Epson T-B Series Maintenance Manual
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Epson T-B Series Maintenance Manual

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SCARA ROBOT
T-B series
MAINTENANCE MANUAL
Rev.1
EM217R4792F

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  • Page 1 SCARA ROBOT T-B series MAINTENANCE MANUAL Rev.1 EM217R4792F...
  • Page 3 SCARA ROBOT T-B series Maintenance Manual Rev.1 Copyright  2021 SEIKO EPSON CORPORATION. All rights reserved. T-B series Maintenance Manual Rev.1...
  • Page 4 Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. MANUFACTURER CONTACT INFORMATION Contact information is described in “SUPPLIERS” in the first pages of the following manual: Robot System Safety Manual Read this manual first T-B series Maintenance Manual Rev.1...
  • Page 5 The battery removal/replacement procedure is described in the following manuals: Maintenance Manual For California customers only The lithium batteries in this product contain Perchlorate Material - special handling may apply, See www.dtsc.ca.gov/hazardouswaste/perchlorate T-B series Maintenance Manual Rev.1...
  • Page 6 T3-B series T6-B series NOTE T-B series Manipulators can use the Teach Pendant (TP2, TP3). Do not connect the other  devices to TP port except TP2 and TP3. Connecting other devices may result in malfunction of the device since the pin assignments are different.
  • Page 7 Structure of Robot System The T-B series Manipulators can be used with the following combinations of software. Controller Firmware , T6-B602S 401S Ver.7.5.51.1 or later Ver.7.5.1 or earlier EPSON RC+ 7.0 Ver.7.5.1A or later OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are available.
  • Page 8 - The method of firmware update and controller setting backup etc. EPSON RC+ 7.0 User’s Guide (PDF) This manual describes general information about program development software. EPSON RC+ 7.0 SPEL+ Language Reference (PDF) This manual describes the robot programming language “SPEL+”. Other Manual (PDF) Manuals for each option are available.

  • Page 9: Table Of Contents

    6.3 Manipulator Recovery ............... 29 6.4 Firmware Initialization Procedure ............30 6.5 Adding Confirmation Steps by Strengthening Security of EtherNet Connection ....................32 7. Covers 7.1 Arm Top Cover .................. 38 7.2 Arm Bottom Cover ................39 T-B series Maintenance Manual Rev.1...
  • Page 10 14. Lithium Battery, SD Card, Boards, and Filter 14.1 Replacing the CPU/DPB Boards............ 117 14.2 Replacing the Lithium Battery ............120 14.3 Replacing the SD Card ..............121 14.4 Replacing the Power Board ............122 14.5 Fieldbus I/O ..................124 viii T-B series Maintenance Manual Rev.1...
  • Page 11 17.2 Calibration Procedure ..............130 17.3 Accurate Calibration of Joint #2 ............ 140 17.4 Reference: Calibration Procedure Without Using Calibration Wizard ........................142 18. Error Code Table 19. Maintenance Parts List 19.1 T3-B ....................147 19.2 T6-B ....................148 T-B series Maintenance Manual Rev.1...
  • Page 12 Table of Contents T-B series Maintenance Manual Rev.1...

  • Page 13: T3-B T6-B Maintenance

    T3-B T6-B Maintenance This volume contains maintenance procedures with safety precautions for T-B series Manipulators.

  • Page 15: Safety Maintenance

    WARNING instructions are not followed properly. This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the CAUTION associated instructions are not followed properly. T-B series Maintenance Manual Rev.1...

  • Page 16: Maintenance Precautions

    Manipulator until temperature falls. Also, make sure the temperature of the Manipulator falls and is not hot when you touch it. Then perform teaching or maintenance. CAUTION ■ When performing maintenance on the Manipulator, secure an empty space of about 50 cm around the Manipulator. T-B series Maintenance Manual Rev.1...

  • Page 17: General Maintenance

    8 months (2000 h) √ 9 months (2250 h) √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ (20000 h) √ T-B series Maintenance Manual Rev.1...

  • Page 18: Inspection Point

    If the brake is not released when releasing the brake, contact the supplier. Check that there is no unusual sound or vibration when operating. Check whether unusual sound or vibration occurs. If there is something wrong, contact the supplier. T-B series Maintenance Manual Rev.1...

  • Page 19: Overhaul (Parts Replacement)

    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 the EPSON RC+ 7.0 the recommended replacement time for the parts subject to NOTE ...
  • Page 20 The manipulator operation hours can be checked in [Controller Status Viewer] dialog - [Motor On Hours]. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog box. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.

  • Page 21: Greasing

    Perform greasing at 50 km of operation for the first time of greasing. NOTE For the EPSON RC+ 7.0 the recommended replacement time for the grease on the ball screw  spline unit can be checked in the [Maintenance] dialog box.
  • Page 22 Wipe off the old grease from the shaft, and then apply new grease to it. Grease application range is from the end of the spline nut to mechanical stop. Grease End of spline nut application range Shaft Mechanical stop (Illustration T3- B401S) T-B series Maintenance Manual Rev.1...
  • Page 23 Run for about 5 minutes to spread the grease over the shaft. Turn OFF the Controller. (10) Wipe off excess grease on the end of the spline nut and mechanical stop. End of spline nut (Illustration T3- B401S) T-B series Maintenance Manual Rev.1...

  • Page 24: Tightening Hexagon Socket Head Cap Bolts

    Then, follow the steps below to display the pulse values and record them. Execute the following command from the [Command Window]. EPSON >PULSE PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls T-B series Maintenance Manual Rev.1...

