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1. Safety

Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15

VT series Manipulator

The motion range of each arm is shown in the figure below. Take all

necessary safety precautions

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: The wrist revolves.
Joint #5: The wrist swings.
Joint #6: The hand rotates.

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 shock and/or improper function of the robot system. Make sure to turn

OFF the Controller power before the maintenance work.



NOTE

Содержание T3 Series

Страница 1: ...Programming Software EPSON RC 7 0 Manipulator T3 T6 VT6 Robot System Safety and Installation Read this manual first Rev 15 EM204B4249F ...

Страница 2: ...Robot System Safety and Installation T VT EPSON RC 7 0 Rev 15 ...

Страница 4: ... of your region for warranty 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...

Страница 5: ...indows 8 and Windows 10 refer to above respective operating systems In some cases Windows refers generically to Windows 7 Windows 8 and Windows 10 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 cont...

Страница 6: ...utions Otto Hahn Str 4 D 40670 Meerbusch Germany TEL 49 0 2159 538 1800 FAX 49 0 2159 538 3170 E MAIL info rs epson de URL www epson de robots China Epson China Co Ltd Factory Automation Division 4F Tower 1 China Central Place 81 Jianguo Road Chaoyang District Beijing 100025 PRC TEL 86 0 10 8522 1199 FAX 86 0 10 8522 1125 Taiwan Epson Taiwan Technology Trading Ltd Factory Automation Division 15F N...

Страница 7: ...1 HarbourFront Place 03 02 HarbourFront Tower One Singapore 098633 TEL 65 0 6586 5500 FAX 65 0 6271 2703 India Epson India Pvt Ltd Sales Marketing Factory Automation 12th Floor The Millenia Tower A No 1 Murphy Road Ulsoor Bangalore India 560008 TEL 91 80 4566 5000 FAX 91 80 4566 5005 Japan Epson Sales Japan Corporation Factory Automation Systems Department 29th floor JR Shinjuku Miraina Tower 4 1 ...

Страница 8: ...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 legislation transposing and implementing it into the various nation...

Страница 9: ...vices may result in malfunction of the device since the pin assignments are different Concerning the security support for the network connection The network connecting function Ethernet on our products assumes the use in the local network such as the factory LAN network Do not connect to the external network such as Internet In addition please take security measure such as for the virus from the n...

Страница 10: ...N RC 7 0 Before Ver 7 3 0 Ver 7 3 1 or later OK T6 602S Controller Firmware Ver 7 3 53 0 or later EPSON RC 7 0 Before Ver 7 3 3 Ver 7 3 4 or later OK OK Compatible All functions of the EPSON RC 7 0 and the Controller are available Compatible Connection is OK It is recommended to use the following versions or later Display or control may not be operated properly T3 401S EPSON RC 7 0 Ver 7 3 1 T6 60...

Страница 11: ...1S VT6 A901C VT6 A901P Ver 7 4 56 2 or later VT6 A901S DC Ver 7 4 57 1 or later EPSON RC 7 0 Before Ver 7 4 6 Ver 7 4 7 or later OK OK Compatible All functions of the EPSON RC 7 0 and the Controller are available Compatible Connection is OK It is recommended to use the following versions or later Display or control may not be operated properly EPSON RC 7 0 Ver 7 4 7 ...

Страница 12: ...C电缆连接电缆散热片 LED指示灯电路板滚珠丝杠花键 T系列制动解除开关外罩扎带原点标记气管接头选件 VT 相机板单元外部配线配套元件工具适配器 ISO法兰相机安装板可调机械挡块 T 相机安装板兼容板本表格依据SJ T 11364的规定编制表示该有害物质在该部件所有均质材料中的含量在GB T 26572规定的限量要求以下表示该有害物质至少在该部件的某一均质材料中的含量超出GB T 26572规定的限量要求本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代产品环保使用期限的使用条件关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限在遵守该产品的安全及使用注意事项的条件下从生产日期开始计算在标志的年限内本产品中含有的有害物质不会对环境造成严重污染或对人身财产造成严重损害附注本表格及环保使用期限标...

Страница 13: ...选件密钥电源插头本表格依据SJ T 11364的规定编制表示该有害物质在该部件所有均质材料中的含量在GB T 26572规定的限量要求以下表示该有害物质至少在该部件的某一均质材料中的含量超出GB T 26572规定的限量要求本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代产品环保使用期限的使用条件关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限在遵守该产品的安全及使用注意事项的条件下从生产日期开始计算在标志的年限内本产品中含有的有害物质不会对环境造成严重污染或对人身财产造成严重损害附注本表格及环保使用期限标志依据中国的有关规定而制定中国以外的国家地区则无需关注 Note This sheet and environmental protection use period label are based on t...

Страница 14: ...xii Safety and Installation T VT EPSON RC 7 0 Rev 15 ...

Страница 15: ...7 Safety Features 28 1 8 Manipulator Specifications 31 T series Manipulator 31 VT series Manipulator 34 1 9 Motion Range Setting by Mechanical Stops 40 T series Manipulator 40 VT series Manipulator 40 1 10 End User Training 44 2 Installation 45 System Example 45 2 1 Outline from Unpacking to Operation of Robot System 48 2 2 Unpacking 49 2 2 1 Unpacking Precautions 49 2 3 Transportation 50 2 3 1 Tr...

