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Maintenance 18. Controller Unit

230

VT Rev.1

18. Controller Unit

WARNING

■

Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors with
the power ON is extremely hazardous and may result in serious bodily injury as
the Manipulator may move abnormally, and also may result in electric shock
and/or malfunction of the robot system.

■ To shut off power to the robot system, disconnect 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 disconnect 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

■

Take meticulous care when handling the lithium battery. Improper handling of
the lithium battery as mentioned below is extremely hazardous and may result in
heat generation, leakage, explosion, or inflammation.
It also may cause serious safety problems.

<Improper Handling>

Attempting to charge
Disassembling
Connecting batteries improperly
Exposing to fire
Forcing discharge

Deforming by pressure
Short-circuit (Polarity; Positive/Negative)
Heating (85 °C or more)
Soldering the terminal of the lithium battery
directly

■ When disposing the battery, consult with the professional disposal services or

comply with the local regulation. Make sure that the battery terminal is
insulated, even for a used buttery. If the terminal contacts with the other metals, it
may short and result in heat generation, leakage, explosion, or inflammation.

The life span of the lithium battery varies depending on the energizing hours and

installation environment of the Manipulator. It is about 7 years as a rough guide (when

the Manipulator is connected to power for 8 hours a day). When the Manipulator is not

connected to power, the battery consumption will significantly increase compared to when

the Controller is energized. If warnings of voltage reduction occur, replace the lithium

metal battery even if it has not reached the above product life.

For EPSON RC+ 7.0, the recommended replacement time for the battery can be checked

in the [Maintenance] dialog box.

Reference:

Maintenance 4. Alarm

The battery may run out if it passes the recommended replacement time.

If no warnings of voltage reduction occur, the calibration for all joints is not necessary.

You need to perform calibration if the position moves from the originals after replaced the

battery.

Be sure to use the designated parts for the lithium battery.

Reference:

Maintenance 22. Maintenance Parts List

Be careful of the battery polarity to connect it correctly.



NOTE

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Summary of Contents for VT Series

Page 1: ...6 Axis Robots VT series MANIPULATOR MANUAL Rev 1 EM18YR3817F ...

Page 2: ...MANIPULATOR MANUAL VT series Rev 1 ...

Page 3: ...VT Rev 1 i 6 Axis ROBOT VT series Manipulator Manual Rev 1 Copyright 2018 SEIKO EPSON CORPORATION All rights reserved ...

Page 4: ...nty 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 disast...

Page 5: ...ries Other brand and product names are trademarks or registered trademarks of the respective holders NOTICE No part of this manual may be copied or reproduced without authorization The contents of this manual 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 MANUFACTURER ...

Page 6: ...re you purchased this product Use of the chemical symbols Pb Cd or Hg indicates if these metals are used in the battery This information only applies to customers in the European Union according to DIRECTIVE 2006 66 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91 157 EEC and legislati...

Page 7: ...mpatible All functions of the EPSON RC 7 0 and the robot system are available Compatible Connection is OK It is recommended to use the following versions or later Display or control may not be operated properly Shape of Motors The shape of the motors used for the Manipulator that you are using may be different from the shape of the motors described in this manual because of the specifications Sett...

Page 8: ...vi VT Rev 1 ...

Page 9: ...es 14 2 4 Outer Dimensions 15 2 5 Standard Motion Range 17 2 6 System Example 19 2 7 Specifications 20 2 8 How to Set the Model 23 3 Environments and Installation 24 3 1 Environmental Conditions 24 3 2 Base Table 25 3 3 Mounting Dimensions 26 3 4 Unpacking and Transportation 27 3 5 Installation Procedure 28 3 6 Power Supply 29 3 6 1 Specifications 29 3 6 2 AC Power Cable 29 3 6 3 Breaker 30 3 6 4 ...

Page 10: ... 1 Motion Range Setting of Joint 1 56 5 2 2 Motion Range Setting of Joint 2 57 5 2 3 Motion Range Setting of Joint 3 58 5 3 Restriction of Manipulator Operation by Joint Angle Combination 59 5 4 Coordinate System 60 5 5 Changing the Robot 61 5 6 Setting the Cartesian Rectangular Range in the XY Coordinate System of the Manipulator 62 6 Operation Mode LED 63 6 1 Overview 63 6 2 Switch Operation Mod...

Page 11: ...onnection of Development PC and Manipulator with Ethernet 80 10 TP Port 81 10 1 What is the TP Port 81 10 2 Teach Pendant Connection 81 11 Options 82 11 1 Camera Plate Unit 82 11 2 Tool Adapter ISO flange 84 11 3 Adjustable Mechanical Stops 85 11 4 External Wiring Kit 85 12 EMERGENCY 86 12 1 Safeguard Switch and Latch Release Switch 87 12 1 1 Safeguard Switch 87 12 1 2 Latch Release Switch 87 12 1...

Page 12: ...ble Product Procedure 98 13 3 1 I O Cable Connecting Method 98 13 3 2 How to Fix the I O Cable 98 14 I O Remote Settings 99 14 1 I O Signal Description 100 14 1 1 Remote Input Signals 100 14 1 2 Remote Output Signals 104 14 2 Timing Specifications 107 14 2 1 Precautions for Remote Input Signals 107 14 2 2 Timing Diagram for Operation Execution Sequence 107 14 2 3 Timing Diagram for Program Executi...

Page 13: ...tion 125 4 2 1 How to Check the Maintenance Information 125 4 2 2 How to Edit the Maintenance Information 126 4 2 3 Alarm Notifying Method 127 4 2 4 How to Cancel the Alarm 127 5 Backup and Restore 128 5 1 What is the Backup Controller Function 128 5 2 Backup Data Types 128 5 3 Backup 129 5 4 Restore 130 6 Firmware Update 133 6 1 Updating Firmware 133 6 2 Firmware Upgrade Procedure 133 6 3 Manipul...

Page 14: ...Replacing Joint 3 Reduction Gear Unit 192 11 3 Replacing Joint 3 Timing Belt 193 12 Joint 4 194 12 1 Replacing Joint 4 Motor 195 12 2 Replacing Joint 4 Reduction Gear Unit 200 12 3 Replacing Joint 4 Timing Belt 201 13 Joint 5 205 13 1 Replacing Joint 5 Motor 206 13 2 Replacing Joint 5 Reduction Gear Unit 210 13 3 Replacing Joint 5 Timing Belt 211 14 Joint 6 212 14 1 Replacing Joint 6 Motor 213 14 ...

Page 15: ...ration Procedures 244 20 Restrictions 248 20 1 Commands Cannot Use 248 20 2 Commands Cause Motion Error If Specifying RS 232C 248 20 3 Commands Cause Error 249 20 3 1 Conveyor Tracking Commands 249 20 3 2 PG Commands 250 20 3 3 R I O Commands 250 20 3 4 Force Sensing Commands 250 20 3 5 Other FineDist 250 20 3 6 Other HealthCalcPeriod 250 20 3 7 Other ChDisk 250 20 4 Restrictions of Functions 251 ...

Page 16: ...TABLE OF CONTENTS xiv VT Rev 1 ...

Page 17: ...Setup Operation This volume contains information for setup and operation of the VT series Manipulators Please read this volume thoroughly before setting up and operating the Manipulators ...

Page 18: ......

Page 19: ...tions 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 ins...

Page 20: ...ting 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 The robot system must be used within the environmental conditions described in their respective manuals This product has been designed an...

Page 21: ... someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated Continuing the operation while the Manipulator moves abnormally is extremely hazardous and may result in serious bodily injury...

Page 22: ...d 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 Changi...

Page 23: ...is operating following problems may occur Reduction of the life and damage of the reduction gear unit Position gap at the joints In addition if the manipulator was forced to be turned OFF by blackouts and the like while the Manipulator is operating make sure to check the following points after power restoration Whether or not the reduction gear is damaged Whether or not the joints are in their pro...

Page 24: ...y after the Emergency Stop switch is pressed The free running time angle distance of the Manipulator are shown below However remember that the values vary depending on following conditions Weight of the end effector Weight setting Weight of workpiece Speed setting Operating pose Accel setting Conditions for measurement VT series ACCEL Setting 100 SPEED Setting 100 Load kg 6 WEIGHT Setting 6 VT6 A9...

Page 25: ... When the electromagnetic brake is released the arms can be moved by hand 1 5 2 Release the Brake by the Software When the software is available 1 5 1 Arm Motions Joint 1 Base Arm 1 Lower Arm Arm 2 Arm 4 Joint 6 Joint 3 Joint 4 Joint 5 Arm 6 Joint 2 Arm 5 Arm 3 Upper Arm Arm 3 to 6 Joint Motion Joint 1 The whole Manipulator revolves Joint 2 The lower arm swings Joint 3 The upper arm swings Joint 4...

Page 26: ...diately stop the arm falling due to an erroneous operation The arm falling may cause equipment damage and or malfunction of the Manipulator EPSON RC After releasing the Emergency Stop switch execute the following command in Command Window Reset Brake Off the arm 1 to 6 whose brake will be turned off Execute the following command to turn on the brake again Brake On the arm 1 to 6 whose brake will b...

Page 27: ...tall procedures follow the steps described in this manual B Do not enter the operation area while the Manipulator is moving The robot arm may collide against the operator This is extremely hazardous and may result in serious safety problems C Hazardous voltage exists while the Manipulator is ON To avoid electric shock do not touch any internal electric parts D When releasing the brakes be careful ...

Page 28: ...Setup Operation 1 Safety 12 VT Rev 1 Location Warning Label NOTE G Signature label S N Serial Number label Location of labels B C C C C C F D A E C G ...

Page 29: ...No robot to controller external cables There are no external cables required between the robot and controller For Maintenance There are no motor unit batteries for the robot No longer necessary to connect external devices for battery replacement Easy to replace the Manipulator Others Power saving VT6L Approx 1 5 compared to C4L RC700 A 2 2 Model Number VT6 A90 1 S Mounting type Table Top mounting ...

Page 30: ...or LAN Ethernet Connector Port of PC for development RESET switch MEMORY Port OPTION Cover OPTION connector inside When the LED lamp is lighting or the controller power is ON the current is being applied to the manipulator The LED lamp may not be seen depending on the Manipulator s posture Be very careful Performing any work with the power ON is extremely hazardous and it may result in electric sh...

Page 31: ...Setup Operation 2 Specifications VT Rev 1 15 2 4 Outer Dimensions ...

Page 32: ...Setup Operation 2 Specifications 16 VT Rev 1 Unit mm ...

Page 33: ...Setup Operation 2 Specifications VT Rev 1 17 2 5 Standard Motion Range Unit mm ...

Page 34: ... lateral with Joint 3 declining 190 deg Joint 1 center P point center 4 P point from lateral with Joint 3 tilting up 51 deg Joint 1 center P point center CAUTION Pay attention to the arm pose of the basic arms Arms 1 2 and 3 when operating the Manipulator Arm 5 moves keeping a constant angle regardless of the arm pose Depending on the arm pose of the basic arms the wrist may collide with the Manip...