  • Page 25: Layout Of Maintenance Parts

    Motor Reduction Unit CPU/DPB Unit U1 Belt Joint #1 Joint #1 Joint #3 Arm Bottom U2 Belt Motor AMP Board Unit Break Joint #2 Cover Reduction Unit Z Belt SD Card Lithium Battery Regenerative Resistor T-B series Maintenance Manual Rev.1...

  • Page 26: Manipulator Structure

    T3-B T6-B Maintenance 3. Manipulator Structure 3. Manipulator Structure T3-B T-B series Maintenance Manual Rev.1...
  • Page 27 T3-B T6-B Maintenance 3. Manipulator Structure T6-B T-B series Maintenance Manual Rev.1...

  • Page 28: Alarm

    - Battery replacement - Grease up - Replacement of the timing belt - Replacement of the motor - Replacement of the reduction gear unit - Replacement of the ball screw spline unit T-B series Maintenance Manual Rev.1...

  • Page 29: Maintenance

    Initial installation: Maintenance is enabled. Upgrade: Maintenance inherits the previous 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.

  • Page 30: Maintenance Information

    T3-B T6-B Maintenance 4. Alarm 4.2 Maintenance Information 4.2.1 How to View the Maintenance Information The configured Maintenance information can be checked in the EPSON RC+. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog box.

  • Page 31: How To Edit The Maintenance Information

    4.2.2 How to Edit the Maintenance Information The configured Maintenance information can be edited in the EPSON RC+. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog box. (2) To edit the Maintenance information, display the [Maintenance] dialog box.

  • Page 32: Alarm Notifying Method

    Status Code / Error Code List The alarm notifying method can be configured by the output bit of the Remote I/O. The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System Configuration] - [Controller] - [Remote Control].

  • Page 33: Backup And Restore

    For some problems, backup may not be available before maintenance has to be performed. Be sure to backup the data after making changes, before problems occur. NOTE “Controller Status Storage” is one of the T-B series functions. It saves the Controller setup  data same as “Backup Controller.”...

  • Page 34: Backup

    T3-B T6-B Maintenance 5. Backup and Restore 5.3 Backup Backup the Manipulator status from the EPSON RC+ 7.0. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog box. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.

  • Page 35: Restore

    Otherwise, operation of the robot system after data CAUTION restoration to the Manipulator is not assured. (1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools] dialog box. (2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog.
  • Page 36 Menu)”. Vision hardware configuration This check box allows you to restore the vision hardware configuration. For details, refer to EPSON RC+ 7.0 option Vision Guide 7.0. This is not selected by the default setting. Security configuration This check box allows you to restore the security configuration.
  • Page 37  When restoring the backup including the robot information other than T-B series, an error occurs. You cannot restore the backup including T-B series robot created in the virtual controller of NOTE  EPSON RC+ 7.0 to the T-B series robot.

  • Page 38: Firmware Update

    Firmware is supplied by CD-ROM as needed. Please contact the supplier of your region for information. You must use a PC running EPSON RC+ 7.0 connected to a Manipulator with USB to update the Manipulator firmware. Firmware cannot be updated with an Ethernet connection.
  • Page 39 (6) Make sure that the development 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. T-B series Maintenance Manual Rev.1...
  • Page 40 The firmware upgrade is complete. When you install the firmware (Ver.7.4.0.2 or later) on the controller which the firmware NOTE  (before Ver.7.4.0.2) has been installed, the following message is displayed. When the message is displayed, re-install the firmware. T-B series Maintenance Manual Rev.1...

  • Page 41: 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 NOTE  of Controller Backup, refer to “5. Backup and Restore”. T-B series Maintenance Manual Rev.1...

  • Page 42: Firmware Initialization Procedure

    (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 the firmware upgrade is completed.) (3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive.
  • Page 43 Click the <Finish> button. The firmware upgrade is completed. Start EPSON RC+ 7.0 and restore the Controller settings. For details of Controller Backup, refer to “5. Backup and Restore”. When you install the firmware (Ver.7.4.0.2 or later) on the controller which the firmware NOTE ...

  • Page 44: Adding Confirmation Steps By Strengthening Security Of Ethernet Connection

    Controller IP address is set to global IP address Firmware version is Ver.7.4.58.x or later EPSON RC+7.0 is Ver.7.4.7 or before When the Controller firmware is updated under the following conditions, additional steps to confirm whether to continue the firmware update may be execute depending on the configuration settings of the Controller.
  • Page 45 When the <OK> button is clicked, Step3 window is displayed. Go to the step (6). When the <Cancel> button is clicked, Step3 window is displayed. The [Disable connection password] check box and the <Install> button will be grayed out and cannot be selected. T-B series Maintenance Manual Rev.1...
  • Page 46 When the <OK> button is clicked, Step 4 window is displayed. Go to the step (7). When the <Cancel> button is clicked, the window is closed. (7) Firmware installation starts. When the firmware is installed, click the <Next> button. Reboot the Controller. T-B series Maintenance Manual Rev.1...
  • Page 47 T3-B T6-B Maintenance 6. Firmware Update (8) When the Controller is rebooted, the following window is displayed. Confirm that the firmware is installed. Click the <Finish> button. T-B series Maintenance Manual Rev.1...

