Epson RC620 Safety And Installation page 84

1. Safety
*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 parameter using Inertia command.
*3: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed,
Measurement point : In front of the Manipulator, 1000 mm apart from the motion range,
*4: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior
and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer
part of the arm, which can cause increased dust emission. Seal firmly the exhaust port
and the exhaust tube with vinyl tape.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified
maximum level.
Cleanliness level : Class ISO 3 (ISO14644-1)
Exhaust System : Exhaust port
ESD specification uses resin materials with antistatic treatment. This model controls
adhesion of dust due to electrification.
*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of
acceleration and vibration when positioning. Although values larger than 100 can be set
to Accel, it is recommended to minimize the use of large values to necessary motions since
operating the manipulator continuously with the large Accel setting may shorten the
product life remarkably.
70
maximum acceleration, and duty 50%.
50 mm above the base-installed surface.
Amount of Dust (0.1 µm diameter or larger) in 28317 cm3 (1cft)
sample-air around the center of the motion rang: 10 particles or less.)
Exhaust tube
Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12
: Inner diameter: ø8 mm
: Polyurethane tube
Outer diameter ø8 mm
or Inner diameter ø16mm or larger
Recommended exhaust flow rate: approx. 1000 cm3/s
(Normal)