Epson VT6-A901S Manuals

Manuals and User Guides for Epson VT6-A901S. We have 3 Epson VT6-A901S manuals available for free PDF download: Manipulator Manual, Maintenance Manual, Safety And Installation

Epson VT6-A901S Manipulator Manual

Epson VT6-A901S Manipulator Manual (274 pages)

6-Axis Robots

Brand: Epson | Category: Robotics | Size: 14.58 MB

Table of Contents

Table of Contents
9
Setup & Operation

17
- Safety
  19
  - Conventions
    19
  - Design and Installation Safety
    20
  - Operation Safety
    21
  - Emergency Stop
    23
  - How to Move Arms with the Electromagnetic Brake
    25
    
    Arm Motions
    25
    
    Release the Brake by the Software
    26
  - Precaution for Operation in Low Power Status
    26
  - Labels
    27
- Specifications
  29
  - Features of VT Series Manipulators
    29
  - Model Number
    29
  - Part Names
    30
  - Outer Dimensions
    31
  - Standard Motion Range
    33
  - System Example
    35
  - Specifications
    36
  - How to Set the Model
    39
- Environments and Installation
  40
  - Environmental Conditions
    40
  - Base Table
    41
  - Mounting Dimensions
    42
  - Unpacking and Transportation
    43
  - Installation Procedure
    44
  - Power Supply
    45
    
    Specifications
    45
    
    AC Power Cable
    45
    
    Breaker
    46
    
    Grounding
    47
  - Connecting the Cables
    48
    
    Connection Example
    48
    
    Noise Countermeasures
    50
  - Relocation and Storage
    51
    
    Precautions for Relocation and Storage
    51
    
    Relocation
    52
  - Checking the Basic Orientation
    54
- Setting of End Effectors
  55
- Motion Range
  68
- Operation Mode & LED
  79
  - Overview
    79
  - Switch Operation Mode
    79
  - Program Mode (AUTO)
    80
    
    What Is Program Mode (AUTO)
    80
    
    Setup from EPSON RC+ 7.0
    80
  - Auto Mode (AUTO)
    81
    
    What Is Auto Mode (AUTO)
    81
    
    Setup from EPSON RC+ 7.0
    81
    
    Setup from Control Device
    82
  - Led
    83
- Development PC Connection Port
  84
- Memory Port
  87
  - What Is Controller Status Storage Function
    87
  - Before Using Controller Status Storage Function
    87
    
    Precautions
    87
    
    Adoptable USB Memory
    88
  - Controller Status Storage Function
    88
    
    Controller Status Storage
    88
    
    Load Data with EPSON RC+ 7.0
    89
    
    Transfer with E-Mail
    90
  - Details of Data
    91
- LAN (Ethernet Communication) Port
  92
- TP Port
  97
  - What Is the TP Port
    97
  - Teach Pendant Connection
    97
- Options
  98
  - Camera Plate Unit
    98
  - Tool Adapter (ISO Flange)
    100
  - Adjustable Mechanical Stops
    101
  - External Wiring Kit
    101
- Emergency
  102
  - Safeguard Switch and Latch Release Switch
    103
    
    Safeguard Switch
    103
    
    Latch Release Switch
    103
    
    Checking Latch Release Switch Operation
    104
  - Emergency Stop Switch Connection
    104
    
    Emergency Stop Switch
    104
    
    Checking Emergency Stop Switch Operation
    105
    
    Recovery from Emergency Stop
    105
  - Pin Assignments
    106
  - Circuit Diagrams
    107
    
    External Emergency Stop Switch Typical Application
    107
    
    Example 2: External Safety Relay Typical Application
    108
- Standard I/O Connector
  109
  - Input Circuit
    109
    
    Typical Input Circuit Application
    110
    
    Typical Input Circuit Application 2
    110
    
    Pin Assignments of Input Circuit
    111
  - Output Circuit
    111
    
    Typical Output Circuit Application 1
    112
    
    Typical Output Circuit Application 2
    112
    
    Pin Assignments of Output Circuit
    113
  - I/O Cable Product Procedure
    114
    
    I/O Cable Connecting Method
    114
    
    How to Fix the I/O Cable
    114
- I/O Remote Settings
  115
  - I/O Signal Description
    116
    
    Remote Input Signals
    116
    
    Remote Output Signals
    120
  - Timing Specifications
    123
    
    Precautions for Remote Input Signals
    123
    
    Timing Diagram for Operation Execution Sequence
    123
    
    Timing Diagram for Program Execution Sequence
    123
    
    Timing Diagram for Safety Door Input Sequence
    124
    
    Timing Diagram for Emergency Stop Sequence
    124
- SD Card Slots
  125
Maintenance