  • Page 48: Covers

    ■ 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 and may result in electric shock and/or malfunction of the robot system. T-B series Maintenance Manual Rev.1...
  • Page 49 User Plate Arm Top Cove Power Unit Cover Connector Plate Arm Bottom Cover Base Side Cover Power Cable Cover T6-B User Plate Arm Top Cove Power Unit Cover Arm Bottom Cover Connector Plate Power Cable Cover T-B series Maintenance Manual Rev.1...

  • Page 50: Arm Top Cover

    After securing the arm top cover, make sure that the lower limit mechanical stop is not touching the cylindrical part of the arm top cover. NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon  Socket Head Cap Bolts”. T-B series Maintenance Manual Rev.1...

  • Page 51: Arm Bottom Cover

    For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon Socket Head Cap Bolts”. 7.3 Power Cable Cover Power Cable 2-M4×8 Cover Sems Unscrew the power cable cover mounting bolts and then remove the power cable cover. T-B series Maintenance Manual Rev.1...

  • Page 52: Connector Plate

    Some fixed bolts are the same as power unit cover fixing bolts. NOTE  Position of the fittings and size of the connector plate are different between T6-B and T3-B. Position and size of screws is the common. The above illustration is T3-B. T-B series Maintenance Manual Rev.1...
  • Page 53 Prevent the air tube from bending sharply inside the manipulator. Also, do not block the air flow. If there is a kink in the air tube, air flow is blocked while the manipulator is operating and may cause a trouble. T-B series Maintenance Manual Rev.1...

  • Page 54: Power Unit Cover

    Unscrew the power unit cover mounting bolts, and then remove the power unit cover. NOTE  After unscrewing the bolts, make sure to pull the power unit cover to the front of the robot and remove it. T-B series Maintenance Manual Rev.1...

  • Page 55: Base Side Cover

    T3-B 4-M3×5 Hexagon socket head cap button bolt Base Side Cover Unscrew the base side cover mounting bolts, and then remove the base side cover. T6-B NOTE  There is no base side cover. T-B series Maintenance Manual Rev.1...

  • Page 56: User Plate

    (2) Bind the internal cables with a wire tie as worked in the removal procedure (2). (3) Mount the arm top cover. Reference 7.1 Arm Top Covers NOTE For tightening hexagon socket head cap bolts, refer to “2.4 Tightening Hexagon Socket  Head Cap Bolts”. T-B series Maintenance Manual Rev.1...

  • Page 57: Cable

    ■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) Unnecessary strain on cables may result in damage to the cables, CAUTION disconnection, and/or contact failure. T-B series Maintenance Manual Rev.1...

  • Page 58: Replacing Cable Unit

    Width across flats: 5 mm Spanner Width across flats: 41 mm Removal Torque wrench Cross-point screwdriver (No. 2) For cross-recessed screw Nippers For cutting wire tie Wire tie Material adhesive LOCTITE268 Cable Unit (Illustration: T3-B 401S) T-B series Maintenance Manual Rev.1...
  • Page 59 Manipulator is OFF or while the motor is in OFF status (MOTOR OFF). Refer to removal steps (1) to (3) to move the shaft down to its lower limit before the replacement procedure. T-B series Maintenance Manual Rev.1...
  • Page 60 Unscrew the mounting bolts of the joint #1 AMP board plate and the regenerative resistor plate. Mounting bolts: 4-M4×8 Sems T3-B/T6-B (10) Remove the connector of AMP board. A: Power cable connector B: Signal cable connector C: Motor connector T-B series Maintenance Manual Rev.1...
  • Page 61 (15) Remove the connector of the Joint # 2, 3, 4 motor unit and the connector of the AMP board. Motor Unit Signal cable connector (IN/OUT ×1 for each) NOTE  Signal cable for joint #4 is IN only. T-B series Maintenance Manual Rev.1...
  • Page 62 (19) Remove the nut that secures the cable duct fittings to the user plate and pull out the cables from the user plate. (20) Motor Box side nut (19) User Plate side nut (20) Remove the nut that secures the cable duct fittings to the motor box. T-B series Maintenance Manual Rev.1...
  • Page 63 (6) Connect the ground wire on the arm side to the user plate. (7) Bind the cables with a wire tie as removed in the removal step (18). (8) Connect the ground wire on the base side to the cable fixing plate on the base side. T-B series Maintenance Manual Rev.1...
  • Page 64 CPU/DPB boards when mounting. (11) Connect the following parts to the inside of the connector plate. Air tube TP connector (12) Connect the AMP board connector. A: Power cable connector B: Signal cable connector C: Motor connector T-B series Maintenance Manual Rev.1...
  • Page 65 (15) Place and secure the arm top cover without the cables being stuck. Reference: 7.1 Arm Top Cover (16) Mount the power unit cover. Reference: 7.5 Power Unit Cover (17) Mount the connector plate. Reference: 7.4 Connector Plate T-B series Maintenance Manual Rev.1...

  • Page 66: Insert Or Pull Out Of Power Cable

    When removing the power cable connector, pull it out with pushing clips on both side  of the connector. Power Cable (1) Connect power cable connector and install power cable clamp. Installation (2) Mount the power cable cover. Reference: 7.3 Power Cable Cover T-B series Maintenance Manual Rev.1...

  • Page 67: Joint #1

    Because of that, it is necessary to perform calibration (encoder rest and calibration) to match these origins. Refer to “17. Calibration” to execute the calibration. T6-B T3-B Joint #1 Reduction Joint #1 Reduction Gear Unit Gear Unit Joint #1 Motor Joint #1 Motor T-B series Maintenance Manual Rev.1...