Страница 16: ...ipulator Connection 78 3 2 1 About Development PC Connection Port 79 3 2 2 Precaution 79 3 2 3 Software Setup and Connection Check 80 3 2 4 Backup the Initial Condition of the Manipulator 81 3 2 5 Disconnection of Development PC and Manipulator 81 3 2 6 Moving the Manipulator to Initial Position 81 3 3 Writing Your First Program 87 4 Second Step 94 4 1 Connection with External Equipment 94 4 1 1 R...

Страница 17: ...Table of Contents Safety and Installation T VT EPSON RC 7 0 Rev 15 xv 6 Manuals 106 Software 106 Options 106 Manipulator 107 7 Directives and Norms 108 ...

Страница 18: ...Table of Contents xvi Safety and Installation T VT EPSON RC 7 0 Rev 15 ...

Страница 19: ...ety considerations are indicated throughout the manual by the following symbols Be sure to read the descriptions shown with each symbol WARNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly WARNING This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated...

Страница 20: ... or constructing the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system The robot system must be used within the environmental conditions described in their respective manuals This product has been designed and manufactured strictly for use in a normal indoor environment Using ...

Страница 21: ...ide enough margins for safety Refer to the manuals for each Manipulator and ensure that the layout secures ample space for maintenance and inspection work When designing a robot system to restrict the area of motion of the Manipulator do so in accordance with the methods described in each Manipulator manual Utilize both software and mechanical stops as measures to restrict motion Install the emerg...

Страница 22: ...e is OFF and the system is configured to accept remote signals Also when remote is valid motion command execution and I O output are available only from remote For the safety of the overall system however safety measures are needed to eliminate the risks associated with the start up and shutdown of peripheral equipment by remote control Emergency Stop Each robot system needs equipment that will al...

Страница 23: ...her unexpected accident For example when using a door with a switch as the interlock do not rely on the switch s own spring force to open the contact The contact mechanism must open immediately in case of an accident Connect the interlock switch to the safeguard input of the Manipulator EMERGENCY connector The safeguard input informs the Manipulator that an operator may be inside the safeguard are...

Страница 24: ...s inside it Design the presence sensing device so that regardless of the situation the system operates safely If the Manipulator stops operating when the presence sensing device is activated it is necessary to ensure that it does not start again until the detected object has been removed Make sure that the Manipulator cannot automatically restart Resetting the Safeguard Ensure that the robot syste...

Страница 25: ...ile 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 operation of the robot system while the Manipulator moves abnormally is extremely hazardous and may result in se...

Страница 26: ... 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 When using DC specification Manipulator do not connect to AC power source Connecting to AC power source is ext...

Страница 27: ...or may get damaged early due to the bearings are not being covered with grease during movement To prevent early breakdown move the joints larger than 30 degrees for about five to ten times a day Vibration resonance may occur continuously depending on the combination of robot motion speed Arm orientation and end effector load Vibration arises from natural vibration frequency of the Arm and can be c...

Страница 28: ...ustrial Robots and Robot Systems Safety Requirements EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction EN ISO 13849 1 Safety of machinery Safety related parts of control systems Part 1 General principles for design EN ISO 13850 Safety of machinery Emergency stop function Principles for design EN ISO 13855 Safety of machinery Positioning of safeguards...

Страница 29: ... Joint 3 Up Down Joint 4 Rotation Arm 1 Arm 2 Shaft LED Lamp Power Unit Base Hand I O Connecter Illustration T3 401S Signature label Serial No of Manipulator Fittings blue for ø4 mm pneumatic tube Fittings blue for ø6 mm pneumatic tube TP Connecter EMERGENCY Connecter Power Supply Cover AC power connector inside I O Input Connector I O Output Connector LAN Ethernet Connecter Port of PC for develop...

Страница 30: ...y hand The brake release switch affects only Joint 3 When the brake release switch is pressed in emergency mode the brake for Joint 3 is released Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector When the following errors are occurred the Manipulator brake is not released even if pressing the brake release switch Che...

Страница 31: ...ves Joint 2 The lower arm swings Joint 3 The upper arm swings Joint 4 The wrist revolves Joint 5 The wrist swings Joint 6 The hand rotates 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 m...

Страница 32: ...N connector inside Cleanroom model TP Port EMERGENCY Connector Power Supply Cover Power connector inside I O Input Connector I O Output Connector LAN Ethernet Connector Port of PC for development RESET switch MEMORY Port OPTION Cover OPTION connector inside Exhaust port Fitting for ø12 mm pneumatic tube Protection model TP Port EMERGENCY Connector Power Supply Cover I O Connector LAN Ethernet Conn...

Страница 33: ...f the Robot system for the manufacturing operation and also programming debug adjustment and maintenance of the Robot system This mode cannot operate the Robots or run programs with the Safety Door open TEST mode This mode enables program verification while the Enable Switch is held down and the safeguard is open This is a low speed program verification function T1 manual deceleration mode which i...

