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Setup & Operation  1. Safety 

 

E2C  Rev.6 

3 

 

  1.    Safety 

Installation and transportation of robots and robotic equipment shall be performed by 
qualified personnel and should conform to all national and local codes.    Please read this 
manual and other related manuals before installing the robot system or before connecting 
cables.  
Keep this manual handy for easy access at all times. 
 

 1.1  Conventions 

Important safety considerations are indicated throughout the manual by the following 
symbols.    Be sure to read the descriptions shown with each symbol. 
 

 

WARNING 

This symbol indicates that a danger of possible serious injury 
or death exists if the associated instructions are not followed 
properly. 

 

WARNING 

This symbol indicates that a danger of possible serious injury 
or death caused by electric shock exists if the associated 
instructions are not followed properly. 

 

CAUTION 

This symbol indicates that a danger of possible harm to people 
or physical damage to equipment and facilities exists if the 
associated instructions are not followed properly. 

 

 1.2  Design

 

and Installation Safety 

Only trained personnel should design and install the robot system.  Trained 
personnel are defined as those who have taken robot system training and 
maintenance training classes held by the manufacturer, dealer, or local 
representative company, or those who understand the manuals thoroughly and 
have the same knowledge and skill level as those who have completed the training 
courses. 
To ensure safety, a safeguard must be installed for the robot system.    For details 
on the safeguard, refer to the 

Installation and Design Precautions

 in the 

Safety

 

chapter of the EPSON RC+ User’s Guide or the 

Safety: 1.3 Design Precautions

 in 

the SPEL CT User’s Guide. 
 
The following items are safety precautions for design personnel: 

 

 

WARNING 

■

 

Personnel who design and/or construct the robot system with this product must 
read the 

Safety

 chapter in the EPSON RC+ User’s Guide or the 

Safety

 part in the 

SPEL CT User’s Guide to understand the safety requirements before designing 
and/or constructing the robot system. Designing and/or constructing the robot 
system without understanding the safety requirements is extremely hazardous, 
may result in serious bodily injury and/or severe equipment damage to the robot 
system, and may cause serious safety problems. 

Summary of Contents for E2C Series

Page 1: ...SCARA ROBOT E2C series MANIPULATOR MANUAL Rev 6 EM069R1409F ...

Page 2: ...MANIPULATOR MANUAL E2C series Rev 6 ...

Page 3: ...E2C Rev 6 i SCARA ROBOT E2C series Manipulator Manual Rev 6 Copyright 2002 2006 SEIKO EPSON CORPORATION All rights reserved ...

Page 4: ...anty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disas...

Page 5: ...are subject to change without notice Please notify us if you should find any errors in this manual or if you have any comments regarding its contents INQUIRIES Contact the following service center for robot repairs inspections or adjustments If service center information is not indicated below please contact the supplier office for your region Please prepare the following items before you contact ...

Page 6: ...66 61 1802 FAX 81 0 266 61 1846 SUPPLIERS North South America EPSON AMERICA INC Factory Automation Robotics 18300 Central Avenue Carson CA 90746 USA TEL 1 562 290 5900 FAX 1 562 290 5999 E MAIL info robots epson com Europe EPSON DEUTSCHLAND GmbH Factory Automation Division Otto Hahn Str 4 D 40670 Meerbusch Germany TEL 49 0 2159 538 1391 FAX 49 0 2159 538 3170 E MAIL robot infos epson de ...

Page 7: ...C170 Controller EPSON RC EPSON RC 5 0 or later For details on commands refer to User s Guide or On line help Turning ON OFF Controller When you see the instruction Turn ON OFF the Controller in this manual be sure to turn ON OFF all the hardware components For the Controller composition refer to the table above Differences in Terminology according to Software Some expressions are different accordi...

Page 8: ...vi E2C Rev 6 ...

Page 9: ...del SM Type 16 2 3 4 Multiple Mounting Cleanroom model CM Type 18 2 4 Specifications 20 2 5 How to Set the Model 22 3 Environments and Installation 23 3 1 Environmental Conditions 23 3 2 Base Table 24 3 3 Mounting Dimensions 25 3 3 1 Table Top 26 3 3 2 Multiple Mountings 27 3 4 Unpacking and Transportation 28 3 4 1 Precautions for Transportation 28 3 4 2 Transportation 29 3 4 3 Contents 29 3 5 Ins...

Page 10: ...ng the Mechanical Stops of Joints 1 and 2 58 5 2 2 Setting the Mechanical Stop of Joint 3 61 5 3 Setting the Cartesian Rectangular Range in the X Y Coordinate System of the Manipulator for Joints 1 and 2 64 5 4 Standard Motion Range 65 5 4 1 Table Top 66 5 4 2 Multiple Mountings 68 Maintenance 1 Safety Maintenance 71 2 General Maintenance 73 2 1 Schedule for Maintenance Inspection 73 2 2 Inspectio...

Page 11: ...r Pin Assignments 100 5 Replacing the Motors 107 5 1 Types of Motors 108 5 2 Location of Motors 108 5 3 Replacing the Joint 1 Motor 109 5 3 1 S C Type Manipulators 109 5 3 2 SM CM Type Manipulators 111 5 4 Replacing the Joint 2 Motor 113 5 5 Replacing the Joint 3 Motor 116 5 6 Replacing the Joint 4 Motor 120 6 Replacing the Reduction Gear Units 123 6 1 Types of Reduction Gear Units 124 6 2 Locatio...

Page 12: ...pulators 169 10 4 Replacing the Ball Screw Spline Unit 171 11 Replacing the Signal Relay Board 177 11 1 Before Replacing the Signal Relay Board 177 11 2 How to Replace the Signal Relay Board 178 11 2 1 S C Type Manipulators 178 11 2 2 SM CM Type Manipulators 180 12 Replacing the Lithium Battery 183 12 1 Before Replacing the Lithium Battery 184 12 2 How to Replace the Lithium Battery 185 13 Replaci...

Page 13: ...Setup Operation This volume contains information for setup and operation of the E2C series Manipulators Please read this volume thoroughly before setting up and operating the Manipulators ...

Page 14: ......

Page 15: ... Installation Safety Only trained personnel should design and install the robot system Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer dealer or local representative company or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses ...

Page 16: ...ated Requirements in the Safety chapter of the EPSON RC User s Guide or the Safety 1 1 Safety related Requirements in the SPEL CT User s Guide before operating the robot system Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system Do not enter the operating area of t...

Page 17: ...n one person ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions 1 4 Emergency Stop If the Manipulator moves abnormally during operation immediately press the Emergency Stop switch The motor power will be turned OFF and the arm motion by inertia will be stopped with the dynamic brake However avoid pressing the Emergency St...

Page 18: ...0 2 0 3 0 2 Joint 1 deg 20 40 35 50 Joint 2 deg 30 55 35 55 Free running angle Joint 1 Joint 2 deg 50 90 70 105 Free running distance Joint 3 mm 25 65 25 65 The free running distance of RC170 differs from RC520 RC420 for the differences of the braking process RC170 stops with the dynamic brake after the deceleration motion as Quick Pause to keep the operating trajectory while the robot system stop...

Page 19: ...pulator by hand as shown below Arm 1 Push the arm by hand Arm 2 Push the arm by hand Joint 3 The joint cannot be moved up down by hand because the electromagnetic brake is applied to the joint Move the joint up down while pushing the Joint 3 brake release button Joint 4 Rotate the shaft by hand Joint 3 brake release button Joint 3 Joint 4 Arm 1 Arm 2 Shaft ...

Page 20: ... following labels are attached as well as the nearby areas Location of Labels Table Top Multiple Mountings Labels NOTE Before unscrewing the base mounting screws hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the Manipulator 10 Inside of the arm top cover Gap gauge for adjusting brake clearance NOTE Hazardous voltage exists while the Manipulator is ...

Page 21: ...height of the cable duct has been lowered Installation available for ceiling and wall as standard model Multiple Mountings 3 Available for Large load The capacity for large load has been improved since allowable moment of inertia of U axis has been increased Optimal control for load makes the handling in large load stable 4 High Speed High Duty Operation The ability for high duty operation has bee...

Page 22: ...m model SM Multiple Mounting Standard model CM Multiple Mounting Cleanroom model Joint 3 stroke Type is S or SM 120 mm 1 Type is C or CM 100 mm Arm length 35 350 mm When the manual conveys information that applies to all models regardless of Joint 3 stroke or Arm length asterisks are used in the model number Example E2C S This model number means that the Manipulator is E2C series Table Top Standar...

Page 23: ...OTE below Bottom shelf See NOTE below Ceiling Cleanroom Available for clean rooms Countermeasure for Electrostatic Discharge ESD has been taken CM type E2C351 NOTE The shelf also means beam For the example of the installation refer to Setup Operation 3 4 3 Installation Procedure Multiple Mountings Cleanroom model C CM Types Cleanroom model Manipulators include additional features that reduce dust ...

Page 24: ...1 Arm 2 Base Cable unit Shaft cover only for UL type Sensor monitor Signature label Serial No of Manipulator Fitting black for ø6 mm pneumatic tube Fitting for ø4 mm pneumatic tube Spare Signal cable connector Power cable connector User connector 15 pin D sub connector Fitting blue for ø6 mm pneumatic tube LED Shaft Battery box MT label only for custom specification Base connector box ...

