Related Manuals for Epson T3 Series
Summary of Contents for Epson T3 Series
- Page 1 Robot System Safety and Installation Read this manual first Rev.15 EM204B4249F Programming Software EPSON RC+ 7.0 Manipulator T3 T6...
- Page 3 Robot System Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 Copyright 2017-2020 SEIKO EPSON CORPORATION. All rights reserved Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 4 3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 5 MANUFACTURER Seiko Epson Corporation 3-3-5 Owa, Suwa-shi, Nagano, 392-8502 : http://global.epson.com/company/ : http://www.epson.jp/prod/robots/ Toyoshina Plant Robotics Solutions Operations Division 6925 Toyoshina Tazawa, Azumino-shi, Nagano, 399-8285 Japan : +81-(0)263-72-1530 : +81-(0)263-72-1685 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 6 Beijing, 100025, PRC : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1125 Epson Taiwan Technology & Trading Ltd. Taiwan Factory Automation Division 15F., No.100, Song Ren Road., Xinyi Dist., Taipei City, 11073 Taiwan : +886-(0)-2-8786-6688 : +886-(0)-2-8786-6600 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 7 Murphy Road, Ulsoor, Bangalore, India 560008 : +91-80-4566-5000 : +91-80-4566-5005 Japan Epson Sales Japan Corporation Factory Automation Systems Department floor, JR Shinjuku Miraina Tower, 4-1-6 Shinjuku, Shinjuku-ku, Tokyo 160-8801 Japan :+81-(0)3-5919-5257 :+81-(0)3-5919-5402 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 8 The battery removal/replacement procedure is described in the following manuals: Manipulator Manual Maintenance: Replacing the Lithium Battery For California customers only The lithium batteries in this product contain Perchlorate Material - special handling may apply, See www.dtsc.ca.gov/hazardouswaste/perchlorate. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 9 NOTE Security support for the USB memory: Make sure the USB memory is not infected with virus when connecting to the Controller. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 10 T6-602S Ver.7.3.53.0 or later Before Ver.7.3.3 EPSON RC+ 7.0 Ver.7.3.4 or later 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.
- Page 11 VT6-A901S-DC Ver.7.4.57.1 or later Before Ver.7.4.6 EPSON RC+ 7.0 Ver.7.4.7 or later 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.
- Page 12 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 the regulation in China. These are not necessary to be concerned in other countries. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 13 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 the regulation in China. These are not necessary to be concerned in other countries. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 14 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 15: Table Of Contents
2.4.3 Noise level ..............55 2.4.4 Base Table ..............56 2.4.5 Installation Procedure ..........57 2.5 Connection to EMERGENCY Connector ......... 59 2.5.1 Safety Door Switch and Latch Release Switch .... 60 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 xiii... - Page 16 5.2 Overhaul (Parts Replacement) ..........99 5.3 Tightening Hexagon Socket Head Cap Bolts ......101 5.4 Greasing (T series Manipulator) ..........102 5.5 Handling and Disposal of Lithium Batteries ......104 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 17 Table of Contents 6. Manuals Software ................106 Options .................. 106 Manipulator ................107 7. Directives and Norms Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 18 Table of Contents Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 19: Safety
WARNING This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly. CAUTION Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 20: Design And Installation Safety
The following items are safety precautions for design personnel: ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system. -
Page 21: Designing A Safe Robot System
Design the size of the end effector with care, since the Manipulator body and Manipulator end effector can interfere with each other. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 22 Controller is hardwired to disconnect the motor power from the robot, but not the external power supplies. For details of the Safeguard system, refer to the following section. 1.5 Emergency Stop Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 23 To protect the operator working inside the safeguarded area, take measures to lock out and tag out the latch- release switch. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 24 Manipulator Operation Panel When using the Manipulator operation panel, it must be installed so as to operate the robot system from outside the safeguard. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 25: Operation Safety
* Mobile platform indicates Cartesian coordinate robot, wheeled platform, AGV, etc. In this manual, these terms are referred to as “mobile platform”. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 26 Manipulator cable to wrong polarity, it may result in malfunction of the robot system. For details on connection, refer to 6-axis Robots VT series MANIPULATOR MANUAL Setup & Operation 3.6.2 Power Cable. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 27 OFF (servo free status). If you cannot turn OFF the motor, set power mode to “Low” and perform exclusive control of mobile platform and Manipulator so that they do not move simultaneously. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 28: Safety-Related Requirements