Страница 34: ...escribed in this manual Maintenance of the Manipulator manual Improper removal of parts or improper maintenance may not only cause improper function of the robot system but also serious safety problems Keep away from the Manipulator while the power is ON if you have not taken the training courses Do not enter the operating area while the power is ON Entering the operating area with the power ON is...

Страница 35: ...es Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system CAUTION Carefully use alcohol liquid gasket and adhesive fol...

Страница 36: ...then see a doctor immediately If grease gets into your mouth If swallowed do not induce vomiting See a doctor immediately If grease just gets into your mouth wash out your mouth with water thoroughly If grease gets on your skin Wash the area thoroughly with soap and water Manipulator may be warmed up due to motor heat or similar causes Do not touch the Manipulator until temperature falls Also make...

Страница 37: ... for instructions on how to wire the Emergency Stop switch circuit Do not turn OFF the Manipulator while the Manipulator is operating If you attempt to stop the Manipulator in emergency situations such as Safeguard Open make sure to stop the Manipulator using the Emergency Stop switch If the Manipulator is stopped by turning OFF while it is operating following problems may occur Reduction of the l...

Страница 38: ...ency Stop switch is pressed a great force is applied to the base table When mounting Manipulator on the mobile platform be sure to design the system that the system does not turnover and Manipulator does not fall over For details of the Safeguard system refer to the following manuals EPSON RC User s Guide 2 Safety Installation and Design Precautions Safeguard System Safety and Installation 2 5 Con...

Страница 39: ...the end effector Weight Accel Weight of work piece Speed Operating pose T series Manipulator Conditions for Measurement T3 401S T6 602S Accel Setting 100 100 Speed Setting 100 100 Load kg 3 6 Weight Setting 3 6 Joint 1 Joint 2 Stop point Point where the emergency stop signal is input Target point Start point of operation T3 401S T6 602S Free running time Joint 1 Joint 2 s 0 5 0 7 Joint 3 s 0 2 0 2...

Страница 40: ...nditions for Measurement VT series ACCEL setting 100 SPEED setting 100 Load kg 6 WEIGHT setting 6 VT6 A901 Free running time sec Arm 1 0 8 Arm 2 1 5 Arm 3 0 3 Arm 4 0 3 Arm 5 0 3 Arm 6 0 4 Free running angle Arm 1 Table Top Ceiling 35 Wall 30 Arm 2 50 Arm 3 10 Arm 4 10 Arm 5 10 Arm 6 15 ...

Страница 41: ...t the Emergency Mode Select EPSON RC Tools Robot Manager Control Panel tab and then click Reset The Control Panel page contains buttons for basic robot operations such as turning motors on off and homing the robot It also shows status for Emergency Stop Safeguard Motors and Power ...

Страница 42: ...on Label Note A Before loosening the base mounting screws hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the Manipulator For installation and transportation of robots follow the directions 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 ma...

Страница 43: ...1 Safety Safety and Installation T VT EPSON RC 7 0 Rev 15 25 T3 D B C C C C C A T6 D B C C C C A ...

Страница 44: ... 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 of the arm falling due to its own weight E Only authorized personnel should perform sling work and operate a cran...

Страница 45: ... Installation T VT EPSON RC 7 0 Rev 15 27 Location Label Note F You may get your hand or fingers caught when bringing your hand close to moving parts C C C B C C C C C F D A E C G Protection model Standard Cleanroom model ...

Страница 46: ... the Emergency Stop switches Pressing any Emergency Stop switch can shut off the motor power immediately and the robot system will enter the Emergency Stop condition Stop category of Emergency Stop input Category 0 refer to Safety Standard IEC60204 1 Safety Door Input In order to activate this feature make sure that the Safety Door Input switch is connected to the EMERGENCY connector at the Manipu...

Страница 47: ...CPU memory check sum error and overheat condition inside the Motor Driver Module Motor Overload Detection The dynamic brake circuit is activated when the system detects that the load on the motor has exceeded its capacity Irregular Motor Torque out of control Manipulator Detection The dynamic brake circuit is activated when irregularity with motor torque motor output is detected in which case the ...

Страница 48: ...emory check sum error is detected Overheat Detection at the Motor Driver Module The dynamic brake circuit is activated when the temperature of the power device inside the Motor Driver module is above the nominal limit Relay Deposition Detection The dynamic brake circuit is activated when relay deposition is detected Over Voltage Detection The dynamic brake circuit is activated when the voltage of ...

Страница 49: ...oint 4 71760 245760 Resolution Joint 1 0 000439 pulse 0 000275 pulse Joint 2 0 000439 pulse 0 000439 pulse Joint 3 0 000799 mm pulse 0 000814 mm pulse Joint 4 0 005017 pulse 0 001465 pulse Motor rated capacity Joint 1 200 W 300 W Joint 2 100 W 200 W Joint 3 100 W Joint 4 100 W Payload Load Rated 1 kg 2 kg Max 3 kg 6 kg Joint 4 allowable moment of inertia 2 Rated 0 003 kg m2 0 01 kg m2 Max 0 01 kg ...

