Epson RC700A Controller Manual

Robot System

Safety and Installation

Read this manual first

Rev.22

EM19ZB4207F

Robot Controller Control Unit RC700

RC700-A

Drive Unit RC700DU

RC700DU-A

Programming Software EPSON RC+7.0

Manipulator G1 G3 G6 G10 G20 series

RS series

C4 C8 C12 series

N2 N6 series

X5 series

Rev.22

Robot System Safety and Installation

(RC700 / EPSON RC+7.0)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 i

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the robot system.

Please carefully read this manual and other related manuals before installing the robot system.

Keep this manual handy for easy access at all times.

WARRANTY

The robot system and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please contact the supplier of your region for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

1. Damage or malfunction caused by improper use which is not described in the manual, or careless use.

2. Malfunctions caused by customers’ unauthorized disassembly.

3. Damage due to improper adjustments or unauthorized repair attempts.

4. Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1. If the robot system associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. ii Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

Other brand and product names are trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 7 Operating system

Microsoft® Windows® 8 Operating system

Microsoft® Windows® 10 Operating system

Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above respective operating systems. In some cases, Windows refers generically to

NOTICE

Windows 7, Windows 8, and Windows 10.

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

MANUFACTURER

Seiko Epson Corporation

3-3-5 Owa, Suwa-shi, Nagano, 392-8502

URL : 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

TEL : +81-(0)263-72-1530

FAX : +81-(0)263-72-1495

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 iii

SUPPLIERS (Country/Region)

North & South

America

Epson America, Inc.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

USA

TEL : +1-562-290-5900

FAX : +1-562-290-5999

E-MAIL : [email protected]

Europe

Epson Deutschland GmbH

Robotic Solutions

Otto-Hahn-Str.4

D-40670 Meerbusch

Germany

TEL : +49-(0)-2159-538-1800

FAX : +49-(0)-2159-538-3170

E-MAIL : [email protected]

URL: : www.epson.de/robots

China

Epson (China) Co., Ltd.

Factory Automation Division

4F, Tower 1, China Central Place,

81 Jianguo Road, Chaoyang District,

Beijing, 100025, PRC

TEL : +86-(0)-10-8522-1199

FAX : +86-(0)-10-8522-1120

Taiwan

Epson Taiwan Technology & Trading Ltd.

Factory Automation Division

15F., No.100, Songren Rd., Sinyi Dist., Taipei City, 11073

Taiwan

TEL : +886-(0)-2-8786-6688

FAX : +886-(0)-2-8786-6600 iv Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Korea

Epson Korea Co., Ltd.

Marketing Team (Robot Business)

10F Posco P&S Tower, Teheranro 134(Yeoksam-dong)

Gangnam-gu, Seoul, 06235

Korea

TEL : +82-(0)-2-3420-6692

FAX : +82-(0)-2-558-4271

Southeast Asia

Epson Singapore Pte. Ltd.

Factory Automation System

1 HarbourFront Place, #03-02,

HarbourFront Tower One,

Singapore 098633

TEL : +65-(0)-6586-5696

FAX : +65-(0)-6271-3182

India

Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)

12th Floor, The Millenia, Tower A, No. 1,

Murphy Road, Ulsoor, Bangalore,

India 560008

TEL : +91-80-4566-5000

FAX : +91-80-4566-5005

Japan

Epson Sales Japan Corporation

Factory Automation Systems Department

29 th

floor, JR Shinjuku Miraina Tower, 4-1-6

Shinjuku, Shinjuku-ku, Tokyo 160-8801

Japan

TEL

FAX

:+81-(0)3-5919-5257

:+81-(0)3-5919-5402

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 v

Regarding battery disposal

The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.

This information only applies to customers in the European Union, according to

DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL

OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91/157/EEC and legislation transposing and implementing it into the various national legal systems.

For other countries, please contact your local government to investigate the possibility of recycling your product.

The battery removal/replacement procedure is described in the following manuals:

Controller manual / Manipulator manual (Maintenance section)

For California customers only

The lithium batteries in this product contain

Perchlorate Material - special handling may apply,

See www.dtsc.ca.gov/hazardouswaste/perchlorate. vi Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Before Reading This Manual

NOTE

Concerning the security support for the network connection:



The network connecting function (Ethernet) on our products assumes the use in the local network such as the factory LAN network. Do not connect to the external network such as Internet.

NOTE



In addition, please take security measure such as for the virus from the network connection by installing the antivirus software.

Security support for the USB memory:

Make sure the USB memory is not infected with virus when connecting to the

Controller.

Control System Configuration

Robot Controller Drive Unit RC700DU is available for the following version.

EPSON RC+ 7.0 Ver.7.1.0 or later

Robot Controller RC700-A

Robot Controller Drive Unit RC700DU-A is available for the following version.

EPSON RC+ 7.0 Ver.7.1.2 or later

Manipulators can be connected with the following versions.

C4 series : EPSON RC+ 7.0 Ver.7.0.0

C8 series (C8XL)

C8 series (C8, C8L)

C8 series (wall mounting)

: EPSON RC+ 7.0 Ver.7.1.3

: EPSON RC+ 7.0 Ver.7.1.4

: EPSON RC+ 7.0 Ver.7.2.0

C12 series

N2 series

N6 series (N6-A1000**)

N6 series (N6-A850**R)

: EPSON RC+ 7.0 Ver.7.4.6

: EPSON RC+ 7.0 Ver.7.2.0

: EPSON RC+ 7.0 Ver.7.3.4

: EPSON RC+ 7.0 Ver.7.4.1

G1, G3, G6, G10, G20, RS series : EPSON RC+ 7.0 Ver.7.1.2

X5 series : EPSON RC+ 7.0 Ver.7.3.0

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 vii

China RoHS

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. viii Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

机器人型号名称

部件名称

机器人部

电机

（执行器单元、

电机单元）

减速机单元

电磁制动器

同步皮带

电池单元

（电池、

电池固定架、

电池基板）

密封

（密封填料、

油封、密封脂、

垫片、 O 型环）

润滑脂

电缆（ M/C 电缆、

连接电缆）

散热片

LED 指示灯

电路板

外罩

滚珠丝杠花键

制动解除开关

伸缩罩

FPC 单元

扎带

原点标记

气管接头

EZ 模块

○

产品中有害物质的名称及含量

C4 C8 C12 G1 G3 G6 G10 G20 RS3 RS4 N2 N6 X5 系列

有害物质

铅汞镉六价铬多溴联苯多溴二苯醚

(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)

× ○ ○ ○ ○ ○

○

× ○ ○

○ ○ ○

× ○ ○

○ ○ ○

× ○ ○

○ ○ ○

× ○ ○

○

适用的系列

ㇾㇾㇾㇾㇾㇾㇾㇾㇾ

ㇾㇾㇾㇾㇾㇾㇾㇾ -

ㇾㇾㇾㇾㇾㇾㇾㇾㇾ

ㇾㇾ - ㇾ - ㇾ - - -

ㇾㇾㇾㇾㇾㇾㇾㇾ -

- - ㇾㇾㇾㇾㇾ - -

- - - - - - - ㇾ -

ㇾㇾㇾㇾㇾㇾㇾㇾ -

- - - - - - - ㇾ -

ㇾㇾㇾㇾㇾㇾㇾㇾ -

- - - - - - - - ㇾ

本表格依据 SJ/T 11364 的规定编制。

○：表示该有害物质在该部件所有均质材料中的含量在 GB/T 26572 规定的限量要求以下。

× ：表示该有害物质至少在该部件的某一均质材料中的含量超出 GB/T 26572 规定的限量要求。

本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。

产品环保使用期限的使用条件

关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注意事项的

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 (RC700 / EPSON RC+ 7.0) Rev.22 ix

机器人型号名称

产品中有害物质的名称及含量

C4 C8 C12 G1 G3 G6 G10 G20 RS3 RS4 N2 N6 X5 系列

适用的系列

部件名称

制动解除单元

相机安装板

有害物质

铅汞镉六价铬多溴联苯多溴二苯醚

(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)

○

PS 兼容板

（工具适配器）

× ○ ○

底座侧固定金属件 × ○ ○

选

件

可调机械挡块

MC 短接连接器

用户接头套件

用户连接器套件

○

原点调整板

地面支架

配线引导装置

力传感器

× ○ ○

○

ㇾ

- - - - -

- ㇾㇾㇾㇾ

- - - - -

ㇾ

ㇾㇾ - - - - - - - -

- ㇾ - - - - - ㇾㇾ -

ㇾㇾ - - - - - ㇾ - -

ㇾㇾ - - - - - ㇾㇾ -

- - - - - - - ㇾ - -

ㇾㇾ - ㇾㇾㇾㇾㇾㇾ -

本表格依据 SJ/T 11364 的规定编制。

○：表示该有害物质在该部件所有均质材料中的含量在 GB/T 26572 规定的限量要求以下。

× ：表示该有害物质至少在该部件的某一均质材料中的含量超出 GB/T 26572 规定的限量要求。

本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。

产品环保使用期限的使用条件

关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注意事项的条

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.

x Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

控制器型号名称

部件名称

产品中有害物质的名称及含量

RC700 RC700-A RC700DU RC700DU-A 系列

有害物质

铅汞镉六价铬多溴联苯多溴二苯醚

(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)

× ○ ○ ○ ○ ○

适用的系列

控制器部

机壳

电路板

开关电源

风扇

线束

电源保护装置

存储卡

电池

连接器附件

○

× ○ ○

○ ○ ○

× ○ ○

○

本表格依据 SJ/T 11364 的规定编制。

○：表示该有害物质在该部件所有均质材料中的含量在 GB/T 26572 规定的限量要求以下。

× ：表示该有害物质至少在该部件的某一均质材料中的含量超出 GB/T 26572 规定的限量要

求。

本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。

ㇾㇾㇾㇾ

产品环保使用期限的使用条件

关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注

意事项的条件下，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 (RC700 / EPSON RC+ 7.0) Rev.22 xi

xii

控制器型号名称

部件名称

产品中有害物质的名称及含量

RC700 RC700-A RC700DU RC700DU-A 系列

有害物质

铅汞镉六价铬多溴联苯多溴二苯醚

(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)

适用的系列

选

件

电路板

接线

接线端子

紧急停止开关

TP1

TP2

TP3

墙面安装金属件

Hot Plug Kit

CK1

CV1

CV2

相机

延长管

GigE 相机 PoE

转换器

GigE 相机 PoE

交换集线器

GigE 相机三脚

架适配器

以太网交换机

力传感器 I/F

(FC1, FC2)

USB 选件密钥

VRT

○

× ○ ○

○

ㇾ

× ○ ○

○

ㇾ

本表格依据 SJ/T 11364 的规定编制。

○：表示该有害物质在该部件所有均质材料中的含量在 GB/T 26572 规定的限量要求以下。

× ：表示该有害物质至少在该部件的某一均质材料中的含量超出 GB/T 26572 规定的限量要

求。

本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。

ㇾ

产品环保使用期限的使用条件

关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注

意事项的条件下，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 (RC700 / EPSON RC+ 7.0) Rev.22

Table of Contents

1. Safety 1

1.1 Conventions ······································································· 1

1.2 Design and Installation Safety ················································ 2

1.2.1 Relevant Manuals ······················································ 2

1.2.2 Designing a Safe Robot System ··································· 3

1.3 Operation Safety ································································· 8

1.3.1 Safety-related Requirements ······································ 10

1.3.2 Part Names / Arm Motion ·········································· 11

1.3.3 Operation Modes ····················································· 35

1.4 Maintenance Safety ··························································· 36

1.5 Emergency Stop ······························································· 39

1.5.1 Free running distance in emergency ···························· 43

1.5.2 How to reset the emergency mode ······························ 53

1.6 Labels ············································································· 54

1.6.1 Controller ······························································· 54

1.6.2 Manipulator ···························································· 57

1.7 Safety Features ································································ 72

1.8 Manipulator Specifications ·················································· 75

1.9 Motion Range Setting by Mechanical Stops ·························· 122

1.10 End User Training ·························································· 142

2. Installation 143

System Example ···································································· 144

2.1 Outline from Unpacking to Operation of Robot System ············ 148

2.2 Unpacking ····································································· 149

2.2.1 Unpacking Precautions ··········································· 149

2.3 Transportation ································································ 150

2.3.1 Transportation Precautions ······································ 150

2.3.2 Manipulator Transportation ······································ 151

2.4 Manipulator Installation ····················································· 158

2.4.1 Installation Precautions ··········································· 158

2.4.2 Environment ························································· 159

2.4.3 Noise level ··························································· 161

2.4.4 Base Table ··························································· 162

2.4.5 Installation Procedure ············································· 166

2.5 Control Unit and Drive Unit Installation ································· 182

2.5.1 Environment ························································· 182

2.5.2 Installation···························································· 184

2.5.3 Wall Mounting Option ············································· 185

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 xiii

Table of Contents

2.6 Connection to EMERGENCY Connector ······························· 186

2.6.1 Safety Door Switch and Latch Release Switch ············· 186

2.6.2 Safety Door Switch ················································· 187

2.6.3 Latch Release Switch ·············································· 187

2.6.4 Checking Latch Release Switch Operation ·················· 188

2.6.5 Emergency Stop Switch ··········································· 189

2.6.6 Checking Emergency Stop Switch Operation ··············· 189

2.6.7 Pin Assignments ···················································· 191

2.6.8 Circuit Diagrams – Control unit ·································· 192

2.6.9 Circuit Diagrams – Drive unit ···································· 194

2.7 Power Supply, AC Power Cable ·········································· 198

2.7.1 Power Supply ························································ 198

2.7.2 AC Power Cable ···················································· 199

2.8 Connecting Control Unit and Drive Unit ································ 200

2.9 Drive Unit Setup ······························································ 201

2.10 Connecting Manipulator and Controller ······························· 202

2.10.1 Connecting Precautions ········································· 202

2.11 Power-ON ···································································· 203

2.11.1 Power-ON Precautions ·········································· 203

2.11.2 Power ON Procedure ············································ 205

2.12 Saving Default Status ······················································ 206

2.13 Adding Information of the Additional System ························ 206

3. First Step 209

3.1 Installing EPSON RC+ 7.0 Software ···································· 209

3.2 Development PC and Controller Connection ·························· 212

3.2.1 About Development PC Connection USB Port ·············· 212

3.2.2 Precaution ···························································· 213

3.2.3 Software Setup and Connection Check ······················· 213

3.2.4 Backup the initial condition of the Controller ················· 214

3.2.5 Disconnection of Development PC and Controller ········· 215

3.2.6 Moving the Robot to Initial Position ···························· 215

3.3 Writing your first program ·················································· 220 xiv Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Table of Contents

4. Second Step 227

4.1 Connection with External Equipment ··································· 227

4.1.1 Remote Control ····················································· 227

4.1.2 Ethernet······························································· 227

4.1.3 RS-232C (Option) ·················································· 227

4.1.4 Analog I/O board (Option)········································ 227

4.1.5 Force Sensor I/F board (Option) ······························· 227

4.2 Ethernet Connection of Development PC and Controller ·········· 228

4.3 Connection of Teach Pendant (Option) ································ 228

5. General Maintenance 229

5.1 Maintenance ·································································· 229

5.1.1 Manipulator ·························································· 229

5.1.2 Control Unit (RC700, RC700-A) ································ 233

5.1.3 Drive Unit (RC700DU, RC700DU-A) ·························· 234

5.2 Overhaul (Parts Replacement) ··········································· 235

5.3 Tightening Hexagon Socket Head Cap Bolts ························· 237

5.4 Greasing ······································································· 238

5.5 Handling and Disposal of Batteries ····································· 241

6. Manuals 243

Software ··············································································· 243

Software Options ···································································· 243

Controller ·············································································· 244

Controller Options ·································································· 244

Manipulator ··········································································· 244

7. Directives and Norms 245

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 xv

Table of Contents xvi Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

Please read this manual and other related manuals before installing the robot system or before connecting cables.

Keep this manual handy for easy access at all times.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

WARNING

This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

WARNING

This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly.

CAUTION

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.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 1

1. Safety

1.2 Design and Installation Safety

Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.

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

The following items are safety precautions for design personnel:

WARNING

■

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. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, and may result in serious bodily injury and/or severe equipment damage to the robot system.

■

The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals.

This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems.

■

The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.

Refer



Further precautions for installation are mentioned in the following manuals.

Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

1.2.1 Relevant Manuals

This manual : 2. Installation

Manipulator manual : Setup & Operation 3. Environment and Installation

Controller manual : Setup & Operation 3. Installation

2 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.2.2 Designing a Safe Robot System

It is important to operate robots safely. It is also important for robot users to give careful consideration to the safety of the overall robot system design.

This section summarizes the minimum conditions that should be observed when using EPSON robots in your robot systems.

Please design and manufacture robot systems in accordance with the principles described in this and the following sections.

Environmental Conditions

Carefully observe the conditions for installing robots and robot systems that are listed in the “Environmental Conditions” tables included in the manuals for all equipment used in the system.

System Layout

When designing the layout for a robot system, carefully consider the possibility of error between robots and peripheral equipment. Emergency stops require particular attention, since a robot will stop after following a path that is different from its normal movement path. The layout design should provide enough margins for safety. Refer to the manuals for each robot, and ensure that the layout secures ample space for maintenance and inspection work.

When designing a robot system to restrict the area of motion of the robots, do so in accordance with the methods described in each Manipulator manual. Utilize both software and mechanical stops as measures to restrict motion.

Install the emergency stop switch at a location near the operation unit for the robot system where the operator can easily press and hold it in an emergency.

Do not install the Controller at a location where water or other liquids can leak inside the Controller. In addition, never use liquids to clean the Controller.

Disabling Power to the System using lock out / tag out

The power connection for the Robot Controller should be such that it can be locked and tagged in the off position to prevent anyone from turning ON power while someone else is in the safeguarded area.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 3

1. Safety

UL-compliant Controller (RC700-A-UL):

Perform lockout using the following procedure.

A padlock for lockout should be prepared by users.

Applicable shackle diameter: 4.0 to 6.5 mm

(1) Remove a fixing screw of the lockout bracket A by hand.

Screw

(2) Rotate the lockout bracket A.

(3) Set the screw removed in the step (1) to the lockout bracket B so as not to lose it.

(4) Put a padlock through the holes of the lockout brackets A and B to lock.

Padlock

4 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

End Effector Design

Provide wiring and piping that will prevent the robot end effector from releasing the object held (the work piece) when the robot system power is shut off.

Design the robot end effector such that its weight and moment of inertia do not exceed the allowable limits. Use of values that exceed the allowable limits can subject the robot to excessive loads. This will not only shorten the service life of the robot but can lead to unexpectedly dangerous situations due to additional external forces applied to the end effector and the work piece.

Design the size of the end effector with care, since the robot body and robot end effector can interfere with each other.

Peripheral Equipment Design

When designing equipment that removes and supplies parts and materials to the robot system, ensure that the design provides the operator with sufficient safety. If there is a need to remove and supply materials without stopping the robot, install a shuttle device or take other measures to ensure that the operator does not need to enter a potentially dangerous zone.

Ensure that an interruption to the power supply (power shutoff) of peripheral equipment does not lead to a dangerous situation. Take measures that not only prevent a work piece held from being released as mentioned in “End effector Design” but that also ensure peripheral equipment other than the robots can stop safely.

Verify equipment safety to ensure that, when the power shuts off, the area is safe.

Remote Control

To prevent operation by remote control from being dangerous, start signals from the remote Controller are allowed only when the control device is set to REMOTE,

TEACH mode is OFF, and the system is configured to accept remote signals. Also when remote is valid, motion command execution and I/O output are available only from remote. For the safety of the overall system, however, safety measures are needed to eliminate the risks associated with the start-up and shutdown of peripheral equipment by remote control.

Emergency Stop

Each robot system needs equipment that will allow the operator to immediately stop the system’s operation. Install an emergency stop device that utilizes emergency stop input from the Controller and all other equipment.

During the emergency stop, the power supplied to the motor for driving the robot is shut off, and the robot is stopped due to the dynamic brake.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 5

1. Safety

Make sure that all external components that shut off the power in case of emergency are turned OFF by the emergency stop circuit. Do not design to turn OFF the

Robot Controller by using outputs of all I/O boards. For example, if the I/O board is faulty, the Controller cannot turn OFF the power of external components. The emergency stop on the 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

Safeguard System

To ensure safety, a safeguard system should be installed for the robot system.

When installing the safeguard system, strictly observe the following points:

Refer to each Manipulator manual, and install the safeguard system outside the maximum space. Carefully consider the size of the end effector and the work pieces to be held so that there will be no error between the moving parts and the safeguard system.

Manufacture the safeguard system to withstand calculated external forces (forces that will be added during operation and forces from the surrounding environment).

When designing the safeguard system, make sure that it is free from sharp corners and projections, and that the safeguard system itself is not dangerous.

Make sure that the safeguard system can only be removed by using a tool.

There are several types of safeguard devices, including safety doors, safety barriers, light curtains, safety gates, and safety floor mats. Install the interlocking function in the safeguard device. The safeguard interlock must be installed so that the safeguard interlock is forced to work in case of a device failure or other unexpected accident. For example, when using a door with a switch as the interlock, do not rely on the switch’s own spring force to open the contact. The contact mechanism must open immediately in case of an accident.

Connect the interlock switch to the safeguard input of the drive unit’s

EMERGENCY connector. The safeguard input informs the Robot Controller that an operator may be inside the safeguard area. When the safeguard input is activated, the robot stops immediately and enters pause status, as well as either operation-prohibited status or restricted status (low power status).

Make sure not to enter the safeguarded area except through the point where the safeguard interlock is installed.

6 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

The safeguard interlock must be installed so that it can maintain a safe condition until the interlock is released on purpose once it initiates. The latch-release input is provided for the EMERGENCY connector on the Controller to release the latch condition of the safeguard interlock. The latch release switch of the safeguard interlock must be installed outside of the safeguarded area and wired to the latchrelease input.

It is dangerous to allow someone else to release the safeguard interlock by mistake while the operator is working inside the safeguarded area. To protect the operator working inside the safeguarded area, take measures to lock out and tag out the latchrelease switch.

Presence Sensing Device

The above mentioned safeguard interlock is a type of presence sensing device, since it indicates the possibility of somebody being inside the safeguard system. When separately installing a presence sensing device, however, perform a satisfactory risk assessment and pay thorough attention to its dependability.

Here are precautions that should be noted:

Design the system so that when the presence sensing device is not activated or a dangerous situation still exists that no personnel can go inside the safeguard area or place their hands inside it.

Design the presence sensing device so that regardless of the situation the system operates safely.

If the robot stops operating when the presence sensing device is activated, it is necessary to ensure that it does not start again until the detected object has been removed. Make sure that the robot cannot automatically restart.

Resetting the Safeguard

Ensure that the robot system can only be restarted through careful operation from outside the safeguarded system. The robot will never restart simply by resetting the safeguard interlock switch. Apply this concept to the interlock gates and presence sensing devices for the entire system.

Robot Operation Panel

The robot operation panel must not be located inside of the robot work envelope / workcell. Ensure that the robot system can be operated from outside of the safeguard.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 7

1. Safety

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■

Please carefully read the

Safety-related Requirements

before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

■

Do not enter the operating area of the Manipulator while the power to the robot system is turned ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.

WARNING

■

Before operating the robot system, make sure that no one is inside the safeguarded area. The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area.

The motion of the Manipulator is always in restricted status (low speed and low power) to secure the safety of an operator. However, operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly.

■

Immediately press the Emergency Stop switch whenever the

Manipulator moves abnormally while the robot system is operated.

Continuing operation of the robot system while the Manipulator moves abnormally is extremely hazardous and may result in serious bodily injury and/or severe equipment change to the robot system.

■

To shut off power to the robot system, disconnect the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.

WARNING

■

Before performing any replacement procedure, turn OFF the 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.

■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

8 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

CAUTION

1. Safety

■

Whenever possible, only one person should operate the robot system.

If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.

■ SCARA Robot:

Joints #1, #2, and #4:

If the joints are operated repeatedly with the operating angle less than

5 degrees, they may get damaged early because the bearings are likely to cause oil film shortage in such situation. To prevent early breakdown, move the joints larger than 50 degrees for about five to ten times a day.

Joint #3:

If the up-and-down motion of the hand is less than 10 mm, move the joint a half of the maximum stroke for five to ten times a day.