Industrial, scientific and medical (ISM) radio-frequency equipment CISPR11 -- Electromagnetic disturbance characteristics -- Limits and methods EN55011 of measurement Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards IEC 61000-6-2 -- Immunity for industrial environments EN 61000-6-2 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 29: Part Names / Arm Motion
Fittings (blue) for ø6 mm I/O (Output) Connector pneumatic tube I/O (Input) Connector Fittings (white) for ø6 mm Signature label Power Supply Cover pneumatic tube (AC power connector inside) (Serial No. of Manipulator) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 30 Check the cable connections and remove the error causes. Then, apply the power again and release the brake. Errors: 1552, 2118, 4003, 4004, 4009, 4100, 4101, 4103, 4187, 4188, 4189, 4191, 4192, 4233, 4240, 4285-4292, 9633, 9640, 9691, 9685-9692 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 31 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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 32 (Power connector inside) (OPTION connector inside) Protection model I/O Connector EMERGENCY Connector TP Port MEMORY Port Port of PC for development LAN (Ethernet) Connector OPTION Cover Power Supply Cover (OPTION connector inside) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 33: Operation Modes
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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 34: Maintenance Safety
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 35 - If alcohol, liquid gasket, or adhesive gets into your eyes or mouth, flush your eyes or wash out your mouth with clean water thoroughly, and then see a doctor immediately. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 36 Do not touch the Manipulator until temperature falls. Also, make sure the temperature of the Manipulator falls and you do not feel hot when you touch it. Then perform teaching or maintenance. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 37: Emergency Stop
Calibration in the Manipulator manual. Also, the same troubles may occur if an error occurs and the Manipulator stops in emergency during the operation. Check the Manipulator condition and perform calibration if necessary. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 38 Manipulator Manual Maintenance 2.1.2 Inspection Point - Inspection While the Power is ON (Manipulator is operating) Safety and Installation 5.1.1 Manipulator - Inspection While the Power is ON (Manipulator is operating) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 39 Joint #1 + Joint #2 Free running time Joint #3 Joint #1 [°] Free running Joint #2 [°] angle Joint #1 + Joint #2 [°] Free running Joint #3 [mm] distance Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 40 Arm #3 running time Arm #4 [sec.] Arm #5 Arm #6 Table Top Arm #1 Ceiling Wall Free running Arm #2 angle Arm #3 Arm #4 [°] Arm #5 Arm #6 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 41: How To Reset The Emergency Mode
1. Safety 1.5.2 How to Reset 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. -
Page 42: Labels
Manipulator is ON. To avoid electric shock, do not touch any internal electric parts. You can catch your hand or fingers between the shaft and cover when bringing your hand close to moving parts. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 43 1. Safety Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 44: Vt Series Manipulator
When these operations performed unauthorized personnel, extremely hazardous and may result serious bodily injury and/or severe equipment damage to the robot system. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 45 1. Safety Location Label Note You may get your hand or fingers caught when bringing your hand close to moving parts. Protection model Standard, Cleanroom model Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 46: Safety Features
In this case, the Manipulator is operated in low power status. Stop category of Safety door input: Category 1 (refer to Safety Standard IEC60204- Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 47 Speed Overflow -Servo Error- Detection The dynamic brake circuit is activated when the Manipulator’s actual speed is detected to mark an overflow (the actual speed is outside the nominal range) error. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 48 Power Supply Voltage Drop Detection The dynamic brake circuit is activated when the drop of the power supply voltage is detected. Temperature Anomaly Detection The temperature anomaly of the Manipulator is detected. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 49: Manipulator Specifications