Page 25: ...4 5 b 7 230 or more space for cables indicates the stroke margin by mechanical stop 55 60 28 120 140 140 97 120 85 50 125 7 11 55 5 81 229 12 11 90 45 0 05 60 0 05 ø6 H7 8 6 0 02 0 ø23 2 M3 Depth 8 Shaft cover only for UL type 1mm flat cut ø3 90 conical hole Max ø11 through hole ø16 h7 shaft diameter ø30 mechanical stop diameter ø43 10 10 10 15 46 18 12 7 The flat cut and conical hole on the end o...

Page 26: ...gure shows the additional parts and specifications for the Table Top Cleanroom model when compared with the Standard model in appearance Upper bellows Exhaust port Signal cable connector Sealing tape User connector 15 pin D sub connector Sealing tape Lower bellows Plate cover For static electricity countermeasure ...

Page 27: ...633 234 5 55 5 229 12 b 230 or more space for cables indicates the stroke margin by mechanical stop 125 a 110 28 140 60 55 73 92 100 108 52 125 4 5 11 120 140 2 M3 Depth 13 90 45 0 05 60 0 05 ø6 H7 8 6 0 02 0 ø62 23 1mm flat cut ø3 90 conical hole Max ø11 through hole ø16 h7 shaft diameter ø30 mechanical stop diameter 10 10 10 15 78 18 30 The flat cut and conical hole on the end of the shaft can b...

Page 28: ... 2 rotating Joint 3 up and down Joint 4 rotating Arm 1 Arm 2 Base Cable unit Shaft cover only for UL type Sensor monitor Signature label Serial No of Manipulator Fitting black for ø6 mm pneumatic tube Fitting for ø4 mm pneumatic tube Spare Signal cable connector Power cable connector User connector 15 pin D sub connector Fitting blue for ø6 mm pneumatic tube Shaft ...

Page 29: ...p 225 125 44 60 55 73 190 110 100 10 ø48 125 52 83 120 20 7 81 137 5 61 5 63 48 47 26 5 70 150 4 M8 Depth 16 Both top and bottom of base 155 189 55 5 2 2 ø23 2 M3 Depth 8 Shaft cover only for UL type Calibration point position of Joints 3 and 4 1mm flat cut ø3 90 conical hole Max ø11 through hole ø16 h7 shaft diameter ø30 mechanical stop diameter ø43 10 10 10 15 46 18 12 7 The flat cut and conical...

Page 30: ...gure shows the additional parts and specifications for the Multiple Mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Exhaust port Signal cable connector Sealing tape User connector 15 pin D sub connector Sealing tape Lower bellows Plate cover For static electricity countermeasure ...

Page 31: ...troke margin by mechanical stop 137 5 ø116 125 225 60 55 73 190 110 100 10 180 108 52 125 156 20 63 48 47 26 5 2 M3 Depth 13 4 M8 Depth 16 Both top and bottom of base 23 150 261 5 ø62 2 2 Calibration point position of Joints 3 and 4 1mm flat cut ø3 90 conical hole Max ø11 through hole ø16 h7 shaft diameter ø30 mechanical stop diameter 10 10 10 15 78 18 30 The flat cut and conical hole on the end o...

Page 32: ...able moment of inertia 3 Rated max 0 005 kg m2 0 050 kg m2 Shaft diameter through hole ø16 h7 mm ø11 mm Joint 3 down force 150 N Installed wire for customer use 15 wires 15 pin D sub connector Installed pneumatic tube for customer use 2 pneumatic tubes ø6 mm 1 pneumatic tube ø4 mm Allowable pressure 0 59 MPa 6 kgf cm2 86psi Ambient Temperature 5 to 40 C with minimum temperature variation Environme...

Page 33: ...us motion maximum speed maximum acceleration and duty 50 Measurement point At the front of Manipulator 1000 mm apart from the motion range 50 mm above the base installed surface 5 The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm...

Page 34: ...el may result in abnormal or no operation of the Manipulator and or cause safety problems If an MT label is attached to the rear of a Manipulator the Manipulator has custom specifications If the Manipulator has custom specifications the methods for setting the model may differ from those described below Please contact us with the number on the MT label The method for setting the Manipulator model ...

Page 35: ...o 80 no condensation First transient burst noise 2 kV or less Electrostatic noise 6 kV or less Environment Install indoors Keep away from direct sunlight Keep away from dust oily smoke salinity metal powder or other contaminants Keep away from flammable or corrosive solvents and gases Keep away from water Keep away from shocks or vibrations Keep away from sources of electric noise Manipulators are...

Page 36: ...ction force 1000N The threaded holes for the Manipulator base are M8 Use the mounting bolts conforming to the strength ISO898 1 property class 10 9 or 12 9 For the dimensions refer to Setup Operation 3 3 Mounting Dimensions The plate for the Manipulator mounting face should be 20 mm thick or more and made of steel to reduce vibration The surface roughness of the steel plate should be 25 µm or less...

Page 37: ...tic valve are bigger than the arm set the maximum range including the space that they may reach Mounting Area Be sure to have the following spaces besides the space for mounting the Manipulator Controller and peripheral equipment space for teaching space for maintenance and inspections space for cables The minimum bend radius of the power cable is 130 mm When installing the cable be sure to mainta...

Page 38: ...h of Arm 1 125 mm 225 mm B Length of Arm 2 125 mm 125 mm C 95 7 mm 142 mm D Motion range of Joint 1 90 degrees 110 degrees E Motion range of Joint 2 135 degrees 145 degrees F 89 6 mm 136 mm G Range to the mechanical stop of Joint 1 98 degrees 116 degrees H Range to the mechanical stop of Joint 2 138 degrees 148 degrees J Range to the safeguard approx 100 mm J shows the necessary distance minimum b...

Page 39: ...nge of Manipulator E2C351SM CM A Length of Arm 1 225 mm B Length of Arm 2 125 mm C 136 mm D Motion range of Joint 1 110 degrees E Motion range of Joint 2 145 degrees F 142 mm G Range to the mechanical stop of Joint 1 116 degrees H Range to the mechanical stop of Joint 2 148 degrees J Range to the safeguard approx 100 mm J shows the necessary distance minimum between the maximum space and safeguard...

Page 40: ...to get hands or fingers caught The arm is secured with a wire tie Leave the wire tie secured until you finish the installation so as not to get hands or fingers caught To carry the Manipulator have two or more people to work on it and secure the Manipulator to the delivery equipment or hold the areas indicated in gray in the figure bottom of Arm 1 main cable elbow fitting bottom of the base by han...

Page 41: ...ator slightly so that it does not fall Then remove the bolts securing the Manipulator to the delivery equipment or pallet 4 Hoist the Manipulator holding it by hand so that it can keep its balance Then move it to the base table 3 4 3 Contents 1 Manipulator 2 Accessories Standard model Cleanroom model Item Quantity Power cable 1 Signal cable 1 Connector and Clamp hood for user wiring 2 sets Grease ...

Page 42: ... room 1 Secure the base to the base table with four bolts Use the bolts conforming to the strength ISO898 1 Property Class 10 9 or 12 9 9 mm Threaded hole for M8 Depth 20 mm or more 4 M8 Spring washer Plain washer 2 Using nippers cut off the wire tie securing Arm 2 3 Unscrew the M4 screw on the end of Arm 2 Wire tie M4 screw 4 Push Arm 1 slowly in the direction shown with an arrow in the figure on...

Page 43: ... remove the support until all the anchor bolts are secured Removing the support while the anchor bolts are not secured sufficiently is extremely hazardous and may result in fall of the Manipulator The Multiple Mountings Manipulators have mounting holes available for the following installation patterns Side Ceiling Top Shelf Bottom Shelf Design and make the base table for anchoring the Multiple Mou...

Page 44: ...he clean room 1 Secure the base to the base table with four bolts Use the bolts conforming to the strength ISO898 1 Property Class 10 9 or 12 9 Threaded hole for M8 Depth 20 mm or more 4 M8 40 Spring washer Plain washer 2 Using nippers cut off the wire tie securing Arm 2 3 Unscrew the M4 screw on the end of Arm 2 Wire tie 4 Push Arm 1 slowly in the direction shown with an arrow in the figure on th...

Page 45: ...bjects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system CAUTION When connecting the Manipulator and the Controller make sure that the ser...

Page 46: ... signal cable connector The connection method for the Controller side varies with the Controller used For details refer to the controller manual M C signal cable M C power cable To Controller Signal cable connector Power cable connector To Controller Table Top M C signal cable M C power cable To Controller Signal cable connector Power cable connector Multiple Mountings ...

Page 47: ...he wire ties the duct cannot smoothly rotate in the main cable elbow fitting and or duct joint The difficulty in rotating the duct may result in damage to the duct See the figures below Be sure that the duct can smoothly rotate Right Cable Cable wire tie Cable Wrong Cable wire tie CAUTION Only authorized or certified personnel should be allowed to perform wiring Wiring by unauthorized or uncertifi...

Page 48: ...6 Pneumatic Tubes Max Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter Inner Diameter 2 ø6 mm ø4 mm 0 59 MPa 6 kgf cm2 86psi 1 ø4 mm ø2 5 mm Fittings for ø6 mm and ø4 mm outer diameter pneumatic tubes are supplied on the both ends of the pneumatic tubes ...

Page 49: ...ube Brake release button 15 pin D sub connector Spare User connector 15 pin D sub connector Fitting for ø4 mm pneumatic tube Fitting black for ø6 mm pneumatic tube Fitting blue for ø6 mm pneumatic tube Table Top Spare User connector 15 pin D sub connector Fitting black for ø6 mm pneumatic tube Fitting blue for ø6 mm pneumatic tube Fitting for ø4 mm pneumatic tube Fitting blue for ø6 mm pneumatic t...