■ Vertical 6-axis Robot:

If the joints are operated repeatedly with the operating angle less than

5 degrees, they may get damaged early because the bearings are likely to cause oil film shortage in such situation. To prevent early breakdown, move the joints larger than 30 degrees for about five to ten times a day.

■ Vibration (resonance) may occur continuously depending on the combination of robot motion speed, Arm orientation, and end effector load. Vibration arises from natural vibration frequency of the Arm and can be controlled by following measures.

Changing Manipulator speed

Changing the teach points

Changing the end effector load

■

Manipulator may be warmed up due to motor heat or similar causes.

Do not touch the Manipulator until temperature falls. Also, make sure the temperature of the Manipulator falls and is not feel hot when you touch it. Then perform teaching or maintenance.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 9

1. Safety

1.3.1 Safety-related Requirements

Specific tolerances and operating conditions for safety are contained in the manuals for the robot, Controller and other devices. Be sure to read those manuals as well.

For the installation and operation of the robot system, be sure to comply with the applicable local and national regulations.

Robot system safety standards and other examples are given in this chapter.

To ensure that safety measures are satisfied, also refer to these standards.

(Note: The following is a partial list of the necessary safety standards.)

EN ISO 10218-1

Robots and robotic devices -- Safety requirements for industrial robots

-- Part 1: Robots

EN ISO 10218-2

Robots and robotic devices -- Safety requirements for industrial robots

-- Part 2: Robot systems and integration

ANSI/RIA R15.06 American National Standard for Industrial Robots and Robot Systems

-- Safety Requirements

EN ISO 12100

Safety of machinery -- General principles for design -- Risk assessment and risk reduction

EN ISO 13849-1

Safety of machinery -- Safety-related parts of control systems -- Part 1:

General principles for design

EN ISO 13850

EN ISO 13855

EN ISO 13857

EN ISO14120

IEC 60204-1

EN 60204-1

CISPR11

EN55011

IEC 61000-6-2

EN 61000-6-2

Safety of machinery -- Emergency stop function-- Principles for design

Safety of machinery -- Positioning of safeguards with respect to the approach speeds of parts of the human body.

Safety of machinery -- Safety distances to prevent hazard zones being reached by upper and lower limbs.

Safety of machinery -- Guards -- General requirements for the design and construction of fixed and movable guards

Safety of machinery -- Electrical equipment of machines -- Part 1:

General requirements

Industrial, scientific and medical (ISM) radio-frequency equipment --

Electromagnetic disturbance characteristics -- Limits and methods of measurement

Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards --

Immunity for industrial environments

RC700-A / RC700DU-A UL specification

Compatibility assessment of the UL-compliant model is performed according to the following standards.

UL1740 (2007 Edition)

ANSI/RIA R15.06-2012

NFPA 79 (2015 Edition)

CSA/CAN Z434-14

ISO 138491-1:2015

IEC62061:2005

10 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.3.2 Part Names / Arm Motion

RC700

Left side

(1)

(2)

(3)

(5)

(6)

(7)

(11) (12) (13)

(8)

(9)

(4)

(10)

(22)

(23)

(14) (15) (16)

(17)

(18)(19) (20)

(21)

RC700-A

Left side

(1)

(2)

(3)

(9)

(4)

(10)

(14)

(5)

(11)

(1) Control unit Number label

(2) LED

(3) Seven-segment Display

(4) M/C POWER connector

(5) Fan Filter

(6) Option slot

(7) Battery

(8) POWER switch

(9) Connection Check label

(10) EMERGENCY connector

(11) TP port

(12) Standard RS-232C port

(12) (13)

(6)

(15) (16)

(17)

(18)(19) (20)

(21)

(13) Encoder Voltage Adjustment Switch

(14) M/C SIGNAL connector

(15) R-I/O connector

(16) RC700: DU OUT connector

RC700-A: OUT connector

(17) Development PC connection USB port

(18) Memory port

(19) Trigger Switch

(20) LAN (Ethernet communication) port

(21) I/O connector

(22) AC IN

(23) Control unit signature label

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

(7)

(8)

(22)

(23)

1. Safety

RC700-A-UL

(24)

UL-compliant Controller (RC700-A-UL):

This model has (24) lockout mechanism.

For the lockout procedure, refer to the following section.

1.2.2 Designing a Safe Robot System

- Disabling Power to the System using lockout / tagout

12 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

(15)

(16)

1. Safety

RC700DU / RC700DU-A

Left side

(1)

(2)

(6)

(3)

(7)

(9) (10)

(4)

(8)

(11)(12) (13)

(1) Drive Unit Number label

(2) LED

(3) M/C POWER connector

(4) Fan Filter

(5) POWER switch

(6) Connection Check label

(7) EMERGENCY connector

(8) Encoder Voltage Adjustment Switch

(9) M/C SIGNAL connector

(14)

(5)

(10) R-I/O connector

(11) RC700: DU OUT connector

RC700-A: OUT connector

(12) RC700: DU IN connector

RC700-A: IN connector

(13) RC700DU No. setup switch

(14) I/O connector

(15) AC IN

(16) Drive unit signature label

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 13

1. Safety

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Fitting (black or blue)* for ø6 mm pneumatic tube

Fitting (black or blue)* for ø4 mm pneumatic tube

Joint #3

Brake release switch

Fittings (white) for ø6 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector

(9-pin D-sub connector)

LED

Joint #2

(rotating)

Cable

Arm #2

Joint #3

(up/down)

Shaft

Joint #4

(rotating)

Base

Joint #1

(rotating)

Arm #1

Signal cable

Power cable

Fittings (white) for ø6 mm pneumatic tube

User connector

(9-pin D-sub connector)

User connector

(15-pin D-sub connector)

Fitting (black or blue)* for ø4 mm pneumatic tube

Fitting (black or blue)* for ø6 mm pneumatic tube

* Color differs depending on the shipment time

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

NOTE



Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

Joint #4 Rotate the shaft by hand.

When the brake release switch is pressed in emergency mode, the brake for Joint #3 is released. Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 15

1. Safety

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

−

Joint #2

(rotating)

Joint #1

(rotating)

Joint #3 Brake release switch

LED lamp

Arm #2

−

Base

Joint #3

(up/down)

−

Joint #4

(rotating)

Shaft

Arm #1

User connector

(15-pin D-sub connector)

Fittings (white) for ø6 mm pneumatic tube

Fittings (black or blue)* for ø6 mm pneumatic tube

Signal cable

* Color differs depending on the shipment time

Power cable

Fitting (black or blue)* for ø4 mm pneumatic tube

16 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

NOTE



Joint #4 Rotate the shaft by hand.

When the brake release switch is pressed in emergency mode, the brake for Joint #3 is released.

Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 17

1. Safety

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Joint #3 and #4 brake release switch

Joint #2

(rotating)

−

Joint #1

(rotating)

−

Arm #1

LED lamp

Arm #2

Joint #3

(up and down)

−

Joint #4

(rotating)

Shaft

Base

User connector

(9-pin D-sub connector)

Signal cable

Fitting (white)

for ø 6 mm pneumatic tube

Fitting (white)

for ø 4 mm pneumatic tube

User connector

(15-pin D-sub connector)

Power cable

Fitting (black or blue)*

for ø 6 mm pneumatic tube

Fitting (black or blue)*

for ø 4 mm pneumatic tube

* Color differs depending on the shipment time

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

NOTE



Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

Joint #4 For G6-**1**,

Rotate the shaft by hand.

For G6-**3**,

The shaft cannot be rotated by hand until the electromagnetic brake applied to the shaft has been released. Move the shaft while pressing the brake release switch.

The brake release switch affects both Joints #3 and #4. When the brake release switch is pressed in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.

(For G6-**1**, Joint #4 has no brake on it.)

Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 19

1. Safety

G10/G20

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Joints #3 and #4 brake release switch

Joint #2

(rotating)

−

Joint #1

(rotating)

−

Arm #1

LED lamp

Arm #2

Joint #3

(up and down)

−

Joint #4

(rotating)

Shaft

Base

User connector

(9-pin D-sub connector)

Signal cable

Fitting (white)

for ø 6 mm pneumatic tube

Fitting (white)

for ø 4 mm pneumatic tube

User connector

(15-pin D-sub connector)

Power cable

Fitting (black or blue)* for ø 6 mm pneumatic tube

Fitting (black or blue)* for ø 4 mm pneumatic tube

* Color differs depending on the shipment time

20 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

Joint #4 The shaft cannot be rotated by hand until the electromagnetic brake applied to the shaft has been released.

Move the shaft while pressing the brake release switch.

The brake release switch affects both Joints #3 and #4. When the brake release switch is pressed in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.

Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 21

1. Safety

RS3

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Power Cable

Signal Cable

Base

User Connector

(15-pin D-sub Connector)

Joint #1

(rotating)

−

Joint #2

(rotating)

−

Fitting (white) for ø4 mm pneumatic tube

Fitting (black or blue)* for ø 6 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Power Cable

Base

Signal Cable

Arm #1

Arm #2

Joint #3

(up and down)

Arm #2

−

Joint #4

(rotating)

Shaft

User Connector

(15-pin D-sub Connector)

LED lamp

Fitting (white) for ø4 mm pneumatic tube

Fitting (black or blue)* for ø 6 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Joint #3 brake release switch

* Color differs depending on the shipment time

22 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

Joint #4 Rotate the shaft by hand.

Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 23

1. Safety

RS4

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Power Cable

Joint #1

(rotating)

−

+

User Connector

(15-pin D-sub Connector)

Fitting (white) for ø4 mm pneumatic tube

Fitting (black or blue)* for ø 6 mm pneumatic tube

Power Cable

Base

Joint #2

(rotating)

−

+

* Color differs depending

on the shipment time

Base

Signal Cable

Fitting (white) for ø 6 mm pneumatic tube

Signal Cable

Arm #1

Arm #2

+

Joint #3

(up and down)

−

+

(rotating)

Shaft

User Connector

(15-pin D-sub Connector)

LED lamp

Fitting (white) for ø4 mm

Arm #2 pneumatic tube

Fitting (black or blue)* for ø 6 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Joint #3 brake release switch

24 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



1. Safety

When the system is placed in emergency mode, push the arm or joint of the

Manipulator by hand as shown below:

Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.

Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release switch.

Joint #4 Rotate the shaft by hand.

Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 25

1. Safety

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Upper Arm (Arms #3 to #6)

Arm #4

Joint #4

LED Lamp

This lamp lights up while the motors are ON.

Arm #3

Arm #6

Joint #6

Arm #5

Joint #5

Joint #3

Arm #2

Joint Motion

Joint #1 : The whole Manipulator revolves.

Joint #2 : The lower arm swings.

Joint #3 : The upper arm swings.

Joint #4 : The wrist revolves.

Joint #2

Arm #1

(Lower Arm)

Joint #5 : The wrist swings.

NOTE



Joint #1

Joint #6 : The hand rotates.

Base

When the LED lamp is lighting or the Controller power is ON, current is being applied to the Manipulator. (The LED lamp may not be seen depending on the

Manipulator’s posture. Be very careful.) 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.

26 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

User cable connector

(9-pin D-sub connector)

White

Blue

Fitting for ø 4 mm pneumatic tube

Signal cable

Power cable

Standard-model / Clean-room model

Cover Exhaust port

For ø8 mm pneumatic tube

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 27

1. Safety

Arm #6

Joint #6

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

LED Lamp

Upper Arm (Arms #3 to #6)

J6-

Arm #4

J5+

J4-

Joint #4

J3+

This lamp lights up while the motors are ON.

Arm #3

J6+

J5-

J3-

Joint #3

Arm #5

J4+

Joint #5

J2-

J2+

Arm #2

J1+

Joint #2

Arm #1

(Lower Arm)

J1-

Joint Motion

Joint #1 : The whole Manipulator revolves.

Joint #2 : The lower arm swings.

Joint #3 : The upper arm swings.

Joint #4 : The wrist revolves.

Joint #5 : The wrist swings.

Joint #6 : The hand rotates.

NOTE



Joint #1

Base

(Figure: C8-A701* (C8))

When the LED lamp is lighting or the Controller power is ON, current is being applied to the Manipulator. (The LED lamp may not be seen depending on the

Manipulator’s posture. Be very careful.) 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.

28 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Cable backward model

F-sensor cable connector

User cable connector

(15-pin D-sub connector)

Power cable

Signal cable

Cable downward model

User cable connector

(15-pin D-sub connector)

F sensor cable connector

Ethernet cable connector

Power cable

Ethernet cable connector

Standard-model

: Cover

Clean-room model

: Exhaust port

For ø12 mm pneumatic tube

For ø6 mm pneumatic tubes

(Air1, Air2)

1. Safety

Standard-model

: Cover

Clean-room model

: Exhaust port

For ø12 mm pneumatic tube

For ø6 mm pneumatic tubes

(Air1, Air2)

Signal cable

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 29

1. Safety

C12

Arm #6

Joint #6

Arm #5

The motion range of each arm is shown in the figure below. Take all necessary safety precautions.

Upper Arm (Arms #3 to #6)

Arm #4

Joint #5

Joint #4

LED Lamp

This lamp lights up while the motors are ON.

Arm #3

Joint #3

Arm #2

Joint #2

Joint Motion

Joint #1 : The whole Manipulator revolves.

Joint #2 : The lower arm swings.

Joint #3 : The upper arm swings.

Joint #4 : The wrist revolves.

Joint #5 : The wrist swings.

Joint #6 : The hand rotates.

Arm #1

(Lower Arm)

Joint #1

Base

NOTE



When the LED lamp is lighting or the Controller power is ON, current is being applied to the Manipulator. (The LED lamp may not be seen depending on the

Manipulator’s posture. Be very careful.) 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 (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Cable backward model

F-sensor cable connector

User cable connector

(15-pin D-sub connector)

Power cable

Signal cable

Ethernet cable connector

Standard-model

: Cover

Clean-room model

: Exhaust port

For ø12 mm pneumatic tube

For ø6 mm pneumatic tubes

(Air1, Air2)

Cable downward model

User cable connector

(15-pin D-sub connector)

F sensor cable connector

Ethernet cable connector

Power cable

Standard-model

: Cover

Clean-room model

: Exhaust port

For ø12 mm pneumatic tube

For ø6 mm pneumatic tubes

(Air1, Air2)

Signal cable

Cable backward model, Cable downward model

Signature label

(Serial No. of

Manipulator)

Bolt hole M5 (for grounding)

(Illustration: Cable backward model)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 31

1. Safety

One-touch fittings for ø6 mm pneumatic tubes Air 1 Air 2

User cable connector

Brake release connector

Signal cable

Ethernet 1

Ethernet 2

Ethernet cable connectors

Power cable

Base

Joint #1

Arm #1

Joint #3

J3-

J1-

J3+

Arm #3

J4-

Arm #5

Joint #5

Joint #6

J6-

LED Lamp

J1+

1 2

One-touch fittings for

ø6 mm pneumatic tubes

J2+

Arm #2

Joint #4

J4+

Arm #4

J5+

J5-

J6+

Arm #6

J2-

Joint #2

One-touch fittings for ø6 mm pneumatic tubes

Air 1 Air 2

User connector

NOTE



Ethernet cable connectors

Ethernet 1

Ethernet 2

When the LED lamp is lighting or the Controller power is ON, current is being applied to the Manipulator. (The LED lamp may not be seen depending on the Manipulator’s posture. Be very careful.) 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 (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Joint #2

J2-

LED Lamp

J4+

Arm #2

J3+

Arm #3

Joint #3

J5+

J2+

Joint #6

Arm #6

J6+

J5-

J4-

Joint #4

Arm #4

J3-

Arm #5

J6-

Joint #5

Arm #1

J1+

Joint #1

J1-

Base

User cable connector

User

NOTE



Ether 1

Ether 2

Air 2 Air 1

One-touch fittings for ø6 mm pneumatic tubes

Ethernet cable connector

When the LED lamp is lighting or the Controller power is ON, current is being applied to the Manipulator. (The LED lamp may not be seen depending on the

Manipulator’s posture. Be very careful.) 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 (RC700 / EPSON RC+ 7.0) Rev.22 33

1. Safety

Cable installation direction: Standard (backward)

One-touch fittings for ø6 mm pneumatic tubes

Air 1 Air 2

Ethernet

Cable

Connecter

Ether 1

Power cable

Signal cable

Ether 2

Brake release connector

: B-release

User cable connector

: User

Cable installation direction: Downward

One-touch fittings for ø6 mm pneumatic tubes

Air 1 Air 2

User cable connector

: User

Power cable

Signal cable

Brake release connector

: B-release

Ether 1 Ether 2

Ethernet cable connector

The operation varies with different module combination. For details, refer to the

EZ Module X5 Series manual.

34 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.3.3 Operation Modes

The robot system has three operation modes: TEACH, AUTO, and TEST modes.

TEACH mode This mode enables point data teaching and checking close from the Robot using the Teach Pendant.

Robot operates in Low power status.

AUTO mode This mode enables automatic operation (program execution) of the Robot system at the factory.

In this mode, robot operation and program execution are not allowed when the safety door is open.

TEST mode

(T1)

This mode enables program verification while the Enable

Switch is held down and the safeguard (including the safety door) is open.

(T2)

RC700-A option

TP3 only

This is a low speed program verification function (T1: manual deceleration mode) which is defined in Safety

Standards.

In this mode, the specified Function can be executed with multi-task / single-task, multi-Manipulator / single-

Manipulator at low speed.

This mode enables program verification while the Enable

Switch is held down and the safeguard (including the safety door) is open.

Unlike the TEST/T1, the program verification in a high speed is available in this mode.

In this mode, the specified Function can be executed with multi-task / single-task, multi-Manipulator / single-

Manipulator at high speed.

NOTE



T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 35

1. Safety

1.4 Maintenance Safety

Please read this section,

Maintenance

of the Manipulator manual,

Maintenance

of the Controller manual, and other related manuals carefully to understand safe maintenance procedures before performing any maintenance.

Only authorized personnel who have taken the safety training should be allowed to maintain the robot system. The safety training is the program for the industrial robot operator that follows the laws and regulations of each nation.

The personnel who have taken the safety training acquire knowledge of industrial robots (operations, teaching, etc.), knowledge of inspections, and knowledge of related rules/regulations. Only personnel who have completed the robot systemtraining and maintenance-training classes held by the manufacturer, dealer, or locally-incorporated company should be allowed to maintain the robot system.

■ Do not remove any parts that are not covered in this manual. Follow the maintenance procedure strictly as described in this manual,

Maintenance

of the Manipulator manual, and

Maintenance

of the

Controller manual. Improper removal of parts or improper maintenance may not only cause improper function of the robot system but also serious safety problems.

■ Keep away from the Manipulator while the power is ON if you have not taken the training courses. Do not enter the operating area while the power is ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the

Manipulator may move even though it seems to be stopped.

WARNING

■ When you check the operation of the Manipulator after replacing parts, be sure to check it while you are outside of the safeguarded area. Checking the operation of the Manipulator while you are inside of the safeguarded area may cause serious safety problems as the

Manipulator may move unexpectedly.

■ Before operating the robot system, make sure that both the

Emergency Stop switches and safeguard switches function properly.

Operating the robot system when the switches do not function properly is extremely hazardous and may result in serious bodily injury and/or serious damage to the robot system as the switches cannot fulfill their intended functions in an emergency.

36 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

■ Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. To shut off power to the robot system, disconnect the power plug from the power source.

Performing any work while connecting the AC power cable to a factory power source is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

WARNING

■ Before performing any replacement procedure, turn OFF the 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.

■ 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.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

CAUTION

■ Carefully use alcohol, liquid gasket, and adhesive following respective instructions and also instructions below. Careless use of alcohol, liquid gasket, or adhesive may cause a fire and/or safety problems.

Never put alcohol, liquid gasket, or adhesive close to fire.

Use alcohol, liquid gasket, or adhesive while ventilating the room.

Wear protective gear including a mask, protective goggles, and oilresistant gloves.

If alcohol, liquid gasket, or adhesive gets on your skin, wash the area thoroughly with soap and water.

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 (RC700 / EPSON RC+ 7.0) Rev.22 37

1. Safety

CAUTION

■ Wear protective gear including a mask, protective goggles, and oilresistant gloves during grease up. If grease gets into your eyes, mouth, or on your skin, follow the instructions below.

If grease gets into your eyes:

Flush them thoroughly with clean water, and then see a doctor immediately.

If grease gets into your mouth:

If swallowed, do not induce vomiting. See a doctor immediately.

If grease just gets into your mouth, wash out your mouth with water thoroughly.

If grease gets on your skin:

Wash the area thoroughly with soap and water.

■

Manipulator may be warmed up due to motor heat or similar causes.

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.

38 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.5 Emergency Stop

G1, G3, G6, G10, G20, RS, C4, C8, C12, N2 , N6 series

If the Manipulator moves abnormally during operation, immediately press the

Emergency Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator to deceleration motion and stops it at the maximum deceleration speed.

However, avoid pressing the Emergency Stop switch unnecessarily while the

Manipulator is running normally. Pressing the Emergency Stop switch locks the brake and it may cause wear on the friction plate of the brake, resulting in the short life of the brake.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

To place the system in emergency mode during normal operation, press the

Emergency Stop switch when the Manipulator is not moving.

Refer to the Controller manual for instructions on how to wire the Emergency Stop switch circuit.

Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations, make sure to stop the Manipulator using the E-STOP of the Controller.

If the Manipulator is stopped by turning OFF the Controller while it is operating, following problems may occur.

Reduction of the life and damage of the reduction gear unit

Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like while the Manipulator is operating, make sure to check the following points after power restoration.

Whether or not the reduction gear is damaged

Whether or not the joints are in their proper positions

If there is a position gap, perform calibration by referring to the Maintenance:

Calibration in the Manipulator manual.

Manipulator manuals contain information on the Emergency Stop. Please also read the descriptions in the manual and use the robot system properly.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 39

1. Safety

Before using the Emergency Stop switch, be aware of the followings.

The Emergency Stop (E-STOP) switch should be used to stop the

Manipulator only in case of emergencies.

To stop the Manipulator operating the program except in emergency, use

Pause (halt) or STOP (program stop) commands

Pause and STOP commands do not turn OFF the motors. Therefore, the brake does not function.

For the Safeguard system, do not use the circuit for E-STOP.

For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide

2. Safety - Installation and Design Precautions - Safeguard System

Safety and Installation

2.6 Connection to EMERGENCY Connector

To check brake problems, refer to the following manuals.

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)

40 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



1. Safety

X5 series

If the Manipulator moves abnormally during operation, immediately press the

Emergency Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator to deceleration motion and stops it at the maximum deceleration speed.

However, avoid pressing the Emergency Stop switch unnecessarily while the

Manipulator is running normally. Otherwise, the Manipulator may hit the peripheral equipment since the operating trajectory until the robot system stops is different from that in normal operation.

Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating. Pressing the switch during operation makes the brakes work. This will shorten the life of the brakes due to the worn friction plates.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

Also, the Emergency Stop during operation applies impact on the reduction gear unit, and it may result in the short life of the reduction gear unit.

To place the robot system in emergency mode during normal operation, press the

Emergency Stop switch while the Manipulator is not moving.

Refer to the Robot Controller manual for instructions on how to wire the

Emergency Stop switch circuit.

When the Manipulator is stopped by the emergency stop function (the electric current for the motor is cut off), the J1 and J2 axes may overrun a maximum of

150 mm from their servo motion target points. Therefore, design the layout of the robot system so that the end effector does not collide with peripheral equipment.

When the Manipulator is stopped by the emergency stop while it is moving with large load being applied, an error may occur. If the error occurs, reset it by the

Reset command.

Example: If the Emergency Stop switch is pressed while the RH module is carrying an 80 kg workpiece.

The following error occurs:

5040: Motor torque output failure in high power state.

Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations such as “Safeguard

Open”, make sure to stop the Manipulator using the Emergency Stop switch of the

Controller.

If the Manipulator is stopped by turning OFF the Controller while it is operating, the following problems may occur.

Reduction of the life and damage of the reduction gear unit

Position gap at the joints

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 41

1. Safety

In addition, if the Controller was forced to be turned OFF by blackouts and the like while the Manipulator is operating, make sure to check the following points after power restoration.

Whether or not the reduction gear is damaged

Whether or not the joints are in their proper positions

If there is a position gap, perform calibration by referring to the

4.13 Calibration

in this manual.