Page 35: ... 2 3 Option Teaching Pendant Windows 1 EPSON RC 7 0 Software USB 2 0 or Ethernet Option 1 EPSON RC 7 0 supports the following OS Windows 7 Professional Service Pack 1 Windows 8 1 Pro EPSON RC 7 0 Ver 7 1 0 or later Windows 10 Pro EPSON RC 7 0 Ver 7 2 0 or later 2 Either teaching pendant is available 3 When connecting to VT series manipulators specified convert cable is necessary ...

Page 36: ... motion range Joint 1 170 30 Joint 2 160 65 Joint 3 51 190 Joint 4 200 Joint 5 125 Joint 6 360 Max pulse range Joint 1 8488472 1497966 Joint 2 9986438 4056990 Joint 3 2343172 8729465 Joint 4 8048281 Joint 5 4599018 Joint 6 13410735 Resolution Joint 1 0 0000200 pulse Joint 2 0 0000160 pulse Joint 3 0 0000217 pulse Joint 4 0 0000248 pulse Joint 5 0 0000271 pulse Joint 6 0 0000268 pulse Motor power c...

Page 37: ...ntrol PTP motion Programmable in the range of 1 to 100 Auto acceleration deceleration CP motion Programmable Actual value to be manually entered External Interface EMERGENCY EMERGENCY STOP Redundant Category 3 Supported for internal external power supply Safeguard System Redundant Category 3 Supported for external power supply I O Standard I O Rear side of Manipulator Input 24 points Output 16 poi...

Page 38: ...m set the eccentric quantity using INERTIA command 5 For details of the environmental requirements refer to the Setup Operation 3 1 Environmental Conditions 6 Conditions of Manipulator at measurement are as follows Operating conditions Under rated load all arms simultaneous motion maximum speed maximum acceleration VT6L duty 50 Measurement point 1000 mm apart from the rear of Manipulator 7 In gene...

Page 39: ...roperly Improper setting of the Manipulator model may result in abnormal or no operation of the Manipulator and or cause safety problems If the custom specifications number MT is described on MODEL of the signature label S N label the Manipulator has custom specifications The custom specifications may require a different configuration procedure check the custom specifications number MT and contact...

Page 40: ...s are not suitable for operation in harsh environments such as painting areas etc When using Manipulators in inadequate environments that do not meet the above conditions please contact us Special Environmental Conditions Surface of the Manipulator has general oil resistance However if your requirements specify that the Manipulator must withstand certain kinds of oil please consult your distributo...

Page 41: ...aded holes required for mounting the Manipulator base are M8 Use mounting bolts with specifications conforming to ISO898 1 property class 10 9 or 12 9 For 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 The tabl...

Page 42: ...aching points Space for maintenance and inspections Ensure a space to open the covers and plates for maintenance Space for cables The minimum bend radius of the power cable is 90 mm When installing the cable be sure to maintain sufficient distance from obstacles In addition leave enough space for other cables so that they are not bent forcibly Ensure distance to the safeguard from the maximum moti...

Page 43: ... bolts support the Manipulator to prevent falling over Removing the anchor bolts without supporting the Manipulator may get hands fingers or feet caught as the Manipulator may fall over To transport the Manipulator secure it to the delivery equipment or have at least 2 people to hold it by hand Also do not hold the bottom of the base the shaded area in the figure Holding the area by hand is extrem...

Page 44: ...down Before installing and operating the Manipulator make sure that all parts of the Manipulator are in place and have no external defects Missing or defective parts may cause improper operation of the Manipulator Improper operation of the Manipulator is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system CAUTION The Manipulator must be in...

Page 45: ...r Cable WARNING Make sure that the operations are done by a qualified personal Be sure to connect the earth wire green yellow of the AC power cable to the earth terminal of the factory power supply Also we recommend to ground directly via a hole on the base to ground the manipulator completely The equipment must be grounded properly at all times to avoid the risk of electric shock Always use a plu...

Page 46: ...in the AC power cable line For the rated electric current of the circuit breaker refer to the following set values Manipulator Power Rated electric current VT6L AC100V 20A AC200V 10A If you install a circuit breaker please select one that can handle the peak current described in the following section Setup Operation 3 6 1 Specifications The power receptacle shall be installed near the equipment an...

Page 47: ... other ground lines or grounding electrodes may result in electric shock and or malfunction of the robot system When using metal ducts metallic conduits or distributing racks for cable ground in accordance with national and local electric equipment technical standards Grounding that does not meet the standards may result in electric shock and or malfunction of the robot system Follow local regulat...

Page 48: ... extremely hazardous and may result in electric shock and or improper function of the robot system Grounding the manipulator is done by connecting with Power cable Ensure that the Power cable and ground wire are correctly connected If the ground wire is improperly connected to ground it may result in the fire or electric shock CAUTION Make sure that the serial numbers on each equipment match Impro...

Page 49: ...velopment Connect the PC for development For details refer to the Setup Operation 7 Development PC Connection Port 5 LAN EtherNet Communication Connect the EtherNet cable For details refer to the Setup Operation 9 LAN Ethernet Communication Port 6 I O Input connector This input connector is for output device of the user When there is output device use this connector For details refer to the Setup ...

Page 50: ... line and the Manipulator power line as far as possible from the sensor or valve I O lines and do not bundle both sets of wiring with the same cable tie If more than one duct cable must cross each other they should cross perpendicularly The preferable example is shown in the right figure AC Line duct DC line duct As far as possible Wire as short as possible to the I O connector and EMERGENCY conne...

Page 51: ...ator to prevent falling over Removing the anchor bolts without supporting the Manipulator may get hands fingers or feet caught as the Manipulator may fall over To transport the Manipulator secure it to the delivery equipment or have at least 2 people to hold it by hand Also do not hold the bottom of the base the screened parts in the figure Holding these parts by hand is extremely hazardous and ma...

Page 52: ...wo or more people The Manipulator weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged by a fall of the Manipulator VT6 A901 Approx 40 kg 89 lb 1 Turn OFF the power on all devices Remove the mechanical stops if using them to limit the motion range For details on the motion range refer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops...

Page 53: ...tacting parts of the wire and arm with a cloth Holes for eye bolt 2 M8 depth 15 Center of gravity Center of gravity VT6 A901 Approx 40 kg 89 lb CAUTION Remove the eyebolts from the Manipulator after transportation relocation is completed If the Manipulator is operated with the eyebolts left on it the arm may collide with the eyebolts and it may cause equipment damage and or malfunction of the Mani...

Page 54: ...e position gap is called Calibration At the time of shipment the basic orientation of the Manipulator shown below is set as the origin position After installing the Manipulator and setup the operating environment move the Manipulator to the origin position and check if it moves to the basic orientation properly To make the Manipulator move to the origin position select Tools Robot Manager Control ...

Page 55: ...is pressed I O outputs are configured at the factory so that they are automatically shut off 0 by power disconnection the Emergency Stop switch or the safety features of the robot system Wrist Flange Arm 6 Attach an end effector to the end of the Arm 6 using the M5 bolts Layouts When you operate the Manipulator with an end effector the end effector may interfere with the Manipulator body depending...

Page 56: ... Cameras and Air Valves Decks are equipped to Arms 4 and 5 to enable the easy installation of air valve To mount the camera the camera plate unit is necessary We provide the optional Camera Plate Unit For details refer to Setup Operation 11 Options Arm 4 Deck Arm 5 Deck ...

Page 57: ...parameters makes the operation of the Manipulator optimal reduces vibration to shorten the operating time and improves the capacity for larger loads In addition it reduces persistent vibration produced when the inertia moment of the end effector and work piece is bigger The allowable load for VT series Manipulators is 6 kg at the maximum Due to the limitations of the moment and inertia moment show...

Page 58: ... Operation 4 3 2 INERTIA setting Calculating the Inertia Moment Center of gravity of load from the Arm 5 rotation center mm Center of gravity of load from the Arm 6 rotation center mm Max Eccentric Quantity of Load Distance between the joint rotation center and the load s center of gravity Joint 1 kg 2 kg 3 kg 4 kg 5 kg 6 kg 4 548 mm 387 mm 316 mm 274 mm 245 mm 204 mm 5 548 mm 387 mm 316 mm 274 mm...

Page 59: ...m 204 mm Center of gravity by the allowable inertia moment control 0 3 kgm2 6 kg 1 2 0 223 m 223 mm Due to the allowable moment control center of gravity for the load limit is 212 mm from the Arm 5 rotation center Distance a from the flange to the center of gravity for the load limit 204 mm 80 mm 124 mm Critical Dimension of Load Arm J6 Rotation Center Load s Center of Gravity Flange Arm J5 Rotati...

Page 60: ...y 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 for VT series Manipulators is as follows Rated Maximum 3 kg 6 kg Change the setting of the Weight parameter according to the load After changing the Weight parameter setting the maximum acceleration deceleration and spe...

Page 61: ... the load Arm 4 Deck Arm 5 Deck Load on the fore end of Arm 6 When you attach the equipment to the decks on the upper arm convert its weight into equivalent weight assuming that the equipment is attached to the end of the Arm 6 Then this equivalent weight added to the load will be a Weight parameter ...

Page 62: ...eck Length of the upper arm 480 mm Distance between the Joint 3 and the center of gravity of the air valve on the Arm 4 deck mm Distance between the Joint 3 and the center of gravity of the camera on the Arm 5 deck mm Example The fore end of the Arm 6 is 480mm L away from the Joint 3 of VT6 A901S VT6L Load on the fore end of Arm 6 is 5 kg Mw Load on the Arm 4 deck is 1 5 kg Ma The deck is 150 mm L...

Page 63: ...s an end effector attached to the shaft the moment of inertia of load must be considered CAUTION The moment of inertia of the load weight of the end effector and work piece must be 0 1 kg m2 or less The VT series Manipulators are not designed to work with a moment of inertia exceeding 0 1 kg m2 Always set the Weight parameters according to the load Setting a value that is smaller than the actual l...

Page 64: ...ulator and or shorten the life cycle of parts mechanisms The acceptable eccentric quantity of the load for VT series Manipulators is 50 mm at nominal rating and 300 mm at maximum When the eccentric quantity of the load exceeds the rating change the setting of eccentric quantity parameter using the INERTIA command After changing the setting the maximum acceleration deceleration speed of Manipulator...

Page 65: ... 100 Moment of inertia setting kg m2 Automatic acceleration deceleration setting by Inertia moment of inertia 0 100 0 03 100 0 05 85 0 08 60 0 1 50 Automatic setting by eccentricity setting The percentage in the graph is based on the acceleration deceleration at rated eccentricity 50 mm as 100 120 100 80 60 40 20 0 50 100 150 200 250 mm Eccentricity setting 100 40 100 25 Eccentric quantity paramet...

Page 66: ...ent 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 inertia moment for a b and c are shown in this and the next page Figure out the whole inertia moment using the basic formulas below a Inertia moment of a rectangular parallelepiped h b L Weight m Rectangular Parallelepiped s Center of Gravity ...

Page 67: ...ation are reduced to prevent residual vibration INERTIA Setting The acceleration deceleration of Arm 6 are controlled according to the inertia moment set by the INERTIA command The acceleration deceleration of the whole Manipulator are controlled according to the eccentricity set by the INERTIA command The more the inertia moment and eccentricity of the load increase the more the acceleration dece...