Page 50: ...m of Arm 1 bottom of the main cable fitting and bottom of the base by hand When holding the bottom of the base by hand be very careful not to get hands or fingers caught Do not hold the duct joint on the back of the base CAUTION Stabilize the Manipulator with your hands when hoisting it Unstable hoisting is extremely hazardous and may result in fall of the Manipulator When transporting the Manipul...

Page 51: ...fer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops 2 Tighten the M4 screw on the bottom of Arm 2 end Wire tie M4 screw 3 Push Arm 1 by hand in the direction shown with the arrow in the figure on the right until the arm retaining bolt appears Turn the arm retaining bolt upward until the part under the head of the bolt appears by 15 mm Arm retaining bolt M8 30 4 Push Arms 1 2 by han...

Page 52: ... the main cable elbow fitting together with a wire tie as shown in the figure on the right Be careful not to tie them too tight Otherwise the shaft may bend Wire tie M4 screw 6 Hold the bottom of Arm 1 by hand to unscrew the anchor bolts Then remove the Manipulator from the base table ...

Page 53: ...escribed below when relocating the Manipulator 1 Turn OFF the power on all devices and unplug the cables Remove the mechanical stops if using them to limit the motion range of Joint 1 and 2 For details on the motion range refer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops 2 Push Arm 1 by hand in the direction shown with the arrow in the figure on the right until the arm retainin...

Page 54: ... and the main cable elbow fitting together with a wire tie as shown in the figure on the right Be careful not to tie them too tight Otherwise the shaft may bend Wire tie 6 Hold the bottom of Arm 1 by hand to unscrew the anchor bolts Then remove the Manipulator from the base table ...

Page 55: ...imit mechanical stop on the lower side of the shaft Otherwise when Jump motion is performed the upper limit mechanical stop may hit the Manipulator and the robot system may not function properly Use a split muff coupling with an M4 bolt or larger to attach the end effector to the shaft Joint 3 brake release button Joint 3 cannot be moved up down by hand because the electromagnetic brake is applied...

Page 56: ...pending on the motion 4 2 Attaching Cameras and Valves Arm 2 has threaded holes as shown in the figure below Use these holes for attaching cameras valves and other equipment 36 5 5 20 To thread hole A To thread hole B C Table Top Multiple Mountings To thread hole A To thread hole B C Base mounting face Center of base reference hole Height from the base mounting face E2C 1S C To thread hole A 300 T...

Page 57: ... actual load may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable weight capacity end effector and work piece in E2C series is 1 kg at the rating and 3 kg at the maximum When the load weight of the end effector and work piece exceeds the rating change the setting of WEIGHT parameter After the setting is changed t...

Page 58: ...WM M L1 2 L1 L2 2 WM M LM 2 L2 2 WM M L1 L2 LM equivalent weight weight of camera etc length of Arm 1 length of Arm 2 distance from rotation center of Joint 2 to center of gravity of camera etc Example A 0 5 kg camera is attached to the end of the E2C series arm 225 mm away from the rotation center of Joint 2 with a load weight 1 kg M 0 5 L2 125 LM 225 WM 0 5 2252 1252 1 62 1 7 round up W WM 1 1 7...

Page 59: ...0 005 kgwm2 at the rating and 0 05 kgwm2 at the maximum When the moment of inertia of load exceeds the rating change the setting of moment of inertia INERTIA parameter of load of INERTIA command After the setting is changed the maximum acceleration deceleration speed of Joint 4 is corresponding to moment of inertia is set automatically Moment of inertia of load on the shaft The moment of inertia o...

Page 60: ...entric quantity parameter according to the eccentric quantity Setting a value that is smaller than the actual eccentric quantity may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable eccentric quantity of load in E2C series is 0 mm at the rating and 100 mm at the maximum When the eccentric quantity of load exceeds...

Page 61: ...arameters EPSON RC EPSON RC 4 or before RC520 RC420 Enter the combined total eccentric quantity of the end effector and work piece into the Eccentricity text box on the INERTIA panel Project Robot Parameters You may also execute the INERTIA command from the EPSON RC Monitor Window EPSON RC 5 0 or later RC170 Enter into the Eccentricity text box on the Inertia panel Tools Robot Manager You may also...

Page 62: ...entire load is calculated by the sum of each part a b and c Work piece b Work piece c End effector a Joint 3 shaft Rotation center Moment of inertia of end effector a Moment of inertia of work piece b Moment of inertia of work piece c Whole moment of inertia The methods for calculating the moment of inertia for a b and c are shown on this page or the next page Find the whole moment of inertia usin...

Page 63: ...iped h b L Mass m Rectangular parallelepiped s center of gravity Rotation center m m L 2 b 2 h 2 12 b Moment of inertia of a cylinder m m L 2 r 2 2 Mass m L r Cylinder s center of gravity Rotation center c Moment of inertia of a sphere m r 2 m L 2 2 5 Sphere s center of gravity r Mass m L Rotation center ...

Page 64: ...n deceleration is However it takes more time to move Joint 3 up and down Adjust the position of Joint 3 for the Manipulator motion after considering the relation between the current position and the destination position The upper limit of Joint 3 during horizontal motion can be set by the LIMZ command Automatic acceleration deceleration vs Joint 3 position Height of the shaft E2C25 35 The percenta...

Page 65: ...on Range That is the maximum motion range of the Manipulator There are three methods for setting the motion range described as follows 1 Setting by pulse range for all joints 2 Setting by mechanical stops for Joints 1 to 3 of Standard model Joints 1 and 2 of Cleanroom model 3 Setting the Cartesian rectangular range in the X Y coordinate system of the Manipulator for Joints 1 and 2 Mechanical stop ...

Page 66: ...anipulator receives an operating command it checks whether the target position specified by the command is within the pulse range before operating If the target position is out of the set pulse range an error occurs and the Manipulator does not move The method for setting pulse ranges varies with the software used SPEL CT The pulse range can be set on the RANGE panel shown by selecting the Setup R...

Page 67: ... 0 pulse 182045 pulse 18205 pulse E2C351 Table Top Y X 0 pulse 182045 pulse 18205 pulse E2C351 M Multiple Mountings 110 deg 110 deg 110 deg 110 deg 5 1 2 Max Pulse Range of Joint 2 0 zero pulse position of Joint 2 is the position where Arm 2 is parallel to Arm 1 With the 0 pulse as a starting point the counterclockwise pulse value is defined as the positive and the clockwise pulse value is defined...

Page 68: ...t Manipulator Joint 3 stroke Pulse value of lower limit E2C 1S SM 120 mm 36864 pulse E2C 1C CM 100 mm 30720 pulse 5 1 4 Max Pulse Range of Joint 4 0 zero pulse position of Joint 4 is the position where the flat surface near the end of the shaft faces toward the end of Arm 2 With the 0 pulse as a starting point the counterclockwise pulse value is defined as the positive and the clockwise pulse valu...

Page 69: ...ical stop of Joint 3 Lower limit mechanical stop For the Cleanroom model Manipulator the motion range set with the Joint 3 mechanical stop cannot be changed The mechanical stop can be set at the angle shown in the table below If the position of the mechanical stop is changed re specify the pulse range º degree Manipulator Joint Position for area setting by mechanical stops 1 0 0 2 110 110 E2C251 3...

Page 70: ...eaded holes for the mechanical stop settings of Joints 1 2 and the setting angles pulse value Joint 1 º degree E2C251 Table Top 90 163840 pulse standard 90 0 pulse standard 0 81920 pulse Mechanical stop of Joint 1 standard Mechanical stop for 0 0 81920 pulse E2C351 Table Top E2C351 M Multiple Mountings 110 182045 pulse standard 110 18205 pulse standard 0 81920 pulse Mechanical stop of Joint 1 stan...

Page 71: ... angle Joint Hexagon socket head cap bolt The number of bolts Recommended tightening torque M8 10 fully threaded 1 two M10 nuts one plain washer 3720 N cm 380 kgf cm 2 M6 10 fully threaded 1 one side 1860 N cm 190 kgf cm 3 Turn ON the Controller 4 Set the pulse range corresponding to the new positions of the mechanical stops Be sure to set the pulse range inside the positions of the mechanical sto...

Page 72: ...hanical stops Example The angle of Joint 1 is set from 90 degrees to 0 degrees The angle of Joint 2 is set from 110 degrees to 135 degrees The method for setting pulse ranges varies with the software used SPEL CT Click the Debug Pane button and execute the following commands from the Command Execution Window MOTOR ON Turns ON the motor SPEED 5 Sets at low speeds GO PULSE 0 0 0 0 Moves to the min p...

Page 73: ...ntroller and turn OFF the motors using the MOTOR OFF command 2 Push up the shaft while pushing the Joint 3 brake release button Do not push the shaft up to its upper limit since it is difficult for the arm top cover to be removed Push the shaft up to the position where the position of the Joint 3 mechanical stop can be changed When you push the Joint 3 brake release button the shaft may lower due ...

Page 74: ...t 3 to its lower limit while pushing the brake release button and then check the lower limit position Do not lower the mechanical stop too far Otherwise the joint does not reach target position 11 Calculate the lower limit pulse value of the pulse range using the formula shown below and set the value The result of the calculation is always negative because the lower limit Z coordinate value is neg...

Page 75: ...p by 20 mm and changing the lower limit Z coordinate value to 100 in 120 mm stroke The method for setting pulse ranges varies with the software used SPEL CT Click the Debug Pane button and execute the following commands from the Command Execution window MOTOR ON Turns ON the motor SPEED 5 Sets at low speeds GO PULSE 0 0 30720 0 Moves to the lower limit pulse position of Joint 3 In this example all...