Before using the Emergency Stop switch, be aware of the followings.

The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in case of emergencies.

Before using the Emergency Stop switch, be aware of the followings.

The Emergency Stop (E-STOP) switch should be used to stop the

Manipulator only in case of emergencies.

To stop the Manipulator operating the program except in emergency, use

Pause (halt) or STOP (program stop) commands

Pause and STOP commands do not turn OFF the motors. Therefore, the brake does not function.

For the Safeguard system, do not use the circuit for E-STOP.

For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide

2. Safety - Installation and Design Precautions - Safeguard System

Safety and Installation

2.6 Connection to EMERGENCY Connector

To check brake problems, refer to the following manuals.

Safety and Installation

5.1.1 Manipulator

- Inspection While the Power is ON (Manipulator is operating)

42 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.5.1 Free running distance in emergency

The Manipulator in operation cannot stop immediately after the Emergency Stop switch is pressed.

However, remember that the values vary depending on following conditions:

Hand weight WEIGHT Setting ACCEL Setting

Workpiece weight SPEED Setting Posture etc.

Approximate time and distance of the free running are as follow:

Conditions for measurement

Accel setting

Speed setting

100

Load [kg]

Weight setting

Start point of operation

Point where the emergency stop signal is input

Joint #1

Target point

Joint #2

Stop point

Free running time

Free running angle

Free running distance

Controller

Manipulator

Joint #1 + Joint #2

Joint #3

Joint #1

Joint #2

[s]

[ ° ]

[

]

Joint #1 + Joint #2 [ ° ]

Joint #3 [mm]

RC700-A

G1-171*, G1-171*Z G1-221*, G1-221*Z

0.17 0.18

0.13

41 48

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 43

1. Safety

Conditions for Measurement

Accel Setting

Speed Setting

Load [kg]

Weight Setting

100

Point where the emergency stop signal is input

Joint #1

Start point of operation

Target point

Free running time

Free running angle

Free running distance

Joint #2

Stop point

Controller RC700-A

Manipulator G3-25*** G3-30*** G3-35***

Joint #1 + Joint #2

Joint #3

Joint #1

Joint #2

Joint #1 + Joint #2

[

[s]

]

0.3

0.2

0.3

0.2

Joint #3 [mm] 60 60 60

44 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Conditions for Measurement

Accel Setting 100

Speed Setting

Load [kg]

Weight Setting

100

Point where the emergency stop signal is input

Joint #1

Start point of operation

Target point

Stop point

Free running angle

Joint #2

Free running time

Free running distance

Controller RC700-A

Manipulator G6-45*** G6-55*** G6-65***

Joint #1 + Joint #2

Joint #3

Joint #1

Joint #2

Joint #1 + Joint #2

[s]

[

[ °

]

0.5

0.4

105

0.5

0.4

0.5

0.4

105

95 95 95

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 45

1. Safety

G10/G20

Conditions for Measurement

G10

Accel Setting

Speed Setting

Load [kg]

Weight Setting

100

Point where the emergency stop signal is input

Joint #1

G20

100

Start point of operation

Target point

Free running time

Free running angle

Free running distance

Stop point

Joint #2

Joint #1 + Joint #2

Controller RC700-A

Manipulator

G10-65*** G10-85*** G20-85*** G20-A0***

[s]

0.5 0.8 0.9 0.7

Joint #3 [s]

0.3 0.3 0.3 0.3

Joint #1

Joint #2 [

[

]

105

160

140

Joint #1 + Joint #2

Joint #3

[ ° ]

G10/G20-**1** [mm]

G10/G20-**4** [mm]

80 80 140 140

46 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Conditions for Measurement

Accel Setting

Speed Setting

Load [kg]

Weight Setting

RS3-351* RS4-551*

100

Point where the emergency stop signal is input

Joint #1

Start point of operation

Target point

Joint #2

Free running time

Free running angle

Controller

Manipulator

Joint #1 + Joint #2

Joint #3

Joint #1

Joint #2

Joint #1 + Joint #2

[s]

[ ° ]

Free running distance

Joint #3 [mm]

Stop point

RC700-A

RS3-351* RS4-551*

0.3

0.2

0.7

0.3

100

55 65

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 47

1. Safety

Conditions of Measurement

ACCEL Setting

SPEED Setting

Load [kg]

WEIGHT Setting

Free running time [s]

Free running angle [ ° ]

Controller

Manipulator

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

C4 series

100

RC700 / RC700-A

C4-A601**

0.4

C4-A901**

0.3

0.4

0.5

0.3

0.4

0.3

48 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Conditions of Measurement

ACCEL Setting

SPEED Setting

Load [kg]

WEIGHT Setting

C8 series

100

Controller

Free running time [s]

Free running angle [

]

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Table Top,

Ceiling

Wall

Table Top,

Ceiling

Wall

0.5

0.9

0.5

0.2

110

RC700-A

C8-A901**

(C8L)

0.5

0.9

0.6

0.5

0.4

0.2

100

C8-A1401**

(C8XL)

0.9

1.7

0.7

0.4

0.5

0.3

130

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 49

1. Safety

C12

Conditions of Measurement

ACCEL Setting

SPEED Setting

Load [kg]

WEIGHT Setting

Free running time [s]

Free running angle [ ° ]

C12 series

100

Controller RC700-A

Manipulator C12-A1401** (C12XL)

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

0.7

0.4

0.3

50 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Conditions of Measurement

ACCEL Setting

SPEED Setting

Load [kg]

WEIGHT Setting

Free running time [s]

Free running angle [ ° ]

Controller

Manipulator

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

N2 series

100

2.5

RC700-A

N2-A450S*

0.75

0.7

0.5

0.35

0.3

1. Safety

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 51

1. Safety

Conditions of Measurement

ACCEL Setting

SPEED Setting

Load [kg]

WEIGHT Setting

Free running time [s]

Free running angle [ ° ]

N6 series

100

Controller

RC700-A

Manipulator N6-A1000** N6-A850**R

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

Arm #1

Arm #2

Arm #3

Arm #4

Arm #5

Arm #6

0.75

0.65

0.45

0.4

0.5

110

0.9

0.6

0.55

0.45

0.4

0.5

110

52 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

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.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 53

1. Safety

1.6 Labels

Labels are attached around the locations of the Controller and Manipulator where specific dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain the Robot System safely.

Do not tear, damage, or remove the labels. Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas:

Location

1.6.1 Controller

Label Note

Residual voltage exists. To avoid electric shock, do not open the cover while the

Power is ON, or for 300 seconds after the Power is

OFF.

Residual voltage exists. To avoid electric shock, do not open the cover while the

Power is ON, or for 5 minutes after the Power is OFF.

Disconnect and lockout main power before performing maintenance and repair.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Location

Label

1. Safety

Note

Do not connect the followings to TP port.

Connecting to the followings may result in malfunction of the device.

OPTIONAL DEVICE dummy plug,

OP500, OP500RC, JP500,

TP-3** series, and OP1

Hazardous voltage exists while the Manipulator is ON.

To avoid electric shock, do not touch any internal electric parts.

Weight of the unit is indicated on the Signature label Make sure to check the weight before units transfer or relocation and prevent throwing out your back at holding the unit. Also, make sure to keep your hands, fingers, and feet safe from being caught or serious injury.

Make sure to use the designated lithium battery.

Refer to Controller Manual

Maintenance

10. Maintenance parts list

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 55

1. Safety

Location Label

RC700 / RC700-A Control Unit

RC700DU / RC700DU-A Drive Unit

(Figure: RC700)

56 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Location

1.6.2 Manipulator

Label

1. Safety

Note

Before loosening the base mounting screws, hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the

Manipulator.

For installation and transportation of robots, follow the directions in this manual.

To avoid the Manipulator from falling, support the Manipulator before removing the base mounting screws.

Follow the instructions in this manual for transportation and installation.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 57

1. Safety

Location Label Note

Do not enter the operation area while the Manipulator is moving. The robot arm may collide against the operator. This is extremely hazardous and may result in serious safety problems.

Hazardous voltage exists while the Manipulator is ON.

To avoid electric shock, do not touch any internal electric parts.

You may get your hand or fingers caught between the shaft and cover when bringing your hand close to moving parts.

* Manipulators with bellows do not have this label for no danger of your hand or fingers being caught.

You may get your hand or fingers caught when bringing your hand close to moving parts.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Location

Label

1. Safety

Note

C4:

Be careful of the arm falling due to its own weight when pressing the brake release switch. This label is attached on the optional brake release box.

C8, C12:

When releasing the brakes, be careful of the arm falling due to its own weight.

This label is attached on the

Manipulator and optional brake release box.

When releasing the brakes, be careful of the arm falling due to its own weight.

This warning label is attached on the Manipulator and optional brake release unit.

When the brake release box is used:

Details of procedures for releasing the brakes using the brake release box are described in the Manipulator manuals.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 59

1. Safety

Location

Label Note

When releasing the brakes, be careful of the arm falling / rotation due to its own weight.

Only authorized personnel should perform sling work and operate a crane and a forklift.

When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

60 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Location

Label

Location of Labels

1. Safety

Note

HOT

Be careful not to burn yourself.

F A

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 61

1. Safety

Common

Table Top Mounting

Multiple Mounting

62 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Table Top Mounting

G6-***S

Ceiling Mounting

G6-***SR

Wall Mounting

G6-***SW

1. Safety

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 63

1. Safety

G10/G20

Table Top Mounting: G10/G20-****

Ceiling Mounting: G10/G20-****R

Wall Mounting: G10/G20-****W

64 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Top

Side

B (Both sides)

Bottom

1. Safety

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 65

1. Safety

Top View

Lateral View Front View Lateral View Back View

E: This label is attached on the UL-approved Manipulators and the optional brake release box

66 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

C8, C12

Top View

Cable Downward model

Bottom View

Lateral View

Back View

Lateral View

Front View

(Illust: C8-A1401* (C8XL))

E: This label is attached on the UL-approved Manipulators and the optional brake release box

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 67

1. Safety

S/N: N201000001~N201010000

Lateral View

Front View

S/N: N201010001 or later

Lateral View

Back View

Lateral

Front

Lateral Back

E: This label is attached on the UL-approved Manipulators and the optional brake release box

68 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

N6-A1000**

1. Safety

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 69

1. Safety

N6-A850**R

N6-A850*BR

E B

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



Label E is for the Manipulator of up/down axis.

1. Safety

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 71

1. Safety

1.7 Safety Features

The robot control system supports safety features described below. However, the user is recommended to strictly follow the proper usage of the robot system by thoroughly reading the attached manuals before using the system. Failure to read and understand the proper usage of the safety functions is highly dangerous.

Among the following safety features, the Emergency Stop Switch and Safety Door

Input are particularly important. Make sure that these and other features function properly before operating the robot system.

For details, refer to the

2.6.1 Safety Door Switch and Latch Release Switch.

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop input terminals used for connecting the Emergency Stop switches.

Pressing any Emergency Stop switch can shut off the motor power immediately and the robot system will enter the Emergency Stop condition.

Stop category of Emergency Stop input: Category 0 (refer to Safety Standard

IEC60204-1)

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is connected to the EMERGENCY connector at the Controller.

When the safety door is opened, normally the Manipulator immediately stops the current operation, and the status of Manipulator power is operation-prohibited until the safety door is closed and the latched condition is released. In order to execute the Manipulator operation while the safety door is open, you must change the mode selector key switch on the Teach Pendant to the “Teach” mode. Manipulator operation is available only when the enable switch is on. In this case, the

Manipulator is operated in low power status.

Stop category of Safety door input: Category 1 (refer to Safety Standard

IEC60204-1)

Low Power Mode

The motor power is reduced in this mode.

Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. The restricted (low power) status ensures the safety of the operator and reduces the possibility of peripheral equipment destruction or damage caused by careless operation.

72 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Dynamic Brake

The dynamic brake circuit includes relays that short the motor armatures. The dynamic brake circuit is activated when there is an Emergency Stop input or when any of the following errors is detected: encoder cable disconnection, motor overload, irregular motor torque, motor speed error, servo error (positioning or speed overflow), irregular CPU, memory check-sum error and overheat condition inside the Motor Driver Module.

Motor Overload Detection

The dynamic brake circuit is activated when the system detects that the load on the motor has exceeded its capacity.

Irregular Motor Torque (out-of-control Manipulator) Detection

The dynamic brake circuit is activated when irregularity with motor torque (motor output) is detected (in which case the Manipulator is out of control).

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is running at incorrect speed.

Positioning Overflow -Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference between the Manipulator’s actual position and commanded position exceeds the margin of error allowed.

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.

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer. The system CPU and the motor controlling CPU inside the Controller are also designed to constantly check each other for any discrepancies. If a discrepancy is detected, the dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is detected.

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device inside the Motor Driver module is above the nominal limit.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 73

1. Safety

Relay Deposition Detection

The dynamic brake circuit is activated when relay deposition is detected.

Over-Voltage Detection

The dynamic brake circuit is activated when the voltage of the Controller is above the normal limit.

AC 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 is detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

74 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

1.8 Manipulator Specifications

Item

Mounting type

Arm length

Mass (cables not included)

Arm #2

Driving method

Arms #1, #2

Arm #1

Max. operating speed *1

Repeatability

All joints

Joints #1, #2

Joint #3 (Z)

Joint #4 (U)

Joints #1, #2

Joint #3 (Z)

Joint #4 (U)

Joint #1

Max. motion range

Max. pulse range (pulse)

Resolution

Joint #2

(Cleanroom model)

Z stroke

(Cleanroom model)

Joint #4

Joint #1

Joint #2

(Cleanroom model)

Joint #3

(Cleanroom model)

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Motor rated capacity

Payload

Joint #4 allowable moment of inertia *2

Rated

Maximum

Rated

Maximum

Shaft diameter

Mounting hole

Joint #3 down force

Installed wire for customer use

Installed pneumatic tube for customer use

Environmental requirements

Ambient temperature

Ambient relative humidity

Vibration level

4-axis spec

G1-171* G1-221*

Table Top

175 mm

75 mm

225 mm

125 mm

100 mm

8 kg: 18 lbs.

AC servo motor

2630 mm/s 3000 mm/s

1200 mm/s

3000

± 0.005 mm ± 0.008 mm

± 0.01 mm

± 0.01

± 125 °

± 140 °

(

140

)

± 152 °

(

149

)

100 (80) mm

± 360 °

− 1019449 to 6262329 pulse

± 2548623

( ± 2548623)

−

1092267 to 0

(

−

873813 to 0)

± 2767076

( ± 2712463)

−

393216 to 393216

3.43322E-05

/pulse

5.49316E-05

/pulse

9.15527E-05 mm/pulse

9.15527E-04 ° /pulse

All joints: 50 W

0.5 kg

1 kg

0.0003 kg·m

0.004 kg·m 2

ø 8 mm

125 × 88 (4-M6)

50 N

24 pin (9+15)

1 pneumatic tube (ø 4 mm)

: 0.59 MPa (6 kgf/cm

: 86 psi)

2 pneumatic tubes (ø 6 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

5 to 40 ° C

(with minimum temperature variation)

10 to 80 % RH (no condensation)

4.9 m/s 2 (0.5G) or less

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 75

1. Safety

Item

Noise level *3

Installation environment

Assignable Value

( ) Default values

Speed

Accel *5

SpeedS

AccelS

Fine

Weight

Safety standard

4-axis spec

G1-171* G1-221*

LAeq = 65 dB(A) or under

Cleanroom + ESD (ISO Class 3) *4

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0,100 to (0.5,100) to 1,100

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

76 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Mounting type

Arm length

Arms #1, #2

Arm #1

Arm #2

Mass (cables not included)

Driving method

Max. operating speed

Repeatability

Max. motion range

Max.

*1 pulse range (pulse)

Resolution

All joints

Joints #1, #2

Joint #3 (Z)

Joint #4 (U)

Joints #1, #2

Joint #3 (Z)

Joint #4 (U)

Joint #1

Joint #2

(Cleanroom model)

Z stroke

(Cleanroom model)

Joint #4

Joint #1

Joint #2

(Cleanroom model)

Joint #3

(Cleanroom model)

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Motor rated capacity

Payload

Joint #4 allowable moment of inertia

Shaft diameter

Mounting hole

Joint #3 down force

Installed wire for customer use

Rated

Maximum

Rated

Maximum

Installed pneumatic tube for customer use

1. Safety

3-axis spec

G1-171*Z G1-221*Z

Table Top

175 mm

75 mm

225 mm

125 mm

100 mm

8 kg: 18 lbs.

AC servo motor

2630 mm/s 3000 mm/s

1200 mm/s

3000 ° /s

0.005 mm

0.008 mm

± 0.01 mm

125

± 135 °

(

123

)

± 135 °

(

132

)

± 100 (80) mm

−

1019449 to 6262329 pulse

2457600

(

2239147)

−

1092267 to 0

( − 873813 to 0)

2457600

(

2402987)

− 393216 to 393216

3.43322E-05

/pulse

5.49316E-05

/pulse

9.15527E-05 mm/pulse

9.15527E-04

/pulse

All joints: 50 W

0.5 kg

1.5 kg

ø 8 mm

125 × 88 (4-M6)

50 N

24 pin (9 + 15)

1 pneumatic tube (ø 4 mm):

: 0.59 MPa (6 kgf/cm

: 86 psi)

2 pneumatic tubes (ø 6 mm):

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 77

1. Safety

Environmental requirements

Noise level *3

Installation environment

Item

Ambient temperature

Ambient relative humidity

Vibration level

Assignable Value

( ) Default values

Speed

Accel

SpeedS

AccelS

Fine

Weight

Safety standard

3-axis spec

G1-171*Z G1-221*Z

5 to 40 ° C

(with minimum temperature variation)

10 to 80 % RH (no condensation)

4.9 m/s 2 (0.5 G) or less

Aeq

= 65 dB (A) or under

Cleanroom + ESD (ISO Class 3) *4

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 100 to (0.5, 100) to 1.5, 100

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

78 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

*3: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum

Measurement point acceleration, and duty 50%.

: Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

*4: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Cleanliness level : Class ISO 3 (ISO14644-1)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube: Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s (Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 79

1. Safety

Arm length

Max. operating speed *1

Repeatability

Payload

Joints #4 allowable moment of inertia *2

Resolution

Hand

Mounting hole

Item

Arm #1, #2

Arm #1

Arm #2

Joint #1, #2

Joints #3

Joint #4

Joint #1, #2

Joint #3

Joint #4

Rated

Maximum

Rated

Maximum

Joint #1

Joint #2

Joint #3

Joint #4

Shaft diameter

Through hole

Table top mounting

Multiple mounting

Mass (cables not included)

Driving method

Motor rated capacity

Option

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Mounting type

Installation environment

Joint #3 down force

Installed wire for customer use

Installed pneumatic tube for customer use

Environmental requirements

Noise level *4

Ambient temperature

Ambient relative humidity

250 mm

120 mm

130 mm

3550 mm/s

0.008 mm

G3 series Manipulator

300 mm

170 mm

130 mm

350 mm

220 mm

130 mm

4350 mm/s 3950 mm/s

1100 mm/s

3000

0.01 mm

± 0.005

1 kg

3 kg

0.01 mm

0.005 kg·m

0.05 kg·m

0.0000343323

/pulse

0.0000549316

/pulse

0.0000878906 mm/pulse

0.000240928

° /pulse

ø 16 mm

ø 11 mm

120 × 120 mm (4-M8)

Wall mounting : 174

70 mm (4-M8)

Ceiling mounting : 120

120 mm (4-M8)

/ custom specification

14 kg: 31 lbs.

AC servo motor

200 W

150 W

Multiple mounting

Cleanroom & ESD *3

150 N

15 (15 pin: D-sub) 15 cores

2 pneumatic tubes (ø6 mm) :

0.59 MPa (6 kgf/cm 2 : 86 psi)

1 pneumatic tubes (ø4 mm) :

0.59 MPa (6 kgf/cm 2 : 86 psi)

5 to 40 ° C

(with minimum temperature variation)

10 to 80% (no condensation)

Aeq

= 70 dB (A) or under

80 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Assignable Value

( ) Default values

Safety standard

Item

Speed

Accel

SpeedS

AccelS

Fine

Weight

Max. motion range ( ° ) (mm) / Max. pulse range (pulse)

Standard-model / Table Top Mounting

Item

Straight

Joint #1

Joint #2

(

Max. motion range

° ), (mm)

Curved

Joint #1

Right hand

Left hand

Right hand

Left hand

Common

Straight

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Right hand

Joint #1

Max. pulse range

(pulse)

Curved

Left hand

Joint #2

Right hand

Left hand

Common

Joint #3

Joint #4

1. Safety

G3 series Manipulator

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 130 to (1, 130) to 3, 130

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

G3-251S

± 141

G3-301S-*

± 140

−

± 142

125 to 150

G3-351S-*

−

110 to 165

2566827

− 150 to 125 − 165 to 110

− 135 to 150 − 120 to 165

−

150 to 135

−

165 to 120

150 mm

± 360

− 1456356 to 6699236

2585032

− 1019449 to 6990507

−

1747627 to 6262329

2457600 to 2730667

2730667 to 2457600

− 1706667 to 0

± 1494221

− 582543 to 7427414

− 2184534 to 5825423

− 2184534 to 3003734

− 3003734 to 2184534

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 81

1. Safety

Standard-model / Multiple Mounting

Item

Straight

Joint #1

Joint #2

Max. motion range

( ° ), (mm)

Curved

Joint #1

Max. pulse range

(pulse)

Common

Straight

Curved

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Joint #1

Joint #2

Common

Joint #3

Joint #4

Right hand

Left hand

Right hand

Left hand

Right hand

Left hand

Right hand

Left hand

G3-301SM

115

135

G3-351SM-*

120

± 142

− 105 to 130

− 160 to 120

150 mm

± 360

−

130 to 105

− 120 to 160

− 728178 to

5971058

± 2457600

− 873814 to 6116694

± 2585032

− 436907 to 6407965

− 1165085 to 5679787

− 2184534 to 2912712

−

2912712 to 2184534

− 1706667 to 0

± 1494221

Cleanroom & ESD model / Table Top Mounting

Item

Straight

Joint #1

Joint #2

Max. motion range

( ° ), (mm)

Curved

Joint #1

Joint #2

Right hand

Left hand

Right hand

Left hand

Common

Straight

Joint #3

Joint #4

Joint #1

Joint #2

Right hand

Joint #1

Max. pulse range

(pulse)

Curved

Left hand

Right hand

Joint #2

Left hand

Common

Joint #3

Joint #4

G3-251C G3-301C-*

± 140

± 137

± 141

G3-351C-*

± 142

−

125 to 150

−

110 to 165

2494009

−

150 to 125

−

165 to 110

−

135 to 145

−

120 to 160

−

145 to 135

−

160 to 120

120 mm

± 360

− 1456356 to 6699236

2566827

2585032

− 1019449 to 6990507

− 1747627 to 6262329

− 2457600 to 2639645

− 2639645 to 2457600

−

1365334 to 0

± 1494221

− 582543 to 7427414

− 2184534 to 5825423

− 2184534 to 2912712

− 2912712 to 2184534

82 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Cleanroom & ESD model / Multiple Mounting

Item

Straight

Joint #1

Joint #2

Max. motion range

(

), (mm)

Curved

Joint #1

Common

Straight

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Right hand

Left hand

Right hand

Left hand

Max. pulse range

(pulse)

Curved

Joint #1

Right hand

Left hand

Joint #2

Right hand

Left hand

Common

Joint #3

Joint #4

1. Safety

G3-301CM

115

± 135

− 728178 to 5971058

2457600

G3-351CM-*

−

120

142

105 to 130

−

130 to 105

120 mm

360

−

120 to 150

− 150 to 120

− 873814 to 6116694

± 2585032

− 436907 to 6407965

−

1165085 to 5679787

−

2184534 to 2730667

−

2730667 to 2187534

− 1365334 to 0

1494221

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 83

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

*3: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base.

Cleanliness level : Class ISO 3 (ISO14644-1)

Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube : Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s

(Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

84 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Mounting type

Environment

Arm length

Arms

#1, #2

Mass

(cables not included)

Driving method

Max. operating speed *3

All joints

Joints

#1, #2

Repeatability

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Max. motion range

Arm #3

Joint #1

Joint #2

Joint #3

45/55

Joint #4

1. Safety

G6-****

Table Top

Cleanroom model + ESD *1 , Protected-model *2

450 mm

550 mm

650 mm

180 mm : G6-**1S*, D*

150 mm : G6-**1C*, P*, D* with bellows option

330 mm : G6-**3S*, D*

300 mm : G6-**3C*, P*, D* with bellows option

27 kg : 60 lbs.