Page 68: ...he motion range is changed due to layout efficiency or safety follow the descriptions in 5 1 to 5 3 to set the range 5 1 Motion Range Setting by Pulse Range for All Joints Pulses are the basic unit of Manipulator motion The motion range of the Manipulator is controlled by the pulse range the lower limit and the upper limit of each axis Pulse values are read from the encoder output of the servo mot...

Page 69: ...se values in counterclockwise direction are positive and values in clockwise direction are negative Arm 1 0 pulse position 5 1 2 Max Pulse Range of Joint 2 Pulse values in clockwise direction are positive and values in counterclockwise direction are negative Arm 2 0 pulse position ...

Page 70: ...ion are negative Arm 3 0 pulse position 5 1 4 Max Pulse Range of Joint 4 From the angle of arm end clockwise pulse values are positive and counterclockwise pulse values are negative Arm 4 0 pulse position 5 1 5 Max Pulse Range of Joint 6 Pulse values in clockwise direction are positive and values in counterclockwise direction are negative Arm 5 0 pulse position ...

Page 71: ...up Operation 5 Motion Range VT Rev 1 55 5 1 6 Max Pulse Range of Joint 6 From the angle of arm end clockwise pulse values are positive and counterclockwise pulse values are negative Arm 6 0 pulse position ...

Page 72: ...chanical stop For details on the pulse range setting refer to the the following section Setup Operation 5 1 Motion Range Setting by Pulse Range for All Arms Be sure to set the pulse range not to exceed the setting angles of the mechanical stop 5 2 1 Motion Range Setting of Joint 1 Install the adjustable mechanical stop J1 to the threaded hole corresponding to the angle you want to set Hexagon sock...

Page 73: ...J2 to the threaded hole corresponding to the angle you want to set Hexagon socket head cap bolt M4 16 1 bolt Tightening torque 4 0 0 2 N m 41 2 kgf cm c d Angle deg 160 65 160 to 43 or 148 to 65 Pulse pulse 9986438 4056990 9986438 to 2683855 or 9237455 to 4056990 Adjustable mechanical stop J2 Not applied standard Applied ...

Page 74: ...J3 to the threaded hole corresponding to the angle you want to set Hexagon socket head cap bolt M4 16 1 bolt Tightening torque 4 0 0 2N m 41 2 kgf cm e f Angle deg 51 190 34 to 190 or 51 to 173 Pulse pulse 2343172 8729465 1562115 to 8729465 or 2343172 to 7948407 Adjustable mechanical stop J3 Not applied standard Applied ...

Page 75: ...the following figure The restriction to Manipulator operation is enabled During CP motion command execution When you attempt to execute the motion command for moving the Manipulator to a target point or pose in the specified motion range The restriction to the Manipulator operation is disabled The Arms of the Manipulator momentarily go through the specified motion range during the PTP motion comma...

Page 76: ...em The origin point is where the Manipulator s installation face intersects with the rotation axis of Joint 1 For details on the coordinate system refer to the EPSON RC User s Guide manual Table Top mounting Ceiling mounting Wall mounting Z X Y Z X Y X Y Z X X Y Y ...

Page 77: ... the procedure below 1 Select the EPSON RC 7 0 menu Setup System Configuration 2 Select Robot Robot Calibration from the tree list Then click Save 1 Select the EPSON RC 7 0 menu Setup System Configuration 2 Select Robot Robot from the tree list 3 Click the Change button The following dialog box will be displayed 4 Input the robot name and serial number printed on the name plate of the manipulator ...

Page 78: ... XYLIM setting The limited Manipulator operation area is defined so that the end effector does not interfere with the rear side of the Manipulator The XYLIM setting that you can determines the upper and lower limits of the X and Y coordinates The limited Manipulator operation area and the XYLIM setting apply only to the software Therefore these settings do not change the physical range The maximum...

Page 79: ...e Switch is held down and the safeguard is open This is a low speed program verification function T1 manual deceleration mode which is defined in Safety Standards This mode can operate the specified Function with multi task single task multi manipulator single manipulator at low speed 6 2 Switch Operation Mode Change the operation mode using the mode selector key switch on the Teach Pendant TEACH ...

Page 80: ... of the Robot system Follow the procedures below to switch to the Program mode 6 3 2 Setup from EPSON RC 7 0 Switch the mode to Program mode from the EPSON RC 7 0 1 Select EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog 2 5 3 4 2 Select Startup 3 Select Start mode Program button 4 Click the Apply button 5 Click the Close button ...

Page 81: ... to Setup Operation 6 3 2 Setup from EPSON RC 7 0 B Offline the EPSON RC 7 0 Execute and stop the program from the control device specified by the EPSON RC 7 0 Refer to Setup Operation 6 4 3 Setup Control Device 6 4 2 Setup from EPSON RC 7 0 Switch the mode to Auto mode AUTO from the EPSON RC 7 0 1 Select EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog 2 5 3...

Page 82: ...e from EPSON RC 7 0 1 Select EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog 2 5 3 4 2 Select Controller Configuration 3 Select Control Device to select the control device from the following two types PC Remote I O 4 Click the Apply button 5 Click the Close button ...

Page 83: ...conds 3 All turn ON to 10 seconds 4 All turn OFF 10 30 seconds 5 Either of TEACH AUTO or PROGRAM turns ON Execute Controller status storage function to the USB memory TEACH AUTO PROGRAM blink Complete Controller status storage to USB memory TEACH AUTO PROGRAM turn ON for 2 seconds ERROR turns OFF even if an error occurs Failure of Controller status storage to USB memory ERROR TEACH AUTO PROGRAM tu...

Page 84: ...izard appears click the Cancel button 7 1 What is Development PC Connection Port The development PC connection port supports the following USB types USB2 0 HighSpeed FullSpeed Speed auto selection or FullSpeed mode USB1 1 FullSpeed Interface Standard USB specification Ver 2 0 compliant USB Ver 1 1 upward compatible Connect the Manipulator and development PC by a USB cable to develop the robot syst...

Page 85: ...velopment PC and the Manipulator are connected do not insert or remove other USB devices from the development PC Connection with the Manipulator may be lost 7 3 Software Setup and Connection Check Connection of the development PC and the Manipulator is indicated 1 Make sure that software EPSON RC 7 0 is installed to the Manipulator connected to the development PC Install the software when it is no...

Page 86: ...7 0 7 4 Disconnection of Development PC and Manipulator Disconnection of the development PC and the Manipulator communication 1 Select the EPSON RC 7 0 menu Setup PC to Controller Communications to display the PC to Controller Communications dialog 2 Click the Disconnect button Communication between the Manipulator and the development PC is disconnected and the USB cable can be removed If the USB ...

Page 87: ...atus storage function is available at any time and in any Manipulator status after starting the Manipulator However operations form the console including stop and pause are not available while executing this function Also this function influences the Manipulator cycle time and the communication with EPSON RC 7 0 Other than only when it is necessary do not execute this function when operating the M...

Page 88: ...communication with EPSON RC 7 0 Other than only when it is necessary do not execute this function when operating the Manipulator Use this procedure to save the status of the Manipulator to USB memory 1 Insert the USB memory into the memory port When the data transfer starts the LED of TEACH AUTO and PROGRAM starts blinking Wait until the LED status changes The data transfer time varies according t...

Page 89: ... 7 0 2 Make sure that the following folder is indicated in the USB memory B_VT_serial number_data status was saved Example B_VT_12345_2013 10 29_092951 3 Copy the folder confirmed in procedure 2 to the EpsonRC70 Backup folder 4 Select the EPSON RC 7 0 menu Tools Controller to display the Controller Tools dialog 5 Click the View Controller Status button 6 Browse For Folder dialog appears Select the...

Page 90: ...re to transfer the data by e mail that was saved to the USB memory 1 Insert the USB memory to a PC that supports sending of e mail 2 Make sure that the USB memory has following folders B_VT_serial number_data status was saved Example B_VT_12345_2013 10 29_092951 3 Send all the folders by e mail Delete files that do not relate to the project before transfer This function is used to send the data to...

Page 91: ...ware information Saves installation information of hardware ProjectName obj OBJ file Result of project build Prg file is not included GlobalPreserves dat Global Preserve variables Saves values of Global Preserve variables WorkQueues dat WorkQue information Saves information of Queues information of the WorkQue MCSRAM bin MCSYSTEMIO bin MCTABLE bin MDATA bin SERVOSRAM bin VXDWORK bin Inner informat...

Page 92: ...ilable to connect between the Manipulator and the development PC with the development PC connection port Refer to Setup Operation 7 Development PC Connection Port Connection with other Manipulator Controller or PC The LAN Ethernet communication port can be used as an Ethernet TCP IP communication port to communicate between multiple controllers from robot application software 9 2 IP Address Set th...

Page 93: ...e Manipulator IP address when connecting Manipulator development PC connection port and the development PC by the USB cable is indicated 1 For connection between the development PC and the Manipulator Refer to Setup Operation 7 Development PC Connection Port 2 Select the EPSON RC 7 0 menu Setup Controller to display the following dialog 3 Select Controller Configuration 4 Enter the proper IP addre...

Page 94: ...f Development PC and Manipulator with Ethernet Connection between the development PC and the Manipulator is shown below 1 Connect the development PC and the Manipulator using the Ethernet cable 2 Turn on the Manipulator 3 Start EPSON RC 7 0 4 Display the PC to Controller Communication dialog from Setup in EPSON RC 7 0 menu 5 Click the Add button 6 Connection No 2 is added Set the following and cli...

Page 95: ...ton 9 After the development PC and Manipulator connection is completed Connected is displayed in the Connection status Make sure that Connected is displayed and click the Close button to close the PC to Controller Communications dialog Connection between the development PC and the Manipulator is complete Now the robot system can be used via an Ethernet connection from EPSON RC 7 0 ...

Page 96: ... from Setup in EPSON RC 7 0 menu 2 Click the Disconnect button Communication between the Manipulator and the development PC is disconnected and the Ethernet cable can be removed If the Ethernet cable is removed when the Manipulator and the development PC is connected Emergency Stop occurs and the Manipulator stops Be sure to click the Disconnect button in the PC to Controller Communications dialog...

Page 97: ... the Teach Pendant Connect this cable connector to the TP port Communication is set automatically Enable the Teach Pendant by one of the following procedures Insert the Teach Pendant connector to the Manipulator and turn ON the Manipulator Insert the Teach Pendant connector while the Manipulator is turned ON Teach Pendant connection and disconnection from the Controller are allowed when the Manipu...

Page 98: ... VT series manipulator the camera plate unit is requried Parts included Qty A Camera adapter plate 1 B Camera mid plate 1 C Camera base plate 1 D Hexagon socket head screws M4 12 12 B Camera mid plate C Camera base plate A Camera adapter plate Installation Appearance of arm end with camera Camera Plate Unit mounting hole 4 M4 Camera Plate Unit Camera For the installation steps refer to the followi...

Page 99: ...e Joint 5 motion range varies depending on the mounting position of camera mid plate and the camera you are using The table below shows the motion range reference values based on the available cameras for this option and the mounting positions of the camera mid plate The values in the table may vary depending on how to secure the cables By changing the Y position you can extend the distance from t...