Page 76: ...aries with the software used SPEL CT Set the XYLIM setting on the XYLIM panel shown by selecting the Setup Robot Parameters EPSON RC EPSON RC 4 or before RC520 RC420 Set the XYLIM setting on the XYLIM panel shown by selecting the Project Robot Parameters You may also execute the XYLIM command from the EPSON RC Monitor Window EPSON RC 5 0 or later RC170 Set the XYLIM setting on the XYZ Limits panel...

Page 77: ...stop is the area where the center of Joint 3 s lowest point can be moved when each joint motor is not under servo control Mechanical stop sets the limited motion range so that the center of Joint 3 cannot move beyond the area mechanically Maximum space is the area that contains the farthest reach of the arms If the maximum radius of the end effector is over 44 mm add the Area limited by mechanical...

Page 78: ...the base mounting face 97 mm 93 mm c Height to the upper limit mechanical stop 7 mm 5 mm d Height to the lower limit mechanical stop 11 mm 4 mm Center of Joint 3 Maximum space Motion range Area limited by mechanical stop Base mounting face Setting value of Cartesian rectangular range at shipping X coordinate axis 94 to 94 Y coordinate axis 250 to 0 ...

Page 79: ...C a Joint 3 stroke 120 mm 100 mm b Height from the base mounting face 97 mm 93 mm c Height to the upper limit mechanical stop 7 mm 5 mm d Height to the lower limit mechanical stop 11 mm 4 mm Center of Joint 3 Maximum space Motion range Area limited by mechanical stop Base mounting face ...

Page 80: ...r of base reference hole 83 mm 108 mm c Height to the upper limit mechanical stop 7 mm 5 mm d Height to the lower limit mechanical stop 11 mm 4 mm Center of Joint 3 Maximum space Motion range Area limited by mechanical stop X Y Center of base reference hole Setting value of Cartesian rectangular range at shipping X coordinate axis 160 to 160 Y coordinate axis 350 to 50 ...

Page 81: ...Maintenance This volume contains maintenance procedures with safety precautions for E2C series Manipulators ...

Page 82: ......

Page 83: ...rses Do not enter the operating area while the power is ON Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even it seems to be stopped When you check the operation of the Manipulator after replacing parts be sure to check it while you are outside of the safeguard area Checking the operation of the Manipulator wh...

Page 84: ...s Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system ...

Page 85: ...to five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Manipulator is operated for 250 hours or longer per month the inspection points must be added every 250 hours 750 hours 1500 hours and 3000 hours operation Inspection Point Daily inspection Monthly inspection Quarterly inspection Biannual inspection Annual inspection 1 month 250h 2 months ...

Page 86: ...ush it securely or tighten Manipulator cable unit External appearance of Manipulator Visually check for external defects Clean up if necessary External cables Check for bends or improper location Repair or place it properly if necessary Safeguard etc Check tension of timing belts Tighten it if necessary Inside of Arm 2 Grease conditions Refer to Maintenance 2 3 Greasing 2 2 2 Inspection while the ...

Page 87: ...n the replacement of motor SK 1A Joint 2 Reduction gear unit In the replacement of motor SK 2 Maintenance 6 5 Replacing the Joint 1 Reduction Gear Unit 6 6 Replacing the Joint 2 Reduction Gear Unit Under normal conditions the reduction gear units shall be greased only when the motor is replaced However in case of severe working conditions such as high duty high speeds large loading etc the reducti...

Page 88: ...tened with the appropriate tightening torques as shown below Bolt Tightening Torque M3 245 N cm 25 kgf cm M4 490 N cm 50 kgf cm M5 980 N cm 100 kgf cm M6 1 760 N cm 180 kgf cm M8 3 720 N cm 380 kgf cm M10 7 350 N cm 750 kgf cm M12 12 740 N cm 1 300 kgf cm We recommend that the bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below 1 5 3 7 2 6 4 8 B...

Page 89: ... to the software you are using For the calibration the pulse values for a specific position must be recorded in advance Before replacing the parts select easy point pose data from the registered point data to check the accuracy Then follow the steps below to display the pulse values and record them SPEL CT Click the Debug Pane button and execute the following command from the Command Execution win...

Page 90: ... belt Z belt Ball screw spline unit Joint 2 reduction gear unit Joint 1 reduction gear unit Cable unit LED lamp Shaft cover only for UL type 2 6 2 C Type Manipulator Layout Joint 4 motor Joint 3 motor Joint 4 counter shaft Joint 2 motor Signal relay board Joint 1 motor U1 belt U2 belt Z belt Ball screw spline unit Joint 2 reduction gear unit Joint 1 reduction gear unit Cable unit LED lamp Upper be...

Page 91: ...l screw spline unit Joint 2 reduction gear unit Joint 1 reduction gear unit LED lamp Cable unit Shaft cover only for UL type 2 6 4 CM Type Manipulator Layout Joint 4 motor Joint 3 motor Joint 4 counter shaft Joint 2 motor Signal relay board Joint 1 motor U1 belt U2 belt Z belt Ball screw spline unit Joint 2 reduction gear unit Joint 1 reduction gear unit LED lamp Cable unit Upper bellows Lower bel...

Page 92: ...Maintenance 2 General Maintenance 80 E2C Rev 6 ...

Page 93: ...robot system pull out the power plug from the power source Be sure to connect the AC power cable to a power receptacle DO NOT connect it directly to a factory power source Before performing any replacement procedure turn OFF the controller and related equipment and then pull out the power plug from the power source Performing any replacement procedure with the power ON is extremely hazardous and m...

Page 94: ...act failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system When routing the cables observe the cable locations after removing the cover Be sure to place the cables back to their original locations Unscrew the bolts from the arm top cover and then lift the cover The cover cannot be removed complete...

Page 95: ... installed If it is necessary to remove the cover completely for replacement of the ball screw spline unit etc remove the end effector If it is not necessary to remove the cover completely move the shaft to the lower limit and lower the arm bottom cover Then perform maintenance or inspection 3 M4 8 Spring washer Arm bottom cover 3 3 Joint 1 Cover Only S and C types have the Joint 1 cover Unscrew t...

Page 96: ...not to allow the cables to interfere with the box mounting and do not bend these cables forcibly to push them into the cover Unnecessary strain on cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system When routing the cables o...

Page 97: ... pull out the power plug from the power source Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system WARNING Be careful not to get any foreign substances in the Manipulator connectors and pins during maintenance Turning ON the power to the robot system when any foreign substances exist in them is extrem...

Page 98: ...he procedure for replacing the cable unit varies with the Manipulator used If the connectors have been disconnected during the replacement of the cable unit be sure to reconnect the connectors to their proper positions Refer to the block diagrams Improper connection of the connectors may result in improper function of the robot system For details on the connections refer to Maintenance 4 5 Connect...

Page 99: ...or number on the motor side Wire tie Ferrite core Connector cover Connector box 6 Remove the receptacle from the base connector box 7 Disconnect the pneumatic tubes and ground terminal from the base connector box inside To disconnect the pneumatic tube push the ring on each pneumatic tube fitting and pull out its tube To disconnect the ground terminal unscrew the bolt from the ground terminal 8 Di...

Page 100: ...off the wire tie binding the duct plate motor and cables together 12 Disconnect the pneumatic tubes and ground terminal on the arm side To disconnect the pneumatic tubes push the ring on each pneumatic tube fitting and pull out its tube To disconnect the ground terminal unscrew the mounting bolt for ground terminal on the duct plate Mounting bolt for ground terminal M4 8 Pneumatic tube fitting 13 ...

Page 101: ...he Cable Unit E2C Rev 6 89 15 Remove the duct joint from the duct plate and pull out the cables The lock nut securing the duct joint is prevented from rotating Duct joint Lock nut 16 Pull the cable unit out of the arm top cover ...

Page 102: ...ector box Receptacle 4 M3 8 Ground terminal Pneumatic tube fittings 8 M4 8 Connector cover Connector box 4 Fasten the cables with a wire tie inside the main cable elbow fitting Attach a ferrite core to the bundle and install the connector cover Wire tie Ferrite core 5 Install the base connector box For details on the installation method refer to Maintenance 3 4 Base Connector Box 6 Pass the cable ...

Page 103: ...the cables to the duct plate with the wire tie Mounting bolt for ground terminal M4 8 Pneumatic tube fitting 11 Re bundle the cables that have been released since the cable unit was removed with wire ties Observe the following when binding the cables with wire ties The cables must not touch the pulleys timing belts or other movable parts areas Do not pinch the cables when attaching the covers Do n...

Page 104: ...the connector number on the motor side Wire tie Ferrite core 6 Remove the receptacle from the base connector box 7 Disconnect the pneumatic tubes and ground terminal from the base connector box inside To disconnect the pneumatic tubes push the ring on each pneumatic tube fitting and pull out its tube To disconnect the ground terminal unscrew the bolt from the ground terminal Receptacle 4 M3 8 Grou...

Page 105: ...r the cable layout so that the cables can be reconnected correctly after replacement 12 Cut off the wire tie binding the duct plate motor and cables together 13 Disconnect the pneumatic tubes and ground terminal on the arm side To disconnect the pneumatic tubes push the ring on each pneumatic tube fitting and pull out its tube To disconnect the ground terminal unscrew the mounting bolt for ground ...

Page 106: ...he Cable Unit 16 Remove the duct joint from the duct plate and pull out the cables The lock nut securing the duct joint is prevented from rotating Duct joint Lock nut 17 Pull the cable unit out of the arm top cover 94 E2C Rev 6 ...