28 kg : 62 lbs.

AC servo motor

6440 mm/s

7170 mm/s

7900 mm/s

1100 mm/s

2350 mm/s

2400

± 0.015 mm

± 0.01 mm

± 0.005

± 152 °

142 to 147.5

147.5

180 mm : G6-**1S*, D*

150 mm : G6-**1C*, P*, D* with bellows option

330 mm : G6-**3S*, D*

300 mm : G6-**3C*, P*, D* with bellows option

± 360 °

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 85

1. Safety

Item G6-****

Maximum pulse range

(pulse)

Joint #1

Joint #2

Joint #3

Joint #4

*a : G6-45*** Joint #2

G6-45*S*, D*

G6-45*C*/ P* / D* with bellows option

Z 0 to –270

Z –270 to –330

Z 0 to –240

Z –240 to –300

1805881 to +7048761

± 2585031 to 2685156 *a

± 2685156

1976708 : G6-**1S*, D*

1647257 : G6-**1C*, P*, D* with bellows option

1811982 : G6-**3S*, D*

1647257 : G6-**3C*, P*, D* with bellows option

± 1961226

Max. motion range

147.5

145 °

147.5

142

Max. pulse range

± 2685156 pulse

± 2639645 pulse

2685156 pulse

2585031 pulse

86 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Mounting type

Environment

Arm length

Arms

#1, #2

Arm #3

Mass

(cables not included)

Driving method

Max. operating speed *3

Repeatability

All joints

Joints

#1, #2

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Joint #1

45/55

Max. motion range

Joint #2

Joint #3

Joint #4

Joint #1

Maximum pulse range

(pulse)

Joint #2 55

Joint #3

Joint #4

1. Safety

G6-****R

Ceiling

Cleanroom model + ESD *1

G6-****W

Wall

, Protected-model

450 mm

550 mm

650 mm

180 mm : G6-**1S*, D*

150 mm : G6-**1C*, P*, D* with bellows option

330 mm : G6-**3S*, D*

300 mm : G6-**3C*, P*, D* with bellows option

27 kg : 60 lbs.

28 kg : 62 lbs.

AC servo motor

6440 mm/s

29 kg : 64 lbs.

29.5 kg : 65 lbs.

7170 mm/s

7900 mm/s

1100 mm/s

2350 mm/s

2400 ° /s

± 0.015 mm

± 0.01 mm

± 0.005

120

± 152 °

105

135

± 148 °

± 130 °

± 147.5

° : S

± 145 ° : C*, P*, D* with bellows option

± 147.5

180 mm : G6-**1S*, D*

150 mm : G6-**1C*, P*, D* with bellows option

330 mm : G6-**3S*, D*

300 mm : G6-**3C*, P*, D* with bellows option

± 360 °

873814 to +6116694 436907 to +5679787

1310720 to +6553600

1805881 to +7048761

1689373 to +6932253

2366578

± 2685156 : S

2639645 : C*, P*, D* with bellows option

2685156

1976708 : G6-**1S*, D*

1647257 : G6-**1C*, P*, D* with bellows option

1811982 : G6-**3S*, D*

1647257 : G6-**3C*, P*, D* with bellows option

1961226

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 87

1. Safety

Item

Joint #1

Joint #2

Resolution

Joint #3

Motor rated capacity

Payload

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Rated

Maximum

Rated Joint #4 allowable moment of inertia

Hand

*4 Maximum

Shaft diameter

Through hole

Joint #3 down force

Installed wire for customer use

Installed pneumatic tube for customer use

Environmental requirements

Noise level *5

Assignable Value

( ) Default values

Ambient temperature

Ambient relative humidity

Speed

Accel *6

SpeedS

AccelS

Fine

Weight

Safety standard

G6-*****

0.0000343

/pulse

0.0000549

/pulse

0.0000911 mm/pulse

0.0001821 mm/pulse

0.0001836

° /pulse

400 W

200 W

100 W

3 kg

6 kg

0.01 kg·m 2

0.12 kg·m 2

ø20 mm

ø14 mm

150 N

24 (15 pin + 9 pin : D-sub)

2 pneumatic tubes (ø6 mm)

: 0.59 MPa (6 kgf/cm

2 : 86 psi)

2 pneumatic tubes (ø4 mm)

2 : 86 psi)

5 to 40 ° C

(with minimum temperature variation)

10 to 80% (no condensation)

Aeq

= 70 dB(A) or under

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 250 to (3, 250) to 6, 250

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

88 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*1: The exhaust system in the Cleanroom model Manipulator (G6-***C*) draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base.

Cleanliness level : Class ISO 3 (ISO14644-1)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube: Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s

(Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*2: IP (International Protection) for the Protected-model Manipulator indicates International Standard of the protection level against dust and water.

Normal G6-***D* Manipulators do not have bellows. The normal G6-***D* Manipulator (without bellows option) operates under adverse conditions with oily mist.

If necessary, select the bellows option at shipment.

The Manipulators with bellows (option) comply with grade of protection IP54 (IEC 60529, JIS C0920).

Model

G6-***D* with bellows option

G6-***P*

IP54

IP65

Dust: 5

Water: 4

Dust: 6

Water: 5

Degree of protection

Dust shall not ingress in a quantity to interfere with satisfactory operation of the equipment.

Water splashing against the enclosure from any direction shall have no harmful effect.

No ingress of dust.

Water projected by a nozzle against enclosure from any direction shall have no harmful effects.

*3: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*4: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 89

1. Safety

*5: Conditions of Manipulator during measurement as follows:

Operating conditions

Measurement point

: Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

: Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

*6: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.

90 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

G10/G20

Mounting type

Environment

Item

Arm length

Mass

(cables not included)

Driving method

Max. operating speed *3

Repeatability

Max. motion range

Arms #1, #2

Arm #3

G10

G10/G20

G20

All joints

Joints #1, #2

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Joint #1

Joint #2

G10

G20

Joint #3

Joint #4

G10/G20-****

Table Top

Cleanroom model + ESD *1 ,

Protected-model *2

650 mm (G10 only)

850 mm (G10, G20)

1000 mm (G20 only)

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*,

D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*,

D* with bellows option

46 kg: 102 lbs.

48 kg: 106 lbs.

50 kg: 111 lbs.

AC servo motor

8800 mm/s

11000 mm/s

11500 mm/s

1100 mm/s

2350 mm/s

2400

1700

0.025 mm

± 0.01 mm

± 0.005

± 152 °

1. Safety

152.5

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*,

D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*,

D* with bellows option

± 360 °

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 91

1. Safety

Item G10/G20-****

Joint #1

Joint #2

− 1805881 to +7048761

2776178 *a

Max. pulse range

(pulse)

NOTE

Joint #3

Joint #4

G10

G20

−

1946420 : G10/G20-**1S*, D*

− 1622016 : G10/G20-**1C*, P*,

D* with bellows option

− 2270823 : G10/G20-**4S*, D*

−

2108621 : G10/G20-**4C*, P*,

D* with bellows option

1951517

2752512

The length of Arm #1 + #2 varies in different Manipulator models.

65 : 650 mm G10 only

85 : 850 mm G10 / G20

A0 : 1000 mm G20 only

92 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Mounting type

Environment

Arm length

Mass

(cables not included)

Driving method

Max. operating speed *3

Repeatability

Max. motion range

Arm #3

G10

G10/G20

G20

All joints

Joints #1, #2

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Joint #1

Joint #2

Item

Arms #1, #2

Joint #3

Joint #4

G10

G20

1. Safety

G10/G20-****R

Ceiling

G10/G20-*****W

Wall

Cleanroom model + ESD *1

Protected-model *2

650 mm (G10 only)

850 mm (G10, G20)

1000 mm (G20 only)

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*,

D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*,

D* with bellows option

46 kg: 102 lbs.

48 kg: 106 lbs.

51 kg: 113 lbs.

53 kg: 117 lbs.

50 kg: 111 lbs. 55 kg: 122 lbs.

AC servo motor

8800 mm/s

11000 mm/s

11500mm/s

1100 mm/s

2350 mm/s

2400

1700

0.025 mm

0.01 mm

0.005

± 107 °

152

± 107 °

± 130 °

± 152.5

° *a

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*,

D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*,

D* with bellows option

± 360 °

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 93

1. Safety

Item

Max. pulse range

(pulse)

Joint #1

Joint #2

Joint #3

Joint #4

*a : The Joint #2 values for the following Manipulators

G10/G20-85C, P, D with bellows option

(Z:

−

360 to

−

390 only)

G10/G20-85CW, PW, DW with bellows option

G10/G20-85CR, PR, DR with bellows option

G10

G20

G10/G20-****R

−

495161 to +5738041

−

1805881

G10/G20-*****W to +7048761

2366578

− 495161 to +5738041

± 2776178 *a

− 1946420 : G10/G20-**1S*, D*

−

1622016 : G10/G20-**1C*, P*,

D* with bellows option

−

2270823 : G10/G20-**4S*, D*

− 2108621 : G10/G20-**4C*, P*,

D* with bellows option

± 1951517

± 2752512

Max. motion range Max. pulse range

± 151 ° ± 2748871

94 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Joint #1

Joint #2

Resolution

Joint #3

Motor rated capacity

Payload

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Rated

Maximum

Rated

Joint #4 allowable moment of inertia

Hand

Joint #3 down force

Installed wire for customer use

Maximum

Shaft diameter

Through hole

Installed pneumatic tube for customer use

Environmental requirements

Noise level *5

Assignable Value

( ) Default values

Ambient temperature

Ambient relative humidity

Speed

Accel *6

SpeedS

AccelS

Fine

Weight

Safety standard

1. Safety

G10-*****

0.0000343

° /pulse

G20-*****

0.0000549

° /pulse

0.0000925 mm/pulse

0.000185 mm/pulse

0.0001845

° /pulse 0.0001308

° /pulse

750 W

600 W

400 W

150 W

5 kg

10 kg

0.02 kg·m

0.25 kg·m

10 kg

20 kg

0.05 kg·m

0.45 kg·m

ø25 mm

ø18 mm

250 N

24 (15 pin + 9 pin : D-sub)

2 pneumatic tubes (ø6 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

2 pneumatic tubes (ø4 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

5 to 40

(with minimum temperature variation)

10 to 80% (no condensation)

Aeq

= 70 dB(A) or under

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 400 to (10, 400) to 20, 400

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 95

1. Safety

*1: The exhaust system in the Cleanroom model Manipulator (G10/G20-***C*) draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base.

Cleanliness level: Class ISO 3 (ISO14644-1)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube: Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s (Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*2: IP (International Protection) for the Protected-model Manipulator indicates International Standard of the protection level against dust and water.

Normal G10/G20-***D* Manipulators do not have bellows. The normal G10/G20-***D*

Manipulator (without bellows option) operates under adverse conditions with oily mist.

If necessary, select the bellows option at shipment.

The Manipulators with bellows (option) comply with grade of protection IP54 (IEC 60529, JIS C0920).

Model

G10/G20-***D* with bellows option

G10/G20-***P*

IP54

IP65

Dust: 5

Water: 4

Dust: 6

Water: 5

Degree of protection

Dust shall not ingress in a quantity to interfere with satisfactory operation of the equipment.

Water splashing against the enclosure from any direction shall have no harmful effect.

No ingress of dust.

Water projected by a nozzle against enclosure from any direction shall have no harmful effects.

96 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*3: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*4: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

*5: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joint simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 97

1. Safety

RS3

Arm length

Max. operating speed *1

Repeatability

Payload

Joint #4 allowable moment of inertia *2

Max. motion range

Max. pulse range (pulse)

Resolution

Hand

Mounting hole

Mass (cables not included)

Driving method

Item

Arms #1, #2

Arm #1

Arm #2

Joints #1, #2

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Rated

Maximum

Rated

Maximum

Joint #1

Joint #2

Joint #3

RS*-**1S

RS*-**1C

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Shaft diameter

Through hole

RS*-**1S

RS*-**1C

Motor rated capacity

Option

Joint #3 down force

Installed wire for customer use

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Installation environment

RS3-351*

350 mm

175 mm

6237 mm/s

1100 mm/s

2600

0.01 mm

± 0.01 mm

± 0.01

1 kg

3 kg

0.005 kg·m

0.05 kg·m

225

130 mm

100 mm

720

−

2560000 to + 5973334 pulse

± 4177920 pulse

− 1479112 pulse to 0 pulse

− 1137778 pulse to 0 pulse

± 3145728 pulse

0.0000527

° /pulse

0.0000538

° /pulse

0.0000879 mm/pulse

0.000229

/pulse

ø 16 mm

ø 11 mm

6-M6

17 kg: 38 lbs.

AC servo motor

400 W

200 W

150 W

100 W

Cleanroom & ESD *3

150 N

15 wires: D-sub / 15 pin connectors

98 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Installed pneumatic tube for customer use

Environmental requirements

Noise level *4

Assignable Value

( ) Default values

Ambient temperature

Ambient relative humidity

Speed

Accel *5

SpeedS

AccelS

Fine

Weight

Safety standard

1. Safety

RS3-351*

2 pneumatic tubes (ø 6 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

1 pneumatic tube (ø 4 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

5 to 40 ° C

(with minimum temperature variation)

10 to 80% RH (no condensation)

LAeq = 65 dB(A) or under

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 175 to (1, 175) to 3, 175

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 99

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

*3: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Cleanliness level: Class ISO 3 (ISO14644-1)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube: Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s (Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

100 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

RS4

Arm length

Max. operating speed *1

Repeatability

Payload

Joint #4 allowable moment of inertia *2

Max. motion range

Max. pulse range (pulse)

Resolution

Hand diameter

Mounting hole

Mass (cables not included)

Driving method

Item

Arms #1, #2

Arm #1

Arm #2

Joints #1, #2

Joint #3

Joint #4

Joints #1, #2

Joint #3

Joint #4

Rated

Maximum

Rated

Maximum

Joint #1

Joint #2

Joint #3

RS*-**1S

RS*-**1C

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Shaft diameter

Through hole

RS*-**1S

RS*-**1C

Motor rated capacity

Option

Joint #3 down force

Installed wire for customer use

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Environment

1. Safety

RS4-551*

550 mm

275 mm

7400 mm/s

1100 mm/s

2600

0.015 mm

± 0.01 mm

± 0.01

1 kg

4 kg

0.005 kg·m

0.05 kg·m

225

130 mm

100 mm

720

−

4096000 to + 9557334 pulse

± 4177920 pulse

− 1479112 pulse to 0 pulse

− 1137778 pulse to 0 pulse

± 3145728 pulse

0.0000330

° /pulse

0.0000538

° /pulse

0.0000879 mm/pulse

0.000229

/pulse

ø 16 mm

ø 11 mm

6-M6

19 kg: 42 lbs.

AC servo motor

400 W

150 W

100 W

Cleanroom & ESD *3

150 N

15 wires: D-sub / 15 pin connectors

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 101

1. Safety

Item

Installed pneumatic tube for customer use

Environmental requirements

Noise level *4

Assignable Value

( ) Default values

Ambient temperature

Ambient relative humidity

Speed

Accel *5

SpeedS

AccelS

Fine

Weight

Safety standard

RS4-551*

2 pneumatic tubes (ø 6 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

1 pneumatic tube (ø 4 mm)

: 0.59 MPa (6 kgf/cm 2 : 86 psi)

5 to 40 ° C

(with minimum temperature variation)

10 to 80% RH (no condensation)

LAeq = 65 dB(A) or under

1 to (5) to 100

1 to (10) to 120

1 to (50) to 2000

1 to (200) to 25000

0 to (10000) to 65535

0, 275 to (1, 275) to 4, 275

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

UL standards (In case of UL specification):

UL1740

ANSI/RIA R15.06, NFPA 79

102 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.

*3: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior together.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Cleanliness level: Class ISO 3 (ISO14644-1)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm

Exhaust tube: Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate: approx. 1000 cm 3 /s (Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 103

1. Safety

Item

Model Number

Model Name

Mounting type

Mass

(cables or shipping jigs not included)

Driving method All joints

Joint #1

Joint #2

Max. operating speed *2

Joint #3

Joint #4

Joint #5

Joint #6

Maximum synthetic speed

Repeatability Joints #1 to #6

Max. motion range

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Max. pulse range

Resolution

104

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Specification

C4-A601** C4-A901**

C4 C4L

Table Top mounting (Ceiling mounting) *1

27 kg (59.5 lbs.) 29 kg (63.9 lbs.)

AC servo motor

450 ° /s

450

514 ° /s

275 ° /s

275

289 ° /s

555 ° /s

555

720 ° /s

9459 mm/s

± 0.02 mm

± 170 °

8495 mm/s

± 0.03 mm

±170

(UL specification ± 160

)

± 180

without the mechanical stop

- UL specification:± 160

− 160 ° to + 65 °

−

to + 225

± 200 °

± 135 °

± 4951609

± 360

± 8102633

(UL specification 7626008)

± 5242880 without the mechanical stop

± 8579259 without the mechanical stop

− 4660338 to + 1893263

UL specification: ± 7626008

− 7626008 to + 3098066

− 1299798 to + 5734400 − 2310751 to + 10194489

± 4723316

± 3188238

± 6553600

0.0000343

° /pulse

0.0000343

° /pulse

0.0000392

° /pulse

0.0000423

° /pulse

0.0000221

° /pulse

0.0000423

/pulse

0.0000549

° /pulse

0.0000210

° /pulse

0.0000210

° /pulse

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Item

Motor rated capacity

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Payload *3

Joint #6

Rated

Max.

Allowable moment

Joint #4

Joint #5

Joint #6

Joint #4

Allowable moment of inertia (GD2/4)

Joint #5

Joint #6

Installed wire for customer use

Installed pneumatic tube for customer use *5

Environmental requirements *6

Ambient

Temperature

Ambient relative humidity

Vibration

Noise level *7

Environment

Speed

Accel *9

Default values

(Max. setting values)

SpeedS

AccelS

Safety standard

Fine

Weight

1. Safety

Specification

400 W

150 W

50 W

1 kg

4 kg (5 kg with arm downward positioning)

4.41 N·m (0.45 kgf·m)

2.94 N·m (0.3 kgf·m)

0.15 kg·m 2

0.15 kg·m

0.10 kg·m 2

9 wires (D-sub)

4 pneumatic tubes,

Allowable pressure: 0.59MPa (6 kgf/cm 2 ) (86 psi)

5 to 40 ° C

20 to 80 % (no condensation)

4.9 m

⋅ s

(0.5 G) or less

LAeq = 70 dB (A) or under

Standard / Cleanroom model & ESD

5 (100)

5, 5 (120, 120)

50 (2000)

200 (25000) 200 (15000) *10

10000, 10000, 10000, 10000, 10000, 10000

(65535, 65535, 65535, 65535, 65535, 65535)

1 (5)

CE Marking :

EMC Directive

Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification): UL1740

ANSI/RIA R15.06, NFPA 79

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 105

1. Safety

*1: Manipulators are set to “Table Top mounting” at shipment. To use the Manipulators as “Ceiling mounting”, you need to change the model settings.

For details on how to change the model settings, refer to

5.5 Changing the Robot

, and

EPSON RC+

User’s Guide Robot Configuration

*2: In case of PTP control

*3: If the payload exceeds the maximum payload, refer to the section “

Restrictions on payload exceeding the maximum payload

” in

Setup & Operation 4.3.1 WEIGHT Setting

*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA setting.

*5: For details of the installed pneumatic tube for customer use, refer to the

Setup & Operation 3.6 User

Wires and Pneumatic Tubes

*6: For details of the environmental requirements, refer to the

Setup & Operation 3.1 Environmental

Conditions

*7: Conditions of Manipulator at measurement are as follows:

Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point: 1000 mm apart from the rear of Manipulator

*8: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Cleanliness level : Class ISO 3 (ISO14644-1)

Exhaust System : Fitting for ø8 mm pneumatic tube

Refer to

Setup & Operation: 3.6 User Wires and Pneumatic Tubes

60 L/min vacuum

Exhaust tube : Polyurethane tube

Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*9: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.

*10: Maximum AccelS setting value for payload of 4 kg or more is 12000.

Although setting the value exceeding 12000 does not cause an error, do not set the value in order to prevent Manipulator malfunction.

106 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Item

Model Number

Model Name

Mounting type *1

Mass

(cables or shipping jigs not included)

Driving method

Standard model,

Cleanroom & ESD model

Protection model

All joints

Joint #1

Joint #2

Joint #3

Max. operating speed

Joint #6

Maximum synthetic speed

Repeatability

Joint #4

Joint #5

Max. motion range

Joints #1 to #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Max. pulse range

(pulse)

Resolution

( ° /pulse)

Motor rated capacity

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

C8-A701***

Specification

C8-A901***

C8L

C8-A1401***

C8XL

Table Top mounting, Ceiling mounting, Wall mounting

49 kg (108 lbs.) 52 kg (115 lbs.) 62 kg (137 lbs.)

53 kg (117 lbs.) 56 kg (123 lbs.) 66 kg (146 lbs.)

AC servo motor

331

332

450

8958 mm/s

± 0.02 mm

294

300

360

450

720 ° /s

9679 mm/s

± 0.03 mm

200

167

200

8858 mm/s

± 0.05 mm

− 158

−

° to + 65

± 9507090

6245685 to

+ 2569428

1776754 to

+ 5883677

0.0000252

0.0000253

0.0000343

± 240 °

− 158 ° to + 65 °

− 61 ° to + 202 °

± 200 °

± 135

± 360

± 10695600

−

6903178 to

+ 2839915

−

2220949 to

+ 7354618

± 5461400

± 3932280

± 6553800

0.0000224

0.0000229

0.0000275

0.0000366

0.0000343

0.0000549

1000 W

750 W

400 W

100 W

−

135

−

° to + 55

± 15736800

10616940 to

+ 4325420

3997696 to

+ 13238272

0.0000153

0.0000127

0.0000153

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 107

1. Safety

Model Number

Model Name

Payload *3

Item

Allowable moment of inertia (GD

Allowable moment inertia (GD

/4)

Allowable moment of

Rated

Max.

Joint #4

Joint #5

Joint #6

Joint #4

Joint #5

Joint #6

Joint #4

Joint #5

Joint #6

Installed wire for customer use

C8-A701**

Specification

C8-A901**

C8L

3 kg

8 kg

0.47 kg·m 2

0.47 kg·m

0.15 kg·m 2

16.6 N·m (1.69 kgf·m)

9.4 N·m (0.96 kgf·m)

0.47 kg·m

C8-A1401**

C8XL

0.47 kg·m 2

0.15 kg·m 2

15 wires (D-sub)

8 pin (RJ45) Cat 5e or equivalent

6 pin (for F-sensor)

ø6 mm pneumatic tubes (2 tubes),

Allowable pressure: 0.59 MPa (6 kgf/cm

)(86 psi)

5 to 40 ° C

Installed pneumatic tube for customer use *5

Environmental requirements *6

Ambient

Temperature

Ambient relative humidity

Vibration

Noise level *7

Environment

Applicable Controller

Default values

(Max. setting values)

Speed

Accel *10

SpeedS

AccelS *11

Fine

Weight

Inertia

Safety standard

10 to 80 % (no condensation)

4.9 m ⋅ s 2 (0.5 G) or less

LAeq = 70 dB (A) or under

Standard / Cleanroom model & ESD

Protection model (IP67) *9

RC700-A, RC700DU-A

3 (100)

5, 5 (120, 120)

50 (2000)

200 (35000) 120 (25000)

10000, 10000, 10000, 10000, 10000, 10000

(130000, 130000, 130000, 130000, 130000, 130000)

3 (8)

0.03 (0.15)

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification): UL1740

ANSI/RIA R15.06, NFPA 79

108 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*1: Mounting types other than “Table Top mounting”, “Ceiling mounting”, and “Wall mounting” are out of specification. If you prefer other mounting types, please contact the supplier of your region.

*2: In case of PTP control.

*3: Do not apply the load exceeding the maximum payload.

*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA setting.