Page 100: ...on procedures please contact the supplier of your region Parts included Qty ISO flange 1 Pin 2 Hexagon socket head screw with low head M5 15 4 Dimensions of ISO flange To mount the ISO flange 1 Press fit the pin to the Arm 6 end flange Pin projection 4 mm from the flange Pin 2 Align the pin and the pin hole on the ISO flange and then mount the ISO flange Hexagon socket head screw 4 M5 15 ISO Flang...

Page 101: ... stop J2 Parts included Qty Adjustable mechanical stop J2 1 Hexagon socket head screw M4 16 1 Pin 2 Adjustable mechanical stop J3 Parts included Qty Adjustable mechanical stop J3 1 Hexagon socket head screw M4 16 1 Pin 2 11 4 External Wiring Kit Using the external wiring kit you can fix the wirings and air tubes for the hand along with the Manipulator For more details please contact the distributo...

Page 102: ...operating not only booting but also usage changed such as options added or parts replaced as maintenance Before connecting the connector make sure that the pins are not bent Connecting with the pins bent may damage the connector and result in malfunction of the robot system Connect a safeguard switch or Emergency Stop switch to the EMERGENCY connector for safety When nothing is connected to the EM...

Page 103: ...k of the Safeguard is called a Safeguard switch Connect the Safeguard switch to the Safeguard input terminal on the EMERGENCY connector The Safeguard switch has safety features such as temporary hold up of the program or the operation prohibited status that are activated whenever the Safeguard is opened Observe the following in designing the Safeguard switch and the Safeguard For the Safeguard swi...

Page 104: ...lease switch does not latch the condition that the safeguard is open The latch release input also functions to acknowledge the change of to TEACH mode In order to change the latched condition of TEACH mode turn the mode selector key switch on the Teach Pendant to Auto Then close the latch release input 12 2 Emergency Stop Switch Connection 12 2 1 Emergency Stop Switch If it is desired to add an ex...

Page 105: ...g the Emergency Stop switch 2 Make sure that E STOP LED of the Manipulator is lighting 3 Make sure that EStop is displayed on the status bar on the main window 4 Release the Emergency Stop Switch 5 Execute the RESET command 6 Make sure that E STOP LED is turned OFF and that EStop is dimmed on the main window status bar 12 2 3 Recovery from Emergency Stop To recover from the emergency stop conditio...

Page 106: ...lues from the Safeguard 1 and Safeguard 2 are different for two or more seconds They must be connected to the same switch with two sets of contacts 3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and Emergency Stop switch contact 2 are different for two or more seconds They must be connected the same switch with two sets of contacts 4 Do not apply reverse vol...

Page 107: ... release input Latch release input Close Latch off Open Latch on Main Circuit Control AC Input Emergency Stop switch of an Operation Unit TP External 24V GND External Emergency Stop switches Motor Driver Manipulator 9 10 22 23 1 2 14 15 3 16 4 17 11 12 24 25 7 8 20 21 18 19 Emergency Stop detection NOTE 24V GND 5V GND ESTOP1 ESTOP2 ESTOP1 ESTOP2 Be careful of the direction of voltage application ...

Page 108: ...ay The above diagram is simplified for representation External 24V GND 24V 5V Safety Door input 1 Safety Door input 2 Latch Release input AC Input Motor Driver External 24V Fuse External 24V Manipulator 09 10 22 23 1 2 14 15 3 16 4 17 11 12 24 25 7 8 20 21 18 19 Main Circuit Control Emergency Stop switch of an Operation Unit TP Emergency Stop detection External 24V Latch release input Close Latch ...

Page 109: ...o the system Connector name Pins Bit number I O Input Connector 24 0 23 I O Output Connector 16 0 15 For cable wiring refer to the Setup Operation 3 7 2 Noise Countermeasures in order to prevent noise Remote function is initially assigned to both input and output from 0 to 7 For further details refer to Setup Operation 14 I O Remote Settings 13 1 Input Circuit Input Voltage Range 12 to 24 V 10 ON ...

Page 110: ...o 7 Omit GND DC 19 Input No 8 to 15 common 6 Input No 8 20 Input No 9 14 Input No 16 to 23 common Standard I O Input Connector 13 1 2 Typical Input Circuit Application 2 Same Same Same Same Same Same Same Same Same 5 Input No 0 to 7 common 1 Input No 0 15 Input No 1 2 Input No 2 16 Input No 3 3 Input No 4 17 Input No 5 4 Input No 6 18 Input No 7 Omit GND DC 19 Input No 8 to 15 common 6 Input No 8 ...

Page 111: ...in the table above is initially assigned to input from 0 to 7 For further details refer to Setup Operation 14 I O Remote Settings Connector Connector model I O Input Connector DMC 0 5 14 G1 2 54 P20THR R72 Board side DFMC 0 5 14 ST 2 54 Cable side PHOENIX CONTACT I O connector is included with shipment I O Input Connector pin assignment 14 1 28 15 13 2 Output Circuit Rated Output Voltage 12 V to 2...

Page 112: ...o 7 Common GND Load L GND L 14 Output No 8 to 15 Common GND Standard I O Output Connector Same Same Same Same Same Same Same Same 13 2 2 Typical Output Circuit Application 2 1 Output No 0 Same Omit DC 6 Output No 8 15 Output No 9 10 Output No 1 2 Output No 2 11 Output No 3 3 Output No 4 12 Output No 5 4 Output No 6 13 Output No 7 5 Output No 0 to 7 Common DC Load L GND L 14 Output No 8 to15 Common...

Page 113: ... 0 to 7 14 Output common No 8 to 11 6 Output No 8 15 Output No 9 7 Output No 10 16 Output No 11 8 Output No 12 17 Output No 13 9 Output No 14 18 Output No 15 Remote function inside in the table above is initially assigned to output from 0 to 7 For further details refer to Setup Operation 14 I O Remote Settings Connector Connector model I O Output Connector DMC 0 5 9 G1 2 54 P20THR R44 Board side D...

Page 114: ...ith rod terminal 2 Push the edge of cable into wire insertion slot For single wire and stranded wire peel off the covering of the cable If using a twisted wire or finer single wire insert it while pushing orange colored open button Orange push pins are easy to come off Be careful during operation There is a cable check hole above the open button You can check cables using tester 13 3 2 How to Fix ...

Page 115: ...O For details about communication with external equipment refer to EPSON RC 7 0 User s Guide 12 Remote Control CAUTION When using remote I O always make sure of the following Using the robot system under unsatisfactory conditions may cause malfunction of the system and or safety problems Assign remote functions to inputs outputs correctly and wire correctly when setting up remote I O signals Make ...

Page 116: ...ror output and Reset input to monitor the error status and clear error conditions from the remote device Name Initial Description Input Acceptance Condition 1 Start 0 Execute function selected at SelProg 2 Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF Pause input OFF Stop input OFF SelProg1 SelProg2 SelProg4 SelProg8 SelProg16 SelProg32 1 2 3 Not Set Not Set Not Set Sp...

Page 117: ...opOn output OFF SafeguardOn output OFF MotorsOn output ON Pause input OFF Stop input OFF MCal Not set Execute MCal 5 7 Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF MotorsOn output ON Pause input OFF Stop input OFF Recover Not set After the safeguard is closed recover to the position where the safeguard is open Paused output ON Error output OFF EStopOn output OFF Safeg...

Page 118: ... series is invalid 6 Initializes the manipulator parameter For details refer to EPSON RC 7 0 Online Help or Motor in SPEL Language Reference 7 For details refer to EPSON RC 7 0 Online Help or MCal in SPEL Language Reference 8 This is for experienced users only Make sure that you fully understand the input specification before using CmdRunning output and CmdError output will not change for this inp...

Page 119: ...commands power mode of the manipulator and PowerHigh command by the setting of the manipulator preferences Preferences 1 Motor power low when ForcePowerLow signal OFF Preferences 2 ForcePowerLow signal change pauses all tasks For details of the manipulator preferences refer to EPSON RC 7 0 User s Guide Setup System Configuration Controller Preferences in 5 12 2 System Configuration Command Setup M...

Page 120: ...e task runs as normal with the warning However be sure to eliminate the cause of the warning as soon as possible MotorsOn Not set Turns ON when the manipulator motor is ON 5 AtHome Not set Turns ON when the manipulator is in the home position 5 PowerHigh Not set Turns ON when the manipulator s power mode is High 5 MCalReqd Not set Turns ON when the manipulator hasn t executed MCal 5 RecoverReqd No...

Page 121: ...PositionX Not set Outputs current X coordinate in the World coordinate system 6 7 PositionY Not set Outputs current Y coordinate in the World coordinate system 6 7 PositionZ Not set Outputs current Z coordinate in the World coordinate system 6 7 PositionU Not set Outputs current U coordinate in the World coordinate system 6 7 PositionV Not set Outputs current V coordinate in the World coordinate s...

Page 122: ...elRobot Wait at least 40 ms before inputting the signal after changing the condition in SelRobot Name SelRobot1 SelRobot16 condition when inputting SelRobot 0 All robots are selected 1 16 Particular robot number is selected MotorsOn Turns ON when at least one manipulator motor is ON Turns ON when the motor of the selected manipulator is ON AtHome Turns ON when all manipulators are in the home posi...

Page 123: ...n input signal During system design make sure that you actuate only one remote input operation at a time otherwise an error will occur The pulse width of an input signal must be 25 or more milliseconds to be detected Unit ms 14 2 2 Timing Diagram for Operation Execution Sequence 940 1250 Depending on HOME motion MotorsOn Output AtHome Output SetMotorsOn Input SetMotorsOff Input Home Input 14 2 3 T...

Page 124: ...oor Input Sequence 12 1066 1066 600 9 17 17 940 Running Output Paused Output SafeguardOn Output MotorsOn Output Safety Input Latch Input Continue Input 14 2 5 Timing Diagram for Emergency Stop Sequence 65 12 10 10 Running Output MotorsOn Output EStopOn Output Emergency Input Reset Input ...

Page 125: ...D card is only available for robot system SD card is written only for robot system Unable to use for reading writing data If you write data on SD card robot system may not operate properly SD card slot Optional slot inside SD card slot is a slot for inserting SD card Firmware to operate the manipulator is written on the SD card Reference Maintenance 18 6 Replacing SD Card ...

Page 126: ...tch RESET Switch RESET switch has following function Manipulator reboot Push the RESET switch for three seconds when booting the manipulator Manipulator reboots Shape of RESET switch is difficult to push Use a sharp edged object when pushing the RESET switch ...

Page 127: ... also may result in electric shock and or malfunction of the robot system To shut off power to the robot system disconnect 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 Be sure to perform installing procedure with turning OFF the robot system and related equipment and disconnect the power plug P...

Page 128: ...odule are securely hooked on the board when installing fieldbus I O module If tabs do not be hooked securely connecter or fieldbus I O module may get damages 4 Tighten screws by using special tool until fieldbus I O module is fixed completely Image of installation Front Back Fieldbus I O Module Removal 1 Unscrew the screws by using special tool until fieldbus I O module is loosened 2 Remove the fi...

Page 129: ...Maintenance This volume contains maintenance procedures with safety precautions for VT series Manipulators ...

Page 130: ......

Page 131: ...es 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 safeguarded area Checking the operation of the Manipulator wh...