  • Page 68: Replacing Joint #1 Motor

    (4) Remove the following parts that connected to the connector plate (inside). Air tube TP connector (5) T3-B: Remove the base side cover. Reference: 7.6 Base Side Cover T6-B: Remove the AMP board plate of joint #1. 2-M4×8 Sems T-B series Maintenance Manual Rev.1...
  • Page 69 Hexagon socket head cap button bolt: 5-M3×5 Remove CPU/DPB board from a base. Radiation sheet is attached on the back of CPU/DPB NOTE  CPU/DPB board. Be careful not to lose or break it. board T-B series Maintenance Manual Rev.1...
  • Page 70 Remember the cable layout for reconnecting the  cables correctly after replacement. A-OUT A-IN (10) Remove the connector of the Joint #1 motor unit. Signal cable connector (IN/OUT ×1 for each) (11) T3-B: Remove the power board cover. T-B series Maintenance Manual Rev.1...
  • Page 71 (14) Remove the screws mounting the Joint #1 flange on the base. T3-B: 8-M4×15 T6-B: 6-M5×15 Remove the Joint #1 motor unit from the base. When removing the Joint #1 motor unit, pull it up NOTE  slowly to avoid hitting the base. T-B series Maintenance Manual Rev.1...
  • Page 72 M4ｘ12 +small washer NOTE There is an O-ring between the Joint #1 flange  O-ring and the reduction gear units. Be sure not to lose the O-ring. Reduction gear unit T-B series Maintenance Manual Rev.1...
  • Page 73 Then, remove the Joint #1 flange and O-ring. 4-M4×12+small washer Small washer 4-M4×12 There is an O-ring between the Joint #1 NOTE  Joint #1 flange and the motor. motor Be sure not to lose the O-ring. T-B series Maintenance Manual Rev.1...
  • Page 74 Set screw is on the edge of the motor shaft side of the motor shaft Align the end faces of the mot or shaft and Clearance elliptic cam between the end faces is Joint #1 Joint #1 motor motor T-B series Maintenance Manual Rev.1...
  • Page 75 ■ Refer to the figure above for the orientation of the elliptic cam bearing. Be sure to mount the elliptic cam bearing properly. Improper mounting of the elliptic cam bearing will result in improper function of the CAUTION Manipulator. T-B series Maintenance Manual Rev.1...
  • Page 76 Joint #1 motor unit flange to the reduction gear units from upper side. M4ｘ12 +small washer O-ring Reduction gear unit Unscrew the motor mounting screws. T6-B Joint #1 4-M4×12+small washer motor unit M4ｘ12 +small washer T-B series Maintenance Manual Rev.1...
  • Page 77 Secure temporarily the screws.  After this, an alignment of the reduction Align the orientation gear units are performed. of the motor board (Secure so that the screw head lightly with the dent touches the flange base.) T-B series Maintenance Manual Rev.1...
  • Page 78 (13) Set the O-ring (between reduction gear units and Arm #1) removed in the removal step (10) into the O-ring groove of the arm. Replace O-ring to new one if there is swelling, scratch, or wear. T-B series Maintenance Manual Rev.1...
  • Page 79 T6-B: Mount the top board of the power unit. Hexagon socket head cap button bolt: 4- M4×10 Tightening torque: 2.0 ± 0.1 N·m Bind the internal cables with a wire tie as removed in the removal procedure (11). T-B series Maintenance Manual Rev.1...
  • Page 80 Attach the radiation sheet on the back side of the  CPU/DPB CPU/DPB boards when mounting. board (21) Mount the AMP board. NOTE Attach the radiation sheet on the back side of the AMP board.  T-B series Maintenance Manual Rev.1...
  • Page 81 Reference: 7.5 Power Unit Cover (26) Mount the connector plate. Reference: 7.4 Connector Plate (27) Turn ON the Manipulator. Reference: T-B series Manual T3-B T6-B Manipulator 6.5 LED NOTE  DO NOT turn OFF the power until the Manipulator starts.

  • Page 82: Replacing Joint #1 Reduction Gear Units

    For T6-B, remove the Joint #1 motor and the reduction gear units from the flange. Removal T3-B (2) T3-B: Remove the reduction gear units from the Joint #1 flange. Flange T3-B: 10-M3×20 Reduction gear unit T-B series Maintenance Manual Rev.1...
  • Page 83 ■ Never adjust (loosen or tighten) the mounting bolts between the flex gear and cross roller bearing unit. If the bolts are adjusted, it requires centering of the parts by the reduction gear unit manufacturer. CAUTION DO NOT loosen these four bolts T-B series Maintenance Manual Rev.1...
  • Page 84 Be careful not to apply too much force since it may damage the parts. (5) T3-B: Mount the Joint #1 motor. Reference: 9.1 Replacing Joint #1 Motor “Installation procedure” T6-B: Mount the Joint #1 reduction gear units and the motor. Reference: 9.1 Replacing Joint #1 Motor “Installation procedure” T-B series Maintenance Manual Rev.1...

  • Page 85: Joint #2

    Refer to “17. Calibration” to execute the calibration. T6-B T3-B Joint #2, 3, 4 Joint #2, 3, 4 AMP Board Unit Joint #2 AMP Board Unit Joint #2 Motor Motor Joint #2 Reduction Joint #2 Reduction Gear Unit Gear Unit T-B series Maintenance Manual Rev.1...

