interpolation樣條曲線插補 8.3 Ex-T control以外部原點為基準的控制 8.3.1 Outline概述 8.3.2 Ex-T coordinate settingEx-T坐標系設置 8.3.3 Operation操作 8.4 Cooperative operation function聯合操作功能 Chapter 9 Tracking Control跟蹤控制 9.1 Tracking systems跟蹤系統 9.1.1 Configuration example of conveyor tracking systems傳輸線跟蹤系統 9.1.2 Configuration example of vision tracking systems視覺跟蹤系統 9.1.3 Measures against the noise抗電磁干擾 9.1.4 Calibration operation for conveyor and robot傳送帶和機器人的校準操作 9.1.5 Tracking check function跟蹤核查功能 9.2 Circular arc tracking圓弧跟蹤 Chapter 10 Additional Axis附加軸 10.1 Outline概述 10.2 Additional axis function附加軸功能 Chapter 11 Maintenance and Inspection維護和保養 11.1 Robot arm structure機器人構造 11.1.1 Structure for horizontal multi-joint type robot水平型機器人的構造 11.1.2 Structure for 6-axis robot6軸機器人的構造 11.2 Installing/removing the cover蓋板安裝與拆卸 11.3 Inspection，maintenance and replacement of timing belt同步帶檢查保養及張緊度調整 11.3.1 Inspection and maintenance of timing belt for horizontal multi-joint type robot水平型機器人同步帶的檢測和維護 11.3.2 Inspection and maintenance of timing belt for 6-axis robot6軸機器人同步帶保養維護 11.3.3 Tension adjustment of timing belt同步帶的張緊調整 11.4 Lubrication潤滑 11.5 Replacing the battery更換電池 11.6 The check of the filter，cleaning，exchange過濾窗的檢查、清洗及更換 11.7 Overhaul大修 Chapter 12 The Application of Robots in Welding Industries機器人在焊接行業中的應用 12.1 Composition and structure組成結構 12.2 Feature特點 12.3 Structure design結構設計
12.4 Equipment裝備 12.5 Welding application焊接應用 12.5.1 Workstation工作站 12.5.2 Box welding robot workstation箱體焊接機器人工作站 12.5.3 Robot flexible laser welding machine機器人柔性激光焊接機 12.5.4 Shaft welding robot workstation軸類焊接機器人工作站 12.5.5 Robot welding stud workstation機器人焊接螺柱工作站 12.6 Welding robot production line焊接機器人生產線 12.7 Application of welding robot in automobile production焊接機器人在汽車生產中的應用 12.8 Characteristics of arc welding弧焊特點 12.8.1 Basic function基本功能 12.8.2 Welding equipment焊接設備 12.8.3 Maintaining維護保養 Chapter 13 The Application of Robots in Other Industries機器人在其他行業中的應用 13.1 Application of robot in transportation industry機器人在搬運碼垛行業中的應用 13.2 Application of robot in polishing industry機器人在打磨拋光行業中的應用 13.3 Application of robot in machine tool industry機器人在機床加工行業中的應用 13.3.1 Overview概述 13.3.2 Loading and unloading robot features上下料機器人的特點 13.3.3 Robot classification機器人分類 13.3.4 Working example工作樣例 13.4 Application of robot in cutting industry機器人在切割行業中的應用 13.5 Application of robot in spraying industry機器人在噴塗行業中的應用 Chapter 14 Robot Force Sensing Control機器人的力覺控制 14.1 What is the force sensing control function？什麼是力覺控制功能？ 14.2 Terms術語 14.3 System composition系統構成 14.4 Force sense coordinate system力覺坐標系 14.4.1 The definition of the force sense coordinate system力覺坐標系的定義 14.4.2 Force sensor coordinate system力覺感測器坐標系 14.5 Program程序 14.5.1 Mode switching模式切換 14.5.2 Sample program 1樣常式序１ 14.5.3 Sample program 2樣常式序２ 14.5.4 Sample program 3樣常式序３ 14.5.5 Sample program 4樣常式序４ 14.6 Stiffness controlling剛度控制 14.6.1 Stiffness controlling principle剛度控制原理 14.6.2 Change control characteristics 1改變控制特性1 14.6.3 Change control characteristics 2改變控制特性2 14.7 Assembly裝配 14.7.1 Case 1案例1 14.7.2 Case 2案例2 14.7.3 Case 3：data latching and reading案例3：數據鎖存及讀取 14.7.4 Data transfer case數據傳送案例 14.7.5 Position alignment push in位置對準推入 References參考文獻
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