Page 132: ... maintenance inspections and procedures Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety Be sure to perform the maintenance inspections in accordance with the schedule 2 1 Maintenance Inspection 2 1 1 Schedule for Maintenance Inspection Inspection points are divided into five stages daily monthly quarterly biannual and annual The in...

Page 133: ...rnal 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 Lithium Battery Refer to Maintenance 18 4 Replacing Lithium Battery Inspection While the Power is ON Manipulator is operating Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual Check motion range Each jo...

Page 134: ...mmended to overhaul the parts parts replacement The time between overhauls is 20 000 operation hours of the Manipulator as a rough indication However it may vary depending on usage condition and degree of the load such as when operated with the maximum motion speed and maximum acceleration deceleration in continuous operation applied on the Manipulator For EPSON RC 7 0 the recommended replacement ...

Page 135: ...ntroller Status button to open the Browse For Folder dialog 3 Select the folder where the information is stored 4 Click OK to view the Controller Status Viewer dialog 5 Select Robot from the tree menu on the left side For the parts subject to overhaul refer to Maintenance 22 Maintenance Parts List For details of replacement of each part refer to the Maintenance section Please contact the distribut...

Page 136: ...ow 1 5 3 7 2 6 4 8 Bolt hole Do not fasten all bolts securely at one time Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench Then use a torque wrench so that the bolts are fastened with tightening torques shown in the table above 2 4 Matching Origins After parts have been replaced e g motor units reduction gear units timin...

Page 137: ...t 4 Electromagnetic Brake Joint 4 Timing Belt Joint 1 Motor Joint 1 Reduction Gear Unit Joint 1 Timing Belt Joint 1 Electromagnetic Brake CPU DPB Unit SD Card Lithium Battery Joint 6 Timing Belt Joint 5 Timing Belt Joint 6 Electromagnetic Brake Joint 5 Electromagnetic Brake Joint 3 Timing Belt Joint 2 Timing Belt Joint 3 Motor Joint 3 Electromagnetic Brake Joint 2 Motor Joint 2 Electromagnetic Bra...

Page 138: ...Maintenance 3 Manipulator Structure 122 VT Rev 1 3 Manipulator Structure ...

Page 139: ...red In addition the parts of the manipulator joints may cause accuracy decline or malfunction due to deterioration of the parts resulting from long term use If the manipulator breaks down due to deterioration of the parts it will take significant time and cost for repair The following sections describe the alarm function which announces the following maintenance timings in order to perform mainten...

Page 140: ...ious data Disables as default For details for enabling or disabling the Maintenance refer to the EPSON RC 7 0 User s Guide 5 12 2 System Configuration Command Setup Menu Setup System Configuration Controller Preferences Page Maintenance is enabled at shipment If enabled the Maintenance information for the timing belts motors and reduction gear units will be configured automatically when the robot ...

Page 141: ...e Controller Tools dialog box 2 To check the controller Maintenance information click the Maintenance button and display the Maintenance dialog box 3 Select General or specify the axis from the tree to display information of the target parts The recommended replacement time for the battery is calculated based on the battery capacity and the Manipulator ON time The battery may run out if it passes ...

Page 142: ...nged and click the Change button 5 Display the Change Alarm dialog box and enter any of the following Purchase or replacement date of the battery Date of grease up Purchase or replacement date of the timing belt Purchase or replacement date of the motor Purchase or replacement date of the reduction gear unit 6 Click the OK button and change the specified alarm information The offset can be set for...

Page 143: ...Remote Control For details refer to the following manual EPSON RC 7 0 User s Guide 12 1 Remote I O The controller enters the warning state if an alarm occurs 4 2 4 How to Cancel the Alarm An alarm occurs when the consumption rate of the parts reaches 100 The alarm cannot be canceled by executing the Reset command or restarting the controller The alarm can be canceled by the following method Operat...

Page 144: ...as follows A Controller status storage to USB memory For details refer to Setup Operation 8 Memory Port B Export Controller Status function in EPSON RC 7 0 For details refer to the following manual EPSON RC 7 0 User s Guide 5 9 9 Import Command Project Menu 5 2 Backup Data Types The table below shows the files created with Backup Controller File Name Overview Backup txt Information file for restor...

Page 145: ...rowse For Folder dialog 3 Specify the folder to save the backup data Create a new folder if desired 4 Click the OK button A folder is created in the specified folder containing the backup data with a name in the following format B_VT_ serial number_ date status was saved Example B_VT_12345_2016 04 03_092941 CAUTION Do not edit the backup files Otherwise operation of the robot system after data res...

Page 146: ...e Manipulator is not assured 1 Select the EPSON RC 7 0 menu Tools Controller to display the Controller Tools dialog 2 Click the Restore Controller button to display the Browse For Folder dialog 3 Specify the folder that contains the backup data Backup data folders are named using the following format B_VT_ serial number_ date status was saved Example B_VT_12345_2016 04 03_092941 Controller status ...

Page 147: ... checkbox allows you to restore the files related to projects The default is unchecked When a project is restored the values of Global Preserve variables are loaded For details about Global Preserve variable backup refer to the following manual EPSON RC 7 0 User s Guide 5 10 10 Display Variables Command Run Menu Vision hardware configuration This checkbox allows you to restore the vision hardware ...

Page 148: ...ed the following warning message appears Click the No button do not restore data except for special situations such a manipulator replacement When restoring the backup including the robot information other than VT series an error occurs You cannot restore the backup including T series robot created in the virtual controller of EPSON RC 7 0 to the VT series robot NOTE NOTE NOTE ...

Page 149: ...ected to a Manipulator with USB to update the Manipulator firmware Firmware cannot be updated with an Ethernet connection 6 2 Firmware Upgrade Procedure The firmware upgrade procedure is described as follows CAUTION DO NOT unplug the USB cable or turn OFF the Manipulator or the development PC during upgrade of the firmware Doing so may result in malfunction of the robot system 1 Connect the develo...

Page 150: ...PC is connected to the Manipulator with a USB cable and Click the Next button 7 Check the current firmware version and the new firmware version and click the Install button 8 The firmware upgrade starts It takes several minutes to complete 9 Continuous data file transfer starts ...

Page 151: ... Ver 7 4 0 2 or later on the controller which the firmware before Ver 7 4 0 2 has been installed the following message is displayed When the message is displayed re install the firmware 6 3 Manipulator Recovery If the Manipulator becomes inoperable use the procedures described in this section to recover Controller Backup is recommended for easy recovery of the Controller operation For details of C...

Page 152: ...ment PC to the Manipulator with a USB cable the firmware cannot be changed with an Ethernet connection 2 Turn ON the Manipulator Do not start the development software EPSON RC 7 0 until firmware initialization is complete 3 Insert the Firmware CD ROM in the development PC CD ROM drive 4 Execute Ctrlsetup exe 5 Select the Initialize option button and click the Next button 6 Make sure that the devel...

Page 153: ...pears after the Manipulator reboot Click the Finish button The firmware upgrade is completed Start EPSON RC 7 0 and restore the Controller settings For details of restoring the operating system refer to Maintenance 5 Backup and Restore When you install the firmware Ver 7 4 0 2 or later on the controller which the firmware before Ver 7 4 0 2 has been installed the following message is displayed Whe...

Page 154: ...re 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 disconnect 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 sy...

Page 155: ...mely 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 Arm 1 Cover 5 M4 12 Sems Arm 1 Cover Removal Unscrew the mounting bolts and then lift the Arm 1 Cover Be careful for wires and tubes when removing the cover If the Arm 2...

Page 156: ...sconnection 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 observe the cable locations after removing the cover Be sure to place the cables back to their original locations Arm 2 Cover 10 M4 12 Sems Arm 2 Cover Removal Unscrew the mounting bolts and t...

Page 157: ...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 When routing the cables observe the cable locations after removing the cover Be sure to place the cables back to their original locations Arm 3 Cover 3 M4 12 Sems Arm 3 Cover Removal Unscrew the mounting bolts and t...

Page 158: ...nnection 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 observe the cable locations after removing the cover Be sure to place the cables back to their original locations Arm 4 Cover 1 6 M4 12 Sems Arm 4 Cover 1 Removal Unscrew the mounting bolts and t...

Page 159: ...he cover be careful not to allow the cables to interfere with the cover 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 Whe...

Page 160: ...rd on the rear side of the Arm 4 Cover 2 Connect the connector to the board which supports each motor J5 J6 Be careful not to connect it to wrong board or forget to connect J5 J6 Board for Joint 6 Board for Joint 5 Joint 6 Motor Joint 5 Motor 2 Put the Arm 4 Cover 2 to the Manipulator and secure with the mounting bolts Hexagon socket head cap bolts with captive washer 6 M4 12 Sems Tightening torqu...

Page 161: ... and then lift the Power Cable Cover Power Cable Cover Installation Put the Power Cable Cover to the connector plate and secure with the mounting bolts Hexagon socket head cap bolts with captive washer 2 M4 8 Sems Tightening torque 0 9 0 1 Nm When installing the cover be careful not to get the cables caught between the arm and cover NOTE ...

Page 162: ...result in electric shock and or improper function of the robot system When routing the cables observe the cable locations after removing the connector plate Be sure to place the cables back to their original locations Connector Plate 10 M4 10 Connector Plate Removal 1 Remove the Power Cable Cover Refer to Maintenance 7 6 Power Cable Cover 2 Remove the power cable clamp and then remove Power Cable ...

Page 163: ...ect 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 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 extremely hazardous ...

Page 164: ...t 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 observe the cable locations after removing the cover Be sure to place...

Page 165: ... Plate Reference Maintenance 7 Covers 4 Unscrew the mounting screws of the controller unit Hexagon socket head cap bolts 3 M4 10 with plain washer 5 Pull out the controller unit from the Manipulator base When pulling it out firstly push the plate of the controller unit to the right see the picture gently then remove the thermal sheet on the base and the controller unit Next pull the controller uni...

Page 166: ... I O connector D LED connectors 2 D A C B D 7 Remove the ground wire terminals inside the base Cross recessed head screws M4 6 8 Cut off the wire tie bound to the plate inside the base Wire tie AB150 9 Cut off the wire ties bound inside the Arm 1 Wire ties AB150 2 AB100 1 10 Remove the ground wire terminals of Arm 1 Cross recessed head screws 2 M4 6 ...

Page 167: ...12 Disconnect the signal cable connectors for motor 2 of Joint 1 motor 13 Cut off the wire ties bound to inside the Arm 2 Wire ties AB150 6 AB100 5 Be careful not to cut the harness Wire ties 3 Wire ties 3 14 Remove the cable fixing plate of Arm 2 Hexagon socket head cap bolts with captive washer 4 M4 12 NOTE ...

Page 168: ...emove the Joint 2 motor Reference Maintenance 10 1 Replacing Joint 2 Motor 17 Remove the Joint 3 motor Reference Maintenance 11 1 Replacing Joint 3 Motor 18 Remove the light guide plate Cross recessed head screws 2 M3 10 19 Unscrew the cross recessed head screws fixing the LED board Cross recessed head screws 2 M3 6 ...