Страница 50: ...of 1 to 100 CP motion Programmable Actual value to be manually entered Acceleration Deceleration Control PTP motion Programmable in the range of 1 to 100 Automatic 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 ...

Страница 51: ...A Ground Resistance Less than 100Ω Safety standard CE Marking EMC Directive Machinery Directive RoHS Directive KC Marking KCs Marking ANSI RIA R15 06 NFPA 79 1 In the case of PTP command Maximum operating speed for CP command is 2000 mm s on horizontal plane 2 In the case where the center of gravity is at the center of Joint 4 If the center of gravity is not at the center of Joint 4 set the parame...

Страница 52: ...nt 2 122 5 s Joint 3 141 2 s Joint 4 AC Standard Cleanroom 268 7 s Protection 188 1 s DC Standard Joint 5 296 8 s Joint 6 AC Standard Cleanroom 293 2 s Protection 234 5 s DC Standard Maximum synthetic speed 4563 mm s Repeatability Joints 1 to 6 0 1 mm Max motion range Joint 1 170 30 Joint 2 160 to 65 Joint 3 51 to 190 Joint 4 200 Joint 5 125 Joint 6 360 Max pulse range Joint 1 8488472 1497966 Join...

Страница 53: ...tandard Cleanroom 7 Protection IP67 8 Default values Max setting values Speed 5 100 Accel 9 5 5 120 120 SpeedS 50 2000 AccelS 10 200 10000 Fine 10000 10000 10000 10000 10000 10000 65535 65535 65535 65535 65535 65535 Weight 3 6 Inertia 0 03 0 1 Motion Control Development Environment EPSON RC 7 0 Programming Language SPEL multi tasking robot language Joint Control Standard 6 joints simultaneous cont...

Страница 54: ... Paused ErrorEStopOn SafeguardOn SError Warning Field bus Slave Option Input 256 points Output 256 points Enable to add only one more module TP Connection Port Supported for teach pendant Option TP2 TP3 PC Connection Port USB B connector Supported for USB 2 0 High Speed Full Speed USB Memory Connection Port USB A connector Supported for USB 2 0 High Speed Full Speed Ethernet Port Supported for 10 ...

Страница 55: ... Ground wire and DC power wire are connected 1 Mounting types other than Table Top mounting Ceiling mounting and Wall mounting are out of specification Only Table Top mounting is available for DC specification Manipulator Cleanroom model and Protection model 2 In case of PTP control 3 Do not apply the load exceeding the maximum payload 4 If the center of gravity is at the center of each arm If the...

Страница 56: ... corrosive liquids exist Fluids that deteriorate the sealing materials such as organic solvents acids alkalis and chlorine cutting fluids cannot be used The Manipulator cannot be used for underwater operations Reference IP67 of IEC standard Protection level against ingress of solid objects Totally protected against dust Protection level against liquids Protection from ingress of water in harmful q...

Страница 57: ...setting value varies depending on the load Refer to the table on the right for details Setting the value which exceeds the maximum AccelS causes an error In such a case check the setting value 10000 8000 6000 4000 2000 0 1 2 3 4 5 6 kg End effector weight 8000 3000 10000 2000 6000 ...

Страница 58: ... of Joint 3 Lower limit mechanical stop Do not move the upper limit mechanical stop Mechanical stop of Joint 1 Fixed Mechanical stop of Joint 2 Adjustable VT series Manipulator Using the adjustable mechanical stops option physically limits the absolute area that the Manipulator can move Be sure to turn OFF the Manipulator in advance Use bolts conforming to the specified length and surface processi...

Страница 59: ...hanical stop J1 to the threaded hole corresponding to the angle you want to set Hexagon socket head cap bolt M4 28 1 bolt Tightening torque 4 0 0 2 N m 41 2 kgf cm a b Angle 170 170 to 84 or 84 to 170 Pulse pulse 8488472 8488472 to 4194304 or 4194304 to 8488472 Adjustable mechanical stop J1 Not applied standard Applied ...

Страница 60: ...al stop 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 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 ...

Страница 61: ...al stop 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 51 190 34 to 190 or 51 to 173 Pulse pulse 2366604 8816759 1577736 to 8816759 or 2366604 to 8027891 Adjustable mechanical stop J3 Not applied standard Applied ...

Страница 62: ...g should include at least the following Study of regulation safety procedures and safety related recommendations by robot manufacturers and system designers Clear explanation of the work involved Description of all control equipment required for the work and their functions Explanation of potential hazards involved in the work Work safety procedures and specific methods of avoiding potential hazar...

Страница 63: ...ing to Operation of Robot System For unpacking transportation and installation refer to the respective section and the Manipulator manuals System Example 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 If connecting to T series or VT...

Страница 64: ...ON RC 7 0 Rev 15 T3 T6 Standard Standard I O Remote I O Ethernet Hand I O USB for save USB for development ModBus Fieldbus Slave Option TP2 TP3 2 3 Option Teaching Pendant Windows 1 EPSON RC 7 0 Software USB 2 0 or Ethernet Option Illustration T3 401S ...

