Epson C12 Series, Manipulator Manual

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Table of Contents
C12 Rev.3 vii
Setup & Operation
1. Safety 3
1.1 Conventions............................................................................................3
1.2 Design and Installation Safety ................................................................4
1.3 Operation Safety ....................................................................................5
1.4 Emergency Stop .....................................................................................7
1.5 How to Move Arms with the Electromagnetic Brake ..............................9
1.5.1 Moving the Arm using the brake release unit ...........................10
1.5.2 Moving the Arm using the software ..........................................10
1.6 Precaution for Operation in Low Power Status ....................................10
1.7 Warning Labels ..................................................................................... 11
2. Specifications 13
2.1 Features of Manipulators .....................................................................13
2.2 Model Number ......................................................................................13
2.3 Part Names and Motion Range of Each Arm .......................................14
2.4 Outer Dimensions .................................................................................16
2.5 Standard Motion Range .......................................................................17
2.6 Specifications .......................................................................................18
2.6.1 Specifications table ..................................................................18
2.6.2 Option .......................................................................................21
2.7 How to Set the Model ...........................................................................22
3. Environment and Installation 23
3.1 Environmental Conditions ....................................................................23
3.2 Unpacking, Transportation, and Relocation .........................................24
3.3 Mounting Dimensions ...........................................................................27
3.3.1 Cable Backward Model ............................................................27
3.3.2 Cable Downward Model ...........................................................28
3.4 Installation ............................................................................................29
3.5 Connecting the Cables .........................................................................32
3.6 User Wires and Pneumatic Tubes........................................................34
3.7 Checking the Basic orientation.............................................................36
4. End Effectors 37
4.1 Attaching an End Effector.....................................................................37
4.2 Attaching Camera and Air Valves .........................................................38
4.3 WEIGHT and INERTIA Settings ...........................................................39
4.3.1 WEIGHT setting ........................................................................41
4.3.2 INERTIA setting ........................................................................44
4.4 Precautions for Auto Acceleration/Deceleration ...................................49