Page 169: ...he Arm 2 and pull the LED cable out Pass through the opening 22 Cut off the wire tie bound to the plate inside the Arm 3 Wire ties AB150 2 23 Cut off the wire ties that bind the power cable and the signal cable of Joint 4 motor Wire ties AB100 2 Be careful not to cut the harness 24 Remove the ground wire terminals of Arm 3 Cross recessed head screws 2 M4 6 NOTE ...

Page 170: ...o the plate inside the Arm 4 Wire tie AB150 28 Cut off the wire tie that binds the following cables and ground wire Wire tie AB100 Joint 5 motor cable Signal cable for motor Joint 6 motor cable Ground wire Be careful not to cut the harness 29 Remove the ground wire terminals of Arm 4 Cross recessed head screws M4 6 30 Remove the signal cable connectors for motor 3 of the the Joint 5 motor and Join...

Page 171: ... the following cables of each arm through the sleeve of each joint and pull them out Ground wires 4 Signal cables for motor 5 LED cable 1 32 Pass the power cable through the sleeve of each joint and pull it out in the following order Arm 4 Arm 3 Arm 2 Arm 1 Base ...

Page 172: ... blue cable is the base side 3 Connect the power cable connectors 6 of the Joint 1 2 3 4 5 6 AMP board 4 Connect the signal cable connector for motor of the Joint 1 2 3 4 5 6 motor unit When passing the cables between arms be sure to pass them through the sleeve of each joint Confirm that the joint marked on the wire marker of the signal cable and the joint of the motor unit to be connected are th...

Page 173: ... the ground wire between the Arm 1 and the Arm 2 Cross recessed head screws 2 M4 6 Tightening torque 2 0 0 1 N m Arm 1 side Ground wire terminal marked ARM1 on the wire marker Arm 2 side Ground wire terminal marked ARM2 on the wire marker 9 Fix the ground wire between the Arm 2 and the Arm 3 Cross recessed head screws 2 M4 6 Tightening torque 2 0 0 1 N m Arm 2 side Ground wire terminal marked ARM2...

Page 174: ...d ARM4 on the wire marker 11 Connect the LED cable connector to the opening of the end of Arm 2 You can pass the connector through the opening easily by using the wire tie Pass through the opening 12 Connect the LED cable connector to the LED board Connectors LED_CN1 13 Fix the LED board Cross recessed head screws 2 M3 6 Tightening torque 0 45 0 1 N m 14 Fix the light guide plate Cross recessed he...

Page 175: ...llowing cables and the ground wire with the wire tie Wire tie AB150 Power cable LED cable Signal cable for motor Ground wire 17 Bind the following cables between the Joint 1 motor and the controller unit with the wire tie Wire tie AB100 Signal cable for motor Signal cable for AMP board 18 Pass the wire tie through the plate inside the Arm 2 Bind the following cables with the wire tie Wire tie AB15...

Page 176: ...otor Brake cable 20 Pass the wire tie through the mount base A and B inside Arm 2 Bind the following cables with the wire tie Wire tie AB100 Power cable Signal cable for motor Brake cable LED cable mount base A only A B 21 Pass the LED cable through the groove for LED cable wiring of Arm 2 Pass the wire tie through the mount base C and bind the LED cable with the wire tie Wire tie AB100 C Pass thr...

Page 177: ...able for motor Motor cable 24 Bind the following cables between the Joint 4 motor and the Joint 3 motor with the wire tie Wire tie AB100 Signal cable for AMP board Signal cable for motor Brake cable 25 Pass the wire tie through the hole inside the Arm 4 Bind the following cables and the ground wire with the wire tie Wire tie AB150 Power cable Signal cable for motor Ground wire 26 Bind the followin...

Page 178: ... When applying the grease be careful not to attach the grease to the AMP board 28 Connect the following connectors to the controller unit A Power cable connector B Signal cable connector C Hand I O connector D LED connectors 2 D A C B D 29 Push the controller unit into the base Insert the controller unit while moving it to the right see the picture Then gently move the plate of the controller unit...

Page 179: ...s of the controller unit Hexagon socket head cap bolts 3 M4 10 with plain washer Tightening torque 4 0 0 2 N m 31 Install the following covers the plate Arm 1 Cover Arm 2 Cover Arm 3 Cover Arm 4 Cover 1 Arm 4 Cover 2 Connector Plate Reference Maintenance 7 Covers ...

Page 180: ...e the power cable cover Reference Maintenance 7 6 Power Cable Cover 3 Remove the power cable clamp 4 Disconnect the power cable connector When removing the power cable connector pull it out with pushing latches on both sides of the connector Power Cable Insertion 1 Connect the power cable connector 2 Mount the power cable clamp 3 Mount the power cable cover Reference Maintenance 7 6 Power Cable Co...

Page 181: ...t procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a positional gap...

Page 182: ... the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work Joint 1 Motor Removal 1 Turn OFF the Manipulator 2 Remove the Arm 1 Cover Reference Maintenance 7 1 Arm 1 Cover 3 Cut off the wire tie that binds the following cables Signal cable and the signal cable for AMP board between the Joint 1 motor and the controll...

Page 183: ...ector for AMP board D Motor connector A B D C 7 Disconnect the following connectors from the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be careful not to lose them A B 8 Remove the AMP board fixing plate with AMP board from the motor unit Hexagon socket head cap bolts 2 M3 6 NOTE ...

Page 184: ...Attach the thermal sheet on the bottom of the motor unit For the attaching position refer to the picture on the right Match the corners Make sure that the entire surface of the thermal sheet contacts with the rear side of the motor unit without lifting up the center of the sheet Wrong Correct 5 Pass the timing belt through the motor pulley and loosely secure to the Arm 1 Hexagon socket head cap bo...

Page 185: ...heck the belt tension again 7 Mount the plate of the Arm 1 sleeve side Hexagon socket head cap bolts 2 M4 12 with a washer Tightening torque 4 0 0 2 N m Pass the wire tie through the hole on the plate Bind the following cables and the ground wire with the wire tie Motor cable Signal cable for motor LED cable Ground wire 8 Bind the following cables between the Joint 1 motor and the controller unit ...

Page 186: ...ntenance 9 Joint 1 170 VT Rev 1 9 2 Replacing Joint 1 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 187: ... wrench 1 For tightening torque control Cross point screwdriver No 2 1 For cross recessed screw Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when perfo...

Page 188: ...washer 4 Pull out the controller unit from the Manipulator base When pulling it out firstly push the plate of the controller unit to the right see the picture gently then remove the thermal sheet on the base and the controller unit Next pull the controller unit forward Gently push to the right Pull it forward 5 Disconnect the following connectors of the controller unit A Power cable connector B Si...

Page 189: ...off the wire tie bound to the plate inside the base Wire tie AB150 8 Remove the Joint 1 motor unit Reference Maintenance 9 1 Replacing Joint 1 Motor Joint 1 Motor Removal 3 through 7 9 Pull out the following cables from the Arm 1 side and remove the Joint 1 timing belt Power cable Signal cable for motor LED cable Ground wire ...

Page 190: ...tor Installation 2 through 8 3 Connect the ground wire terminals inside the base Cross recessed head screws M4 6 Tightening torque 2 0 0 1N m 4 Pass the wire tie through the hole on the plate inside the base Bind the following cables with the wire tie Wire tie AB150 Power cable LED cable Signal cable for motor Ground wire 5 Connect the following connectors to the controller unit A Power cable conn...

Page 191: ...ontacts with the wall inside the base Move it to the right to insert Push to the left gently 7 Tighten the mounting screws of the controller unit Hexagon socket head cap bolts 3 M4 10 with a plain washer Tightening torque 4 0 0 2 N m 8 Mount the Arm 1 cover and the connector plate Reference Maintenance 7 Covers 9 Turn ON the Manipulator Reference Setup Operation 6 5 LED 10 Calibrate the Joint 1 Re...

Page 192: ...nt procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a positional ga...

Page 193: ...ls Hexagonal wrench width across flats 2 5 mm 1 For M3 hexagon socket head cap bolts width across flats 3 mm 1 For M4 hexagon socket head cap bolts Torque wrench 1 For tightening torque control Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power ...

Page 194: ...details refer to Maintenance 7 2 Arm 2 Cover 5 Cut off the wire tie bound inside the Arm 2 Wire tie AB150 3 AB100 2 Be careful not to cut the harness Wire ties 3 6 Remove the cable fixing plate on the Arm 2 Joint 2 side Hexagon socket head cap bolts with captive washer 2 M4 12 7 Loosen the mounting screws of the Joint 2 motor unit and remove the Joint 2 timing belt Hexagon socket head cap bolts 3 ...

Page 195: ...rs of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be careful not to lose them A B 11 Remove the AMP board fixing plate with AMP board from the motor unit Hexagon socket head cap bolts 2 M3 6 NOTE ...

Page 196: ...onnector for the signal cable connector for motor is the same color A B 3 Connect the connectors of the AMP board A Power cable connector B Brake connector C Signal cable connector for AMP board D Motor connector A B D C 4 Attach the thermal sheet on the bottom of the motor unit For the attaching position refer to the picture on the right Match the corners Make sure that the entire surface of the ...

Page 197: ...es are not caught in the gap between the motor unit and Arm 2 Press the thermal sheet on the rear side of the motor unit to the round convex part at the end of the Arm 2 6 Apply proper tension to the motor unit and fix it Joint 2 timing belt tension 34 58 N Belt tension meter setting values Weight 2 5g mm width m span Width 9 0mm Span 172mm Hexagon socket head cap bolts 3 M4 22 with slotted hole w...

Page 198: ...llowing cables with the wire tie Wire tie AB100 Power cable Signal cable for motor Brake cable 9 Pass the wire tie to the mount base inside the Arm 2 Bind the following cables with the wire tie Wire tie AB100 Power cable Signal cable for motor Brake cable LED cable mount base A only 10 Mount the Arm 2 cover Reference Maintenance 7 2 Arm 2 Cover 11 Turn ON the Manipulator Reference Setup Operation ...

Page 199: ...tenance 10 Joint 2 VT Rev 1 183 10 2 Replacing Joint 2 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 200: ...er No 2 1 For cross recessed screw Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work When removing the Joint 2 motor tilt t...

Page 201: ...nt procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a positional ga...

Page 202: ...ls Hexagonal wrench width across flats 2 5 mm 1 For M3 hexagon socket head cap bolts width across flats 3 mm 1 For M4 hexagon socket head cap bolts Torque wrench 1 For tightening torque control Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power ...

Page 203: ...eference Maintenance 7 2 Arm 2 Cover 5 Cut off the wire tie bound inside the Arm 2 Wire tie AB150 3 AB100 2 Be careful not to cut the harness Wire ties 3 6 Remove the cable fixing plate on the Arm 2 Joint 3 side Hexagon socket head cap bolts with captive washer 4 M4 12 7 Loosen the mounting screws of the Joint 3 motor unit and remove the Joint 3 timing belt Hexagon socket head cap bolts 3 M4 22 wi...

Page 204: ...ors of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be careful not to lose them A B 11 Remove the AMP board fixing plate with AMP board from the motor unit Hexagon socket head cap bolts 2 M3 6 NOTE ...

Page 205: ...onnector for the signal cable connector for motor is the same color A B 3 Connect the connectors of the AMP board A Power cable connector B Brake connector C Signal cable connector for AMP board D Motor connector A B D C 4 Attach the thermal sheet on the bottom of the motor unit For the attaching position refer to the picture on the right Match the corners Make sure that the entire surface of the ...