Страница 65: ...ation T VT EPSON RC 7 0 Rev 15 47 VT Standard Standard I O Remote I O Ethernet USB for save USB for development ModBus Fieldbus Slave Option TP2 TP3 2 3 Option Teaching Pendant Windows 1 EPSON RC 7 0 Software USB 2 0 or Ethernet Option ...

Страница 66: ...rtation Unpacking Error Installation Power on Yes No Procedures to install EPSON RC 7 0 to the development PC and enable the operation of the robot system Manual information to connect or setup the equipment and options 2 Installation Procedures to install the Robot system and turn ON the power properly 4 Second Step 3 First Step ...

Страница 67: ...are performed by unauthorized personnel it is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system Vibration at transportation Avoid excessive vibration or shock during Manipulator transporting Excessive vibration or shock may cause equipment damage to and or malfunction of the Manipulator Anchor bolt When removing the anchor bolts support ...

Страница 68: ...erious bodily injury and or severe equipment damage to the robot system Vibration at transportation Avoid excessive vibration or shock during Manipulator transporting Excessive vibration or shock may cause equipment damage to and or malfunction of the Manipulator Anchor bolt When removing the anchor bolts support the Manipulator to prevent falling Removing the anchor bolts without supporting the M...

Страница 69: ...ful not to get your hands or fingers caught T3 401S approx 16 kg 35 lbs T6 602S approx 22 kg 49 lbs Make sure not to hold the power unit when carrying the Manipulator Illustration T3 401S VT series Manipulator 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 th...

Страница 70: ... a work piece may collide with a wall and a safeguard Manipulator check before installation 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 injur...

Страница 71: ...sessment and take safety measures such as safeguard and emergency stop switch Operating Manipulator without taking safety measures is extremely hazardous may result in serious bodily injury and or severe equipment damage to the robot system and may cause serious safety problems 2 4 2 Environment A suitable environment is necessary for the robot system to function properly and safely Be sure to ins...

Страница 72: ...other corrosive liquid including water 2 Any contaminants that can deteriorate sealing performance of nitrile rubber oil sealing O rings packing seals and liquid gasket should be avoided Special Environmental Conditions The protective seals are attached on the Protection model Manipulator to prevent dust water etc from the outside Follow the precautions in use environment described below The surfa...

Страница 73: ...Manipulator do not rub it strongly with alcohol or benzene It may lose luster on the coated face 2 4 3 Noise level Manipulator Level dB A Operating conditions Measurement point T series 70 or under Rated load 4 joints simultaneous motion maximum speed maximum acceleration deceleration Duty 50 Rear of the Manipulator 1 000 mm apart from the motion range 50 mm above the base installed surface VT ser...

Страница 74: ...The threaded 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 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 table must be secured on the floor or wall to prevent it fro...

Страница 75: ...eet caught and or have equipment damaged by a fall of the Manipulator T3 401S approx 16 kg 35 lbs T6 602S approx 22 kg 49 lbs VT6 A901S VT6 A901C approx 40 kg 89 lbs VT6 A901P approx 42 kg 92 lbs T series Secure the base to the base table with four bolts Use bolts with specifications conforming to ISO898 1 Property Class 10 9 or 12 9 Tightening torque 32 0 1 6 N m 10 mm 4 M8 30 Screw Hole depth 20...

Страница 76: ...ore size of the grounding wire be 5 5 mm2 or more Directly connect the ground line to the Manipulator using bolt hole in the figure below T series Manipulator Bolt hole for grounding Illustration T3 401S VT series Manipulator Bolt hole M4 for grounding Illustration VT 6 A901S For DC specification Manipulator connect the ground and DC power wire ...

Страница 77: ...Controller does not operate normally WARNING Make sure that emergency stop or safety door operate properly before 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 T series Ma...

Страница 78: ...ard Cleanroom model Connector Standard EMERGENCY connector Manipulator side D Sub 25 pin female cable side D Sub 25 pin male board side The E STOP BOX EMERGENCY connector cable terminal block and EMERGENCY connector kit are offered as options Protection model Connector Standard EMERGENCY connector Manipulator side D Sub 25 pin male Screwlock 4 40 EMERGENCY connector kit Cable side D Sub 25 pin fem...

Страница 79: ...e Safety Door is called a Safety Door switch Connect the Safety Door switch to the Safety Door input terminal on the EMERGENCY connector The Safety Door switch has safety features such as temporary hold up of the program or the operation prohibited status that are activated whenever the Safety Door is opened Observe the following in designing the Safety Door switch and the Safety Door For the Safe...

Страница 80: ... sure to check the switch operation for safety by following the procedures described below before operating the Manipulator 1 Turn ON the Controller while the safety door is open in order to boot the Controller software 2 Make sure that Safety is displayed on the EPSON RC 7 0 status bar 3 Close the safety door and turn ON the switch connecting to the latch release input Make sure that the Safety i...

Страница 81: ...ntact that is normally closed The signal from the Emergency Stop switch is designed to use two redundant circuits If the signals at the two circuits differ by two seconds or more the system recognizes it as a critical error Therefore make sure that the Emergency Stop switch has double contacts and install the switch by referring to the 2 5 8 Circuit Diagrams 2 5 6 Checking Emergency Stop Switch Op...

