Epson T3 Series, Safety And Installation

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1. Safety
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 9
CAUTION
■ Whenever possible, only one person should operate the robot system.
If it is necessary to operate the robot system with more than one
person, ensure that all people involved communicate with each other
as to what they are doing and take all necessary safety precautions.
■ SCARA robot
Joint #1, #2, and #4:
If the joints are operated repeatedly with the operating angle less than
5 degrees, the Manipulator may get damaged early due to the bearings
are not being covered with grease during movement. To prevent early
breakdown, move the joints larger than 50 degrees for about five to ten
times a day.
Joint #3:
If the up-and-down motion of the hand is less than 10 mm, move the
joint a half of the maximum stroke for five to ten times a day.
■ 6-Axis robot
Each Joint:
If the joints are operated repeatedly with the operating angle less than
5 degrees, the Manipulator may get damaged early due to the bearings
are not being covered with grease during movement. To prevent early
breakdown, move the joints larger than 30 degrees for about five to ten
times a day.
■ Vibration (resonance) may occur continuously depending on the
combination of robot motion speed, Arm orientation, and end effector
load. Vibration arises from natural vibration frequency of the Arm and
can be controlled by following measures.
Changing Manipulator speed
Changing the teach points
Changing the end effector load
■ Manipulator may be warmed up due to motor heat or similar causes.
Do not touch the Manipulator until temperature falls. Also, make sure
the temperature of the Manipulator falls and is not hot when you touch
it. Then perform teaching or maintenance.
■ When mounting Manipulator on the mobile platform, be sure to stop
Manipulator while the mobile platform is in operation. Manipulator
stops when motors on all axes are turned OFF (servo free status). If
you cannot turn OFF the motor, set power mode to “Low” and perform
exclusive control of mobile platform and Manipulator so that they do
not move simultaneously.