Page 107: ...neumatic tube fittings M4 8 4 Fasten the cables to the cable support with a wire tie Attach a ferrite core to the bundle Wire tie Ferrite core 5 Install the base connector box For details on the installation method refer to Maintenance 3 4 Base Connector Box 6 Pass the cable unit through the arm top cover and duct plate Install the duct joint to the duct plate Duct joint Lock nut 7 Loosely fasten ...

Page 108: ...ing 11 Re bundle the cables that have been released since the cable unit was removed with wire ties Observe the following when binding the cables with wire ties The cables must not touch the pulleys timing belts or other movable parts areas Do not pinch the cables when attaching the covers Do not allow unnecessary strain on the cables Do not bend these cables forcibly to push them into the cover O...

Page 109: ...11 Signal connectors Joint 1 X10 Joint 2 X20 Joint 3 X30 Joint 4 X40 User connector X50 Joint 2 Power X121 Joint 2 Signal X21 Joint 3 Power X131 Joint 3 Signal X31 Joint 3 Brake X32 Joint 3 Brake release button X33 Fitting for ø6 pneumatic tube 2 tubes Fitting for ø4 pneumatic tube 1 tube Black fitting 1 tube ø6 black tube Blue fitting 2 tubes ø4 ø6 blue tubes Cable clamp Ground Cable clamp Joint ...

Page 110: ...oint 3 Brake X32 Joint 3 Brake release button X33 Joint 4 Power X141 Joint 4 Signal X41 Fitting for ø6 pneumatic tube 2 tubes Fitting for ø4 pneumatic tube 1 tube Black fitting Black tube Blue fitting Blue tube Fitting for ø6 pneumatic tube 2 tubes Fitting for ø4 pneumatic tube 1 tube Black fitting Black tube Blue fitting Blue tube Cable clamp Joint 2 Power X121 Joint 2 Signal X21 User connector D...

Page 111: ...Power connector POWER Signal connector SIGNAL User connector Cable unit Signal relay board SKP337 User connector D sub connector LED Joint 2 motor Joint 3 motor Joint 4 motor Spare Y1 S1 X1 X2 X22 X42 POWER SIGNAL POWER SIGNAL POWER SIGNAL POWER SIGNAL X11 X21 X31 X32 X33 X41 X100 X110 X121 X131 X141 X1 X10 X20 X30 X40 X50 X4 X60 Battery ...

Page 112: ...X11 2 4 1B WHT YLW 3A 1B YLW WHT X11 3 5 1Z GRN WHT 3B 1B WHT YLW X11 4 6 1Z WHT GRN 4A 1Z GRN WHT X11 5 7 1S RED WHT 4B 1Z WHT GRN X11 6 8 1S WHT RED 5A N C 9 BAT BLU BRN 5B N C 10 BAT BRN BLU 6A ENC 5V PPL WHT X11 12 11 RES YLW BRN 6B EGND WHT PPL X11 13 12 ENC 5V PPL WHT 7A BAT BLU BRN X11 9 13 EGND WHT PPL 7B BAT BRN BLU X11 10 14 FGND GRN Joint 1 motor encoder SIGNAL 8A RES YLW BRN X11 11 8B ...

Page 113: ...HT YLW X21 4 6 2Z WHT GRN 4A 2Z GRN WHT X21 5 7 N C 4B 2Z WHT GRN X21 6 8 N C 5A N C 9 BAT PPL WHT 5B N C 10 N C 6A ENC 5V RED WHT X21 12 11 RES WHT PPL 12 ENC 5V RED WHT 6B EGND WHT RED GRN X21 13 13 EGND WHT RED 7A BAT PPL WHT X21 9 14 FGND Shield Joint 2 motor encoder SIGNAL 7B BAT GRN X20 6B 8A RES WHT PPL X21 11 8B N C X22 LED 9A N C No Line color Connect to 9B N C 1 X1 BLU BRN 10A N C 2 X2 B...

Page 114: ...A N C 9 BAT PPL WHT 5B N C 10 N C 6A ENC 5V RED WHT X31 12 11 RES WHT PPL 12 ENC 5V RED WHT 6B EGND WHT RED GRN X31 13 13 EGND WHT RED 7A BAT PPL WHT X31 9 14 FGND Shield Joint 3 motor encoder SIGNAL 7B BAT GRN X31 10 8A RES WHT PPL X31 11 8B N C X32 Brake Connector 9A N C No Line color Connect to 9B N C 10A BRK SW BLU BRN X33 2 1 EMB2 YLW BRN GRN 10B N C 2 24V BRN YLW Joint 3 magnetic brake Y1 11...

Page 115: ... 4B BRN GRN X41 4 6 4Z BRN RED 4A 4Z RED BRN X41 5 7 N C 4B 4Z BRN RED X41 6 8 N C 5A N C 9 BAT BLU BLK 5B N C 10 N C 6A ENC 5V PPL BRN X41 12 11 RES BLK BLU 12 ENC 5V PPL BRN 6B EGND BRN PPL GRN X41 13 X40 7B 13 EGND BRN PPL 7A BAT BLU BLK X41 9 14 FGND GRN Joint 4 motor encoder SIGNAL 7B BAT GRN X40 6B 8A RES BLK BLU X41 11 X42 8B N C No Line color Connect to 9A N C 1 YLW BLK Spare 9B N C 2 BLK ...

Page 116: ...X51 6 6 WHT GRN X53 6 4A RED WHT X51 7 7 RED WHT X53 7 4B WHT RED X51 8 8 WHT RED X53 8 5A PPL WHT X51 9 9 PPL WHT X53 9 5B WHT PPL X51 10 10 WHT PPL X53 10 6A BLU BRN X52 1 11 BLU BRN X53 11 6B BRN BLU X52 2 12 BRN BLU X53 12 7A YLW BRN X52 3 13 YLW BRN X53 13 7B BRN YLW X52 4 14 BRN YLW X53 14 8A GRN BRN X52 5 15 GRN BRN X53 15 8B Shield 16 Shield X60 Battery connector No Line color Connect to 1...

Page 117: ...D X121 3 X121 Motor Power Connector 15 3U BRN X131 1 No Line color Connect to 13 3V BLU X131 2 1 2U BLK 9 3W PPL X131 3 2 2V WHT 4 4U GRY X141 1 3 2W RED 2 4V PNK X141 2 4 FGND GRN YLW Joint 2 motor POWER 7 4W ORN X141 3 5 FGND GRN X131 Motor Power Connector Ground FGND GRN YLW No Line color Connect to 8 N C 1 3U BRN 12 N C 2 3V BLU 11 N C 3 3W PPL 4 FGND GRN YLW Joint 3 motor POWER X141 Motor Pow...

Page 118: ...Maintenance 4 Replacing the Cable Unit 106 E2C Rev 6 ...

Page 119: ...r and encoder Disassembled motor and encoder will cause a positional gap and cannot be used again CAUTION Keep enough grease in the Manipulator Operating the Manipulator with insufficient grease will damage sliding parts and or result in insufficient function of the Manipulator Once the parts are damaged a lot of time and money will be required for the repairs After parts have been replaced motors...

Page 120: ... of Manipulator and the working joint Then specify the code from the table below Item Series of Manipulator Working Joint Code Note 1 R13A000600500 150 W AC servo motor E2C 2 3 and 4 R13A000600300 150 W 5 2 Location of Motors Joint 1 motor Joint 3 motor Joint 4 counter shaft Joint 4 motor Joint 2 motor S C type Joint 1 motor Joint 3 motor Joint 4 counter shaft Joint 4 motor Joint 2 motor SM CM typ...

Page 121: ...intenance hole 2 M3 6 double sems screw X11 X110 4 Remove the Joint 1 motor unit from the base To do so unscrew the bolts from the Joint 1 motor flange Then pull out the motor straight and downward To unscrew bolts on the maintenance hole side insert a hexagonal wrench from the maintenance hole Be careful not to lose the oil seal coated with black rubber If the motor cannot be pulled out easily pu...

Page 122: ...m generator Flat CAUTION See the figures above for the orientation of the waveform generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 3 Insert the oil seal and mount the Joint 1 motor unit on the base The motor cable must face toward the base connector box side For the bolt on the maintena...

Page 123: ...110 and X11 To disconnect the X110 connector pull it out while pushing the projection next to the connector 3 Remove the Joint 1 motor unit from the base To do so unscrew the bolts from the Joint 1 motor flange Then pull out the motor straight and upward Be careful not to lose the oil seal coated with black rubber If the motor cannot be pulled out easily pull it out while moving Arm 1 slowly by ha...

Page 124: ...de End face of motor shaft End face of waveform generator Flat CAUTION See the figures above for the orientation of the waveform generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 3 Insert the oil seal and mount the Joint 1 motor unit on the base If it is difficult to install the motor pus...

Page 125: ...21 To disconnect the X121 connector pull it out while pushing the projection next to the connector 6 Remove the Joint 2 motor unit from Arm 2 To do so unscrew the bolts from the Joint 2 motor flange Then pull out the motor unit straight and upward If the motor cannot be pulled out easily pull it out while moving Arm 2 slowly by hand 3 M4 10 Motor flange Joint 2 motor unit 7 Remove the waveform gen...

Page 126: ...End face of waveform generator Bushing M4 6 Round chamfer side Waveform generator Motor flange M4 6 Flat side Flat CAUTION See the figures above for the orientation of the waveform generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 3 Mount the Joint 2 motor unit on Arm 2 The motor cable mu...

Page 127: ...oint 2 E2C Rev 6 115 7 Install the arm top cover For details on the installation method refer to Maintenance 3 1 Arm Top Cover 8 Perform the calibration of Joint 2 For details on the calibration method refer to Maintenance 14 Calibration ...