*5: For details of the installed pneumatic tube for customer use, refer to the C8 series Manipulator Manual

Setup & Operation 3.6 User Wires and Pneumatic Tubes

*6: For details of the environmental requirements, refer to the C8 series Manipulator Manual

Setup &

Operation 3.1 Environmental Conditions

*7: Conditions of Manipulator at measurement are as follows:

Operating conditions : Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and C8, C8L:duty 50%., C8XL:duty 30%.

Measurement point : 1000 mm apart from the rear of Manipulator

*8: The exhaust system in the Cleanroom model Manipulator draws air from the base interior and arm cover interior. A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Cleanliness level : C8, C8L ISO Class 3 (ISO14644-1)

: C8XL ISO Class 4 (ISO14644-1)

Exhaust System :

Exhaust tube :

Fitting for ø8 mm pneumatic tube

Refer to C8 series Manipulator Manual

Setup & Operation: 3.6 User Wires and Pneumatic Tubes

60 L/min vacuum

Polyurethane tube

Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 109

1. Safety

*9: Protection level for the protection-model Manipulators is IP67 (IEC standard). The Manipulators can be used in environments where the possibility of dust, water, and water-soluble cutting oil falling of the

Manipulator exists.

However, please be careful of the following:

- The Manipulator is not rust-proofed. Do not use the Manipulator in environment where corrosive liquids exist.

- Fluids that deteriorate the sealing materials, such as organic solvents, acids, alkalis, and chlorine cutting fluids, cannot be used

- The Manipulator cannot be used for underwater operations.

- The Controller does not have protection features against the environment (Controller’s protection level: IP20)

Make sure to install the system where environmental requirements for the Controller are satisfied.

- IP40 of IEC standard

[Protection level against ingress of solid objects]

Protection from entry by solid objects with a diameter or thickness greater than 1.0 mm.

[Protection level against ingress of liquids]

No protection

- IP67 of IEC standard

[Protection level against ingress of solid objects]

Totally protected against dust.

[Protection level against liquids]

Protection from ingress of water in harmful quantity when the Manipulator is immersed in water for 30 minutes under the condition that the highest point of the Manipulator is located 0.15 m below the surface of the water and the lowest point is located 1 m below the surface of the water.

(Tested while the Manipulator is stopped.)

110 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*10: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.

*11: Maximum AccelS setting value varies depending on the load. Refer to the table below for details.

Setting the value which exceeds the maximum AccelS causes an error. In such a case, check the setting value.

Maximum AccelS setting value

Table Top mounting, Ceiling mounting

40000

35000

30000

32000

25000

20000

25000

15000

10000

17000

20000

21000

11000

13000

11000

15000

13000

11000

5000

C8-A701*** : C8

C8-A901*** : C8L

C8-A1401*** : C8XL

0 2 4 6 8 (kg)

End effector weight

Wall mounting

40000

35000

30000

25000

20000

15000

10000

5000

25000

17000

21000

20000

11000

15000

13000

11000 11000

C8-A701**W : C8

C8-A901**W : C8L

C8-A1401**W : C8XL

0 2 4 6 8 (kg)

End effector weight

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 111

1. Safety

C12

Item

Model Number

Model Name

Mounting type

Mass

(cables or shipping jigs not included)

Driving method

Max. operating speed *2

Standard model,

Cleanroom & ESD model

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Maximum synthetic speed

Repeatability

Max. motion range

Max. pulse range

(pulse)

Resolution

Motor rated capacity

Joints #1 to #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

112 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Specification

C12-A1401**

C12XL

Table Top mounting

63 kg (139 lbs.)

AC servo motor

200

167

200 ° /s

300 ° /s

360 ° /s

720 ° /s

8751 mm/s

± 0.05 mm

± 240 °

− 135 to + 55 °

− 61 to + 202 °

± 200 °

± 135 °

360

15736800

−

10616940 to + 4325420

− 3997696 to + 13238272

± 8738240

± 4915350

± 6553800

0.0000153

° /pulse

0.0000127

/pulse

0.0000153

/pulse

0.0000229

/pulse

0.0000275

° /pulse

0.0000549

° /pulse

1000 W

750 W

400 W

150 W

Model Number

Model Name

Payload

Allowable moment

Allowable moment of inertia (GD

/4)

Rated

Max.

Joint #4

Joint #5

Joint #6

Joint #4

Joint #5

Joint #6

Installed wire for customer use

Installed pneumatic tube for customer use

Environmental requirements *6

Noise level *7

Environment

Default values

(Max. setting values)

Safety standard

Item

Applicable Controller

1. Safety

Specification

C12-A1401**

C12XL

3 kg

12 kg

25.0 N·m (2.55 kgf·m)

9.8 N·m (1.0 kgf·m)

0.70 kg·m2

0.20 kg·m2

15 wires (D-sub)

8 pin (RJ45) Cat 5e or equivalent

6 pin (for Force Sensor)

ø6 mm pneumatic tubes (2 tubes),

Allowable pressure: 0.59 MPa (6 kgf/cm2) (86 psi)

Ambient

Temperature

Ambient relative humidity

Vibration

Speed

Accel *9

SpeedS

AccelS

Fine

Weight

Inertia

*10

5 to 40 ° C

10 to 80 % RH (no condensation)

4.9 m ∙ s2 (0.5 G) or less

LAeq = 70 dB (A) or under

Standard

Cleanroom model & ESD *8

RC700-A

3 (100)

5, 5 (120, 120)

50 (2000)

120 (25000)

10000, 10000, 10000, 10000, 10000, 10000

(130000, 130000, 130000, 130000, 130000, 130000)

3 (12)

0.03 (0.2)

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

ANSI/RIA R15.06, NFPA 79

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 113

1. Safety

*1: Mounting types other than “Table Top mounting” is out of specification. If you prefer other mounting types, please contact the supplier of your region.

*2: In case of PTP control

*3: Do not apply the load exceeding the maximum payload.

*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA command.

*5: For details of the installed pneumatic tube for customer use, refer to the following manual:

C12 series Manipulator manual

Setup & Operation 3.6 User Wires and Pneumatic Tubes

*6: For details of the environmental requirements, refer to the following manual:

C12 series Manipulator manual

Setup & Operation 3.1 Environmental Conditions

*7: Conditions of Manipulator at measurement are as follows:

Operating conditions : Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty of robot operation time 30%.

Measurement point : 1000 mm apart from the rear of Manipulator

Cleanliness level

Exhaust System

: ISO Class 4 (ISO14644-1)

: Fitting for ø8 mm pneumatic tube

Refer to C12 series Manipulator Manual

Setup & Operation: 3.6 User Wires and Pneumatic Tubes

60 L/min vacuum

Exhaust tube : Polyurethane tube

Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

114 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*10: Maximum AccelS setting value varies depending on the load. Refer to the table below for details.

Setting the value which exceeds the maximum AccelS causes an error. In such a case, check the setting value.

Maximum AccelS setting value

40000

35000

30000

25000

20000

15000

17000

15000

10000

11000

6500

5000

End effector weight

0 2 4 6 8 10 12 14 (kg)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 115

1. Safety

Item

Model Number

Model Name

Mounting type

Mass (cables not included)

Driving method

Max. operating speed *2

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Maximum synthetic speed

Repeatability

Max. motion range

Max. pulse range

Resolution

Motor rated capacity

Joint #1 ~ #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

116

Specification

N2-A450SR N2-A450S

Ceiling mounting Table Top mounting

19 kg (42 lbs.)

AC servo motor

297 ° /s

356

356 ° /s

360 ° /s

360

5772 mm/s

± 0.02 mm

± 180 °

± 180

± 195 °

± 130 °

± 360 °

± 7929856

± 6619136

± 7170731

± 4915200

± 13107200

0.0000227

° /pulse

0.0000227

/pulse

0.0000272

° /pulse

0.0000272

° /pulse

0.0000275

/pulse

0.0000275

/pulse

100 W

30 W

15 W

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Model Number

Model Name

Payload

Allowable moment

Item

Allowable moment of inertia (GD2/4)

Rated

Max.

Joint #4

Joint #5

Joint #6

Joint #4

Joint #5

Joint #6

Installed wire for customer use

Specification

N2-A450SR N2-A450S

1 kg

2.5 kg

5.4 N·m (0.55 kgf·m)

1. Safety

2.4 N·m (0.24 kgf·m)

0.2 kg·m 2

0.08 kg·m

15 wires (D-sub)

8 pin (RJ45) Cat 5e or equivalent (2 cables)

(also used for Force Sensor)

ø6 mm pneumatic tubes (2 tubes),

Allowable pressure: 0.59 MPa (6 kgf/cm 2 ) (86 psi)

5 to 40

Installed pneumatic tube for customer use *5

Environmental requirements *6

Ambient

Temperature

Ambient relative humidity

Vibration

Noise level *7

Environment

Applicable Controller

Default values

(Max. setting values)

Speed

Accel *8

SpeedS

AccelS

Fine

Weight

Inertia

Safety standard

10 to 80% (no condensation)

4.9 m

⋅ s 2 (0.5 G) or less

LAeq = 80 dB (A) or under

Standard

RC700-A

5 (100)

5, 5 (120, 120)

50 (1120)

200 (5000)

10000, 10000, 10000, 10000, 10000, 10000

(65535, 65535, 65535, 65535, 65535, 65535)

1 (2.5)

0.005 (0.08)

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

ANSI/RIA R15.06-2012

NFPA 79 (2007 Edition)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 117

1. Safety

*1: Manipulators are set to “Ceiling mounting” at shipment.

To use the Manipulators as “Table Top mounting”, you need to change the model settings.

Mounting types other than “Ceiling mounting” and “Table Top mounting” are out of specification.

If you prefer other mounting types, please contact the supplier of your region.

For details on how to change the model settings, refer to the following manuals:

N2 series Manipulator manual 5.4 Changing the Robot

EPSON RC+ User’s Guide Robot Configuration

*2: In case of PTP control

*3: Do not apply the load exceeding the maximum payload.

*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA setting.

*5: For details of the installed pneumatic tube for customer use, refer to refer to the following manual:

N2 series Manipulator manual

Setup & Operation 3.7 User Wires and Pneumatic Tubes

*6: For details of the environmental requirements, refer to refer to the following manual:

N2 series Manipulator manual

Setup & Operation 3.1 Environmental Conditions

*7: Conditions of Manipulator at measurement are as follows:

Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point: 1000 mm apart from the rear of Manipulator

*8: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.

118 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Model Number

Model Name

Item

Mounting type

Mass (cables not included)

Driving method

Max. operating speed

Repeatability

Max. motion range

Max. pulse range

Resolution

Motor rated capacity

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

All joints

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Joint #1

Joint #2

Joint #3

Joint #4

Joint #5

Joint #6

Specification

N6-A1000** N6-A850**R

Ceiling mounting,

Table Top mounting *1

69 kg (152 lbs.)

Ceiling mounting

64 kg (141 lbs.)

AC servo motor

326 ° /s

326

444 ° /s

450

537 ° /s

± 0.04 mm

± 180

± 200

± 125

± 360

± 6619136 pulse

±6619136 pulse

± 5308416 pulse

± 5898240 pulse

± 3640889 pulse

± 8773632 pulse

0.0000272

° /pulse

0.0000272

/pulse

0.0000339

/pulse

± 0.03 mm

0.0000339

° /pulse

0.0000343

/pulse

0.0000410

/pulse

600 W

400 W

100 W

100W

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 119

1. Safety

Model Number

Model Name

Payload *3

Allowable moment

Item

Allowable moment of inertia (GD2/4) *4

Rated

Max.

Joint #4

Joint #5

Joint #6

Joint #4

Joint #5

Joint #6

Installed wire for customer use

N6-A1000**

Specification

N6-A850**R

3 kg

6 kg

15.2 N·m (1.55kgf·m)

9.4 N·m (0.96 kgf·m)

0.42 kg·m2

0.14 kg·m2

15 wires (D-sub)

8 pin (RJ45) Cat 5e or equivalent (2 cables)

(also used for Force Sensor)

ø6 mm pneumatic tubes (2 tubes),

Allowable pressure: 0.59 MPa (6 kgf/cm 2 ) (86 psi)

5 to 40

Installed pneumatic tube for customer use *5

Environmental requirements *6

Ambient

Temperature

Ambient relative humidity

Vibration

Noise level *7

Environment

Applicable Controller

Default values

(Max. setting values)

Speed

Accel *9

SpeedS

AccelS

Fine

Weight

Inertia

Safety standard

10 to 80% (no condensation)

4.9 m ⋅ s 2 (0.5 G) or less

LAeq = 80 dB (A) or under

Standard

Cleanroom & ESD *8

RC700-A, RC700DU-A

3 (100)

5, 5 (120, 120)

50 (2000)

200 (25000)

10000, 10000, 10000, 10000, 10000, 10000

(65535, 65535, 65535, 65535, 65535, 65535)

3 (6)

0.03 (0.14)

CE Marking :

EMC Directive, Machinery Directive

RoHS Directive

KC Marking / KCs Marking

ANSI/RIA R15.06-2012

NFPA 79 (2007 Edition)

120 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

*1: Manipulators are set to “Table Top mounting” at shipment.

To use the Manipulators as “Ceiling mounting”, you need to change the model settings.

Mounting types other than “Table Top mounting” and “Ceiling mounting” are out of specification.

If you prefer other mounting types, please contact the supplier of your region.

For details on how to change the model settings, refer to the following manuals:

N6 series Manipulator manual 5.5 Changing the Robot

EPSON RC+ User’s Guide Robot Configuration

*2: In case of PTP control

*3: Do not apply the load exceeding the maximum payload.

*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA setting.

*5: For details of the installed pneumatic tube for customer use, refer to the following manual:

N6 series Manipulator manual

Setup & Operation 3.7 User Wires and Pneumatic Tubes

*6: For details of the environmental requirements, refer to the following manual:

N6 series Manipulator manual

Setup & Operation 3.1 Environmental Conditions

*7: Conditions of Manipulator at measurement are as follows:

Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point: 1000 mm apart from the rear of Manipulator

Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight. If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level

Exhaust System

Class ISO 5 (ISO14644-1)

Fitting for ø10 mm mm pneumatic tube

(Refer to Setup & Operation: 3.6 User Wires and Pneumatic

Tubes.)

Exhaust tube :

Outer diameter: ø10mm (Inner diameter:ø6-7 mm)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

60 L/min vacuum

Polyurethane tube

For details, refer to

EZ MODULES X5 series

manual.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 121

1. Safety

1.9 Motion Range Setting by Mechanical Stops

G1

Mechanical stop of Joint #3

(Lower limit mechanical stop)

Mechanical stop of

Joint #1 (Adjustable)

(Do not move the upper limit mechanical stop.)

Mechanical stop of Joint #2

(Adjustable)

Joint #1

Model

All

+125 °

− 125 °

+120 °

(

°

= degree )

− 120 °

122 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Joint #2

G1-171* G1-171CZ G1-221*

D B

C E

D B

C E

Top Bottom

Top

+130 ° − 130 °

+130

° −

130

+125 ° − 125 °

+125

° −

125

+125 ° − 125 °

+115

° −

115

+120

° −

120

+120 ° − 120 °

(

°

= degree )

Model

G1-171S

4-axis spec

3-axis spec

G1-171C

G1-221S

G1-221C

G1-171SZ

G1-171CZ

G1-221SZ

G1-221CZ

± 152 °

149

B *1

+140 °

+140

+140 °

+140

+135 °

+123

+135

+132 °

*1 Standard position of the mechanical stop

C *1

− 140 °

−

140

− 140 °

−

140

− 135 °

−

123

−

135

− 132 °

*2 Limits the motion range using the bolts in the Arm #2 bottom to prevent the bellows from contacting the

M anipulator body.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 123

1. Safety

G3

Table Top Mounting

Mechanical stop of Joint #3

(Lower limit mechanical stop)

(Do not move the upper limit mechanical stop.)

Multiple Mounting

Mechanical stop of Joint #2

(Fixed)

Mechanical stop of Joint #1

(Adjustable)

Mechanical stop of

Joint #2 (Adjustable)

Mechanical stop of

Joint #1 (Fixed)

124

Mechanical stop of Joint #1

(Adjustable)

Mechanical stop of Joint #1

(Fixed)

* The different mechanical stop positions from Table Top mounting are indicated for Multiple mounting.

Install the bolts for the mechanical stop of Joint #1 (adjustable) to the following position.

Table Top mounting : Arm bottom side

Multiple mounting : Arm top side

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Joint #1 Mechanical Stops

Model

G3-**1S, C

G3-**1S, C-R

G3-**1S, C-L

G3-**1SM, CM

G3-351SM, CM-R

G3-351SM, CM-L

Arm Length

250

300

350

300

350

300

350

300

350

350 a

140

± 140 °

140

125

to +150

110 ° to +165 °

150 ° to +125 °

165

to +110

± 115 °

120

105 ° to +130 °

130 ° to +105 °

Views from the bottom of Arm #1 b c

110

110 °

105

90 °

130 °

145

100 °

105

95 °

120 °

+110

+130

＋

+100

+105

+120

+95

+110 °

+110

+145 °

+105

Setting Angle +90 ° +95 ° +100 ° +105 ° +110 ° +115 ° +120 °

Pulse Value 5242880 5388516 5534151 5679787 5825423 5971058 6116694

Setting Angle

+125 ° +130 ° +140 ° +145 ° +150 ° +165 °

Pulse Value 6262329 6407965 6699236 6844872 6990507 7427414

Setting Angle

Pulse Value

° 95 ° 100 ° 105 ° 110 °

115

120 °

145636

291271

436907

582542

728178

873813

Setting Angle 125 ° 130 ° 140 ° 145 ° 150 °

+165

Pulse Value -

1019449

1165085

1456356

1601991

1747627

2184533

(°: degree)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 125

1. Safety

Joint #2 Mechanical Stops

NOTE



Ｌ

Ｒ

Views from the top of Arm #1

Model

G3-**1S, C

G3-**1S, C-R

G3-**1S, C-L

G3-**1SM, CM

G3-351SM, CM-R

G3-351SM, CM-L

Arm

250

300

350

300

350

300

350

300

350

350 a

+141 °

+142

+150 °

+165

+135 °

+120

+135

+142

+160

+120 °

° b

141

142 °

142

135 °

120 °

150

165 °

135

142 °

120

160

° c d

+120 °

120

+120

120 °

+120 ° -

120

+130 °

115 °

+145

100 °

+115 °

130

+100

145 °

+115

115

+120 °

120 °

+150

110

+110 °

150

Setting Angle +100 ° +110 ° +115 ° +120 ° +130 ° +135 °

Pulse Value 1820444 2002488 2093511 2184533 2366577 2457600

Setting Angle

+141 ° +142 ° +145 ° +150 ° +160 ° +165 °

Pulse Value 2566826 2585031 2639644 2730666 2912711 3003733

Setting Angle 100

100

115

120

130

135

Pulse Value -

1820444

2002488

2093511

2184533

2366577

2457600

Setting Angle 141 ° 142 ° 145 ° 150 ° 160 ° 165 °

Pulse Value

2566826 2585031 2639644 2730666 2912711 3003733

(°: degree)

In case of Multiple Mounting, it is impossible to limit the operating range completely because it may hit the wall within the setting range of mechanical stops.

126 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

G6

1. Safety

Table Top Mounting

Mechanical stop of Joint #3

(Lower limit mechanical stop)

(Do not move the upper limit mechanical stop.)

Mechanical stop of Joint #2

(Adjustable)

Mechanical stop of Joint #2

(Fixed)

Mechanical stop of

Joint #1 (Adjustable)

Mechanical stop of

Joint #1 (Fixed)

Wall Mounting

Mechanical stop of Joint #1 (Fixed) Mechanical stop of Joint #1 (Adjustable)

Ceiling Mounting

Mechanical stop of Joint #1 (Fixed) Mechanical stop of Joint #1 (Adjustable)

* The different mechanical stop positions from Table Top mounting are indicated for Wall mounting and Ceiling mounting.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 127

1. Safety

Joint #1 Mechanical Stops e f g h d i c j

Joint #1

Mounting Arm Length

Table Top 45, 55, 65

Ceiling

Wall

Ceiling

Wall

55, 65

Mounting Arm Length

Table Top 45, 55, 65

Ceiling

Wall

Ceiling

Wall

55, 65

Setting Angle

Pulse Value

Setting Angle

Pulse Value

Setting Angle

Pulse Value b a

+152 ° g

5 ° a b l

+135 °

+148 °

+135 °

+120 ° h

20 °

30 ° k c

+105 ° i

60 °

75 ° d

+60

+75 ° j

105 ° e

+20

+30 ° k

135 °

148 °

135 °

120 ° f

° l

152 °

+152 ° +148 ° +135 ° +120 ° +105 ° +75 ° +60 °

7048761 6932253 6553600 6116694 5679787 4805974 4369067

+30 ° +20 ° +5 °

5 ° 20 ° 30 ° 60 °

3495254 3203983 2767076 2475805 2038898 1747627 873814

105

120

135

148

152

436907

436907 873814 1310720 1689373 1805881

(°: degree)

128 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Joint #2 Mechanical Stops m n o p q

Joint #2

Model

Table Top, Ceiling, Wall

Table

Top

G6-45*S, D

G6-45*C, P,

D bellows

Ceiling, Wall

Arm Length m n o p q

55, 65

45 (Z : 0 to –270)

45 (Z :–270 to –330)

45 (Z : 0 to –240)

45 (Z :–240 to –300)

+100 ° +125 °

+147.5

+145 °

+147.5

+142

+130

125 ° 100 °

The bellows for G6-***D* are options at shipment.

Setting Angle +147.5

+145

+142

+130

+125

+100

Pulse Value 2685156 2639645 2585031 2366578 2275556 1820445

Setting Angle 100

125

130

142

145

147.5

Pulse Value -

1820445

2275556

2366578

2585031

2639644

2685156

(°: degree)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 129

1. Safety

G10/G20

Table Top Mounting

Mechanical stop of Joint #3

(Lower limit mechanical stop)

(Do not move the upper limit mechanical stop.)

Mechanical stop of Joint #2

(Adjustable)

Mechanical stop of

Joint #1 (Fixed)

Mechanical stop of Joint #2

(Fixed)

Mechanical stop of

Joint #1 (Adjustable)

Wall Mounting

Ceiling Mounting

Mechanical stop of Joint #1

(Fixed)

Mechanical stop of Joint #1

(Adjustable)

Mechanical stop of Joint #1

(Fixed)

(Adjustable)

* The different mechanical stop positions from Table Top Mounting are indicated for Wall

Mounting and Ceiling Mounting.

130 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Joint #1 Mechanical Stops d c e f b g a

Joint #1

Mounting Arm Length a

Table

Top

65, 85, A0 +152

Ceiling 85, A0

Ceiling 65

Wall 65, 85, A0

° b h c d e f g

+107 ° +60 ° +15 °

107

° h

152

Setting

Angle

Pulse

Value a

+152

° b

+107

° c

+60

° d

+15

° e

° f

° g h

107

152

+7048761 +5738041 +4369067 +3058347 +2184534 +873814 495161 1805881

(°: degree)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 131

1. Safety

Joint #2 Mechanical Stops m n o p

Joint #2

Model

Table Top, Ceiling, Wall A0

Table

Top

G10/G20

-85*S, D

G10/G20

-85*C, P,

D bellows

G10/G20

-85*SR, SW,

DR, DW

Ceiling,

Wall

G10/G20

-85*CR, CW,

PR, PW,

DR bellows,

DW bellows

Table Top

Ceiling, Wall

Arm Length

Z: 0 to –360

Z: –360 to –390 m

+122.5

+121

+122.5

+100

° n

+152.5

+151

+152.5

+130

152.5

151

130

152.5

122.5

121

122.5

100

+122.5

+152.5

152.5

° 122.5

+100

+130

130 ° 100 °

The bellows for G10/G20-***D* are options at shipment.

Setting Angle

Pulse Value

Setting Angle

Pulse Value

+100 °

+1820445

152.5

2776178

+121 °

+2202738

151

2748871

+122.5

+2230045

122.5

2230045

+151 °

+2748871

121

2202738

+152.5

+2776178

100

1820445

(°: degree)

NOTE



In the range Z: –360 to –390 mm, the area is limited by interference of the

Manipulator body and the arm.

132 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

C4

Mechanical stops physically limit the absolute area that the Manipulator can move.

Be sure to turn OFF the Controller in advance.

Bolts are not provided, arrange for them by yourself.