4-M8 5 to 40 °C Ambient Temp. Environmental (with minimum temperature variation) requirements Ambient relative 20 to 80% (no condensation) humidity Noise level *3 = 70 dB (A) or under Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 50 Input: 6 points Hand I/O Output: 4 points Non-polar, Supported for both Sink and Source (Upper side Power supply: Power supply: of Arm #2) up to 24V 500mA up to 24V 700mA Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 51 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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 52: Vt Series Manipulator
Joint #4 ± 8128764 Joint #5 ± 4599018 Joint #6 ± 13410735 Joint #1 0.0000200°/pulse Joint #2 0.0000160°/pulse Joint #3 0.0000215°/pulse Resolution Joint #4 0.0000246°/pulse Joint #5 0.0000271°/pulse Joint #6 0.0000268°/pulse Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 53 (Actual value to be manually entered.) PTP motion : Programmable in the range of 1 to 100% Acceleration/ Auto acceleration/deceleration Deceleration CP motion : Programmable Control (Actual value to be manually entered.) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 54 Save to USB memory Controller Status Save Save in RC+ (PC) CE Marking EMC Directive, Machinery Directive, RoHS Directive Safety standard KC Marking / KCs Marking (VT6-A901S, VT6-A901C, VT6-A901P) ANSI/RIA R15.06 NFPA 79 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 55 *6: Conditions of Manipulator at measurement are as follows: Operating conditions : Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration/deceleration, VT6L: duty 50% Measurement point : 1000 mm apart from the rear of Manipulator Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 56 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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 57 Setting the value which exceeds the maximum AccelS causes an error. In such a case, check the setting value. 10000 10000 8000 8000 6000 6000 4000 3000 2000 2000 6 (kg) End effector weight Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 58: Motion Range Setting By Mechanical Stops
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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 59 4.0 ± 0.2 N·m (41 ± 2 kgf·cm) −170 to +84 Angle (°) ±170 or −84 to +170 − 8488472 to +4194304, Pulse (pulse) ±8488472 or −4194304 to +8488472 Not applied Adjustable mechanical stop (J1) Applied (standard) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 60 −160 to +43 Angle (°) −160, +65 or −148 to +65 −9986438 to +2683855 −9986438 Pulse (pulse) or −9237455 to +4056990 +4056990 Adjustable mechanical stop Not applied Applied (J2) (standard) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 61 −34 to +190 Angle (°) −51, +190 or −51 to +173 −1577736 to +8816759 −2366604 Pulse (pulse) +8816759 or −2366604 to +8027891 Not applied Adjustable mechanical stop (J3) Applied (standard) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 62: End User Training
- Explanation of potential hazards involved in the work. - Work safety procedures and specific methods of avoiding potential hazards. - Safety device and interlock function testing and confirmation methods are working properly. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 63: Installation
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) Either teaching pendant is available. If connecting to T series or VT series Manipulator, dedicated convert cable is necessary. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 64 Remote I/O Ethernet Hand I/O USB (for save) USB (for development) ModBus Option Fieldbus Slave Illustration: T3-401S USB 2.0 Option: Teaching Pendant Ethernet Windows *1 EPSON RC+ 7.0 Software Option Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 65 2. Installation Standard Standard I/O Remote I/O Ethernet USB (for save) USB (for development) ModBus Option Fieldbus Slave USB 2.0 Option: Teaching Pendant Ethernet Windows *1 EPSON RC+ 7.0 Software Option Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 66: Outline From Unpacking To Operation Of Robot System
Procedures to install EPSON RC+7.0 to the development PC and enable the operation of the robot system 4. Second Step Manual information to connect or setup the equipment and options Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 67: Unpacking
: Do not remove the wire tie securing the arm until you finish the installation. You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 68: Transportation
: Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is extremely hazardous and may results in serious bodily injury and/or severe equipment damage to the robot system as the fall of the Manipulator. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 69: Manipulator Transportation
VT6-A901S*, VT6-A901C*: approx. 40 kg: 89 lbs. VT6-A901P*: approx. 42 kg: 92 lbs. DO NOT hold the bottom of the base by hand. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 70: Manipulator Installation
: To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide. Space between safeguard and Manipulator... -
Page 71: Environment
- Keep away from water. - Keep away from shocks or vibrations. - Keep away from sources of electric noise. - Keep away from strong electric or magnetic fields. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 72 When mounting Manipulator on the mobile platform, be sure to use mobile platform in low acceleration. If using the mobile platform in high acceleration, it may cause Manipulator to make a safety stop. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 73: Noise Level