  • Page 86: Replacing Joint #2 Motor

    (6) Loosen the mounting screws of the Joint #2, 3, 4 AMP board T3-B Joint #2, 3, 4 unit, and remove the board unit from Arm #2. AMP Board Unit 2-M3×10 Sems NOTE  Do not remove the mounting screws and the connector. T-B series Maintenance Manual Rev.1...
  • Page 87 (9) Remove the grease receiver from the elliptic cam M3×6 Washer bearing on the Joint #2 motor. Collar 2-M3×6+washer+collar Grease receiver Elliptic cam NOTE Collars are in the grease receiver.  bearing Be sure not to lose the collars. Joint #2 Motor T-B series Maintenance Manual Rev.1...
  • Page 88 Jig to set the position of Jig to set the position of elliptic cam bearing elliptic cam bearing Screw Screw Screw Screw NOTE  The jigs for T3-B and T6-B have different dimensions. Be careful of the dimensions. T-B series Maintenance Manual Rev.1...
  • Page 89 Between the motor flange and the elliptic cam bearing SFB No.1: 4g T6-B: Between the motor and the elliptic cam bearing SFB No.1: 6g T3-B T6-B Apply Grease Apply grease Joint #2 motor Joint #2 motor T-B series Maintenance Manual Rev.1...
  • Page 90 (8) Mount Arm #2 and the reduction gear units to Arm Mount the O-ring (between the reduction gear units Reduction and Arm #1). Gear Unit Replace O-ring to new one if there is swelling, O Ring Arm #2 scratch, or wear. Arm #1 T-B series Maintenance Manual Rev.1...
  • Page 91 (11) Mount the Arm Top Cover. Reference: 7.1 Arm Top Cover (12) Turn ON the Manipulator. Reference: T-B series Manual T3-B T6-B Manipulator 6.5 LED When starting the Manipulator for the first time after replacing the motor unit, the NOTE ...

  • Page 92: Replacing Joint #2 Reduction Gear Units

    (1) Remove Arm #2 and the reduction gear units from Arm #1. Reduction Reference: 10.1 Replacing Joint #2 Motor “Removal procedure” gear units Removal (2) Remove the elliptic cam bearing from the Joint #2 motor. Reference: 10.1 Replacing Joint #2 Motor “Removal procedure” T-B series Maintenance Manual Rev.1...
  • Page 93 ■ Never adjust (loosen or tighten) the mounting bolts between the flex gear and cross roller bearing unit. If the bolts are adjusted, it requires centering of the parts by the reduction gear unit manufacturer. CAUTION Do not loosen or tighten the 4 mounting bolts T-B series Maintenance Manual Rev.1...
  • Page 94 Joint #2 reduction gear units 2.5±0.15N⋅m NOTE Be careful not to apply too much force since it may damage the parts.  (5) Mount the Joint #2 motor. Reference: 10.1 Replacing Joint #2 Motor “Installation procedure” T-B series Maintenance Manual Rev.1...

  • Page 95: Joint #3

    Refer to “17. Calibration” to execute the calibration. T3-B T6-B Joint #2, 3, 4 AMP Joint #2, 3, 4 AMP Joint #3 board unit board unit motor Joint #3 motor Joint #3 brake Z belt Joint #3 brake Z belt T-B series Maintenance Manual Rev.1...

  • Page 96: Replacing Joint #3 Motor

    (3) Turn OFF the Manipulator. (4) Remove the arm top cover. Reference: 7.1 Arm Top Cover (5) Cut off the wire tie binding the brake cables. Joint #3 motor Joint # 2 motor Brake cable T-B series Maintenance Manual Rev.1...
  • Page 97 4 AMP board unit, and remove the board unit board unit from Arm #2. Sems bolt: 2-M3×10 Remove the following connectors from AMP board unit. Power cable connector (×3) AMP cable connector (×3) Motor cable connector (×3) Brake cable connector (×1) T-B series Maintenance Manual Rev.1...
  • Page 98 Be sure not to lose them. T6-B T6-B : Remove the posts and the brake. 2-M3×50 Joint #3 motor The posts, brake, and brake plate will be necessary again. Be sure not to lose them. Post Brake Brake plate T-B series Maintenance Manual Rev.1...
  • Page 99 Remove the motor plate from Joint #3 motor unit. 2-M4×55 2- collar ø7× thickness 4 Joint #3 motor The collar will be necessary again when NOTE  mounting motor plate. Be sure not to lose them. T-B series Maintenance Manual Rev.1...
  • Page 100 Brake hub Secure the pulley and the motor so T3-B that the clearance will be 0.5mm. Be sure to make the clearance NOTE  (0.5mm) between the pulley and the motor. T-B series Maintenance Manual Rev.1...
  • Page 101 Post When mounting the motor plate, be careful of the positions of the motor plate and the motor. NOTE  Check the direction according to the positional relationship of the motor connector and the posts. T-B series Maintenance Manual Rev.1...
  • Page 102 Check that the motor unit can be moved by hand, and it will not tilt when pulled. If the  unit is secured too loose or too tight, the belt will not have the proper tension. T-B series Maintenance Manual Rev.1...
  • Page 103 C: Motor cable connector (×3) D: Brake cable connector (×1) (8) Connect the connector of Joint #3 motor unit. A: AMP cable connector (×1) B-OUT B-IN A B: Signal cable connector (IN/OUT ×1 for each) T-B series Maintenance Manual Rev.1...
  • Page 104 (12) Mount the arm top cover. Reference: 7.1 Arm Top Cover (13) Turn ON the Manipulator. Reference: T-B series Manual T3-B T6-B Manipulator 6.5 LED When starting the Manipulator for the first time after replacing the motor unit, the motor NOTE ...