Use bolts conforming to the strength specified by ISO-898-1, property class: 12.9.

Specify the pulse range again after changing the position of the mechanical stop.

For details on the pulse range setting, refer to the

C4 series Manipulator manual

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.

Motion Range Setting of Arm #1

Install the bolt to the threaded hole corresponding to the angle you want to set.

Normally a mechanical stop is equipped at [ b ].

[ a ] and [ c ] limit the one side of motion range.

Remove the bolts when the motion range of the Arm

#1 is set to ± 180 ° .

M8×15 hexagon socket head cap bolt

Tightening torque: 37.2 N·m (380 kgf·cm)

Angle (

)

Pulse

(pulse)

C4-A601**

C4-A901**

C4-A901**-UL

Bolt a

− 125

−

3640889

− 5957819

Applied

± 170

4951609

8102633

± 7626008

Applied

(Normal) c a b b c

± 180 +125

5242880 +3640889

± 8579259

+5957819

Not applied Applied

Mechanical stop for UL specification

There is a specified mechanical stop for UL specification.

Mount the mechanical stop as shown in the figure below.

C4 C4L

The setting angle differs from the non-UL compliant model.

(refer to the above table)

Motion Range Setting of Arm #2

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 133

1. Safety

There are threaded holes corresponding to each angle on the Manipulator.

Normally there is no mechanical stop equipped.

(

−

160

to +65

)

[ d ] and [ e ] limit the one side of motion range.

C4-A601**

M10×15 hexagon socket head cap bolt

Tightening torque: 73.5 N·m (750 kgf·cm) d e

Angle ( ° )

Bolt

− d

143 e

+48

Pulse (pulse)

− 4165177

+1398102

Applied Applied

− 160

− 4660338

Not applied

(Normal)

+65

+1893263

Not applied

(Normal)

Contact the supplier of your region for C4-A901**.

Motion Range Setting of Arm #3

There are threaded holes corresponding to each angle on the Manipulator.

Normally mechanical stops are equipped to [ f ] and

[ g ].

(+225

−

) f g

C4-A601**, C4-A901**

M8×12 hexagon socket head cap bolt

Tightening torque: 37.2 N·m (380 kgf·cm)

Angle (

Pulse

(pulse)

° )

C4-

A601**

C4-

A901** f

+225

+5734400

+10194489

−

− g

1299798

2310751

Bolt

Applied

(Normal)

Applied

(Normal)

134 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

C8

1. Safety

Mechanical stops physically limit the absolute area that the Manipulator can move.

Be sure to turn OFF the Controller in advance.

Bolts are not provided, arrange for them by yourself.

Use bolts included with shipment.

Specify the pulse range again after changing the position of the mechanical stop.

For details on the pulse range setting, refer to the C8 series Manipulator manual

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.

Motion Range Setting of Arm #1

Install the adjustable mechanical stop (J1) to the threaded hole corresponding to the angle you want to set. Normally the mechanical stop is not installed.

Hexagon socket head cap bolt M12×30×2 bolts

Tightening torque 42.0 ± 2.1N·m (428 ± 21 kgf·cm)

Pulse

(pulse) a

Angle ( ° )

C8-A701***

(C8)

C8-A901***

(C8L)

C8-A1401*** (C8XL)

Adjustable mechanical stop (J1) b a

− 145, +110

−

5743867

+4357416

− 6461925

+4902150

−

9507650

+7212700

Applied c b

− 110, +145

−

4357416

+5743867

− 4902150

+6461925

−

7212700

+9507650

Applied c

± 240

± 9507090

10695600

15736800

Not applied

(Normal)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 135

1. Safety

Motion Range Setting of Arm #2

C8-A701*** (C8), C8-A901*** (C8L)

Remove the mechanical stop installed as standard and install the adjustable mechanical stop (C8/C8L_J2).

(Arm #2 standard motion range -158 ° to +65 ° )

Hexagon socket head cap bolt M10×35×1 bolt

Tightening torque 32.0 ± 1.6 N·m (326 ± 16 kgf·cm) d

Angle (

)

C8-A701*** (C8)

Pulse(pulse)

C8-A901*** (C8L)

Adjustable mechanical stop (C8/C8L_J2) e d

−

158, +30

− 6245685

+1185890

− 6903178

+1310730

Applied e

−

158, +65

− 6245685

+ 2569428

− 6903178

+2839915

Applied

(Normal)

136 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

C8-A1401*** (C8XL)

Remove the mechanical stop installed as standard and install the adjustable mechanical stop (C8XL_J2).

(Arm #2 standard motion range − 135 ° to +55 ° )

Hexagon socket head cap bolt M10×35×2 bolts

Tightening torque 32.0 ± 1.6 N·m (326 ± 16 kgf·cm) d e

Angle ( ° )

Pulse(pulse)

C8-A1401** (C8XL)

Adjustable mechanical stop (C8XL_J2) d

−

125, +45

− 9830500

+3538980

Applied e

−

135, +55

− 10616940

+4325420

Applied

(Normal)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 137

1. Safety

Motion Range Setting of Arm #3

Remove the mechanical stop installed as standard and install the adjustable mechanical stop (J3).

(Arm #3 standard motion range − 61 ° to +202 ° )

Hexagon socket head cap bolt M6×15×2 bolts

Tightening torque 13.0 ± 0.6 N·m (133 ± 6 kgf·cm) f g

Angle ( ° )

Pulse(pulse)

C8-A701*** (C8)

C8-A901*** (C8L)

C8-A1401*** (C8XL)

Adjustable mechanical stop (J3) f

− 51, +192

− 1485483

+5592406

−

1856859

+6990528

−

3342336

+12582912

Applied g

− 61, +202

− 1776754

+5883677

−

2220949

+7354618

−

3997696

+13238272

Applied

(Normal)

138 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

C12

1. Safety

Using the adjustable mechanical stops physically limits the absolute area that the

Manipulator can move.

Be sure to turn OFF the Manipulator in advance.

Use bolts conforming to the specified length and surface processing (ex: nickel plating) with high corrosion resistance.

Specify the pulse range again after changing the position of the mechanical stop.

For details on the pulse range setting, refer to the following manual.

C12 Manipulator manual

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.

Motion Range Setting of Joint #1

Install the adjustable mechanical stop (J1) to the threaded hole corresponding to the angle you want to set.

Normally the mechanical stop is not installed.

M12×30×2 bolts

42.0 ± 2.1N·m (428 ± 21 kgf·cm)

Hexagon socket head cap bolt

Tightening torque a b c

Angle (

)

Pulse (pulse)

Adjustable mechanical stop (J1) a

−

145, +110

− 9507650

+7212700

Applied b

−

110, +145

− 7212700

+9507650

Applied c

240

15736800

Not applied

(standard)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 139

1. Safety

Motion Range Setting of Joint #2

Remove the mechanical stop installed as standard and install the adjustable mechanical stop (J2). (Joint #2 standard motion range − 135 ° to +55 ° )

Hexagon socket head cap bolt

Tightening torque

M10×35×2 bolts

32.0 ± 1.6 N·m (326 ± 16 kgf·cm) d

Angle (

)

Pulse (pulse)

Adjustable mechanical stop (J2) e d

−

125, +45

− 9830500

+3538980

Applied e

−

135, +55

− 10616940

+4325420

Applied (standard)

140 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

1. Safety

Motion Range Setting of Joint #3

Remove the mechanical stop installed as standard and install the adjustable mechanical stop (J3). (Joint #3 standard motion range − 61 ° to +202 ° )

M6×15×2 bolts

13.0 ± 0.6 N·m (133 ± 6 kgf·cm)

Hexagon socket head cap bolt

Tightening torque f g

Angle (

)

Pulse (pulse)

Adjustable mechanical stop (J3) f

−

51, +192

− 3342336

+12582912

Applied g

−

61, +202

− 3997696

+13238272

Applied

(standard)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 141

1. Safety

1.10 End User Training

Persons in charge of safety management should confirm that the operators who program, operate, and maintain the robot and robot system take proper training and have expertise to conduct the work safely.

Training should include at least the following:

Study of regulation safety procedures, and safety-related recommendations by robot manufacturers and system designers.

Clear explanation of the work involved.

Description of all control equipment required for the work and their functions.

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.

142 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

This chapter contains precautions for safe and accurate installation of the robot system.

The workflow for installing the robot system is described in

2.1 Outline from

Unpacking to Operation of Robot System.

For unpacking, transportation, and installation, refer to the respective section and the Manipulator and Controller manuals.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 143

2. Installation

System Example

Control Unit only

PLC (Sequencer) Operation Panel Motion Controller

Standard

- Standard I/O

- Remote I/O

- Ethernet

- RS-232C

RC700 / RC700-A

Option

Expansion I/O Board

Analog I/O Board

Force Sensor I/F Board

Fieldbus

PROFIBUS-DP

DeviceNet

CC-Link

EtherNet/IP

PROFINET

EtherCAT

RS-232C Board

EUROMAP67 Board

PG Board

* 3

* 2

USB2.0 or Ethernet

TP1 (option)

* 4

G series

C4 series

C8 series

C12 series

RS series

N2 series

Windows *1

* 4

TP2

(option)

N6 series

EPSON RC+ 7.0 software

Option

TP3 (option)

X5 series

144

Requires preparation by uses

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

*1 EPSON RC+ 7.0 supports the following OS.

Windows 7 Professional Service Pack 1

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)

*2 Any one of the manipulators can be controlled.

Available combinations are as follows. (



: connectable)

RC700

RC700-A

C4 C8 C12 G



RS N2 N6 X5



*3 Any one of the Teach pendant can be controlled.

TP3 cannot be connected to RC700.

*4 When connecting to RC700-A, a dedicated conversion cable is required.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 145

2. Installation

Control Unit and Drive Unit

RC700 / RC700-A

RC700DU / RC700DU-A

Standard Installation

・

EMERGENCY

・

Standard I/O

・

Remote I/O

・

R-I/O

* 1

G series

RS series

C4 series

C8 series

N6 series

146

*1 Any one of the manipulators can be controlled.

Available combinations are as follows. (



: connectable)

RC700DU

RC700DU-A



C12



Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



2. Installation

Drive Unit is the auxiliary unit connected with the control unit using the special cable.

Drive Unit cannot operate alone.

Up to three Drive Units can be used per robot system.

A: Control Unit and 1 st Drive Unit (CU-DU1)

B: 1 st

Drive Unit and 2 nd

Drive Unit (DU1-DU2)

C: 2 nd Drive Unit and 3 rd Drive Unit (DU2-DU3)

DU3

DU IN

DU2

DU OUT DU IN

DU1

DU OUT DU IN

DU OUT

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 147

2. Installation

2.1 Outline from Unpacking to Operation of Robot System

2. Installation

Unpacking

Transportation

Installation

Power-ON

Yes

Error?

Procedures to install the Robot system and turn ON the power properly

3. First Step

Procedures to install EPSON RC+ 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

148 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.2 Unpacking

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

Using a cart or similar equipment, transport the Manipulator in the same conditions as it was delivered. Observe the following when unpacking the Manipulator.

2.2.1 Unpacking Precautions

Transportation procedure

: Only authorized personnel should perform sling work and operate a crane or forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

Vibration at transportation

: Avoid excessive vibration or shock during Manipulator transporting.

Excessive vibration or shock may cause equipment damage to and/or malfunction of the Manipulator.

Anchor bolt

: When removing the anchor bolts, support the Manipulator to prevent falling.

Removing the anchor bolts without supporting the Manipulator may get hands, fingers, or feet caught as the Manipulator will fall.

Wire tie

: 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 (RC700 / EPSON RC+ 7.0) Rev.22 149

2. Installation

2.3 Transportation

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

2.3.1 Transportation Precautions

Transportation procedure

: Using a cart or similar equipment, transport the Manipulator in the same conditions as it was delivered. Observe the following when unpacking the Manipulator.

Only authorized personnel should perform sling work and operate a crane or forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

Vibration at transportation

: Avoid excessive vibration or shock during Manipulator transporting.

Excessive vibration or shock may cause equipment damage to and/or malfunction of the Manipulator.

Anchor bolt

: When removing the anchor bolts, support the Manipulator to prevent falling.

Wire tie

Removing the anchor bolts without supporting the Manipulator may get hands, fingers, or feet caught as the Manipulator will fall.

: 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.

Hoisting procedure

: 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.

150 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.3.2 Manipulator Transportation

To transport the Manipulator, secure the Manipulator to the delivery equipment or hold the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand. Never hold the duct to carry the Manipulator.

Duct

DO NOT hold here for carrying

G1-171* approx. 8 kg :18 lbs.

G1-221* approx. 8 kg :18 lbs.

Hold here for carrying

To transport the Manipulator, have two or more people to work on it and secure the

Manipulator to the delivery equipment or hold the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand.

When holding the bottom of the base by hand, be very careful not to get your hands or fingers to be caught.

Table Top Mounting

G3-251* : approx. 14 kg: 31 lbs.

G3-301* : approx. 14 kg: 31 lbs.

G3-351* : approx. 14 kg: 31 lbs.

Multiple Mounting

G3-301*M : approx. 14 kg: 31 lbs.

G3-351*M : approx. 14 kg: 31 lbs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 151

2. Installation

To transport the Manipulator, have two or more people to work on it and secure the

Manipulator to the delivery equipment or hold the areas indicated in gray in the figure (bottom of Arm #1 / bottom of the base) by hand. When holding the bottom of the base by hand, be very careful not to get hands or fingers to be caught.

Table Top Mounting

G6-45**, G6-55**

Approx. 27 kg: 60 lbs.

G6-65**

Approx. 28 kg: 62 lbs.

Wall Mounting

G6-45**W, G6-55**W

Approx. 29 kg: 64 lbs.

G6-65**W

Approx. 29.5 kg: 65 lbs.

Ceiling Mounting

G6-45**R, G6-55**R

Approx. 27 kg: 60 lbs.

G6-65**R

Approx. 28 kg: 62 lbs.

152 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

G10 / G20

To transport the Manipulator, secure the Manipulator to the delivery equipment, or pass belts through the eyebolts and hoist it with your hands. Make sure to hold the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand.

Table Top Mounting: *

Ceiling Mounting: R

Wall Mounting: W

G10

65**, **R : Approx. 46 kg : 102 lbs.

65**W : Approx. 51 kg : 113 lbs.

G10/G20

85**, **R : Approx. 48 kg : 106 lbs.

85**W : Approx. 53 kg : 117 lbs.

G20

A0**, **R : Approx. 50 kg : 111 lbs.

A0**W : Approx. 55 kg : 122 lbs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 153

2. Installation

To transport the Manipulator, have two or more people to work on it and secure the

Manipulator to the delivery equipment or hold the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand.

When holding the bottom of the base by hand, be very careful not to get your hands or fingers to be caught.

RS3-351* : approx. 17 kg : 38 lbs.

(except cables)

RS4-551* : approx. 19 kg : 42 lbs.

(except cables)

C4-A601**

To transport the Manipulator, secure it to the delivery equipment or have at least 2 people to hold it by hand. Also, do not hold the bottom of the base (the screened parts in the figure). Holding these parts by hand is extremely hazardous and may cause your hands and fingers to be caught.

C4-A901**

Manipulator mass

: 29 kg (63.9 lbs.)

Manipulator mass

: 27 kg (59.5 lbs.)

DO NOT hold the bottom of the base by hand.

154 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Manipulator weight

Standard,

Cleanroom model

Protection model

Figure: C8-A901* (C8L)

DO NOT hold the bottom of the base by hand

C8-A701**: C8 C8-A901**: C8L C8-A1401** (C8XL)

49 kg: 108 lbs. 52 kg: 115 lbs. 62 kg: 137 lbs.

53 kg: 117 lbs. 56 kg: 123 lbs. 66 kg: 146 lbs.

C12

Manipulator mass

: 63 kg (139 lbs.)

DO NOT hold the bottom of the base by hand

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 155

2. Installation

To transport the Manipulator, be sure to have at least 2 people to hold the bottom of the base or the Arm by hand. When holding the base installation face by hand, be careful not to cause your hands and fingers to be caught.

Manipulator mass: 19 kg: 42 lbs.

N6-A1000** N6-A850**R

156

Manipulator mass: 69 kg: 152 lbs.

Manipulator mass: 64 kg: 141 lbs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Transport separately

Make sure not to apply ropes to the motor unit, secure the other part of body instead when roping or transporting the manipulator.

Transport with multi-axis installed

To avoid colliding while transporting, use ropes or fittings to secure parts.

- Basically, transport the manipulator on module basis.

Module body weight

RH module

RM module

RSz module

RU module

Max. 61 kg

Max. 17 kg

Max. 8.3 kg

2.6 kg

Motor

Main unit

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 157

2. Installation

2.4 Manipulator Installation

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

2.4.1 Installation Precautions

Safeguard 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

: Install the Manipulator at a location with sufficient space so that a tool or a work piece on the end effector does not reach a wall or a safeguard when the Manipulator extends its arm fully while holding a work piece.

Installing the Manipulator at a location with insufficient space is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as a tool or a work piece may collide with a wall and a safeguard.

Manipulator check before installation

: Before installing and operating the Manipulator, make sure that all parts of the Manipulator are in place and have no external defects. Missing or defective parts may cause improper operation of the Manipulator.

Improper operation of the Manipulator is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

Wall mounting and ceiling mounting

: When mounting the Manipulator on a wall or ceiling, secure the

Manipulator to the wall or ceiling that has enough strength and rigidity.

Mounting the Manipulator on a wall or ceiling that has insufficient strength and rigidity is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as the

Manipulator may fall or vibrate.

Side mounting and ceiling mounting

: When mounting the Manipulator on a wall or ceiling, for safety purposes, attach the support to the Manipulator base to prevent the Manipulator from falling. If the Manipulator falls, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

158 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

For Protected-model

: Connect the power cable connection and the signal cable connector to the

Manipulator immediately after the Manipulator installation. The

Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP65.

2.4.2 Environment

A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions:

Item

Ambient temperature *

Conditions

5 to 40 °C (with minimum temperature variation)

Ambient relative humidity 10 to 80% (no condensation)

First transient burst noise 2 kV or less

Electrostatic noise

Environment

4 kV or less

- Install indoors.

- Keep away from direct sunlight.

- Keep away from dust, oily smoke, salinity, metal powder or other contaminants.

- Keep away from flammable or corrosive solvents and gases.

- Keep away from water.

- Keep away from shocks or vibrations.

- Keep away from sources of electric noise.

Manipulators are not suitable for operation in harsh environments such as painting areas, etc. When using Manipulators in inadequate environments that do not meet the above conditions, please contact the supplier of your region.

Special Environmental Conditions

The surface of the Manipulator has general oil resistance. However, if your requirements specify that the Manipulator must withstand certain kinds of oil, please contact the supplier of your region.

Rapid change in temperature and humidity can cause condensation inside the

Manipulator.

If your requirements specify that the Manipulator handles food, please contact the supplier of your region. to check whether the Manipulator will damage the food or not.

The Manipulator cannot be used in corrosive environments where acid or alkaline is used. In a salty environment where the rust is likely to gather, the Manipulator is susceptible to rust.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 159

2. Installation

WARNING

■ Use an earth leakage breaker on the AC power cable of the Controller to avoid electric shock and circuit breakdown caused by short circuit.

Prepare the earth leakage breaker that pertains the Controller you are using.

For details, refer to the Controller manual.

CAUTION

■ When cleaning the Manipulator, do not rub it strongly with alcohol or benzene.

It may lose luster on the coated face.

160 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.4.3 Noise level

Noise level by movement of Manipulator.

Manipulator

RS3 RS4

G3 G6

G10 G20

70 or under

75.3 or under

RG-HM

76.5 or under

75.1 or under

YZ-MS 76.8 or under

RP-HMSz

76.2 or under

RU-HMSz 76.2 or under

C12

N2 N6

Level dB(A)

65 or under

70 or under

80 or under

Operating conditions

Rated load,

4-joints, simultaneous motion, maximum speed, maximum acceleration, and duty 50%

Rated load, maximum speed, maximum acceleration, and duty 50%

Rated load,

All arm simultaneous operation, maximum speed, maximum acceleration, and duty

C4, C8, C8L: 50%

C8XL, C12: 30%

Rated load,

All arm simultaneous operation, maximum speed, maximum acceleration, and duty 50%

Measurement point

Rear of the

Manipulator,

1,000 mm apart from the motion range,

50 mm above the base-installed surface

1,000 mm apart from the back of the

Manipulator.

1,000 mm apart from the back of the

Manipulator.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 161

2. Installation

2.4.4 Base Table

A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differs depending on the use of the robot system. For your reference, we list some

Manipulator table requirements here.

The base table must not only be able to bear the mass of the Manipulator but also be able to withstand the dynamic movement of the Manipulator when it operates at maximum acceleration. Ensure that there is enough strength on the base table by attaching reinforcing materials such as crossbeams.

Use the mounting bolts conforming to the strength of ISO898-1 property class 12.9.

The table must be secured on the floor or wall to prevent it from moving.

The Manipulator must be installed horizontally.

When using a leveler to adjust the height of the base table, use a screw with M16 diameter.

The torque and reaction force produced by Manipulator motion are as follows:

G, RS series

G RS

G1 G3 G6 G10 G20 RS3 RS4

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Threaded holes for

Mounting screw

100 300 500 1,000 1,000 500 500

200 2,000 2,500 4,500 7500 1,200 1,400

300 1,000 1,500 2,000 2,000 1,100 1,100

M6 M8 M8 M12 M12 M6 M6

The plate for the Manipulator mounting face should be 20 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

162 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

C4 series

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Max. Reaction torque on the horizontal plate (N·m)

Threaded holes for Mounting screw

C4-A601**

500

800

600

2,500

C4-A901**

700

800

1000

2,500

M8 M8

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

C8 series

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Max. Reaction torque on the horizontal plate (N·m)

Threaded holes for Mounting screw

C8-A701** C8-A901** C8-A1401**

1,600

1,200

1,900

1,600

1,800

1,300

2,200

1,800

2,600

1,300

3,400

2,600

M12 M12 M12

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

C12 series

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Max. Reaction torque on the horizontal plate (N·m)

Threaded holes for Mounting screw

C12-A1401**

2600

1000

3400

7900

M12

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 163

2. Installation

N2 series

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Max. Reaction torque on the horizontal plate (N·m)

Threaded holes for Mounting screw

N2-A450S*

200

300

1,600

The plate for the Manipulator mounting face should be 20 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

N6 series

Max. Reaction torque on the horizontal plate (N·m)

Max. Horizontal reaction force (N)

Max. Vertical reaction force (N)

Max. Reaction torque on the horizontal plate (N·m)

Threaded holes for Mounting screw

N6-A1000** N6-A850**R

800

1,900

1,100

3,200

M12

800

1600

1100

5100

M12

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μ m or less.

164 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Max. Horizontal reaction force (N)

Max. Vertical reaction force

(N)

Max. Reaction torque on the horizontal plate

(N·m)

Single axis 2-axis 3-axis 4-axis

RH, RM RG-HM YZ-MS RP-HMSz RU-HMSz

1,400

−

2,000

−

1,400

1,050

−

2,000

1,050

−

2,000

1,050

The flatness of the mounting base shall be 0.1 mm or less and the surface shall be free of interfering protrusions.

Adjust the flatness of mounting base using shims when clearance exists between the module surface and the mounting base around the mounting holes

Use mounting bolts with specifications conforming to ISO898-1 property class: 10.9 or 12.9.

The table must be secured on the floor or wall to prevent it from moving.

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 (RC700 / EPSON RC+ 7.0) Rev.22 165

2. Installation

NOTE



2.4.5 Installation Procedure

When the Manipulator is cleanroom model, unpack it outside of the cleanroom.

Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth. After that, transport the

Manipulator into the cleanroom. Connect an exhaust tube to the exhaust port after installation.

There are six threaded holes for the Manipulator base. However, use four bolts to secure four corners of the base. Use M6 mounting bolts (screw hole depth: 25 mm

+ Spring washer + Plane washer) conforming to the strength, ISO898-1 property class: 6.9.

Tightening torque: 13 N·m (133 kgf·cm)

G1-177* 8kg: 18 lbs.

G1-221* 8kg: 18 lbs.

Secure the base to the base table with four bolts.

166 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

G3 : Table Top Mounting

CAUTION

■

Install the Table Top Mounting Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G3-251* : approx. 14 kg: 31 lbs.