Duty 50% Rated load All joints simultaneous motion 1,000 mm apart from VT series 70 or under maximum speed the rear of the maximum Manipulator acceleration/deceleration Duty 50% Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 74: Base Table
Manipulator may fall over. The Manipulator must be installed horizontally. When using a leveler to adjust the height of the base table, use a screw with M16 diameter. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 75: Installation Procedure
Use bolts with specifications Spring washer conforming to ISO898-1 Property Plain washer Class: 10.9 or 12.9. 17 mm Tightening torque: Screw Hole 32.0 ± 1.6 N·m (depth 18 mm or more) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 76 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 (−). Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 77: Connection To Emergency Connector
■ Before connecting the connector, make sure that the pins are not bent. WARNING Connecting with the pins bent may damage the connector and result in malfunction of the robot system. T series Manipulator EMERGENCY connecter (Illustration:T3-401S) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 78: Safety Door Switch And Latch Release Switch
Hood for D-Sub 25 pin (Cable side) Mounting screws #4 - 40 * EMERGENCY connector kit (cable side) is included with shipment. (Applicable diameter for cables is 8.0 to 12.0 mm) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 79: Safety Door Switch
Safety Door switch has two separate redundant circuits and that each connects to the specified pins at the EMERGENCY connector on the Controller. - The Safety Door must be designed and installed so that it does not close accidentally. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 80: Latch Release Switch
(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. -
Page 81: Emergency Stop Switch
(4) Release the Emergency Stop Switch. (5) Execute the RESET command. (6) Make sure that E-STOP LED is turned OFF and that “E-Stop” is dimmed on the main window status bar. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 82: Pin Assignments
■ The 24 V output is for emergency stop. Do not use it for other purposes. Doing so may result in system malfunction. ■ Do not apply reverse voltage to the Emergency Stop circuit. CAUTION Doing so may result in system malfunction. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 83: Circuit Diagrams
Stop detection External +24V Safety Door input 1 Safety Door input 2 Latch release input External +24V Latch release input Close :Latch off NOTE:+24V GND Open :Latch on + 5V GND Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 84 +24V External +24V Safety Door input 1 Safety Door input 2 Latch Release input External +24V Latch release input Close :Latch off NOTE:+24V GND Open :Latch on + 5V GND Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 85 - 0.4A or less AC Input Emergency Stop detection External+24V External+24V Safety Door input 1 Safety Door input 2 Latch Release input External+24V Latch release input Close :Latch off Open :Latch on Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 86: Power Supply, Power Cable, Breaker
Peak Current Max. 40A (less than 10 ms) (When DC power is turned ON) Rated Capacity 1200 W Ground wire and DC power wire (−) are Grounding connected. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 87 If you install a circuit protector, please select one that will handle the above mentioned “peak current”. The power receptacle shall be installed near the equipment and shall be easily accessible. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 88: Power Cable
Cable length Terminal M4 round solderless terminal DC specification Manipulator Item Specification DC power wire (+) Brown − Blue DC power wire ( Cable length Terminal M4 round solderless terminal Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 89 NOTE 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) Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 90: Power-On
When supplying the power again : When supplying the power to the Manipulator again, turn OFF the Controller and wait for 5 seconds or more. Then, turn ON the Manipulator again. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 91: Power On Procedure
(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 (Illustration: T3-401S) VT series Manipulator Standard model, Cleanroom model Protection model Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 92: Saving Default Status
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 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 93: First Step
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 displayed. Click <Next>. - Page 94 3. First Step (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>. NOTE The installation directory is called EpsonRC70. This cannot be changed.
- Page 95 <Next>. (7) If required, install “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 NOTE ...