Page 128: ...ts lower limit while pressing the brake release button switch Be careful that the end effector does not hit any peripheral equipment The brake release button switch is applied to both Joints 3 and 4 When the brake release button switch is pressed the respective brakes of the Joints 3 and 4 are released simultaneously Be careful of the shaft falling and rotating while the brake release button switc...

Page 129: ... belt 4 M4 12 Washer Spring washer Motor plate Joint 3 motor unit 7 Cut off the wire tie binding the brake cables to the Joint 3 motor 8 Unscrew the setscrews from the pulley under the Joint 3 motor There is a brass bushing in one of the setscrew holes Be careful not to lose it Bushing Pulley M4 8 Flat point setscrew M4 8 Flat point etscrew 9 Hold the motor plate and pulley and then pull the Joint...

Page 130: ...Screw holes of the pulley Brake Rotor hub 3 Place the Joint 3 motor on the motor plate The motor cables of the Joint 3 motor and the flat face of the motor shaft must be oriented in the direction shown in the figure on the right 2 M4 8 Motor plate Flat 4 Secure the pulley to the motor shaft of the Joint 3 motor To do so tighten one of the setscrews to the flat face of the motor shaft until the scr...

Page 131: ...ecure the Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Make sure that the brake cables do not touch the pulley Tension of Z belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer 11 Mo...

Page 132: ...not hit any peripheral equipment The brake release button switch is applied to both Joints 3 and 4 When the brake release button switch is pressed the respective brakes of the Joints 3 and 4 are released simultaneously Be careful of the shaft falling and rotating while the brake release button switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the ...

Page 133: ...otor plate 2 M4 8 M4 6 Flat point setscrew Installation 1 Mount the motor plate on the Joint 4 motor 2 Mount the pulley on the Joint 4 motor Be sure to fit the end face of the motor shaft to the end face of the pulley Tighten one of the setscrews on the flat face of the motor shaft until the screw just touches the surface Insert a bushing into the other setscrew hole to prevent damage to the motor...

Page 134: ...belt and secure the Joint 4 motor unit To do so pass a suitable cord or string around the Joint 4 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Tension of U1 belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer 7 Mount the duct plate on Arm 2 8 Connect the conn...

Page 135: ...ous and may result in electric shock and or malfunction of the robot system CAUTION Be careful not to apply excessive shock to the motor shaft when replacing the motors The shock may shorten the life cycle of the motors and encoder and or damage them After parts have been replaced motors reduction gear units a brake timing belts a ball screw spline unit etc the Manipulator cannot operate properly ...

Page 136: ...reduction gear unit for replacement check the series of Manipulator and the working joint Then specify the code from the table below Item Series Working Joint Code Note 1 R13ZA00101000 SHF 20 80 Reduction gear unit E2C 2 R13ZA00101100 SHF 17 50 6 2 Location of Reduction Gear Units Joint 1 reduction gear unit Joint 2 reduction gear unit S C type Joint 2 reduction gear unit SM CM type Joint 1 reduct...

Page 137: ...veform generator consists of an ellipsoidal cam with ball bearings on its outer circumference The inner ring of bearings is secured to the cam while the outer ring is capable of flexible deformation through the ball bearings 2 Flexspline A thin elastic cup shaped metal body with gear teeth around the outer circumference of the opening 3 Circular spline A rigid ring shaped body with gear teeth on t...

Page 138: ...ain any foreign substances in the grease The adequate quantity of the grease is specified as follows Grease quantity Series Reduction gear unit Color of Grease Flexspline Between the waveform generator and motor flange Code Note Joint 1 Yellow 12 g 4 g R13ZA00330100 SK 1A E2C Joint 2 Green 8 g 3 g R13ZA00330400 SK 2 Grease approx 3 mm in thickness Place for applying grease on the flexspline Motor ...

Page 139: ... to work on it so that at least one of them can support the arm while others are removing the bolts Removing the bolts without supporting may result in fall of the arm bodily injury and or malfunction of the robot system 3 Remove Arm 1 from the base To do so support the Arm 1 with two or more people Then have another person unscrew the mounting bolts from Arm 1 Place the removed arm gently on the ...

Page 140: ... 1 motor unit from the Joint 1 reduction gear unit To do so unscrew the bolts from the motor flange Then pull the motor unit upward to remove it Reduction gear unit Motor flange 3 M4 10 8 Detach the oil seal from the Joint 1 reduction gear and then remove the reduction gear flange Reduction gear flange 13 M3 15 Oil seal 9 Remove the waveform generator from the Joint 1 motor There is a brass bushin...

Page 141: ...ss roller bearing unit Circular spline Waveform generator O ring CAUTION Never adjust loosen or tighten the mounting bolts between the flexspline and cross roller bearing unit If the mounting bolts are adjusted the flexspline and cross roller bearing unit must be aligned by the maker of the reduction gear unit 2 Fit the O rings into the grooves on both sides of the new circular spline Make sure th...

Page 142: ...ench tighten each bolt securely in a crisscross pattern at the torque specified in the table below Item Bolt Type The Number of Bolts Tightening Torque Joint 1 reduction gear unit of E2C M3 15 13 294 N cm 30 kgf cm Be careful not to apply too much force since it may damage the parts 6 Apply grease SK 1A Yellow between the waveform generator and motor flange For details on the grease quantity refer...

Page 143: ... waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 8 Mount the Joint 1 motor unit on the Joint 1 reduction gear unit Make sure that the motor cables face toward the round shaped cut on the reduction gear flange as shown in the figure on the right Cables Reduction gear flange 3 M4 10 Round shaped cut 9 Install the Joint 1...

Page 144: ... may result in fall of the arm bodily injury and or malfunction of the robot system 11 Mount Arm 1 on the base To do so support the arm with two or more people Then have another person secure the mounting bolts for Arm 1 Tightening torque 294 N cm 30 kgf cm 8 M3 35 with plain washer 12 Connect the connectors X110 and X11 13 Install the base connector box For details on the installation method refe...

Page 145: ...hout supporting may result in fall of the arm bodily injury and or malfunction of the robot system 2 Remove Arm 1 from the base To do so support the Arm 1 with two or more people Then have another person unscrew the mounting bolts from Arm 1 Place the removed arm gently on the floor to avoid shock 8 M4 40 Arm 1 3 Remove the base connector box For details on the removal method refer to Maintenance ...

Page 146: ...t 1 motor unit from the Joint 1 reduction gear unit To do so unscrew the bolts from the motor flange Then pull the motor unit upward to remove it Reduction gear unit Motor flange 3 M4 10 7 Detach the oil seal from the Joint 1 reduction gear and then remove the reduction gear flange Reduction gear flange 13 M3 15 Oil seal 8 Remove the waveform generator from the Joint 1 motor There is a brass bushi...

Page 147: ...and Cross roller bearing unit Circular spline Waveform generator CAUTION Never adjust loosen or tighten the mounting bolts between the flexspline and cross roller bearing unit If the mounting bolts are adjusted the flexspline and cross roller bearing unit must be aligned by the maker of the reduction gear unit 2 Fit the O rings into the grooves on both sides of the new circular spline Make sure th...

Page 148: ...ench tighten each bolt securely in a crisscross pattern at the torque specified in the table below Item Bolt Type The Number of Bolts Tightening Torque Joint 1 reduction gear unit of E2C M3 15 13 294 N cm 30 kgf cm Be careful not to apply too much force since it may damage the parts 6 Apply grease SK 1A Yellow between the waveform generator and motor flange For details on the grease quantity refer...

Page 149: ...m generator M4 6 Flat side Flat CAUTION See the figures above for the orientation of the waveform generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 8 Mount the Joint 1 motor unit on the Joint 1 reduction gear unit Make sure that the motor cables face toward the round shaped cut on the red...

Page 150: ... of them can support the arm while others are removing the bolts Removing the bolts without supporting may result in fall of the arm bodily injury and or malfunction of the robot system 11 For the prevention of grease leakage put an O ring on the joint area between Arm 1 and the Joint 1 reduction gear unit To do so install an O ring in the groove of the clamp face on the Arm 1 side 12 Mount Arm 1 ...

Page 151: ...onnectors X121 and X21 To disconnect the X121 connector pull it out while pushing the projection next to the connector CAUTION When removing or installing the arm there must be two or more people to work on it so that at least one of them can support the arm while others are removing the bolts Removing the bolts without supporting may result in fall of the arm bodily injury and or malfunction of t...

Page 152: ...unit Arm 1 8 M3 35 with plain washer For the prevention of grease leakage an O ring is used on the joint area between Arm 1 and the Joint 2 reduction gear unit Do not lose the O ring when removing it 10 Remove the reduction gear flange from the Joint 2 reduction gear Reduction gear flange 10 M3 18 11 Remove the waveform generator from the Joint 2 motor There is a brass bushing in one of the setscr...

Page 153: ...and Cross roller bearing unit Circular spline Waveform generator CAUTION Never adjust loosen or tighten the mounting bolts between the flexspline and cross roller bearing unit If the mounting bolts are adjusted the flexspline and cross roller bearing unit must be aligned by the maker of the reduction gear unit 2 Fit the O rings into the grooves on both sides of the new circular spline Make sure th...

Page 154: ...securely in a crisscross pattern at the torque specified in the table below Mounting bolt for reduction gear circular splin Item Bolt Type The Number of Bolts Tightening Torque Joint 2 reduction gear unit of E2C M3 18 10 294 N cm 30 kgf cm Be careful not to apply too much force since it may damage the parts 6 Apply grease SK 2 Green between the waveform generator and motor flange For details on th...