  • Page 105: Replacement Of The Timing Belt

    Secure temporarily the spline plate on the Arm #2 and move the shaft up and down several times before securing the spline plate. (3) Mount the Joint #3 motor unit. Reference: 11.1 Replacing Joint #3 Motor “Joint #3 motor Installation” T-B series Maintenance Manual Rev.1...

  • Page 106: Replacing The Brake

    Be careful of the direction of the sloping part of the brake plate and the brake cable when mounting it. (2) Mount the Joint #3 motor unit and the solenoid brake. Reference: 11.1 Replacing Joint #3 Motor “Joint #3 motor Installation” T-B series Maintenance Manual Rev.1...

  • Page 107: Checking The Timing Belt Tension (Z Belt)

    [g/(1 mm width × 1 m [mm] [mm] length)] T3-B Z belt T6-B Z belt (2) Flip the belt and measure the tension. NOTE Measurement failure may occur if the  microphone touches belt during measurement. T-B series Maintenance Manual Rev.1...

  • Page 108: Joint #4

    Marking is applied on the motor case of Joint #4 motor. CAUTION ■ Never disassemble the motor and encoder. A disassembled motor and encoder will cause a positional gap and cannot be used again. T-B series Maintenance Manual Rev.1...
  • Page 109 Refer to “17. Calibration” to execute the calibration. T6-B T3-B Joint #2, 3, 4 AMP Joint #4 Joint #2, 3, 4 AMP board unit Joint #4 motor board unit motor U1 belt U2 belt U belt T-B series Maintenance Manual Rev.1...

  • Page 110: Replacing Joint #4 Motor

    (3) Turn OFF the Manipulator. (4) Remove the arm top cover. Reference: 7.1 Arm Top Cover (5) Remove the user plate. Reference: 7.7 User Plate T-B series Maintenance Manual Rev.1...
  • Page 111 Pulley carries the belt. Tilt Joint #4 motor little and pull it up with avoiding the belt when removing the motor. NOTE  The washer will be necessary again when mounting U belt. Be sure not to lose them. T-B series Maintenance Manual Rev.1...
  • Page 112 Pulley (11) Remove the motor plate from the Joint #4 motor. 2-M4×55 +M4 small washer NOTE The washer will be necessary again when  Motor mounting motor plate. Be sure not to lose plate them. T-B series Maintenance Manual Rev.1...
  • Page 113 Apply the following torque to secure the pulley. Tightening torque: 2.5 ± 0.15 N·m (3) Mount the motor plate on the Joint #4 motor. T3-B: 3-M4x20+M4 slotted hole washer T6-B: 3-M4x20+M4 washer Joint #4 motor unit Tightening torque: 4 ± 0.2 N·m T-B series Maintenance Manual Rev.1...
  • Page 114 Apply the following torque to secure the plate. Tightening torque: 4 ± 0.2 N·m NOTE To check belt tension with the tension meter, refer to the following.  12.3 Checking the Timing Belt Tension (U Belt) T-B series Maintenance Manual Rev.1...
  • Page 115 Reference: 7.1 Arm Top Cover (11) Turn ON the Manipulator. Reference: T-B series Manual T3-B T6-B Manipulator 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 power until the Manipulator starts.

  • Page 116: Replacement Of The Timing Belt

    Manipulator is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. T-B series Maintenance Manual Rev.1...

  • Page 117: U2 Belt (T6-B)

    A: Power cable connector (×3) B: AMP cable connector (×3) C: Motor cable connector (×3) D: Brake cable connector (×1) (7) Loosen the Joint #3 motor unit mounting bolt. Joint #3 motor unit 3-M4×15+M4 washer T-B series Maintenance Manual Rev.1...
  • Page 118 Be sure not to lose them. (10) Remove the screws for the spline plate. Hold Spline plate up the spline plate and pull out the Z belt and Z belt U2 belt. 3-M4x12 U2 belt T-B series Maintenance Manual Rev.1...
  • Page 119 U2 belt tension: 51 N (5.2 ± 0.75 kgf) Axial force (when pulling): 102.0 N (10.4 ± 0.75 kgf) Apply the following torque to secure the plate. Tightening torque: 4 ± 0.2 N·m T-B series Maintenance Manual Rev.1...
  • Page 120 Apply the following torque to secure the plate. Tightening torque: 4 ± 0.2 N·m NOTE To check belt tension with the tension meter, refer to the following.  11.4 Checking the Timing Belt Tension (Z Belt) T-B series Maintenance Manual Rev.1...
  • Page 121 D: Brake cable connector (×1) (10) Mount the user plate. Reference: 7.7 User Plate (11) Mount the arm top cover. Reference: 7.1 Arm Top Cover (12) Perform the calibration of Joints #3, #4. Reference: 17. Calibration T-B series Maintenance Manual Rev.1...

  • Page 122: U1 Belt (T6-B)

    (2) Apply the proper tension to U1 belt, and secure the Joint #4 motor unit. Reference: 12.1 Replacing Joint #4 Motor “Joint #3 motor Installation” (3) Perform the calibration for the Joint #4. Reference: 17. Calibration T-B series Maintenance Manual Rev.1...