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Page 96: 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 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 97: About Development Pc Connection Port
RC+ 7.0 User’s Guide: PC to Controller Communications Command. Be sure to install the EPSON RC+7.0 to the development PC first, then connect the development PC and Manipulator with the USB cable. If Manipulator and the development PC are connected without installing the EPSON RC+7.0 to the development PC, [Add New Hardware Wizard] appears. -
Page 98: Software Setup And Connection Check
3.2.3 Software Setup and Connection Check The following is the steps of connecting the development PC and the Manipulator. (1) Make sure that the EPSON RC+ 7.0 is installed on the Manipulator connected to the development PC. (Install the software when it is not installed.) (2) Connect the development PC and the Manipulator by the USB cable. -
Page 99: Backup The Initial Condition Of The Manipulator
3.2.5 Disconnection of Development PC and Manipulator Disconnection of the development PC and the Manipulator 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. - Page 100 Emergency Stop switch. Otherwise, you cannot immediately stop the arm falling due to an erroneous operation. The arm falling may cause equipment damage to and/or malfunction of the Manipulator. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 101 3. First Step (1) Start 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-[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.
- Page 102 Following explains the example of moving all joints to 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].
- Page 103 Move the Manipulator by exciting the motors and operating from the Jog & Teach 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.
- Page 104 Select [Jog & Teach] tab. Select “Joint” in [Jogging]-<Mode>. 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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 105: Writing Your First Program
3. First Step 3.3 Writing Your First Program After installing the Manipulator and EPSON RC+ 7.0 software on your PC, follow the instructions below to create a simple application program so that you will become more familiar with the EPSON RC+ 7.0 development environment. - Page 106 3. First Step 3. Edit the program Type the following program lines in the Main.prg edit window. Function main Print "This is my first program." Fend Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 107 (4) The tasks like the following will be displayed in the status window. 19:32:45 Task main started 19:32:45 All tasks stopped On the Run window, you will see the output of the print statement. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 108 (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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 109 (13) Click the <Teach> button. You will see a confirmation message to teach the point. (14) Click the <Yes> button. (15) Click the <Save Project> toolbar button to save the changes. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 110 The Manipulator will move to each of the points you taught at 20% speed, acceleration, and deceleration. The Power High statement executes the program to operate the robot with increased speed and acceleration, and deceleration. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 111 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.
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Page 112: Second Step
ROBOT CONTROLLER RC700 / RC90 Option Fieldbus I/O Board 4.1.2 Ethernet EPSON RC+ 7.0 User’s Guide 1.9 Strengthening Security of EtherNet Connection 4.3.3 Ethernet Communication VT series Manipulator Manual Setup & Operation: 9. LAN (Ethernet) Port Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 113: Ethernet Connection Of Development Pc And Manipulator
Setup & Operation: 10. TP Port ROBOT CONTROLLER RC700 / RC90 Option Teach Pendant TP2 Function & Installation: 3. Installation ROBOT CONTROLLER RC700-A Option Teach Pendant TP3 Function & Installation: 3. Installation Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 114: General Maintenance
√ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ 20,000 h √ h = hour Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 115 #) from the command window of the EPSON RC+ while the motors are OFF, and then check the sound of the electromagnetic brake. If there is no sound, replace the brake. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 116 Inside of Arm #2 √ √ Tighten it if necessary. Grease conditions Refer to 5.4 Greasing. (T series) Lithium Battery Refer to 5.5 Handling and Disposal of Lithium Batteries Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
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Page 117: Overhaul (Parts Replacement)
(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 NOTE ... - Page 118 5. General Maintenance The Manipulator operation hours can be checked in [Controller Status Viewer] dialog -[Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
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Page 119: Tightening Hexagon Socket Head Cap Bolts
Bolt hole securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 120: Greasing (T Series Manipulator)
However, the timing may vary depending on usage condition and the load applied on the Manipulator (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation). Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 121 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 NOTE checked in the [Maintenance] dialog box.
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Page 122: Handling And Disposal Of Lithium Batteries
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. Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 123 Manipulator is energized. If warnings of voltage reduction occur, replace the 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 NOTE ...
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Page 124: Manuals
This section describes contents of each manual. The manuals below are provided in PDF format for using the robot system. To read the PDF manuals on a PC, select EPSON RC+ 7.0-[Help]-[PDF Manual]. (Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.) Software EPSON RC+ 7.0 User’s Guide... -
Page 125: 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 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... -
Page 126: 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 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15... - Page 127 Limits and methods of measurement EN 61000-6-2 (2005) Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards -- Immunity for industrial environments *Emergency stop circuit category3, PL d Safety Door circuit category3, PL d Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...
- Page 128 7. Directives and Norms Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15...