129
- Safety Maintenance
  131
- General Maintenance
  132
  - Maintenance Inspection
    132
    
    Schedule for Maintenance Inspection
    132
    
    Inspection Point
    133
  - Overhaul (Parts Replacement)
    134
  - Tightening Hexagon Socket Head Cap Bolts
    136
  - Matching Origins
    136
  - Layout of Maintenance Parts
    137
- Manipulator Structure
  138
- Alarm
  139
  - Maintenance
    140
  - Maintenance Information
    141
    
    How to Check the Maintenance Information
    141
    
    How to Edit the Maintenance Information
    142
    
    Alarm Notifying Method
    143
    
    How to Cancel the Alarm
    143
- Backup and Restore
  144
  - What Is the Backup Controller Function
    144
  - Backup Data Types
    144
  - Backup
    145
  - Restore
    146
- Firmware Update
  149
  - Updating Firmware
    149
  - Firmware Upgrade Procedure
    149
  - Manipulator Recovery
    151
  - Firmware Initialization Procedure
    152
- Covers
  154
  - Arm #1 Cover
    155
  - Arm #2 Cover
    156
  - Arm #3 Cover
    157
  - Arm #4 Cover 1
    158
  - Arm #4 Cover 2
    159
  - Power Cable Cover
    161
  - Connector Plate
    162
- Cable
  163
  - Replacing Cable Unit
    164
  - Insert or Pull out of Power Cable
    180
- Joint #1
  181
- Joint #2
  192
- Joint #3
  201
- Joint #4
  210
- Joint #5
  221
- Joint #6
  228
- AMP Board
  235
- LED Plate
  241
  - Replacing LED Plate
    242
- Felt Sheet
  243
  - Replacing Joint #2 Felt Sheet
    244
  - Replacing Joint #3 Felt Sheet
    245
- Controller Unit
  246
  - Replacing Controller Unit
    247
  - Replacing Power Board
    251
  - Replacing CPU/DPB Board
    252
  - Replacing Lithium Battery
    254
  - Replacing Cooling Fan
    255
  - Replacing SD Card
    256
- Calibration
  257
  - Overview
    257
  - Calibration Procedures
    260
- Restrictions
  264
  - Commands Cannot Use
    264
  - Commands Cause Motion Error if Specifying RS-232C
    264
  - Commands Cause Error
    265
    
    Conveyor Tracking Commands
    265
    
    PG Commands
    266
    
    R-I/O Commands
    266
    
    Force Sensing Commands
    266
    
    Other (Finedist)
    266
    
    Other (Healthcalcperiod)
    266
    
    Other (Chdisk)
    266
  - Restrictions of Functions
    267
    
    Tp3
    267
    
    Loop Processing
    267
    
    Camera Searching by CV1/CV2
    268
    
    Restore the Data of Backup Controller Function
    268
- Error Code Table
  269

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Epson VT6-A901S Maintenance Manual

Epson VT6-A901S Maintenance Manual (196 pages)