Page 206: ...es are not caught in the gap between the motor unit and Arm 2 Press the thermal sheet on the rear side of the motor unit to the round convex part at the end of the Arm 2 6 Apply proper tension to the motor unit and fix it Joint 3 timing belt tension 34 58 N Belt tension meter setting values Weight 2 5g mm width m span Width 9 0mm Span 169mm Hexagon socket head cap bolts 3 M4 22 with slotted hole w...

Page 207: ...d it with the following cables with the wire tie Wire tie AB100 Power cable Signal cable for motor Brake cable 9 Pass the wire tie to the mount base inside the Arm 2 Bind the following cables with the wire tie Wire tie AB100 Power cable Signal cable for motor Brake cable 10 Mount the Arm 2 cover Reference Maintenance 7 2 Arm 2 Cover 11 Turn ON the Manipulator Reference Setup Operation 6 5 LED When...

Page 208: ...tenance 11 Joint 3 192 VT Rev 1 11 2 Replacing Joint 3 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 209: ...er No 2 1 For cross recessed screw Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work When removing the Joint 3 motor tilt t...

Page 210: ...nt procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a positional ga...

Page 211: ...ht while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work Joint 4 Motor Removal 1 Turn OFF the Manipulator 2 Remove the Arm 3 Cover For details refer to Maintenance 7 3 Arm 3 Cover 3 Cut off the wire tie bound inside the Arm 3 Wire tie AB150 2 Be careful not to cut the harness 4 Cut off the wire tie that b...

Page 212: ...e following connectors from the AMP board A Power cable connector B Brake connector C Signal cable connector for AMP board D Motor connector A B D C 7 Disconnect the following connectors of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be careful not to lose them A B NOTE ...

Page 213: ... careful for the installation direction 2 Apply proper tension to the motor unit and fix it Joint 4 timing belt tension 23 36 N Belt tension meter setting values Weight 2 5g mm width m span Width 6 0mm Span 45mm Hexagon socket head cap bolts 3 M4 18 with slotted hole washer Tightening torque 4 0 0 2 N m Regarding belt tension Jumping position gap may occur if the value is below the lower limit Vib...

Page 214: ...tor A B D C 6 Pass the wire tie through the hole on the plate inside the Arm 3 Bind the following cables with the wire tie Wire tie AB150 Power cable Signal cable for motor Ground wire 7 Bind the following cables between the Joint 4 motor and the Joint 3 motor with the wire tie Wire tie AB100 Power cable Signal cable for motor Motor cable 8 Bind the following cables between the Joint 4 motor and t...

Page 215: ...nce Setup Operation 6 5 LED When starting the manipulator for the first time after replacing the motor unit the motor unit firmware is automatically updated DO NOT turn OFF the manipulator until it starts 11 Calibrate the Joint 4 Reference Maintenance 19 Calibration NOTE ...

Page 216: ...tenance 12 Joint 4 200 VT Rev 1 12 2 Replacing Joint 4 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 217: ...weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work Joint 4 Timing Belt Removal 1 Turn OFF the Manipulator 2 Remove the following covers Arm 3 Cover Arm 4 Cover 1 Arm 4 Cover 2 Reference Maintenance 7 Covers 3 Remove the Joint 4 motor Reference Maintenance 12 1 Replacing Joint 4 Motor Joint 4 Mot...

Page 218: ...t 5 signal cable connector for motor black 8 Pass the Joint 4 sleeve and the Joint 4 timing belt so that the following cables and the ground wire will be Arm 3 side Cables disconnected connectors in the step 2 through 7 Power cable Joint 5 6 connector parts Joint 5 signal cable for motor Ground wire 9 Remove the Joint 4 timing belt ...

Page 219: ...int 5 signal cable connector for motor black 4 Install the ground wire terminals of the Arm 4 Cross recessed screw M4 6 Tightening torque 2 0 0 1 N m 5 Pass the wire tie through the hole on the plate inside the Arm 4 Bind the following cables with the wire tie Wire tie AB150 Power cable Signal cable for motor Ground wire 6 Bind the following cables with the wire tie Wire tie AB100 Motor cable Join...

Page 220: ...nce Setup Operation 6 5 LED When starting the manipulator for the first time after replacing the motor unit the motor unit firmware is automatically updated DO NOT turn OFF the manipulator until it starts 9 Calibrate the Joint 4 Reference Maintenance 19 Calibration NOTE ...

Page 221: ... any replacement procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a...

Page 222: ... socket head cap bolts Torque wrench 1 For tightening torque control Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work ...

Page 223: ...e ground wire Wire tie AB100 Joint 5 motor cable Signal cable for motor Joint 6 motor cable Ground wire Be careful not to cut the harness 4 Remove the Joint 5 motor unit Hexagon socket head cap bolts 3 M4 20 with slotted hole washer 5 Disconnect the following connectors of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be c...

Page 224: ...n 2 Apply proper tension to the motor unit and fix it Joint 5 timing belt tension 23 36 N Belt tension meter setting values Weight 2 5g mm width m span Width 6 0mm Span 184mm Hexagon socket head cap bolts 3 M4 20 with slotted hole washer Tightening torque 4 0 0 2 N m Regarding belt tension Jumping position gap may occur if the value is below the lower limit Vibration abnormal noise or reduction in...

Page 225: ... the following covers Arm 4 Cover 1 Arm 4 Cover 2 Reference Maintenance 7 Covers 6 Turn ON the Manipulator Reference Setup Operation 6 5 LED When starting the manipulator for the first time after replacing the motor unit the motor unit firmware is automatically updated DO NOT turn OFF the manipulator until it starts 7 Calibrate the Joint 5 and the Joint 6 Reference Maintenance 19 Calibration NOTE ...

Page 226: ...tenance 13 Joint 5 210 VT Rev 1 13 2 Replacing Joint 5 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 227: ... Replacing Joint 6 Timing Belt Joint 6 Timing Belt Removal 2 Remove the Joint 5 motor and the Joint 5 timing belt Reference Maintenance 13 1 Replacing Joint 5 Motor Joint 5 Motor Removal step 1 through 4 Joint 5 Timing Belt Installation 1 Remove the Joint 5 timing belt and the Joint 5 motor Reference Maintenance 13 1 Replacing Joint 5 Motor Joint 5 Motor Installation step 1 through 5 2 Install the...

Page 228: ... any replacement procedure with the power ON is extremely hazardous 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 Never disassemble the motor and encoder A disassembled motor and encoder will cause a...

Page 229: ... socket head cap bolts Torque wrench 1 For tightening torque control Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work ...

Page 230: ...e ground wire Wire tie AB100 Joint 5 motor cable Signal cable for motor Joint 6 motor cable Ground wire Be careful not to cut the harness 4 Remove the Joint 6 motor unit Hexagon socket head cap bolts 3 M4 20 with slotted hole washer 5 Disconnect the following connectors of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board The cables will be necessary again Be c...

Page 231: ...head cap bolts 3 M4 20 with slotted hole washer Make sure that the gear grooves of the timing belt are fit into those of the pulley completely When securing the motor unit loosely make sure that the motor unit can be moved by hand and it does not tilt when being pulled If the unit is secured too loose or too tight the belt will not have proper tension The direction to install the motor is the dire...

Page 232: ...perate the robot two to three days and check the belt tension again 4 Connect the following connectors of the motor A Signal cable connectors for motor 2 B Signal cable connector for AMP board Connector for the signal cable connector for motor is the same color A B 5 Bind the following cables and the ground wire with the wire tie Wire tie AB100 Motor cable Joint 5 Signal cable Joint 5 Motor cable ...

Page 233: ...tenance 14 Joint 6 VT Rev 1 217 14 2 Replacing Joint 6 Reduction Gear Unit Reduction gear unit is replaced by serviceman For replacement of the reduction gear unit please contact the supplier of your region ...

Page 234: ...ful when performing maintenance work Joint 6 Timing Belt Removal 1 Remove the Joint 6 motor and the Joint 6 timing belt Reference Maintenance 14 1 Replacing Joint 6 Motor Joint 6 Motor Removal step 1 through 4 Joint 6 Timing Belt Installation 1 Install the Joint 6 timing belt and the Joint motor Reference Maintenance 14 1 Replacing Joint 6 Motor Joint 6 Motor Installation step 1 through 5 2 Mount ...

Page 235: ...o 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 disconnect 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...

Page 236: ...Maintenance 15 AMP Board 220 VT Rev 1 Joint 4 AMP Board Joint 3 AMP Board Joint 1 AMP Board Joint 5 AMP Board Joint 6 AMP Board Joint 2 AMP Board ...

Page 237: ...rake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is OFF status The brake does not work during replacement Be careful when performing maintenance work AMP Board Removal 1 Turn OFF the Manipulator 2 Remove the plate with AMP board from the motor unit Reference Maintenance 9 1 Joint 1 Motor Removal Maintenance 10 1 Joi...

Page 238: ...lel As shown in the picture the attachment position is inside the range surrounded by three spacers of the AMP board fixing part 2 Mount the AMP board on the plate Cross recessed screws with a washer 3 M3 6 Tightening torque 0 45 0 1 N m 3 Fix the plate with AMP board to the motor unit and mount the motor unit Reference Maintenance 9 1 Joint 1 Motor Installation Maintenance 10 1 Joint 2 Motor Inst...

Page 239: ... Cross recessed screws with a washer 3 M3 6 If the thermal sheet is attached on the rear side of the AMP board remove it The thermal sheet will be necessary again Be careful not to lose it AMP Board Installation 1 If the thermal sheet is removed in the Removal step 3 attach the sheet on the plate Attach the thermal sheet in the direction that the longer sides of the thermal sheet and plate are ver...

Page 240: ...ss point screwdriver No 2 1 For cross recessed screw AMP Board Removal 1 Turn OFF the Manipulator 2 Remove the Arm 4 Cover 2 Reference Maintenance 7 5 Arm 4 Cover 2 3 Remove the AMP board from the Arm 4 Cover 2 Cross recessed screws with a washer 3 M3 6 Joint 5 Joint 6 AMP Board Installation 1 Fix the AMP board on the Arm 4 Cover 2 Cross recessed screws with a washer 3 M3 6 Tightening torque 0 45 ...

Page 241: ...e 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 disconnect 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 LED Plate ...

Page 242: ...tening torque control Cross point screwdriver No 2 1 For cross recessed screw Nippers 1 For cutting wire tie Belt tension meter 1 Refer Unitta U 505 Material Wire tie LED Plate Removal 1 Turn OFF the Manipulator 2 Remove the Arm 2 Cover Reference Maintenance 7 2 Arm 2 Cover 3 Remove the LED plate Cross recessed screws 2 M3 10 LED Plate Installation 1 Install the LED plate Cross recessed screws 2 M...

Page 243: ...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 disconnect 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 Joint 2 Felt Sheet Joint 3 Felt Sheet ...

Page 244: ...eet from the Arm 2 Hold a slit on the one side of felt sheet to remove the sheet from the outside of the Joint 2 Joint 2 Felt Sheet Joint 2 Felt Sheet Installation 1 Hold a slit on the one side of felt sheet to remove the sheet from the outside of the Joint 2 One side of the felt sheet is a seal Attach the felt sheet at the position where the Joint 2 screw holes and the holes of the Joint 2 felt s...