Page 155: ...tion of the waveform generator will result in improper function of the Manipulator 8 For the prevention of grease leakage put an O ring on the joint area between Arm 1 and the Joint 2 reduction gear unit To do so install an O ring in the groove of the clamp face on the Arm 1 side as shown in the figure on the right 9 Mount Arm 1 on the Joint 2 reduction gear unit Loosely fasten all bolts in a cris...

Page 156: ...y and or malfunction of the robot system 12 Mount Arm 2 on Arm 1 To do so support the arm with two or more people Then have another person secure the mounting bolts for Arm 2 4 M5 15 Arm 2 13 Mount the duct plate on Arm 2 Duct plate 3 M5 15 14 Connect the connectors X121 and X21 15 Re bundle the cables in their original positions with a wire tie Do not allow unnecessary strain on the cables 16 Ins...

Page 157: ... due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF Note that the brake will not work during the replacement procedure Move the shaft down to its lower limit before starting the replacement procedure by following the instructions below 1 Turn ON the Controller 2 Push down the shaft to its lower limit while pressing the brake...

Page 158: ...nect the X131 connector pull it out while pushing the projection next to the connector 6 Remove the Joint 3 motor unit from Arm 2 To do so unscrew the bolts from the Joint 3 motor plate Then remove the Z belt from the pulley and pull it out upward Pulley Z belt 4 M4 12 Washer Spring washer Motor plate Joint 3 motor unit 7 Cut off the wire tie binding brake cables to the Joint 3 motor 8 Unscrew the...

Page 159: ...held to the brake by its magnet When removing the pulley slide it out perpendicularly from the shaft to prevent damage to the leaf spring on the rotor hub Leaf spring Brake Pulley Rotor hub Remove this way 11 Cut off the wire tie binding the brake cables to the brake plate 12 Remove the brake from the brake plate Brake Brake plate 4 M3 5 13 Remove the rotor hub from the pulley Rotor hub 3 M2 6 Pul...

Page 160: ... gauge on the brake and then mount the pulley over the gauge The screw hole of the pulley must be located in the position shown in the figure on the right The gap gauge 0 15 mm is attached to the inside of the arm bottom cover for storage Gap gauge for adjusting brake clearance Screw holes of the pulley Brake Rotor hub 5 Place the Joint 3 motor on the motor plate The motor cables of the Joint 3 mo...

Page 161: ...e the Z belt around the Z1 pulley and Z2 pulley Make sure that the gear teeth of the belt mesh with the pulleys completely Pulley Z belt 4 M4 12 Washer Spring washer Motor plate Joint 3 motor unit 11 Loosely secure the Joint 3 motor unit to Arm 2 Loosely secure the Joint 3 motor unit to Arm 2 so that the motor unit can be moved by hand and it will not tilt when pulled If the unit is secured too lo...

Page 162: ...Re bundle the cables in their original positions with a wire tie Do not allow unnecessary strain on the cables 16 Install the arm top cover For details on the installation method refer to Maintenance 3 1 Arm Top Cover 17 Perform the calibration of Joint 3 For details on the calibration method refer to Maintenance 14 Calibration ...

Page 163: ... motor is in OFF status MOTOR OFF Note that the brake will not work during the replacement procedure Move the shaft down to its lower limit before starting the replacement procedure by following the instructions below 1 Turn ON the Controller 2 Push down the shaft to its lower limit while pressing the brake release button switch Be careful that the end effector does not hit any peripheral equipmen...

Page 164: ... 3 and two timing belts are used for Joint 4 When ordering a timing belt for replacement check the working joint and the timing belt Then specify the code from the table below Working Joint Timing belt Code Note 3 Z belt R13ZA00322000 252 2GT 8 cir 252 mm U1 belt R13ZA00322100 224 2GT 8 T434N1 cir 224 mm 4 U2 belt R13ZA00322200 366 2GT 15 T434N1 cir 366 mm 8 2 Location of Timing Belts Z belt U2 be...

Page 165: ...eral equipment The brake release button switch is applied to both Joints 3 and 4 When the brake release button switch is pressed the respective brakes of the Joints 3 and 4 are released simultaneously Be careful of the shaft falling and rotating while the brake release button switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller Removal...

Page 166: ... washer Motor plate Joint 3 motor unit 7 Remove the Z belt To do so unscrew the bolts from the spline plate and lift the spline plate Then pull the Z belt out of the shaft upward Z belt Spline plate 3 M4 12 Washer Small Installation 1 Pass a new Z belt through the shaft from above and then place it under the spline plate 2 Loosely secure the spline plate to Arm 2 After moving the shaft up and down...

Page 167: ...then secure the Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Make sure that the brake cables do not touch the pulley Tension of Z belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer...

Page 168: ...details on the removal method refer to Maintenance 3 1 Arm Top Cover 2 Cut off the wire tie binding the duct plate motor and cables together 3 Remove the duct plate Duct plate 3 M5 15 4 Loosen the bolts securing the Joint 4 motor unit If there is a wire tie securing cables to the Joint 4 motor cut off it 5 Remove the Joint 4 counter shaft unit To do so unscrew the bolts securing the Joint 4 counte...

Page 169: ...agement between the gear teeth of the belt and the pulleys 4 M4 12 Washer Spring washer Joint 4 motor unit 2 M4 12 Washer Spring washer M5 8 double sems screw Joint 4 counter shaft unit Loosely secure the units to Arm 2 so that the motor units can be moved by hand and they will not tilt when pulled If the units are secured too loose or too tight the belts will not have the proper tension 5 Apply t...

Page 170: ...rd using a force gauge or similar tool to apply the specified tension shown in the figure on the right Tension of U1 belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer 7 Mount the duct plate on Arm 2 8 Install the arm top cover For details on the installation method refer to Maintenance 3 1 Arm Top Cover 9 Perform the calibration of Joints 3 and 4 For details on th...

Page 171: ...val 1 Remove the arm top cover For details on the removal method refer to Maintenance 3 1 Arm Top Cover 2 Cut off the wire tie binding the duct plate motor and cables together 3 Remove the duct plate Duct plate 3 M5 15 4 Cut off the wire tie binding the motor cables to the Joint 3 motor 5 Disconnect the connectors X131 X31 and X32 To disconnect the X131 connector pull it out while pushing the proj...

Page 172: ... 4 counter shaft unit 9 Remove the U2 belt To do so unscrew the bolts securing the spline plate Then lift the spline plate and pull the U2 belt out of the shaft U2 belt Spline plate 3 4 12 Washer Small Installation 1 Pass a new U2 belt through the shaft from above Then place it under the spline plate 2 Loosely secure the spline plate to Arm 2 After moving the shaft up and down several times secure...

Page 173: ... the belt mesh with the pulleys completely 4 M4 12 Washer Spring washer Joint 4 motor unit 2 M4 12 Washer Spring washer M5 8 double sems screw Joint 4 counter shaft unit Joint 3 motor unit 4 M4 12 Washer Spring washer Loosely secure the units to Arm 2 so that the motor units can be moved by hand and they will not tilt when pulled If the units are secured too loose or too tight the belts will not h...

Page 174: ...ble cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Make sure that the brake cables do not touch the pulley Tension of Z belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer 12 Mount the duct plate on Arm 2 13 Connect the connect...

Page 175: ... the Manipulator to an outer room such as the room in front of the clean room s entrance or take the necessary countermeasures to prevent dust emission before removing the bellows Removal 1 Detach the wires tubes from the end effector and remove the end effector 2 Turn ON the Controller Stop motor excitation MOTOR OFF 3 Loosen the two clamp bands on each bellows 4 Pull the bellows bearing cases bl...

Page 176: ...do so place each joint of the bellows over the cylindrical part of covers by 10 mm or more and then fasten them with clamp bands The screw on each clamp band must be oriented toward the end of the arm Clamp band Cylindrical part of arm covers Clamp band 4 Secure the bellows with the clamp bands on the end face side of the shaft To do so place each joint of the bellows over the bearing case blue on...

Page 177: ...actory power source WARNING Before performing any replacement procedure turn OFF the controller and related equipment and then pull out the power plug from the power source Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system After parts have been replaced motors reduction gear units a brake timing bel...

Page 178: ... spline unit for replacement check the model name of the Manipulator and the Joint 3 stroke Then specify the code from the table below Model Name Joint 3 Stroke Ball Screw Spline Unit Code Note E2C 1S E2C351SM 120 mm Ball screw spline unit for Z120 R13ZA00121000 BNS1616AE 315LC5 E2C 1C E2C351CM 100 mm Cleanroom model Ball screw spline unit for Z100 R13ZA00121300 BNS1616AE 315LC5 CL 10 2 Location o...

Page 179: ... drips 1 Turn ON the Controller Stop motor excitation MOTOR OFF 2 Move the arm to a position where Joint 3 can be moved in full stroke 3 Move the shaft to its upper limit manually while pushing the Joint 3 brake release button Brake release button Push 4 Turn OFF the Controller 5 Remove the arm top cover and lift it Only for UL type For details on the removal method refer to Maintenance 3 1 Arm To...

Page 180: ...ease to the lower part of the shaft directly fill the grooves on it by hand Wipe off excess grease from the shaft 11 Move the shaft up and down several times while pushing the Joint 3 brake release button to smooth out the grease on the shaft Wipe off excess grease from the shaft When wiping off the excess grease from the upper part of shaft turn OFF the Controller and remove the arm top cover ...