6-Axis Robots

Brand: Epson | Category: Robotics | Size: 10.59 MB

Table of Contents

Table of Contents
9
VT6L Maintenance
13
Safety Maintenance
15
General Maintenance
17
Maintenance Inspection
17
Schedule for Maintenance Inspection
17
Inspection Point
18
Overhaul (Parts Replacement)
19
Tightening Hexagon Socket Head Cap Bolts
21
Matching Origins
21
Layout of Maintenance Parts
22
Manipulator Structure
23
AC Specification Manipulator
23
DC Specification Manipulator
25
Alarm
26
Maintenance
27
Maintenance Information
28
How to Check the Maintenance Information
28
How to Edit the Maintenance Information
29
Alarm Notifying Method
30
How to Cancel the Alarm
30
Backup and Restore
31
What Is the Backup Controller Function
31
Backup Data Types
31
Backup
32
Restore
33
Firmware Update
36
Updating Firmware
36
Firmware Upgrade Procedure
36
Manipulator Recovery
38
Firmware Initialization Procedure
39
Adding Confirmation Steps by Strengthening Security of Ethernet Connection
41
Covers
45
Arm #1 Cover
46
Arm #2 Cover
48
Arm #3 Cover
49
Arm #4 Cover 1
50
Arm #4 Cover 2
51
Power Cable Cover
53
Connector Plate
54
Cable
56
Replacing Cable Unit
57
Insert or Pull out of Power Cable
73
Joint #1
74
Replacing Joint #1 Motor
75
Replacing Joint #1 Reduction Gear Unit
80
Replacing Joint #1 Timing Belt
81
Joint #2
86
Replacing Joint #2 Motor
87
Replacing Joint #2 Reduction Gear Unit
94
Replacing Joint #2 Timing Belt
95
Joint #3
96
Replacing Joint #3 Motor
97
Replacing Joint #3 Reduction Gear Unit
104
Replacing Joint #3 Timing Belt
105
Joint #4
106
Replacing Joint #4 Motor
107
Replacing Joint #4 Reduction Gear Unit
112
Replacing Joint #4 Timing Belt
113
Joint #5
117
Replacing Joint #5 Motor
118
Replacing Joint #5 Reduction Gear Unit
122
Replacing Joint #5 Timing Belt
123
Joint #6
124
Replacing Joint #6 Motor
125
Replacing Joint #6 Reduction Gear Unit
130
Replacing Joint #6 Timing Belt
131
AMP Board
132
Replacing AMP Board on Joint #1, #2, and #3
134
Replacing AMP Board on Joint #4
136
Replacing AMP Board on Joint #5 and #6
138
LED Plate
139
Replacing LED Plate
140
Felt Sheet
141
Replacing Joint #1 Felt Sheet
142
Replacing Joint #2 Felt Sheet
143
Replacing Joint #3 Felt Sheet
144
Controller Unit
145
Replacing Controller Unit
146
Standard, Cleanroom Model
147
Protection Model
150
Replacing Power Board
155
Replacing CPU/DPB Board
156
Replacing Lithium Battery
159
Replacing Cooling Fan
159
Replacing SD Card
160
Standard, Cleanroom Model
160
Protection Model
161
Fieldbus I/O
162
Standard, Cleanroom Model
163
Protection Model
164
RESET Switch
183
Calibration
185
Overview
185
Calibration Procedures
188
Error Code Table
192

Epson VT6-A901S Safety And Installation

Epson VT6-A901S Safety And Installation (128 pages)

Robot System

Brand: Epson | Category: Robotics | Size: 3.22 MB

Table of Contents

Table of Contents
15
1 Safety

19
- Conventions
  19
- Design and Installation Safety
  20
  - Relevant Manuals
    20
  - Designing a Safe Robot System
    21
- Operation Safety
  25
  - Safety-Related Requirements
    28
  - Part Names / Arm Motion
    29
  - Operation Modes
    33
- Maintenance Safety
  34
- Emergency Stop
  37
  - Free Running Distance in Emergency
    37
  - How to Reset the Emergency Mode
    41
- Labels
  42
  - T Series Manipulator
    42
  - VT Series Manipulator
    44
- Safety Features
  46
- Manipulator Specifications
  49
  - T Series Manipulator
    49
  - VT Series Manipulator
    52
- Motion Range Setting by Mechanical Stops
  58
  - T Series Manipulator
    58
  - VT Series Manipulator
    58
- End User Training
  62
2 Installation

63
- System Example
  63
- Outline from Unpacking to Operation of Robot System
  66
- Unpacking
  67
  - Unpacking Precautions
    67
- Transportation
  68
  - Transportation Precautions
    68
  - Manipulator Transportation
    69
- Manipulator Installation
  70
  - Installation Precautions
    70
  - Environment
    71
  - Noise Level
    73
  - Base Table
    74
  - Installation Procedure
    75
- Connection to EMERGENCY Connector
  77
  - Safety Door Switch and Latch Release Switch
    78
  - Safety Door Switch
    79
  - Latch Release Switch
    80
  - Checking Latch Release Switch Operation
    80
  - Emergency Stop Switch
    81
  - Checking Emergency Stop Switch Operation
    81
  - Pin Assignments
    82
  - Circuit Diagrams
    83
- Power Supply, Power Cable, Breaker
  86
  - Power Supply
    86
  - Power Cable
    88
- Power-On
  90
  - Power-ON Precautions
    90
  - Power on Procedure
    91
- Saving Default Status
  92
3 First Step

93
4 Second Step

112
- Connection with External Equipment
  112
  - Remote Control
    112
  - Ethernet
    112
- Ethernet Connection of Development PC and Manipulator
  113
- Connection of Option Teaching Pendant
  113
5 General Maintenance

114
6 Manuals

124
- Software
  124
- Options
  124
- Manipulator
  125
7 Directives and Norms

126

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