Epson T6-B Manuals

Manuals and User Guides for Epson T6-B. We have 1 Epson T6-B manual available for free PDF download: Manual

Epson T6-B Manual (184 pages)

Brand: Epson | Category: Robotics | Size: 5.52 MB

Table of Contents
9
Installation
17
Safety
19
Conventions
19
Installation
20
System Example
20
Unpacking
21
Transportation
21
Transportation Precautions
21
Holding Position and Number of People to Transport Manipulator
21
Environments and Installation
22
Connection to EMERGENCY Connector
22
Power-On
23
Power Supply, Power Cable, Braker
23
Power-ON Precautions
23
Power on Procedure
24
Saving the Factory Default
24
First Step
25
Installing EPSON RC+ 7.0 Software
25
Development PC and Manipulator Connection
27
About Development PC Connection Port
28
Precautions
28
Software Setup and Connection Check
28
Backup the Initial Condition of the Manipulator
29
Disconnection of Development PC and Manipulator
29
Moving the Manipulator to Initial Position
30
Writing Your First Program
33
Second Step
39
Connection with External Equipment
39
Remote Control
39
Ethernet
39
Ethernet Connection of Development PC and Manipulator
39
Connection of Option Teaching Pendant
39
T3-B T6-B Manipulator
41
Safety
43
Conventions
43
Design and Installation Safety
44
Strength of the Ball Screw Spline
45
Operation Safety
45
Emergency Stop
47
Safeguard
49
Emergency Movement Without Drive Power
50
ACCELS Setting for CP Motions
51
Labels
52
Response for Emergency or Malfunction
54
Collision
54
Getting Body Caught in Manipulator
54
Specifications
55
Model Number
55
Part Names
56
T3-B
56
T6-B
57
Outer Dimensions
58
T3-B
58
T6-B
59
System Example
60
Specifications
61
How to Set the Model
61
Environments and Installation
62
Environmental Conditions
62
Base Table
64
Mounting Dimensions
65
Unpacking and Transportation
67
Installation Procedure
68
Power Supply
69
Specifications
69
AC Power Cable
70
Breaker
71
Power Unit
72
Connecting the Cables
73
Pneumatic Tubes
76
Relocation and Storage
78
Precautions for Relocation and Storage
78
Relocation
79
Setting of End Effectors
81
Attaching an End Effector
81
Attaching Cameras and Valves
83
Weight and Inertia Settings
84
Weight Setting
84
Inertia Setting
88
Precautions for Auto Acceleration/Deceleration of Joint #3
92
Motion Range
93
Motion Range Setting by Pulse Range (for All Joints)
93
Max. Pulse Range of Joint #1
94
Max. Pulse Range of Joint #2
94
Max. Pulse Range of Joint #3
95
Max. Pulse Range of Joint #4
95
Motion Range Setting by Mechanical Stops
96
Setting the Mechanical Stops of Joints #1 and #2
96
Setting the Mechanical Stop of Joint #3
98
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
100
Standard Motion Range
100
Operation Mode & LED
101
Overview
101
Switch Operation Mode
101
Program Mode (AUTO)
102
What Is Program Mode (AUTO)
102
Setup from EPSON RC+ 7.0
102
Auto Mode (AUTO)
103
What Is Auto Mode (AUTO)
103
Setup from EPSON RC+ 7.0
103
Setup from Control Device
104
Led
105
Development PC Connection Port
106
What Is Development PC Connection Port
106
Precaution
107
Software Setup and Connection Check
107
Disconnection of Development PC and Manipulator
108
Memory Port
109
What Is Controller Status Storage Function
109
Before Using Controller Status Storage Function
109
Precautions
109
Adoptable USB Memory
109
Controller Status Storage Function
110
Controller Status Storage
110
Load Data with EPSON RC+ 7.0
111
Transfer with E-Mail
112
Details of Data
113