  • Page 123: U Belt (T3-B)

    (5) Apply the proper tension to the Z belt, and secure the Joint #3 motor unit. Reference: 11.1 Replacing Joint #3 Motor “Joint #3 motor Installation” (6) Perform the calibration of Joints #3, #4. Reference: 17. Calibration T-B series Maintenance Manual Rev.1...

  • Page 124: Checking The Timing Belt Tension

    Flip the U1 belt and measure the tension. For T6-B, insert the microphone of the NOTE  tension meter to the hole on the arm to measure tension. Measurement failure may occur if the microphone touches the belt during measurement. T-B series Maintenance Manual Rev.1...

  • Page 125: Ball Screw Spline Unit

    Manipulator is OFF or while the motor is in OFF status (MOTOR OFF). However, the brake does not work during replacement. Refer to removal steps (1) to (3) to move the shaft down to its lower limit before the replacement procedure. T-B series Maintenance Manual Rev.1...
  • Page 126 (7) Remove four screws mounting the spline nut. b: T3-B: 4-M4×10 T6-B: 4-M4×12 (8) Pull out the following toward the Arm #2 upper side. Ball screw spline unit Z belt U belt (T3-B) U2belt (T6-B) T-B series Maintenance Manual Rev.1...
  • Page 127 (4) Mount the Arm Top Cover and Arm Bottom Cover. Reference: 7. Covers (5) Grease the shaft. Reference: 2.3 Greasing the Ball Screw Spline Unit (6) Mount the end effector, cables, and tubes. (7) Perform the calibration of Joints #3, #4. Reference: 17. Calibration T-B series Maintenance Manual Rev.1...

  • Page 128: Lithium Battery, Sd Card, Boards, And Filter

    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 checked NOTE ...

  • Page 129: Replacing The Cpu/Dpb Boards

    (4) Unscrew CPU/DPB board mounting screws. Hexagon socket head cap button bolt: 5-M3x5 Remove CPU/DPB board from a base. CPU/DPB Board T6-B: Disconnect the connector of regenerative resistor junction cable. Then, remove the regenerative resistor fixing plate. 2-M4×8 Sems T-B series Maintenance Manual Rev.1...
  • Page 130 Be careful not to break the radiation sheet. Radiation sheet (7) Attach the radiation sheet on the face of new CPU/DPB board connectors do not come out. Be careful not to attach the sheet on the wrong face. T-B series Maintenance Manual Rev.1...
  • Page 131 2-M4×8 Sems (11) Connect the following parts to the inside of the connector plate. Air tube TP connector (12) Mount the connector plate. Reference: “7.4 Connector Plate” T-B series Maintenance Manual Rev.1...

  • Page 132: Replacing The Lithium Battery

    (1) Remove CPU/DPB board from a base. (lithium battery) Reference: “14.1 Replacing the CPU/DPB Boards” Replacement (2) Remove the battery connector and connect the new one. (3) Mount CPU/DPB board to base. Reference: “14.1 Replacing the CPU/DPB Boards” T-B series Maintenance Manual Rev.1...

  • Page 133: Replacing The Sd Card

    Also, install fieldbus I/O module after installing the SD card. Also, install fieldbus I/O module after installing the SD card. For more details about fieldbus I/O module, refer to the following. Reference: T-B series Manual T3-B T6-B Manipulator 17. Fieldbus I/O SD Card (1) Turn OFF the Manipulator.

  • Page 134: Replacing The Power Board

    (4) Remove the connectors of the Power board. Power connector (IN/OUT 1 for each) × NOTE  For T6-B only: There are two Power Board. First, remove the connector of Power Board on the cover side. T-B series Maintenance Manual Rev.1...
  • Page 135 × (8) Mount the Power Board Cover. T3-B: Truss screw: 2-M4×6 T6-B: Hexagon socket head cap button bolt: 5-M3×6 Binding head small screws： M4×10 (9) Mount the Power unit cover. Reference: “7.5 Power Unit Cover” T-B series Maintenance Manual Rev.1...

  • Page 136: Fieldbus I/O

    T3-B T6-B Maintenance 14. Lithium Battery, SD Card, Boards, and Filter 14.5 Fieldbus I/O Fieldbus I/O supports the following models for T-B series. DeviceNet™ CC-Link PROFIBUS-DP PROFINET EtherNet/IP™ EtherCAT® Modbus For details, refer to the following manual. “Robot Controller Option Fieldbus I/O”...
  • Page 137 (1) Unscrew the screws by using special tool until fieldbus I/O module is loosened. I/O Module (2) Remove the fieldbus I/O module. Removal You can remove the module by pulling loosened screws toward. (3) Mount the option slot cover. T-B series Maintenance Manual Rev.1...
  • Page 138 Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system. Name Quantity NOTE Maintenance LED Lamp Unit 2182673 part Cross-point screwdriver (No. 2) For cross-recessed screw Tools Nippers Material Wire tie T-B series Maintenance Manual Rev.1...
  • Page 139 Put the user plate between the ring and lens holder, and then secure the LED to the cover. Mount the lens. (10) Connect the LED board connector. LED - LED board connector (11) Remove the power unit cover. Reference: “7.5 Power Unit Cover” T-B series Maintenance Manual Rev.1...

  • Page 140: Reset Switch

    Push the RESET switch for three seconds when booting the manipulator. Manipulator reboots. Shape of RESET switch is difficult to push. Push with sharp edged object as shown in the figure below when pushing the RESET switch. T-B series Maintenance Manual Rev.1...

  • Page 141: Calibration

    Jog Motion The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] tab to use the [Jog & Teach] page.