Page 181: ...al equipment in case the grease drips Upper Part of the Shaft 1 Turn ON the Controller Stop motor excitation MOTOR OFF 2 Move the arm to a position where Joint 3 can be moved in full stroke 3 Move the shaft to its upper limit manually while pushing the Joint 3 brake release button 4 Turn OFF the Controller 5 Remove the arm top cover and lift it For details on the removal method refer to Maintenanc...

Page 182: ...cess grease from the shaft Shaft 12 Move the shaft up and down several times while pushing the Joint 3 brake release button to smooth out the grease on the shaft Wipe off excess grease from the shaft Before wiping off the excess grease on the upper part of the shaft turn OFF the Controller and remove the arm top cover 13 Secure the bellows To do so place the bellows over the cylindrical part of th...

Page 183: ...ire tie binding the duct plate motor and cables together 4 Remove the duct plate Duct plate 3 M5 15 5 Cut off the wire tie binding the motor cables to the Joint 3 motor 6 Disconnect the connectors X131 X31 and X32 To disconnect the X131 connector pull it out while pushing the projection next to the connector 7 Remove the Joint 3 motor unit from Arm 2 To do so unscrew the bolts from the Joint 3 mot...

Page 184: ...nit to the shaft side and remove the Joint 4 counter shaft unit from the U1 and U2 belts 4 M4 12 Washer Spring washer Joint 4 motor unit 2 M4 12 Washer Spring washer M5 8 double sems screw Joint 4 counter shaft unit 10 Remove both the U2 and Z belts To do so unscrew the bolts from the spline plate Then lift the spline plate and pull the belts upward Z belt Spline plate 3 4 12 Washer Small U2 belt ...

Page 185: ...pline unit into the Arm 2 Z belt U2 belt 2 Tighten the screws for the ball screw spline shaft to the bottom of Arm 2 Be careful not to allow the timing belt pinched between the nut and Arm 2 4 M4 10 3 Loosely secure the spline plate to Arm 2 After moving the shaft up and down several times secure the spline plate to Arm 2 U2 belt Spline plate 3 M4 12 Washer Small ...

Page 186: ...and Z2 pulleys Make sure that the gear teeth of the belt mesh with the pulleys completely Z belt Z1 pulley Z2 pulley Joint 3 motor unit 9 Loosely secure the Joint 3 motor unit Joint 4 counter shaft unit and Joint 4 motor unit to Arm 2 in the following order Joint 3 motor unit Joint 4 counter shaft unit Joint 4 motor unit Make sure that the gear teeth of the belt mesh with the pulleys completely 4 ...

Page 187: ...f U1 belt 39 2 N 4 kgf Adjustable range 29 4 49 0 N 3 5 kgf 4 M4 12 Washer Spring washer 12 Apply the proper tension to the Z belt and then secure the Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Make sure that th...

Page 188: ...g method refer to Maintenance 10 3 Greasing the Ball Screw Spline Unit 19 Turn OFF the Controller and peripheral equipment Install the end effector and bellows and connect wires and tubes to the end effector 20 Perform the calibration of Joints 3 and 4 For details on the calibration method refer to Maintenance 14 Calibration ...

Page 189: ...cing the Signal Relay Board Before replacing the signal relay board turn ON the Controller and keep it ON for 30 or more minutes Then Turn OFF the Controller This preparation is necessary to charge the super capacitor that keeps the position data The super capacitor is mounted on each motor The charged motors can keep the position data for about 2 hours after the motors are disconnected from the l...

Page 190: ...sconnect the connectors X10 X20 X30 X40 X50 and X4 from the signal relay board To do so open up the top and bottom clips of the connectors Connect motors and the signal relay board with a new cable unit within 2 hours after the connectors are removed When motors and the signal relay board are connected with a new cable unit after 2 hours have passed the position data in motors will be lost and the...

Page 191: ...isconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system 3 Install the base connector box For details on the installation method refer to Maintenance 3 4 Base Connector Box 4 Connect the connectors and tubes to the base connector box outside 5 Turn ON the Controller 6 Che...

Page 192: ...al relay board To do so open up the top and bottom clips of the connectors Connect motors and the signal relay board with a new cable unit within 2 hours after the connectors are removed When motors and the signal relay board are connected with a new cable unit after 2 hours have passed the position data in motors will be lost and the calibration will be required again 4 Remove the signal relay bo...

Page 193: ...connection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system 3 Install the base connector box For details on the installation method refer to Maintenance 3 4 Base Connector Box 4 Connect the connectors and tubes to the base connector box outside 5 Turn ON the Controller 6 Check...

Page 194: ...Maintenance 11 Replacing the Signal Relay Board 182 E2C Rev 6 ...

Page 195: ...wer ON is extremely hazardous and may result in electric shock and or malfunction of the robot system Use meticulous care when handling the lithium battery Improper Handling of the lithium battery as mentioned below is extremely hazardous may result in heat generation leakage explosion or inflammation and may cause serious safety problems Improper Handling CAUTION Battery Charge Disassembly Mis lo...

Page 196: ...ince the power is supplied to each motor from the lithium battery on the signal relay board via signal connector the position data will exist even when the Controller is turned OFF When the signal connectors are disconnected only the super capacitors in the motors will keep the position data When the data storage time of the super capacitor is exceeded the position data will be lost and the error ...

Page 197: ...ectors and tubes from the base connector box outside 2 Remove the battery box from the base connector box 2 M3 6 sems screw Battery box 3 Disconnect the X60 connector from the lithium battery Lithium battery Battery box 4 Cut off the wire ties securing the lithium battery and then remove the lithium battery Lithium battery Wire tie ...

Page 198: ...ie Lithium battery 3 Mount the battery box on the base connector box 2 M3 6 sems screw Battery box 4 Connect the connectors and tubes to the base connector box outside 5 Turn ON the Controller 6 Check if the Manipulator moves to points pose correctly To do so select 2 points pose or more from the registered points pose and move the Manipulator to the points pose 7 If the Manipulator does not move ...

Page 199: ...lt in electric shock and or malfunction of the robot system To shut off power to the robot system pull out the power plug from the power source Be sure to connect the AC power cable to a power receptacle DO NOT connect it directly to a factory power source WARNING Before performing any replacement procedure turn OFF the controller and related equipment and then pull out the power plug from the pow...

Page 200: ...and X2 terminals from the LED X1 terminal Lens Lens holder LED Resin ring X2 terminal Installation 1 Connect the X1 and X2 terminals to the LED Each terminal must be connected to its terminal number on the LED 2 Mount the LED on the duct plate To mount hold the LED and turn the resin ring 3 Install the lens and lens holder to the LED Be sure to place the lens on the lens holder X1 terminal Lens Le...

Page 201: ...meone is inside the safeguarded area The motion of the Manipulator is always in restricted low speeds and low power status to secure the safety of an operator However operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly Command Input Calibration procedures include the...

Page 202: ...charged enough SPEL Error F 5016 Absolute Encoder backup alarm occurs EPSON RC Encoder alarm has occurred Check robot battery EPSON RC must be restarted is displayed In this case leave the power ON for 3 or more minutes to sufficiently charge the capacitor Then go to the next step 3 below The error is still displayed If the error does not occur go to the next step 3 below 3 Manually move the joint...

Page 203: ...ill be displayed SPEL CT F 5136 EPSON RC 5136 7 Return the DIP switch s to the OFF position 8 Re install the acrylic plate on the sensor monitor Sensor monitor 9 SPEL CT Reboot SPEL CT EPSON RC 4 Right click the SPEL Runtime Drivers system tray icon and select Restart SPEL Drivers EPSON RC 5 Select menu Tools Controller and click the Restart Controller button 10 Open the Robot Control window and c...

Page 204: ...e the joint being calibrated to the specified pose point using a motion command You must also move Joint 1 and 2 to the position when calibrating Joint 4 For example when the specified pose data point data is P1 Motor On is executed from Robot Control Panel Control Panel for EPSON RC 5 and after and Go P1 is executed from Jog Teach 17 Accurately align the joint being calibrated to the specified po...

Page 205: ... end effector and perform the calibration of the shaft The center of the shaft There is a misalignment between the center of the end effector and the center of the shaft Make a calibration jig as shown in the right figure and attach it on the end of the shaft to make the center of the shaft clear Decide a target point and mark a cross on it so that you can easily verify the center of the shaft aft...

Page 206: ...ations 1 Select a pose point for which it is easy to verify the accuracy from the data in the accessible area for both right and left arm orientations And then teach the pose point in the right arm orientation This pose point is now called P1 Specify the point number 1 in the Jog Teach and click the Teach button 2 Switch the arm orientation to left Then move the arm to the same point JUMP P1 Z 0 L...

Page 207: ...Belts U1 belt R13ZA00322100 224 2GT 8 T434N1 U2 belt R13ZA00322200 366 2GT 15 T434N1 for Ball screw spline shaft R13ZA00330200 AFB grease 400 g for Joint 1 reduction gear unit R13ZA00330100 SK 1A 500 g Grease for Joint 2 reduction gear unit R13ZA00330400 SK 2 500 g Signal relay board R13ZA00450400 SKP337 1 Battery unit for signal relay board R13ZA00600300 Lithium battery Battery unit for SHF 17 R1...

Page 208: ...AE 315LC5 for 120 mm stroke Arm cover with shaft cover Only for UL type E2C 51S UL E2C351SM UL R13A030400400 for 120 mm stroke common to E series 15 3 C CM Type Manipulators Part Name Code Note Ball screw spline unit R13ZA00121300 BNS1616AE 315LC5 CL for 100 mm stroke Bellows Round type R13A030700500 ø62 ø34 st 100 2 bellows common to E series ...

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