Страница 82: ... if the input values from the Safety Door 1 and Safety Door 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 n...

Страница 83: ...ut 2 Latch 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 Be careful of the direction of voltage application ESTOP1 ESTOP2 ESTOP...

Страница 84: ...safety relay 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 9 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 Clo...

Страница 85: ...afety relay 0 4A or less 24V 5V Safety Door input 1 External 24V Safety Door input 2 Latch Release input Latch release input Close Latch off Open Latch on Main Circuit AC Input Emergency Stop switch of an Operation Unit TP External 24V GND Motor Driver External 24V Fuse Emergency stop outp 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 External 24V ...

Страница 86: ...ted voltage Phase Single phase Frequency 50 60 Hz Momentary Power Interrupt Less than 10 ms Rated Capacity T3 660 VA T6 VT 1 200 VA Peak Current When AC power is turned ON T3 approx 30A Less than 2 ms T6 VT approx 60A Less than 2 ms Leakage Current Max 10 mA Ground Resistance Less than 100 Ω DC specification Manipulator Ensure that the power meets the following specifications Item Specification Vo...

Страница 87: ... AC100V 10A AC200V 5A T6 series VT series AC specification AC100V 20A AC200V 10A DC power line Install a circuit protector For the rated electric current of the circuit protector refer to the following set values Manipulator Power Rated electric current VT series DC specification DC48V 40A If you install a circuit protector please select one that will handle the above mentioned peak current The po...

Страница 88: ...blue wire to Connecting to wrong polarity will result in malfunction of Manipulator Always use a power plug or a disconnecting device for power connecting cable Never connect the Controller directly to the factory power supply Select the plug or a disconnecting device which conform safety standards for nations When connecting the connecter of power cable to the Manipulator make sure to insert comp...

Страница 89: ...tallation T VT EPSON RC 7 0 Rev 15 71 Use cable clamp on rear side of the Manipulator to fix power cable T series Manipulator VT series Manipulator Only for Standard Cleanroom model Illustration T3 401S Illustration VT6 A901S NOTE ...

Страница 90: ...jigs from the Manipulator Turning ON the power while the shipping bolts and jigs are attached may result in equipment damage to the Manipulator Power activation Anchor the Manipulator before turning ON the power to or operating the Manipulator Turning ON the power to or operating the Manipulator that is not anchored is extremely hazardous and may result in serious bodily injury and or severe equip...

Страница 91: ...t the power cable to the power supply socket 5 The PROGRAM LED blinks approximately 30 seconds after Controller starts up normally If the ERROR LED is turned ON or blinking check connection in step 1 to 4 and turn ON the power again If the ERROR LED is still ON or blinking contact the supplier in your region T series Manipulator LED Illustration T3 401S VT series Manipulator LED LED Standard model...

Страница 92: ...th the purchased Manipulator s at shipment However just in case we recommend saving the default Controller status A USB memory is necessary to save the Controller status For the procedure of Controller status storage refer to following manuals T series Manipulator manual VT series Manipulator manual Setup Operation 8 Memory Port ...

Страница 93: ...t PC and Manipulator with a USB Make sure that the Robot system is installed safely by following the description in 1 Safety and 2 Installation Then operate the Robot system in the following procedures 3 1 Installing EPSON RC 7 0 Software The EPSON RC 7 0 software needs to be installed on your development PC 1 Insert the EPSON RC 7 0 Setup DVD in the DVD drive 2 The following dialog will be displa...

Страница 94: ...lation T VT EPSON RC 7 0 Rev 15 3 Enter your user name and company name and click Next 4 Select the drive where you want to install EPSON RC 7 0 and click Next The installation directory is called EpsonRC70 This cannot be changed NOTE ...

Страница 95: ...Windows Installer and Microsoft NET Framework 3 5 on your system This may take several minutes Adobe Reader needs to be installed on your PC in order to view the EPSON RC 7 0 manuals If the installer cannot find Adobe Reader on your system it will be installed at this time Follow the instructions in the Adobe installer Do not restart the system after the Adobe Reader installation has completed 8 A...

Страница 96: ... 2 Development PC and Manipulator Connection Connect the development PC and the development PC connection port for connection T series Manipulator Development PC connection Port Illustration T3 401S VT series Manipulator Standard model Cleanroom model Protection model ...

Страница 97: ... robot system or set the Manipulator configuration with the EPSON RC 7 0 software installed in the development PC Development PC connection port supports hot plugging Insertion and removal of the cables while the power of the development PC and the Manipulator are ON is available However the Manipulator stops when the USB cable is removed while the Manipulator and the development PC are connected ...

Страница 98: ...USB cable 3 Turn ON the Manipulator 4 Start the software EPSON RC 7 0 5 Select the EPSON RC 7 0 menu Setup PC to Controller Communications to display the PC to Controller Communications dialog 6 Select the No 1 USB and click the Connect button 7 After development PC and the Manipulator connection is completed Connected is displayed in the Connection status Make sure that Connected is displayed and...