LAN (Ethernet Communication) Port
114
What Is the LAN (Ethernet Communication) Port
114
IP Address
114
Changing Manipulator IP Address
115
Connection of Development PC and Manipulator with Ethernet
116
Disconnection of Development PC and Manipulator with Ethernet
117
TP Port
118
What Is the TP Port
118
Teach Pendant Connection
118
Emergency
119
Safeguard Switch and Latch Release Switch
119
Safeguard Switch
120
Latch Release Switch
120
Checking Latch Release Switch Operation
121
Emergency Stop Switch Connection
121
Emergency Stop Switch
121
Checking Emergency Stop Switch Operation
122
Recovery from Emergency Stop
122
Pin Assignments
123
Circuit Diagrams
124
Example 1: External Emergency Stop Switch Typical Application
124
Example 2: External Safety Relay Typical Application
125
Standard I/O Connector
126
Input Circuit
126
Typical Input Circuit Application 1: Source Type
127
Typical Input Circuit Application 2: Sink Type
128
Pin Assignments of Input Circuit
129
Output Circuit
130
Typical Output Circuit Application 1: Sink Type (NPN)
131
Typical Output Circuit Application 2: Source Type (PNP)
132
Pin Assignments of Output Circuit
132
I/O Cable Product Procedure
133
I/O Cable Connecting Method
133
How to Fix the I/O Cable
133
Hand I/O Connector
134
Power Supply Specifications
134
Input Circuit
135
Typical Input Circuit Application 1: Sourse Type
135
Typical Input Circuit Application 2: Sink Type
135
Output Circuit
136
Typical Output Circuit Application 1: Sink Type (NPN)
136
Typical Output Circuit Application 2: Source Type (PNP)
136
Pin Assignments
137
How to Control Hand I/O
137
I/O Remote Settings
139
I/O Signal Description
140
Remote Input Signals
140
Remote Output Signals
144
Timing Specifications
148
Precautions for Remote Input Signals
148
Timing Diagram for Operation Execution Sequence
148
Timing Diagram for Program Execution Sequence
148
Timing Diagram for Safety Door Input Sequence
149
Timing Diagram for Emergency Stop Sequence
149
SD Card Slots
150
Fieldbus I/O
151
Restrictions
152
Commands Cannot Use
152
Commands Cause Motion Error if Specifying RS-232C
152
Commands Cause Error
152
6-Axis Robot Command
152
Conveyor Tracking Commands
153
PG Commands
154
R-I/O Commands
154
Force Sensing Commands
154
Robot Control Commands
154
Other (Finedist)
154
Other (Healthcalcperiod)
155
Other (Chdisk)
155
Restrictions of Functions
155
Tp3
155
Loop Processing
155
Camera Searching by CV1/CV2
156
Restore the Data of Backup Controller Function
156
Error Code List
157
Regular Inspection
159
Regular Inspection for T3-B T6-B Manipulator
161
Inspection
161
Schedule for Inspection
161
Inspection Point
162
Overhaul (Parts Replacement)
163
Greasing
163
Tightening Hexagon Socket Head Cap Bolts
166
Appendix
167
Appendix A: Specifications T3-B Specifications
169
T6-B Specifications
172
Appendix B: Time and Distance of Free Running in Emergency
175
T3-B Time and Distance of Free Running in Emergency
176
T3-B401S: J1
176
T3-B401S: J2
176
T3-B401S: J3
176
T6-B Time and Distance of Free Running in Emergency
177
T6-B602S: J1
177
T6-B602S: J2
177
T6-B602S: J3
177
Appendix C: Time and Distance of Free Running When Safeguard Is Opened
179
T3-B Time and Distance of Free Running When Safeguard Is Opened
180
T3-B401S: J1
180
T3-B401S: J2
180
T3-B401S: J3
180
T6-B Time and Distance of Free Running When Safeguard Is Opened
181
T6-B602S: J1
181
T6-B602S: J2
181

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