  • Page 142: Calibration Procedure

    17.2 Calibration Procedure EPSON RC+ has a wizard for calibration. This section indicates the calibration using the calibration wizard of EPSON RC+. The way of calibration for each joint is the same expect for some parts. The follow the steps below are calibration using Joint #1. Follow the steps below to calibrate other joints.
  • Page 143 T3-B T6-B Maintenance 17. Calibration (2) Confirm the warning message and click the <Yes> button. (3) Move the joint to calibrate manually to approximate zero position, as shown in the dialog. After moving the joint, click the <Next> button. T-B series Maintenance Manual Rev.1...
  • Page 144 T6-B 0 pulse position of Joint #4: Position where the flat surface (or groove in the up/down mechanical stop) on the shaft 0 pulse faces toward the tip of Arm #2 − Grooves Flat surface T-B series Maintenance Manual Rev.1...
  • Page 145 (6) Select the reference point to use for calibration, and click the <Next> button. Select a point from the current points to use for checking the accuracy. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. T-B series Maintenance Manual Rev.1...
  • Page 146 Move the end effector from the zero pulse position to the approximate reference point NOTE  where rough calibration will be executed at by the jog motion. Position gap may occur if the end effector is not moved by the jog motion. (9) Click the <Next> button. T-B series Maintenance Manual Rev.1...
  • Page 147 (10) The manipulator moves to the reference point. Click the <Execute> button. Input JUMP P0:z(0). ↑ Point selected in step (6) (11) Confirm the message and click the <Yes> button. (12) After the manipulator moves to the reference point, click the <Next> button. T-B series Maintenance Manual Rev.1...
  • Page 148 (13) Jog to the accurate reference position. Click the <Jog> button. (14) Jog the end effector to accurate reference point and click the <OK> button. * For only Position Joint #2, move Joint #3 to around 0 pulse after Jogged to the accurate reference point. T-B series Maintenance Manual Rev.1...
  • Page 149 Go on to the step (17) for the other joint’s calibration. Move to another point that has different pose (from righty to lefty) using Jump command. Click the <Yes> button. Click the <Yes> button. Jog to the accurate reference position. T-B series Maintenance Manual Rev.1...
  • Page 150 T3-B T6-B Maintenance 17. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. Click the <Next> button. T-B series Maintenance Manual Rev.1...
  • Page 151 T3-B T6-B Maintenance 17. Calibration (17) Calibration is complete. Click the <Finish> button. (18) Move the manipulator to other points and check if it can move without problems. Teach points where appropriate. T-B series Maintenance Manual Rev.1...

  • Page 152: Accurate Calibration Of Joint #2

    - Using the Pallet command - Executing CP control (such as liner or circular interpolation) - Using the Local command - Pose data specified with relative coordinates <Example: P1+X(100) > - Vision Guide camera calibrations T-B series Maintenance Manual Rev.1...
  • Page 153 * If there is interference on the way from lefty to righty, click the <Free All> button in the [Control Panel] and change the arm orientation to lefty by hands. Then, go to the step (6), (11). T-B series Maintenance Manual Rev.1...

  • Page 154: Reference: Calibration Procedure Without Using Calibration Wizard

    * Delete the two points taught for the Joint #2 calibration. 17.4 Reference: Calibration Procedure Without Using Calibration Wizard NOTE This section indicates the calibration without using the calibration wizard of EPSON RC+.  For details of calibration using the calibration wizard, refer to “17.2 Calibration Procedure”.
  • Page 155 T6-B 0 pulse position of Joint #4: Position where the flat surface (or groove in the up/down mechanical stop) on the shaft 0 pulse faces toward the tip of Arm #2 − Groove Flat surface T-B series Maintenance Manual Rev.1...
  • Page 156 Joint #2: >EncReset 2 Joint #3: >EncReset 3 Joint #4: >EncReset 3, 4 (3)-5 Reboot the Controller (Manipulator). Select EPSON RC+ menu-[Tools]-[Controller] and click the <Reset Controller> button. * This window will be disappeared when the Controller starts up. Rough Calibration (4)-1 Execute the following command from the menu-[Tools]-[Command Window].
  • Page 157 (6) -1 Move the manipulator to other points and check if it can move without problems. If it does not move to the same position, re-calibrate using another point. You must set the point again if reproducibility cannot be assured through calibration T-B series Maintenance Manual Rev.1...

  • Page 158: Error Code Table

    As a rough indication, perform the overhaul (parts replacement) before reaching 20,000 operation hours of the Manipulator. The operation hours can be checked in EPSON RC+ - [Controller Status Viewer] dialog - [Motor On Hours]. For details, refer to “2.2 Overhaul (Parts Replacement)”.

  • Page 159: T3-B

    No.1 10.1, 10.2 supplier in your region. Adhesive * LOCTITE268 Arm Cover 1868481 Arm Top Cover (White) 1769389 Arm Bottom Cover (Blue) Under Cover SD Card 2182748 14.3 TP Plug 2171258 T-B series Maintenance Manual Rev.1...

  • Page 160: T6-B

    SFB No.1 10.1, 10.2 supplier in your region. Adhesive *2 LOCTITE268 Arm Cover 1868482 Arm Top Cover (White) Under Cover 1763918 Arm Bottom Cover (Blue) SD card 2182748 14.3 TP Plug 2171258 T-B series Maintenance Manual Rev.1...

This manual is also suitable for:

T3-b401s, t6-b602s

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