Page 245: ...oint 3 felt sheet from the Arm 2 Hold a slit on the one side of felt sheet to remove the sheet from the outside of the Joint 3 Joint 3 Felt Sheet Joint 3 Felt Sheet Installation 1 Hold a slit on the one side of the Joint 3 felt sheet to remove the sheet from the outside of the Joint 3 One side of the felt sheet is a seal Attach the felt sheet so that it fits in the groove of the Joint 3 of Arm 2 2...

Page 246: ...by pressure Short circuit Polarity Positive Negative Heating 85 C or more Soldering the terminal of the lithium battery directly When disposing the battery consult with the professional disposal services or comply with the local regulation Make sure that the battery terminal is insulated even for a used buttery If the terminal contacts with the other metals it may short and result in heat generati...

Page 247: ...harge confirmation LED DPB Board Name Quantity Note Maintenance parts Controller Unit 1 2194603 Tools Hexagonal wrench width across flats 3 mm 1 For M4 hexagon socket head cap bolts Torque wrench 1 For tightening torque control Cross point screwdriver No 2 1 The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller power is OFF or the motor is O...

Page 248: ...head cap bolts 3 M4 10 with a plain washer 5 Pull out the controller unit from the Manipulator base When pulling it out firstly push the plate of the controller unit to the right see the picture gently then remove the thermal sheet on the base and the controller unit Next pull the controller unit forward Gently push to the right Pull it forward 6 Disconnect the following connectors of the controll...

Page 249: ...controller unit into the base Insert the controller unit while moving it to the right see the picture Then gently move the plate of the controller unit to the left and let the thermal sheet contacts with the wall inside the base Move it to the right to insert Push to the left gently Push the controller unit while fixing the cables from the Joint 1 motor at the base opening Be careful not to push t...

Page 250: ...Fix the controller unit to the base Hexagon socket head cap bolts 3 M4 10 with a plain washer Tightening torque 4 0 0 2 N m 4 Connect the TP connector inside the connector plate 5 Mount the connector plate Reference Maintenance 7 7 Connector Plate ...

Page 251: ... 1 Replacing Controller Unit 2 Disconnect the connectors of the power board Power connectors IN OUT 2 for each OUT IN 3 Remove the power board Pan head screws 10 M3 8 Sems Power Board Installation 1 Mount a new power board Pan head screws 10 M3 8 Sems Tightening torque 0 45 0 1N m 2 Connect the connectors of the power board Power connectors IN OUT 2 for each 3 Mount the controller unit Reference M...

Page 252: ...1 H Regenerative resistor connector 2 Remember the cable layout for reconnecting after replacement F G H E OUT E IN 3 Remove the CPU DPB board Binding head screws 5 M3 6 Firstly unscrew the mounting screws Next pull the CPU DPB board to the arrow direction 4 Remove the thermal sheet attached on the CPU board The thermal sheet will be necessary again Be careful not to lose them Be careful not to br...

Page 253: ... CPU DPB board and fix it by the mounting screws Binding head screws 5 M3 6 Tightening torque 0 45 0 1N m 3 Connect the CPU DPB board connectors E Power connector IN OUT 1 for each F Cooling fan connector G Regenerative resistor connector 1 H Regenerative resistor connector 2 Be careful not to connect the wrong connectors or forget to connect it F G H E OUT E IN 4 Mount the power board Reference M...

Page 254: ...pass after removing the battery voltage of the capacitor lower and time may be reset Lithium Battery Removal 1 Remove the CPU DPB board from the base Reference Maintenance 18 3 Replacing CPU DPB Board 2 Remove the battery from the battery connector Lithium Battery Installation 1 Connect a new battery to the battery connector 2 Mount the CPU DPB board to the base Reference Maintenance 18 3 Replacin...

Page 255: ...o 2 1 Cooling Fan Removal 1 Remove the controller unit Reference Maintenance 18 1 Replacing Controller Unit 2 Remove the cooling fan Binding head screws 4 M4 30 Cooling Fan Cooling Fan Installation 1 Mount a new cooling fan Binding head screws 4 M4 30 Tightening torque 0 45 0 1N m 2 Mount the controller unit Reference Maintenance 18 1 Replacing Controller Unit ...

Page 256: ...ling the SD card For more details about fieldbus I O module refer to the following Setup Operation 17 Fieldbus I O SD Card Removal 1 Turn OFF the Manipulator 2 Remove the power plug 3 Remove the optional slot cover Pan head screws 2 M3 6 Sems Optional slot cover 4 Push the SD card which is inserted near the optional slot to eject SD Card Installation 1 Push the SD card and inset to the SD card slo...

Page 257: ...owever 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 In EPSON RC a coordinate point including the arm pose is defined as point and its data is called point data There are two methods to move the Manipulator during calibration Releasing the electromagnetic brake...

Page 258: ...les The origin position is where the Manipulator has the internal cables not twisted at the basic orientation described in Setup Operation 3 9 Checking the Basic orientation Torsion of the internal cables can be checked by removing the following cover Joint 4 Arm 3 Cover Arm 3 Cover 3 M4 12 Sems For details on Jog Teach refer to the following manual EPSON RC User s Guide 5 11 1 Tools Robot Manager...

Page 259: ...libration Flowchart 5 Calibration 4 Calibration Yes Start 1 Basic Orientation Confirmation 2 Part Replacement 3 Encoder Initialization 6 Accuracy Testing Re calibrate End No More accurate positioning Perform these steps if necessary ...

Page 260: ...ls about the basic orientation refer to Setup Operation 3 9 Checking the Basic Orientation When the Manipulator cannot have the basic orientation define the reference orientation in advance and record the point data Also put the match marks to indicate the orientation The coordinate points including the Arm orientation are referred to as points and the data of the points are called point data in E...

Page 261: ...int 1 Encreset 1 Joint 2 Encreset 2 Joint 3 Encreset 3 Joint 4 Encreset 4 Joint 5 Encreset 5 6 Joint 6 Encreset 6 EPSON RC 4 3 Reboot the controller Click EPSON RC menu Tool Controller Reset Controller EPSON RC 4 4 Specify a pulse value set as an origin point Execute the command in the Command Window from EPSON RC menu Tools according to the joint to adjust as follows calpls J1 pulse J2 pulse J3 p...

Page 262: ...oint 4 calib 4 Joint 5 calib 5 6 Joint 6 calib 6 When the origin of the Joint 5 is calibrated the Joint 6 will be out of position Due to the structure of the Manipulator any offset in the position of the Joint 5 affects the Joint 6 Calibrate the origin of the Joint 6 together when calibrating the Joint 5 Move the arm to several points to check if the arm moves to the original positions properly Te...

Page 263: ... Tools to specify the pulse values to set calpls J1 pulse J2 pulse J3 pulse J4 pulse J5 pulse J6 pulse Manipulator will not move Specify the pulse values of the selected point data to the command parameters If the point data for the reference orientation is P1 the command parameters can be specified as follows calpls ppls P1 1 ppls P1 2 ppls P1 3 ppls P1 4 ppls P1 5 ppls P1 6 Manipulator will not ...

Page 264: ...p status 20 2 Commands Cause Motion Error If Specifying RS 232C If specifying RS 232C port of the controller the following commands functions cause motion error Input Allows string or numeric data to be received from a file communications port or database and stored in one or more variables Print Outputs data to the specified file communications port database or device Line Input Reads data of one...

Page 265: ...pecified conveyor s coordinate system derived from sensor coordinates Cnv_PosErr Function Returns deviation in current tracking position compared to tracking target Cnv_Pulse Function Returns the current position of a conveyor in pulses Cnv_QueAdd Adds a robot point to a conveyor queue Cnv_QueGet Function Returns a point from the specified conveyor s queue Cnv_QueLen Function Returns the number of...

Page 266: ...t force sensor Force_ClearTrigger Clears all trigger conditions for the current force sensor Force_GetForces Returns the forces and torques for all force sensor axes in an array Force_GetForce Function Returns the force for a specified axis Force_Sensor Sets the current force sensor for the current task Force_Sensor Function Returns the current force sensor for the current task Force_SetTrigger Se...

Page 267: ... Error code 2556 Error message An excessive loop was detected Please reduce the number of looped tasks or set Wait Do not perform any processing such as infinite loop or any other similar processing as much as possible Execute wait command or similar command in the loop processing and avoid occupying the CPU if performing calculation which required loop or waiting for I O signals There is no probl...

Page 268: ...ng two conditions are fulfilled When connecting PC and VT series Manipulator by USB connection When the configuration of default gateway of VT series Manipulator is None or 0 0 0 0 Type IP address for CV1 CV2 manually when you cannot use Camera researching For more details of Camera researching refer to the following Vision Guide 7 0 Hardware Setup Setup 2 3 2 CV1 CV2 Camera Configuration 20 4 4 R...

Page 269: ...21 Error Code Table VT Rev 1 253 21 Error Code Table For error code refer to the following manual EPSON RC 7 0 SPEL Language Reference SPEL Error Messages ...

Page 270: ...98 11 2 12 2 Joint 5 6 1759300 13 2 14 2 Timing belt Joint 1 1751536 Width 9 mm 255mm 9 1 9 3 Joint 2 1753920 501mm 10 1 10 3 Joint 3 1751537 480 mm 11 1 11 3 Joint 4 1751538 Width 6 mm 210 mm 12 1 12 3 Joint 5 6 1762243 495 mm 13 1 13 3 14 1 14 3 Thermal sheet 1755573 For motor 9 1 10 1 11 1 12 1 AMP board 2189027 For motor 15 1 15 2 15 3 LED plate 1749496 Arm 2 16 Felt sheet Joint 2 1755083 Arm ...

Page 271: ...lipsoidal cam and ball bearings on outer circumference The inner ring of the bearings is secured to the cam while the outer ring is capable of flexible deformation through the ball bearings Circular spline Flexspline Waveform generator Flexspline A thin elastic cup shaped metal body with gear teeth around the outer circumference of the opening Circular spline A rigid ring shaped body with gear tee...

Page 272: ...acturers listed in the table below as of April 2015 Regarding purchase of grease and other materials please contact the following manufacturers If there is anything unclear please contact the suppliers Product name Manufacturer URL Harmonic Grease SK 1A Harmonic Grease SK 2 Harmonic Drive Systems Inc http www harmonicdrive net Krytox GPL 224 DuPont http www2 dupont com Our_Company en_ US worldwide...

Page 273: ...open source software programs are WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE See the license agreements of each open source software program for more details which are described on Section 7 4 OpenSSL toolkit The VT series product includes software developed by the OpenSSL project for use in the OpenSSL Toolkit http www openssl or...

Page 274: ...ses libudev0 http packages ubuntu com ja precise libudev0 login http packages ubuntu com ja precise login logrotate https fedorahosted org logrotate makedev ftp redhat com mount ftp ftp us kernel org pub linux utils util linux ng mountall http packages ubuntu com ja precise mountall net tools https developer berlios de projects net tools netbase http packages ubuntu com ja precise netbase rsyslog ...

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