Страница 99: ...is indicated 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 Manipulator and the development PC is disconnected and USB cable can be removed If the USB cable is removed while the Manipulator and the development PC are connected the Manipulator stops Be sure to click the Disconnect button in the...

Страница 100: ...Normally release the brake of joints one by one Take extra care if you need to release the brakes of two or more joints simultaneously Releasing the brakes of two or more joints simultaneously may result in hands or fingers being caught and or equipment damage to or malfunction of the Manipulator as the arms of the Manipulator may move in unexpected directions Be careful of the arm falling when re...

Страница 101: ...SON RC 7 0 icon on the desktop 2 Open the command window EPSON RC 7 0 menu Tool Command Window 3 Execute the following command in Command Window Reset Brake Off Arm 1 to 6 whose brake will be released Execute the following command to turn on the brake again Brake On Arm 1 to 6 whose brake will be turned on ...

Страница 102: ... the 0 pulse positions by specifying the pulse for each joint 1 Start the EPSON RC 7 0 Double click the EPSON RC 7 0 icon on the desktop 2 Open the command window EPSON RC 7 0 menu Tools Command Window 3 Execute the following command in Command Window SCARA robot Motor On Go Pulse 0 0 0 0 6 Axis robot Motor On Go Pulse 0 0 0 0 0 0 For position and posture of Manipulator at 0 pulse position refer t...

Страница 103: ...window of the EPSON RC 1 Start the EPSON RC 7 0 Double click the EPSON RC 7 0 icon on the desktop 2 Create a new project 1 Select New from the Project Menu The New Project dialog box will be displayed 2 Type a project name in the New Project Name box e g FirstApp 3 Click the OK button to create the new project 3 Open the Robot Manager EPSON RC 7 0 menu Tools Robot Manager ...

Страница 104: ... that the Control Panel tab is open Click the MOTOR ON button 5 Move the Manipulator with Jog motion 1 Select Jog Teach tab 2 Select Joint in Jogging Mode 3 Move the Manipulator by joint by clicking J1 J4 jog keys Manipulator can be moved by setting to other modes or setting the jog distance ...

Страница 105: ...vironment 1 Start EPSON RC 7 0 Double click the EPSON RC 7 0 icon on the desktop 2 Create a new project 1 Select New from the Project Menu The New Project dialog box will be displayed 2 Type a project name in the New Project Name box e g FirstApp 3 Click the OK button to create the new project When the new project is created a program called Main prg is created The window titled Main prg will be d...

Страница 106: ...3 First Step 88 Safety and Installation T VT EPSON RC 7 0 Rev 15 3 Edit the program Type the following program lines in the Main prg edit window Function main Print This is my first program Fend ...

Страница 107: ...tatus 2 During project build your program is compiled and linked Then communications is established with the Manipulator and project files are sent to the Controller If there are no errors during build the Run window will appear 3 Click the Start button on the Run window to run the program 4 The tasks like the following will be displayed in the status window 19 32 45 Task main started 19 32 45 All...

Страница 108: ...ipulator 5 Teach robot points 1 Make sure that it is safe to operate the Manipulator Click the Robot Manager button on the toolbar to display the Robot Manager window 2 Click the Control Panel tab Then click the Motor On button to turn on the Manipulator motors You will be prompted to confirm the operation 3 Click the Yes button to continue ...

Страница 109: ... button to lower the Z axis of the Manipulator 8 Select P1 in the Point P dropdown list which is next to the Teach button The current point is set to P1 9 Click the Teach button You will see a confirmation message to teach the point 10 Click the Yes button 11 Click the X button to jog the Manipulator in the X direction 12 Select P2 in the Point P dropdown list which is next to the Teach button The...

Страница 110: ...ve to the points you taught 7 Modify the program to change speed of Manipulator motion commands 1 Insert the Power Speed and Accel commands as shown in the program below Function main Print This is my first program Power High Speed 20 Accel 20 20 Go P1 Go P2 Go P0 Fend 2 Press F5 to display the Run window 3 Click the Start button to execute the program The Manipulator will move to each of the poin...

Страница 111: ...ackups of your applications on an external media such as a USB memory key Follow the steps below to back up the project and system configuration 1 Select the EPSON RC 7 0 menu Project Copy 2 Change the Destination Drive to an arbitrary drive 3 Click OK The project will be copied to the external media 4 Select the EPSON RC 7 0 menu Tools Controller 5 Click on the Backup Controller button 6 Select t...

Страница 112: ...e Control T series Manipulator Manual Setup Operation 14 I O Remote Set Up VT series Manipulator Manual Setup Operation 14 I O Remote Set Up I O EPSON RC 7 0 User s Guide I O Setup T series Manipulator Manual Setup Operation 12 Standard I O Connector Setup Operation 13 Hand I O Connecter VT series Manipulator Manual Setup Operation 13 Standard I O Connector Fieldbus I O Option ROBOT CONTROLLER RC7...

Страница 113: ...ulator Manual Setup Operation 7 LAN Ethernet Port VT series Manipulator Manual Setup Operation 9 LAN Ethernet Port 4 3 Connection of Option Teaching Pendant T series Manipulator Manual Setup Operation 10 TP Port VT series Manipulator Manual Setup Operation 10 TP Port ROBOT CONTROLLER RC700 RC90 Option Teach Pendant TP2 Function Installation 3 Installation ROBOT CONTROLLER RC700 A Option Teach Pend...