G3-301* : approx. 14 kg: 31 lbs.

G3-351* : approx. 14 kg: 31 lbs.

NOTE



(1) Secure the base to the base table with four bolts.

Use bolts with specifications conforming to ISO898-1

Property Class: 10.9 or 12.9.

Tightening torque

: 32.0 N·m (326 kgf·cm)

10 mm

4-M8 × 30

Spring

Washer

Plane Washer

Screw Hole

(depth 20 mm or more)

(2) Using nippers, cut off the wire tie binding the shaft and arm retaining bracket on the base.

(3) Remove the bolts securing the wire ties removed in step (2).

Wire tie

(4) Remove the shipping bolt and jigs.

Bolt :M4 × 15

Sheet

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 167

2. Installation

G3 : Multiple Mounting

■

Install the Multiple Mounting Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G3-301*M : approx. 14 kg: 31 lbs. G3-351*M : approx. 14 kg: 31 lbs.

WARNING

■ When installing the Manipulator to the wall, support the Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator.

(1) Unpack the Manipulator with retaining the arm posture.

168

(2) Secure the base to the wall with four bolts.

NOTE



Use bolts with specifications conforming to ISO898-1 Property

Class: 10.9 or 12.9.

Tightening torque

: 32.0 N·m (326 kgf·cm)

Screw Hole

(depth 20 mm or more)

Plane Washer

Spring Washer

4-M8 × 30

(3) Remove the shipping bolt and jigs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

G6 : Table Top Mounting

WARNING

■

Install the Table Top Mounting Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G6-45** : Approximately 27 kg: 60 lbs.

G6-55** : Approximately 27 kg: 60 lbs.

G6-65** : Approximately 28 kg: 62 lbs.

(1) Secure the base to the base table with four bolts.

NOTE



Use bolts with specifications conforming to ISO898-1 Property

Class: 10.9 or 12.9.

Tightening torque

: 32.0 N·m (326 kgf·cm)

(2) Using nippers, cut off the wire tie binding the shaft and arm retaining bracket on the base.

4-M8

Spring

Washer

Plane

Washer

20 mm

Screw Hole

(depth 20 mm or more)

Bolt

:M4

15 (3) Remove the bolts securing the wire ties removed in step (2).

Sheet

Wire tie

(4) Remove the shipping bolt and jigs.

Bolt :M5 × 15

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 169

2. Installation

G6 : Wall Mounting

■

Install the Wall Mounting Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of

WARNING the Manipulator.

G6-45**W : Approximately 29 kg: 64 lbs.

G6-55**W : Approximately 29 kg: 64 lbs.

G6-65**W : Approximately 29.5 kg: 65 lbs.

(1) Unpack the Manipulator with retaining the arm posture.

(2) Secure the base to the wall with six bolts.

NOTE



Use bolts with specifications conforming to ISO898-1

Property Class: 10.9 or 12.9.

Tightening torque

: 32.0 N·m (326 kgf·cm)

(3) Remove the shipping bolt and jigs.

6-M8 × 40

Screw Hole

(depth 20 mm or more)

Plane Washer

Spring Washer

170 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

G6 : Ceiling Mounting

WARNING

■

Install the Ceiling Mounting Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G6-45**R : Approximately 27 kg: 60 lbs.

G6-55**R : Approximately 27 kg: 60 lbs.

G6-65**R : Approximately 28 kg: 62 lbs.

■ When installing the Manipulator to the ceiling, support the

Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator.

(1) Unpack the Manipulator with retaining the arm posture.

(2) Secure the base to the ceiling with four bolts.

NOTE



Use bolts with specifications conforming to ISO898-1 Property

Class: 10.9 or 12.9.

Screw Hole

(depth 20 mm or more)

Plane

Washer

Tightening torque

: 32.0 N·m (326 kgf·cm)

Spring

Washer

4-M8

(3) Remove the shipping bolt and jigs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 171

2. Installation

G10/G20 : Table Top Mounting

WARNING

■

Install the Table Top Mounting Manipulator with four or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G10-65** : Approximately 46 kg :102 lbs.

G10/G20-85** : Approximately 48 kg :106 lbs.

G20-A0** : Approximately 50 kg :111 lbs.

(1) Secure the base to the base table with four bolts.

NOTE



Use bolts with specifications conforming to ISO898-1 Property

Class: 10.9 or 12.9.

Tightening torque

: 73.5 N

⋅ m (750 kgf

⋅ cm)

4-M12 × 40

Spring

Washer

Plane

Washer

20 mm

Screw Hole

(depth 20 mm or more)

(2) Using nippers, cut off the wire tie binding the shaft and arm retaining bracket on the base.

Bolt

: M4 × 15

Washer

: M6

Wire tie

(3) Remove the bolts securing the wire ties removed in step (2).

(4) Remove the shipping bolt and jigs.

Arm mounting bolt

: M12 × 20

Eyebolt

(Attached at shipment)

172 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

G10/G20 : Wall Mounting

■

Install the Wall Mounting Manipulator with four or more people.

WARNING

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G10-65**W : Approximately 51 kg :113 lbs.

G10/G20-85**W : Approximately 53 kg :117 lbs.

G20-A0**W : Approximately 55 kg :122 lbs.

■

When installing the Manipulator to the wall, support the Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator.

(1) Unpack the Manipulator with retaining the arm posture.

NOTE



(2) Secure the base to the wall with six bolts.

Use bolts with specifications conforming to ISO898-1 Property Class:

10.9 or 12.9.

Tightening torque

: 32.0 N·m (326 kgf·cm)

(3) Remove the shipping bolt and jigs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

6-M12 × 40

20 mm

Screw Hole

(depth 20 mm or more)

Plane Washer

Spring Washer

173

2. Installation

G10/G20 : Ceiling Mounting

WARNING

■

Install the Ceiling Mounting Manipulator with four or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

G10-65**R : Approximately 46 kg :102 lbs.

G10/G20-85**R : Approximately 48 kg :106 lbs.

G20-A0**R : Approximately 50 kg :111 lbs.

■

When installing the Manipulator to the ceiling, support the

Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator.

(1) Unpack the Manipulator with retaining the arm posture.

174

NOTE



(2) Secure the base to the ceiling with four bolts.

Use bolts with specifications conforming to ISO898-1 Property Class:

10.9 or 12.9.

Screw Hole

(depth 20 mm or more)

20 mm

Plane

Washer

Spring

Washer

4-M12 × 40

Tightening torque

: 32.0 N·m (326 kgf·cm)

(3) Remove the shipping bolt and jigs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

CAUTION

■

Install the Manipulator with two or more people.

The Manipulator mass are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator.

RS3-351*: approx. 17 kg : 38 lbs. (except cables)

RS4-551*: approx. 19 kg : 42 lbs. (except cables)

■ When installing the Manipulator to the ceiling, support the

Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator.

(1) Unpack the Manipulator with retaining the arm posture.

NOTE



(2) Secure the base to the wall with 6 bolts.

Intensity of the bolts should be equivalent to ISO898-1 Property

Class 10.9 or 12.9.

Tightening torque

: 13.0 N·m (133 kgf·cm)

(3) Remove the shipping bolt and jigs.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Screw hole

(Depth: 12 mm or more)

6-M6

175

2. Installation

There are four threaded holes for the Manipulator base. Use M8 mounting bolts conforming to the strength of ISO898-1 property class 12.9.

4-M8

Spring

Washer

Plane

Washer

15 mm

Screw Hole (depth 20mm or more)

C8, C12

There are four threaded holes for the

Manipulator base.

Use M12 mounting bolts conforming to the strength of ISO898-1 property class 10.9 or 12.9.

Tightening torque:

100.0

5.0 N·m (1,020

51 kgf·cm)

4-M12 × 40

Spring

Washer

Plane

Washer

16 mm

Screw Hole (depth 25 mm or more)

176 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Grounding: C8, C12

WARNING

■

Ground resistance must be 100 Ω or less. Improper ground resistance may result in fire and/or electric shock.

■

Do not use the ground line for the Manipulator in common with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc. Using the ground line for the

Manipulator in common with other ground lines or grounding electrodes may result in electric shock and/or malfunction of the robot system.

■ When using metal ducts, metallic conduits, or distributing racks for cable, ground in accordance with national and local electric equipment technical standards. Grounding that does not meet the standards may result in electric shock and/or malfunction of the robot system.

Follow local regulations for grounding. It is recommended that the core size of the grounding wire be 5.5 mm 2 or more.

Directly connect the ground line to the Manipulator as shown in the figure below.

Bolt hole M5 (for grounding)

5.5 mm

or more Detail of A

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 177

2. Installation

There are four threaded holes for the Manipulator base.

Use M6 mounting bolts conforming to the strength of ISO898-1 property class

10.9 or 12.9.

Tightening torque: 13 N·m (133 kgf·cm)

4-M6 × 20

Screw Hole

(depth 12 mm

or more)

NOTE



The Joint #1 is not equipped with the brake. When installing the Manipulator, be careful not to rotate the Joint #1.

The cable may break when exceeding Max. motion range. Be careful to operate.

178 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

There are four threaded holes for the Manipulator base.

Use M12 mounting bolts conforming to the strength of ISO898-1 property class

10.9 or 12.9.

Tightening torque: 100 N·m (1020 kgf·cm)

4-M12×40

Spring Washer

Plane Washer

Screw Hole

(depth 25 mm or more)

After installing the robot, make sure to remove the fixing jig that fix the base and the Arm #1.

Hexagon socket head screws: 4-M4×8

4-M4 × 8

Fixing jig for transportation

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 179

2. Installation

Grounding: N6

WARNING

■

Ground resistance must be 100 Ω or less. Improper ground resistance may result in fire and/or electric shock.

■

Do not use the ground line for the Manipulator in common with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc. Using the ground line for the Manipulator in common with other ground lines or grounding electrodes may result in electric shock and/or malfunction of the robot system.

Follow local regulations for grounding. It is recommended that the core size of the grounding wire be 5.5 mm 2 or more.

Directly connect the ground line to the Manipulator as shown in the figure below.

N6-A1000**

Bolt hole M5 (for grounding)

N6-A850**R

180

Bolt hole M5 (for grounding)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

If using the tap hole on the back side of the module unit and directly securing the main body:

- Process the through hole on the base table and secure from the back side.

- In addition, using ø8H7 hole on the back side of the body, you can decide where to secure. In this case, see the figure below for the pin on the base table.

Module main unit

Base table, etc

Bolt diameter

Depth of bolt

Tightening torque

Hexagon socket head bolt

RH module

12 to 16 mm

33.3N·m

RM module

9 to 12 mm

14.7N·m

If using the mounting braket (option) and secure the module unit from the upper side:

- Mount the mounting braket on the module main unit with the attached bolt.

Code

- Process a screw on te mounting base table and secure the module unit from the upper side.

Attached bolt diameter

× Length (units)

Tightening torque

RH module mounting bracket

R114X4E001

M8 × 20 (4)

33.3N·m

RM module mounting bracket

R114X4E002

M6 × 20 (4)

14.7N·m

YZ-MS mounting bracket

R114X4E005

M8 × 20 (4)

M6 × 20 (4)

33.3N·m (M8)

14.7N·m (M6)

(Recommended)

Units to use

Weight

Applicable module

RH600: 2

RH800: 3

RH1000: 3 approx. 2.4 kg

RG-HM

RP-HMSz

RU-HMSz

RM350: 2

RM550: 2 approx. 1.8 kg

RM350: 1

RM750: 2 approx. 3.6 kg

YZ-MS

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 181

2. Installation

2.5 Control Unit and Drive Unit Installation

2.5.1 Environment

Environment conditions

: The Control unit and Drive unit must be used within the environmental conditions described in their manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in the environment that exceeds the conditions may not only shorten the life cycle of the product but also cause serious safety problems.

For Cleanroom installation

: The Control unit and Drive unit is not designed for cleanroom specification. If it must be installed in a cleanroom, make sure to install it in the proper enclosure with adequate ventilation and cooling.

Installation procedure

: Before performing any installation procedure, turn OFF the

Control unit and Drive unit 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.

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.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure.

Damaged cables, disconnection, or a contact failure is extremely hazardous and may result in electric shock and/or improper function of the system.

182 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

In order to optimize the robot system’s performance for safety, the Controller must be placed in an environment that satisfies the following conditions:

NOTE



- The Controller is not designed for cleanroom specification. If it must be installed in a cleanroom, be sure to install it in a proper enclosure with adequate ventilation and cooling.

- Install Controller in a location that allows easy connection / disconnection of cables.

Item Condition

Ambient temperature 5 to 40 °C (with minimal variation)

Ambient relative humidity 20% to 80% (with no condensation)

First transient burst noise

Electrostatic noise

2 kV or less (Power supply wire)

1 kV or les (Signal wire)

4 kV or less

Base table Use a base table that is at least 100 mm off the floor. Placing the Controller directly on the floor could allow dust penetration leading to malfunction.

If the Controller must be used in an environment that does not fulfill the conditions mentioned above, take adequate countermeasures. For example, the Controller may be enclosed in a cabinet with adequate ventilation and cooling.

- Install indoors only.

- Place in a well-ventilated area.

- Keep away from direct sunlight and radiation heat.

- Keep away from dust, oily mist, oil, salinity, metal powder or other contaminants.

- Keep away from water.

- Keep away from shocks or vibrations.

- Keep away from sources of electronic noise

- Keep away from strong electric or magnetic fields.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 183

2. Installation

2.5.2 Installation

Install the Control unit and Drive unit on a flat surface such as wall, floor, and

Controller box in the direction shown in (A) to (C).

(Figure: Control Unit: RC700.)

(A) Flat mounting

(B) Upright mounting

* The rubber foot needs to be replaced.

NOTE



* A plate for rack mounting is required.

For Control Unit and Drive Unit installation to the Controller box or the base table, process screw hole drilling as follows.

184 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Ensure the air flow around the supply and exhaust ports, and install the Controller while leaving space from other equipment or walls as below.

200 mm

Air flow of the Fan

50 mm

100 mm

50 mm

200 mm

Excluding the installation side such as base table

Air with higher temperature than the ambient air (about 10°C) is blown out from the exhaust port of the Controller.

Do not place the heat sensitive devices near the exhaust port.

Route the cables so that they can be pulled out to the front side of the Controller.

2.5.3 Wall Mounting Option

The Control unit and Drive unit have a wall mounting option.

Wall mounting with the front side down Wall mounting with the front side up

Refer to one of the following for the Installation Procedure.

Installation Procedure sheet attached to the wall mounting option.

Manual: Robot Controller RC700 / RC700-A

Setup & Operation 3.2.3 Wall Mounting Option

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 185

2. Installation

2.6 Connection to EMERGENCY Connector

NOTE



The details of safety requirements for this section are described in the

User’s

Guide 2. Safety

. Please refer to them to keep the robot system safe.

■

Not only when turning ON the device, but also changing use

WARNING environment such as add options or replace parts for maintenance, make sure that the emergency stop or safety door work properly.

Connect a safeguard switch or Emergency Stop switch to the Control unit and

Drive unit EMERGENCY connector for safety.

When nothing is connected to the EMERGENCY connector, Control unit and

Drive unit does not operate normally.

WARNING

■

Before connecting the connector, make sure that the pins are not bent.

Connecting with the pins bent may damage the connector and result in malfunction of the robot system.

Control Unit Drive Unit

EMERGENCY connecter

(Figure: RC700)

EMERGENCY connecter

2.6.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the Safety Door switch and the Emergency Stop switch. Be sure to use these input terminals to keep the system safe.

Connector

EMERGENCY connector

(Controller side)

Standard

D-sub25 Pin (male)

Screwlock #4-40

186 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.6.2 Safety Door Switch

WARNING

■

The interlock of the Safety Door must be functioning when the robot system is operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF (e.g. covering the switch with tape). Operating the robot system when the switch is not functioning properly is extremely hazardous and may cause serious safety problems as the Safety Door input cannot fulfill its intended function.

In order to maintain a safe working zone, a safeguard must be set up around the

Manipulator. The safeguard must have an interlock switch at the entrance to the working zoon. The Safety Door that is described in this manual is one of the safeguards and an interlock of the Safety Door is called a Safety Door switch.

Connect the Safety Door switch to the Safety Door input terminal on the

EMERGENCY connector.

The Safety Door switch has safety features such as temporary hold-up of the program or the operation-prohibited status that are activated whenever the Safety

Door is opened.

Observe the following in designing the Safety Door switch and the Safety Door.

- For the Safety Door switch, select a switch that opens as the Safety Door opens, and not by the spring of the switch itself.

- The signal from the Safety Door (Safety Door input) is designed to input to two redundant signals. If the signals at the two inputs differ by two seconds or more, the system regards it as a critical error. Therefore, make sure that the

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.

2.6.3 Latch Release Switch

The controller software latches the following conditions:

- The safety door is open.

- The operation mode is “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that cancels the latched conditions.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 187

2. Installation

Open : The latch release switch latches conditions that the safety door is open or the operation mode is “TEACH”.

NOTE



NOTE



NOTE



Closed : The latch release switch releases the latched conditions.

When the latched TEACH mode is released while the safety door is open, the status of Manipulator power is operation-prohibited because the safety door is open at that time.

To execute a Manipulator operation, close the safety door again, and then close the latch release input.

2.6.4 Checking Latch Release Switch Operation

Refer to

3.2 Development PC and Controller Connection

and connect the development PC and Controller before checking the function.

After connecting the safety door switch and latch release switch to the

EMERGENCY connector, be sure to check the switch operation for safety by following the procedures described below before operating the Manipulator.

(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.

Make sure that the “Safety” is dimmed on the status bar.

The information that the safety door is open can be latched by software based on the latch release input condition. To cancel the condition, close the safety door, and then close the safety door latch release input.

Open : The latch release switch latches condition that the safety door is open.

Closed : The latch release switch does not latch the condition that the safety door is open.

The latch release input also functions to acknowledge the change of TEACH mode.

In order to change the latched condition of the TEACH mode, turn the mode selector key switch on the Teach Pendant to “Auto”. Then, close the latch release input.

188 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

NOTE



NOTE



2. Installation

2.6.5 Emergency Stop Switch

If it is desired to create an external Emergency Stop switch in addition to the

Emergency Stop on the Teach Pendant and Operator Panel, make sure to connect the Emergency Stop switch to the Emergency Stop input terminal on the

EMERGENCY connector.

The Emergency Stop switch connected must comply with the related safety standards (such as IEC60947-5-5) and the following:

- It must be a push button switch that is “normally closed”.

- A button that does not automatically return or resume.

- The button must be mushroom-shaped and red.

- The button must have a double contact that is “normally closed”.

The signal from the Emergency Stop switch is designed to use two redundant circuits.

If the signals at the two circuits differ by two seconds or more, the system recognizes it as a critical error. Therefore, make sure that the Emergency Stop switch has double contacts and that each circuit connects to the specified pins on the

EMERGENCY connector at the Controller. Refer to the following:

2.6.8 Circuit Diagrams – Control Unit.

2.6.9 Circuit Diagrams – Drive Unit.

2.6.6 Checking Emergency Stop Switch Operation

Refer to

3.2 Development PC and Controller Connection

and connect the development PC and Controller before checking the function.

Once the Emergency Stop switch is connected to the EMERGENCY connector, continue the following procedure to make sure that the switch functions properly.

For the safety of the operator, the Manipulator must not be powered ON until the following test is completed.

Control Unit RC700

(1) Turn ON the Controller to boot the Controller software while pressing the

Emergency Stop switch.

(2) Make sure that the seven-segment LED on the Controller displays

(3) Make sure that “EStop” is displayed on the EPSON RC+ 7.0 status bar.

(4) Release the Emergency Stop Switch.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 189

2. Installation

(5) Select EPSON RC+ 7.0-[Tools]-[Robot Manager]-[Control Panel] and click the <Reset> button to execute the RESET command.

(6) Make sure that LED is turned OFF and that “E-Stop” is dimmed on the main window status bar.

Drive Unit RC700DU

(1) Turn ON the Controller to boot the software while pressing the Emergency

Stop switch.

(2) Make sure that “ERROR/E-STOP” LED on Drive Unit has been turned ON.

(3) Make sure that “EStop” is displayed on the status bar on the EPSON RC+ main window.

(4) Release the Emergency Stop Switch.

(5) Execute the RESET command.

(6) Make sure that “ERROR/E-STOP” LED turns OFF and “EStop” display fades on the main window status bar.

190 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.6.7 Pin Assignments

The EMERGENCY connector pin assignments are as follows:

Pin No. Signal Function Pin No. Signal Function

1 ESW11

Emergency Stop switch contact (1) *3

14 ESW21

Emergency Stop switch contact (2) *3

2 ESW12

Emergency Stop switch contact (1) *3

15 ESW22

Emergency Stop switch contact (2) *3

3 ESTOP1+ Emergency Stop circuit 1 (+)

16 ESTOP2+ Emergency Stop circuit 2 (+)

4 ESTOP1 − Emergency Stop circuit 1 (

) *4

17 ESTOP2 −

Emergency Stop circuit 2 ( ) *4

5 Not used

6 Not used

SD11

SD12

9 24V

10 24V

Safety Door input (1) *2

+24V output

11 24VGND +24V GND output

12 24VGND +24V GND output

13 Not used

18 SDLATCH1 Safety Door Latch Release

19 SDLATCH2 Safety Door Latch Release

20 SD21

21 SD22

Safety Door input (2) *2

22 24V

23 24V

+24V output

24 24VGND +24V GND output

25 24VGND +24V GND output

*1 Do not connect anything to these pins.

*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2 are different for two or more seconds. They must be connected to the same switch with two sets of contacts.

*3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and

Emergency Stop switch contact 2 are different for two or more seconds. They must be connected the same switch with two sets of contacts.

*4 Do not apply reverse voltage to the Emergency Stop circuit.

Emergency Stop switch output rated load +30 V 0.3 A or under

Emergency Stop rated input voltage range

Emergency Stop rated input current

1-2, 14-15 pin

+24 V

10%

37.5 mA

10% / +24V input 3-4, 16-17 pin

Safety Door rated input voltage range

Safety Door rated input current

Latch Release rated input voltage range

Latch Release rated input current

+24 V ± 10%

10 mA / +24 V input

+24 V ± 10%

10 mA / +24 V input

7-8, 20-21 pin

18-19 pin

NOTE



The total electrical resistance of the Emergency Stop switches and their circuit should be 1

Ω

or less.

CAUTION

■ 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. Doing so may result in system malfunction.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 191

2. Installation

2.6.8 Circuit Diagrams – Control unit

Emergency

Stop switch of an Operation

Unit (TP)

Example 1: External emergency stop switch typical application

Controller

+24V

External Emergency

Stop switches

Motor Driver

AC Input

Main Circuit

Control

+ −

Emergency

Stop detection

+5V

ESTOP1+

ESTOP2+ 16

Be careful of the direction of voltage application

ESTOP1

−

ESTOP2-

−

External

+24V

Safety Door input 1

Safety Door input 2

Latch release input

NOTE:+24V GND

+ 5V GND

Latch release input Close :Latch off

Open :Latch on

External + 24V

GND

192 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Emergency

Stop switch of an Operation

Unit (TP)

2. Installation

Example 2: External safety relay typical application

Motor Driver

AC Input

Main Circuit

Control

+ −

Emergency

Stop detection

Control unit

+5V

+24V

Safety Door input 1

Safety Door input 2

Latch Release input

External +24V

Fuse

External

+24V

GND

External

+24V

External safety relay

(The above diagram is simplified for representation.)

* For the protection of the emergency stop circuit, the fuse’s capacity should be as follows:

- Meets the capacity of the external safety relay

- 0.4A or less

External

+24V

GND

External

+24V

External + 24V

GND

NOTE:+24V GND

+ 5V GND

Latch release input Close :Latch off

Open :Latch on

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 193

2. Installation

2.6.9 Circuit Diagrams – Drive unit

Circuit Diagram

Drive Unit

194

Main Circuit

Control

ESTOP1+

ESTOP2+

ESTOP1 −

ESTOP2

−

Be careful of the direction of voltage application

Emergency

Stop detection

Safety Door input 1

Safety Door input 2

Latch release input

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

Wiring Example for Emergency Stop

Example 1: External emergency stop switch typical application

Emergency stop switch

Emergency stop switch of an Operation

Unit (TP)

Terminal block

NOTE



The Emergency cable, Emergency cable kit, and Terminal block are offered as options.