Страница 114: ...oints are divided into five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Manipulator is operated for 250 hours or longer per month the inspection points must be added every 250 hours 750 hours 1500 hours and 3000 hours operation Inspection Point Daily Monthly Quarterly Biannual Annual Overhaul replacement 1 month 250 h Inspect every day 2 mo...

Страница 115: ... the Manipulator Push each arm in MOTOR ON status to check whether backlash exists Each joint Check whether unusual sound or vibration occurs Whole Measure the accuracy repeatedly by a dial gauge when positional gap occurs Whole T Turn ON and OFF the Brake Release switch and check the sound of the solenoid brake If there is no sound replace the brake VT Execute Brake off command brake off joint fr...

Страница 116: ...round shaft T series Bolts screws securing motors reduction gear units etc Check looseness of connectors If the connectors are loosen push it securely or tighten External connectors on Manipulator on the connector plates etc Manipulator cable unit Visually check for external defects Clean up if necessary External appearance of Manipulator External cables Check for bends or improper location Repair...

Страница 117: ...ts replacement The time between overhauls is 20 000 operation hours of the Manipulator as a rough indication When operated with the maximum motion speed and maximum acceleration deceleration in continuous operation However it may vary depending on usage condition and the load applied on the Manipulator For the EPSON RC 7 0 the recommended replacement time for the parts subject to maintenance motor...

Страница 118: ...tus button to open the Browse For Folder dialog 3 Select the folder where the information is stored 4 Click the OK button 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 Manipulator manual Maintenance section Maintenance Parts List For details of replacement of each part refer to the Manipulator manual Mainte...

Страница 119: ...hown below Bolt Tightening Torque M3 2 0 0 1 N m 21 1 kgf cm M4 4 0 0 2 N m 41 2 kgf cm M5 8 0 0 4 N m 82 4 kgf cm M6 13 0 0 6 N m 133 6 kgf cm M8 32 0 1 6 N m 326 16 kgf cm M10 58 0 2 9 N m 590 30 kgf cm M12 100 0 5 0 N m 1 020 51 kgf cm Refer below for the set screw Set Screw Tightening Torque M4 2 4 0 1 N m 26 1 kgf cm M5 4 0 0 2 N m 41 2 kgf cm The bolts aligned on a circumference should be fa...

Страница 120: ...he instructions below If grease gets into your eyes Flush them thoroughly with clean water and then see a doctor immediately If grease gets into your mouth If swallowed do not induce vomiting See a doctor immediately If grease just gets into your mouth wash out your mouth with water thoroughly If grease gets on your skin Wash the area thoroughly with soap and water Greasing part Greasing Interval ...

Страница 121: ...rm greasing if the grease is discolored or becomes dry as shown in the photos below Normal grease Discolored grease Perform greasing at 50 km of operation for the first time of greasing For the EPSON RC 7 0 the recommended replacement time for the grease can be checked in the Maintenance dialog box For details refer to the following manual T series Manipulator Manual Maintenance 4 Alarm VT series ...

Страница 122: ...ted If the terminal contacts with the other metals it may short and result in heat generation leakage explosion or inflammation 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 abnorma...

Страница 123: ...e lithium battery even if it has not reached the above product life For the EPSON RC 7 0 the recommended replacement time for the battery can be checked in the Maintenance dialog box For details refer to the following manual T series Manipulator Manual Maintenance 4 Alarm VT series Manipulator Manual Maintenance 4 Alarm The battery may run out if it passes the recommended replacement time If no wa...

Страница 124: ...development software Safety Robot System Operation and Configuration Operation of Program Development Software EPSON RC GUI SPEL Language and Application Configuration of Robot I O Communication EPSON RC 7 0 SPEL Language Reference This manual contains information on the SPEL programming language Details of the commands Error Messages Precaution of EPSON RC 4 0 5 0 6 0 Compatibility Options Follow...

Страница 125: ...N RC 7 0 Rev 15 107 Manipulator The Manipulator manuals contain information on the Manipulator s Each Manipulator model has a different manual SCARA robot T T3 T6 6 Axis robot VT Safety Specification Installation Setting Maintenance Calibration ...

Страница 126: ...ion T VT EPSON RC 7 0 Rev 15 7 Directives and Norms These products conform to the following directives and norms For more details of Controller and Manipulator please refer to each manual Product Name Model Controller T series VT series Manipulator ...

Страница 127: ... EN ISO 10218 1 2011 Robots and robotic devices Safety requirements for industrial robots Part 1 Robots EN 60204 1 2006 A1 2009 Safety of machinery Electrical equipment of machines Part 1 General requirements EN ISO 13849 1 2015 Safety of machinery Safety related parts of control systems Part 1 General principles for design EN ISO 13850 2015 Safety of machinery Emergency stop function principles f...

Страница 128: ...7 Directives and Norms 110 Safety and Installation T VT EPSON RC 7 0 Rev 15 ...

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