Design the cables connecting the units within 20 m long.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 195

2. Installation

Example 2: External safety relay typical application

Emergency

Stop switch

External +24V

Fuse*

External safety relay

External

+24V

GND

External

+24V

External

+24V

GND

External

+24V

GND

196

External

+24V

GND

Terminal block

* Fuse

For the protection of the emergency stop circuit, the fuse’s capacity should be as follows:

- Meets the capacity of the external

- 0.4A or less

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

Wiring Example for Safety Door Input / Latch Release Input

External

Safety Door input 1

Safety Door input 2

Latch release input

Safety Door input 1

Safety Door input 2

Latch release input

Safety Door input 1

Safety Door input 2

Latch release input

Close :Latch off

Open :Latch on

2. Installation

Safety Door input 1

Safety Door input 2

Latch release input

External

NOTE



Design the cables connecting the units within 20 m long.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 197

2. Installation

2.7 Power Supply, AC Power Cable

2.7.1 Power Supply

Ensure that the power meets the following specifications.

Item

Voltage

Phase

Frequency

Momentary

Power Interrupt

Rated Capacity

Peak Current

Leakage Current

Ground Resistance

Specification

200 to 240 VAC

(Input voltage should be with in

of the rated voltage.)

Single phase

50/60 Hz

10 ms or less

Maximum : 2.5 kVA

Actual power consumption depends on the model, motion, and load of the Manipulator.

For approximate power consumption of each model, refer to the following values.

C4 : 1.7 kVA

C8 : 2.5 kVA

C12 : 2.5 kVA

N2 : 0.6 kVA

N6 : 2.2 kVA

RS3 : 1.2 kVA

RS4 : 1.4 kVA

G1 : 0.5 kVA

G3 : 1.1 kVA

G6 : 1.5 kVA

G10 : 2.4 kVA

G20 : 2.4 kVA

Refer to the Manipulator manual for rated capacity of the Manipulator motor.

Rated capacity of X5 varies depending on the

Manipulator model. For details, please contact the supplier of your region.

When power is turned ON: Approx. 85 A (2 ms)

When motor is ON: Approx. 75 A (2 ms)

Max.10 mA

100 Ω or less

Install an earth leakage circuit breaker or a circuit breaker in the AC power cable line at 15 A or less rated electric current. Both should be a two-pole disconnect type. If you install an earth leakage circuit breaker, make sure to use an inverter type that does not operate by induction of a 10 kHz or more leakage current. If you install a circuit breaker, please select one that will handle the above mentioned “peak current”.

The power receptacle should be installed near the equipment and should be easily accessible.

198 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

WARNING

2. Installation

2.7.2 AC Power Cable

■

Make sure that operations are done by a qualified personal.

■

Be sure to connect the earth wire (green/yellow) of the AC power cable to the earth terminal of the factory power supply. The equipment must be grounded properly at all times to avoid the risk of electric shock.

■

Always use a power plug or a disconnecting device for power connecting cable. Never connect the Controller directly to the factory power supply.

■

Select the plug or a disconnecting device which conform safety standards for nations.

Make sure to insert the plug of the AC power cable firmly when connecting to the

Controller.

Item Specification

Ground wire

Cable length

Terminal

Green / Yellow

3 m

M4 round solderless terminal

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 199

2. Installation

2.8 Connecting Control Unit and Drive Unit

Drive Unit is connected to the Control Unit using the attached connection cable.

Up to three Drive Units can be connected to the Control Unit.

(Figure: RC700, RC700DU)

200

DU OUT* DU IN*

Drive Unit (DU): RC700DU / RC700DU-A

DU OUT*

Control Unit (CU): RC700 / RC700-A

* Name: RC700-A, RC700DU-A: OUT, IN

A: Control Unit and 1 st Drive Unit (CU-DU1)

B: 1 st Drive Unit and 2 nd Drive Unit (DU1-DU2)

C: 2 nd Drive Unit and 3 rd Drive Unit (DU2-DU3)

DU3

DU IN

DU2

DU OUT DU IN

DU1

DU OUT DU IN

DU OUT

NOTE



NOTE



B A

When you use one Drive Unit:

Connect nothing to DU OUT of the 1

Robot Controller malfunction. st Drive Unit (DU1). Otherwise, it results in the

When you use two Drive Units:

Connect nothing to DU OUT of the 2nd Drive Unit (DU2). Otherwise, it results in the Robot Controller malfunction.

When you use three Drive Units:

Connect nothing to DU OUT of the 3rd Drive Unit (DU3). Otherwise, it results in the Robot Controller malfunction.

When connecting the connection cable, make sure to connect to DU IN and DU OUT properly. Improper connection may cause malfunction.

Do not use any LAN cables on the market. Otherwise, it results in the Robot

Controller malfunction.

How to turn ON the power switch:

Check the connection first. Then, make sure to turn ON the power switch of Drive

Unit before turning ON the power switch of Control Unit.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

2. Installation

2.9 Drive Unit Setup

The DIP switch is equipped on the front side to configure 1 st , 2 nd , and 3 rd Drive Unit.

Follow the steps below to set up the Drive Unit.

(1) Turn OFF the Drive Unit.

(2) Change the DIP switch.

DIP switch

1 st

Drive Unit

OFF

1 2 3 4

ALL OFF

2 nd Drive Unit

OFF

ON : 1

1 2 3 4

OFF : 2, 3, 4

3 rd

Drive Unit

OFF

ON : 2

1 2 3 4

OFF : 1, 3, 4

(3) Attach the DU number label on Drive Unit.

DU1 : 1

DU2 : 2 st nd

DU3 : 3 rd

Drive Unit

(4) Plug in the power connector. Turn ON the Drive Unit.

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2. Installation

2.10 Connecting Manipulator and Controller

2.10.1 Connecting Precautions

Before Connection

: Before connecting the connector, make sure that the pins are not bent.

Connecting with the pins bent may damage the connector and result in malfunction of the robot system.

Connecting procedure

: Before performing any connecting procedure, turn OFF the 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.

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.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

Connection

: When connecting the Manipulator and the Controller, make sure that the serial numbers on each equipment match. Improper connection between the

Manipulator and Controller may not only cause improper function of the robot system but also safety problems.

The serial number of supported Manipulator is labeled on the Controller.

Wiring

: Only authorized or certified personnel should be allowed to perform wiring.

Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system.

For Cleanroom model

: When the Manipulator is a cleanroom model, use it with an exhaust system.

For details, refer to the Manipulator manual.

For Protected-model

: Connect the power cable connector and the signal cable connector to the

Manipulator immediately after the Manipulator installation. The

Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP65.

Connect the power connector and the signal connector of the M/C cables to the Controller.

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2. Installation

2.11 Power-ON

2.11.1 Power-ON Precautions

Manipulator check

: Before operating the Manipulator, make sure that all parts of the Manipulator are in place and have no external defects. Missing or defective parts may cause improper operation of the Manipulator. Improper operation of the

Manipulator is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

Shipping bolts and jigs check before turning ON

: Before turning ON the power after installation, be sure to remove the shipping bolts and jigs from the Manipulator. Turning ON the power while the shipping bolts and jigs are attached may result in equipment damage to the Manipulator.

Power activation

: Anchor the Manipulator before turning ON the power to or operating the

Manipulator. Turning ON the power to or operating the Manipulator that is not anchored is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as the Manipulator may fall down

When supplying the power again

: When supplying the power to the Controller again, turn OFF the Controller and wait for 5 seconds or more. Then, turn ON the Controller again.

Manipulators shown below have the following parts for releasing brakes.

Brake release unit (option)

External short connector

When operating the Manipulator, be sure to connect either of the parts to the position indicated below.

C4, C8, C12

(Figure: The external short connector is connected C4)

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 203

2. Installation

N2, N6

(Figure: The external short connector is connected N2)

For details on the brake release unit and the Manipulators, refer to Manipulator manual.

■

If the Manipulator is operated without connecting the above parts, the brakes cannot be released and it may cause damage on them.

WARNING

After using the brake release unit, be sure to connect the external short connector to the Manipulator, or check connection of the connector for the brake release unit.

WARNING

■

When connecting or replacing the parts, turn OFF the power to the

Controller and the brake release unit. Inserting and removing the connector while the power is ON may result in electrical shock.

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2. Installation

2.11.2 Power ON Procedure

(1) Check the M/C power cable connection.

(2) Check the M/C signal cable connection.

(3) Check the EMERGENCY connector connection.

(4) Connect the TP bypass plug to the TP port of the Robot Controller.

(5) Connect the AC power cable to the power supply socket.

(6) When you use Drive Unit:

Check the Control Unit and Drive Unit connection.

Turn ON the Drive Unit POWER switch.

(7) Turn ON the POWER switch of the Control unit.

(8) The seven-segment LED blinks as after Control unit starts up normally.

approximately 30 seconds

If an error is displayed, check connection in step (1) to (5) and turn ON the power again.

If an error is displayed after checking the connection, contact the supplier in your region.

Control unit RC700/RC700-A

(7) POWER switch

(8) Seven-segment LED

(Figure: RC700)

Drive unit RC700DU/RC700DU-A

(6) POWER switch

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 205

2. Installation

2.12 Saving Default Status

The Controller is already setup with the purchased robot(s) at shipment. However, just in case, we recommend saving the default Controller status. A USB memory is necessary to save the Controller status.

For the procedure of Controller status storage, refer to

Robot Controller: 6. Memory

Port

2.13 Adding Information of the Additional System

Adding of information of the new system is required only for customers who purchased the Drive Unit singly.

Install the Control Unit and Drive Unit, and then turn ON the robot system. After turning ON the system, add information of the additional system.

(1) Select the EPSON RC+ 7.0-[Setup]-[System Configuration].

[System Configuration] dialog box will appear.

(2)

(3)

(2) Click [Controller]-[Robots] in the tree on the left.

206 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

(3)

Click <Add> button.

[Add New Robot] dialog box will appear.

(4)

2. Installation

(4) Enter the following items by referring to the RC700DU Robot System Hofs Data

Sheet (hereinafter referred to as Hofs sheet) which is included with shipment.

Item Description

Robot Name : Type a name for the new Manipulator. (Example: RB1

Robot1)

Robot Serial # : Type “Serial No.” on the Hofs sheet.

(or the serial number on the Manipulator’s nameplate)

Any serial number can be used, but it is recommended to use the number described above.

Motion

System :

Drive Unit :

Robot Type :

Select “Standard”.

If there is no other motion systems installed, “Standard” should be already selected.

Select a Drive Unit for your Manipulator.

(DU1, DU2, DU3) DU numbers are configured by the dip switch on the front side and indicated by the indication labels.

Select a Manipulator type.

Robot Joints : This item cannot be changed.

Series : Select a Manipulator series.

Model : Select a Manipulator model.

All Manipulators available for the motor driver currently installed in the Controller will be displayed.

(5) Click the <OK> button. The EPSON RC+ will restart.

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2. Installation

(6) Click [Controller]-[Robots]-[Robot **]-[Calibration] in the tree on the left.

Following dialog box will appear.

(9)

(8)

(6)

(7)

(7) Type the values on the Hofs sheet to [CalPls] and [Hofs].

(8) Click the <Apply> button.

(9) Click the <Close> button.

208 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

3. First Step

This section indicates the procedure to install the development PC EPSON RC+, and execute simple program after connecting the development PC and Controller with a USB.

Make sure that the Robot system is installed safely by following the description in

1. Safety

and

2. Installation

. Then, operate the Robot system in the following procedures.

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 box will be displayed. Click <Next>.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 209

3. First Step

(3) Enter your user name and company name and click <Next>.

NOTE



(4) Select the drive where you want to install EPSON RC+ 7.0 and click

<Next>.

The installation directory is called EpsonRC70. This cannot be changed.

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3. First Step

(5) The dialog box for selecting the options to be installed will be displayed.

Check the options you want to install and click <Next>.

(6) The dialog box to review the settings will be displayed. If you are satisfied with the settings, click <Next>.

(7) If required, install “Windows Installer” and “Microsoft .NET Framework

3.5” on your system. This may take several minutes.

NOTE



Adobe Reader needs to be installed on your PC in order to view the EPSON

RC+ 7.0 manuals. If the installer cannot find Adobe Reader on your system, it will be installed at this time. Follow the instructions in the

Adobe installer. Do not restart the system after the Adobe Reader installation has completed.

(8) After the installation has completed, restart your computer.

The EPSON RC+ 7.0 software installation is now completed.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 211

3. First Step

3.2 Development PC and Controller Connection

Connect the development PC and the USB port for connection (USB B series connector).

NOTE



Development PC connection Port

(Figure: RC700)

For other details of development PC and Controller connection, refer to

EPSON

RC+7.0 User’s Guide: PC to Controller Communications Command

For RC700 / RC700-A, be sure to install the EPSON RC+7.0 to the development

PC first, then connect the development PC and RC700 / RC700-A with the USB cable.

If RC700 / RC700-A and the development PC are connected without installing the

EPSON RC+7.0 to the development PC, [Add New Hardware Wizard] appears.

If this wizard appears, click the <Cancel> button.

3.2.1 About Development PC Connection USB Port

Development PC connection port supports following USB.

USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)

USB1.1 FullSpeed

Interface Standard: USB specification Ver.2.0 compliant

(USB Ver.1.1 upward compatible)

Connect the Controller and development PC by a USB cable to develop the robot system or set the Controller configuration with the EPSON RC+ 7.0 software installed in the development PC.

Development PC connection port supports hot plugging. Insertion and removal of the cables while the power of the development PC and the Controller are ON is available. However, the Manipulator stops when the USB cable is removed while the Controller and the development PC are connected.

212 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

3. First Step

3.2.2 Precaution

When connecting the development PC and the Controller, make sure of the following.

Connect the development PC and the Controller with 5 m or shorter USB cable. Do not use the USB hub or extension cable.

Make sure that no other devices except development PC is used for development PC connection port.

Use PC or USB cable that supports USB2.0 HighSpeed mode to operate in

USB2.0 HighSpeed mode.

Do not pull or bend the cable strongly.

Do not allow unnecessary strain on the cable.

When development PC and the Controller is connected, do not insert or remove other USB devices from the development PC. Connection with the

Controller may disconnect.

3.2.3 Software Setup and Connection Check

The following is the steps of connecting the development PC and the Controller.

(1) Make sure that EPSON RC+ 7.0 is installed on the Controller connected to the development PC.

(Install the software when it is not installed.)

(2) Connect the development PC and the Controller by the USB cable.

(3) Turn ON the Controller.

(4) Start the software EPSON RC+ 7.0.

(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to display the [PC to Controller Communications] dialog box.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 213

3. First Step

(6) Select the “No.1 USB” and click the <Connect> button.

(7) After development PC and the Controller connection is completed,

“Connected” is displayed in the [Connection status:]. Make sure that

“Connected” is displayed and click the <Close> button to close the [PC to

Controller Communications] dialog box.

Connection of the development PC and the Controller is completed. Now robot system can be used from EPSON RC+ 7.0.

3.2.4 Backup the initial condition of the Controller

Backup the Controller data configured before shipment.

Project and system configuration backup procedure:

(1) From the [Project] menu, select [Copy].

(2) Change the [Destination Drive] to an arbitrary drive.

(3) Click <OK>. The project will be copied to the external media.

(4) From the [Tools] menu, select [Controller].

(5) Click on the <Backup Controller> button.

(6) Select the arbitrary drive.

(7) Click <OK>. The system configuration will be backed up on the external media.

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3. First Step

3.2.5 Disconnection of Development PC and Controller

Disconnection of the development PC and the Controller is indicated.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to display the [PC to Controller Communications] dialog box.

(2) Click the <Disconnect> button.

Controller and the development PC is disconnected and USB cable can be removed.

NOTE



If the USB cable is removed while the Controller and the development PC are connected, the Manipulator stops. Be sure to click the <Disconnect> button in the

[PC to Controller Communications] dialog box before removing the USB cable.

3.2.6 Moving the Robot to Initial Position

Robot can be operated by the following methods other than creating and executing the program.

Manual operation

Jog motion by the Teach Pendant

Command execution from the EPSON RC+

Jog motion from the EPSON RC+

This section explains about following methods.

A: Manual operation

B: Command execution from the EPSON RC+

C: Jog motion from the EPSON RC+

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 215

3. First Step

A: Manual operation

Move the non-excited robot manually.

For SCARA robot:

Joints with no electromagnetic brake can be moved manually.

Joints with the brakes (Joint #3 only, or Joints #3 and #4) can be moved manually while the break release switch on the Manipulator is being pressed with the Controller ON.

For 6-axis robot:

Manipulators can be moved manually by pressing the brake release switch when the brake release unit is connected.

For details, refer to

Brake Release Unit

in each Manipulator manual.

Also, Manipulators can be moved manually by releasing the electromagnetic brake from the command window of the EPSON RC+.

■

Normally, release the brake of joints one by one. Take extra care if you need to release the brakes of two or more joints simultaneously. Releasing the brakes of two or more joints simultaneously may result in hands or fingers being caught and/or equipment damage to or malfunction of the Manipulator as the arms of the Manipulator may move in unexpected directions.

CAUTION

■

Be careful of the arm falling when releasing the brake. While the brake is being released, the Manipulator’s arm falls by its own weight. The arm falling may result in hands or fingers being caught and/or equipment damage to or malfunction of the Manipulator.

■

Before releasing the brake, be sure to keep the Emergency Stop switch handy so that you can immediately press the 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.

216 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

3. First Step

(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-[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.

>Brake On, [Arm # (1 to 6) whose brake will be turned on]

B: Command execution from EPSON RC+

Move the robot by exciting the robot motors and executing the command.

Following explains the example of moving all joints to the 0 pulse positions by specifying the pulse for each joint.

(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-[Tools]-[Command Window]

(3) Execute the following command in [Command Window].

For SCARA robot:

>Motor On

>Go Pulse (0,0,0,0)

For 6-axis robot:

>Motor On

>Go Pulse (0,0,0,0,0,0)

For position and posture of Manipulator at 0 pulse position, refer to

Motion

Range

in the Manipulator manuals.

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3. First Step

C: Jog motion from EPSON RC+

Move the robot by exciting the motors and operating from the Jog & Teach window of EPSON RC+.

(1) Start EPSON RC+ 7.0.

Double click the <EPSON RC+ 7.0> icon on the desktop.

(2) Create a new project.

EPSON RC+ 7.0 menu-[Project]-[New Project]. [New Project] dialog box will be displayed.

Enter the project name in [Project Name] box. (Ex: FirstApp)

Click the <OK> button and create the new project.

(3) Open the robot manager.

EPSON RC+ 7.0 menu-[Tools]-[Robot Manager].

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3. First Step

(4) Turn ON the motors.

Check that the [Control Panel] tab is open. Click the <MOTOR ON> button.

(5) Move the Manipulator with Jog motion.

Select [Jog & Teach] tab.

Select “Joint” in [Jogging]-<Mode>.

Move the Manipulator by joint by clicking J1-J6 jog keys.

Manipulator can be moved by setting to other modes or setting the jog distance.

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3. First Step

3.3 Writing your first program

After installing the Controller, 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 EPSON RC+ 7.0 development environment.

1. Start 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.

220

(2) Type a project name in the [New Project Name] box.

(e.g. FirstApp)

(3) Click <OK> to create the new project.

When the new project is created, a program called Main.prg is created.

The window titled Main.prg will be displayed with a cursor flashing in the upper left corner.

Now you are ready to start entering your first program.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

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

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3. First Step

4. Run the program

(1) Press F5 to run the program. (F5 is the hot key for the [Run Window] selection of the [Run] Menu). You will see the Status window located at the bottom of the main window showing the build operation status.

(2) During project build, your program is compiled and linked. Then communications is established with the Controller and project files are sent to the Controller. If there are no errors during build, the Run window will appear.

222

(3) Click the Start button on the Run window to run the program.

(4) The texts 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 (RC700 / EPSON RC+ 7.0) Rev.22

3. First Step

Now let's teach some robot points and modify the program to move the robot.

5. Teach robot points

(1) Make sure that it is safe to operate the robot. Click the <Robot

Manager> button on the toolbar to display the [Robot Manager] window.

(2) Click the [Control Panel] tab.

Then, click the <Motor On> button to turn on the robot motors. You will be prompted to confirm the operation.

(3) Click <Yes> to continue.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 223

3. First Step

(4) Click the [Jog & Teach] tab.

224

(5) Click the <Teach> button in the lower right corner to teach point P0.

You will be prompted for a point label and description.

(6) Click the <+Y> jog button to jog the robot in +Y direction. Hold the button down to keep jogging. Move the robot until it reaches the middle of the work envelope.

(7) Click the <-Z> button to lower the Z axis of the robot.

(8) Select “P1” in the [Point (P)] dropdown list which is next to the

<Teach> button. The current point is set to P1.

(9) Click the <Teach> button. You will see a confirmation message to teach the point.

(10) Click the <Yes> button.

(11) Click the <+X> button to jog the robot in the +X direction.

(12) Select “P2” in the [Point (P)] dropdown list which is next to the

<Teach> button. The current point is set to P2.

(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 (RC700 / EPSON RC+ 7.0) Rev.22

3. First Step

6. Modify the program to include robot motion commands

(1) Insert three new Go statements into the Main.prg program as shown below:

Function main

Print "This is my first program."

Go P1

Go P2

Go P0

Fend

(2) Press F5 to display the Run window.

(3) Click the <Start> button to execute the program.

The robot will move to the points you taught.

7. Modify the program to change speed of robot motion commands

(1) Insert the Power, Speed, and Accel commands as shown in the program below:

Function main

Print "This is my first program."

Power High

Speed 20

Accel 20, 20

Go P1

Go P2

Go P0

Fend

(2) Press F5 to display the Run window.

(3) Click the <Start> button to execute the program.

The robot 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.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 225

3. First Step

8. Backup the project and system configuration

Even though this is only a sample project, we will backup the project and

Controller configuration. Backup can be done easily with EPSON RC+

7.0. It is important that you keep regular backups of your applications on an external media such as a 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.

(3) Click <OK>. The project will be copied to the external media.

(4) Select the EPSON RC+ 7.0 menu - [Tools] - [Controller].

(5) Click on the <Backup Controller> button.

(6) Select the arbitrary drive.

(7) Click <OK>. The system configuration will be backed up on the external media.

226 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

4. Second Step

After operating the robot system as instructed in

3. First Step,

setup other functions as necessary.

This section shows the manuals which contains information of necessary settings and setting procedure.

(For details of the manuals, refer to

6. Manuals

4.1 Connection with External Equipment

4.1.1 Remote Control

EPSON RC+ 7.0 User’s Guide

Remote Control

Robot Controller RC700/RC700-A manual

Setup & Operation: I/O Remote Set Up

I/O

EPSON RC+ 7.0 User’s Guide

I/O Setup

Robot Controller RC700/RC700-A manual

Setup & Operation: 11. I/O Connector

Setup & Operation: 14.2 Expansion I/O Board

Fieldbus I/O (Option)

Robot Controller RC700/RC90 Option Fieldbus I/O Board

4.1.2 Ethernet

EPSON RC+ 7.0 User’s Guide

Ethernet Communication

Robot Controller RC700/RC700-A manual

Setup & Operation: 7. LAN (Ethernet Communication) Port

4.1.3 RS-232C (Option)

EPSON RC+ 7.0 User’s Guide

RS-232C Communication

Robot Controller RC700/RC700-A manual

Setup & Operation: 14.4 RS-232C Board

4.1.4 Analog I/O board (Option)

Robot Controller RC700/RC700-A manual

Setup & Operation: 14.6

Analog I/O board

4.1.5 Force Sensor I/F board (Option)

Robot Controller RC700/RC700-A manual

Setup & Operation: 14.7

Force Sensor I/F board

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 227

4. Second Step

4.2 Ethernet Connection of Development PC and Controller

EPSON RC+ 7.0 User’s Guide

Ethernet Communication

Robot Controller RC700/RC700-A manual

Setup & Operation: 7. LAN (Ethernet Communication) Port

4.3 Connection of Teach Pendant (Option)

Robot Controller RC700/RC700-A manual

Setup & Operation: TP Port

RC700/RC90 Option Teach Pendant TP1 manual

Functions & Installation: Installation

RC700/RC90 Option Teach Pendant TP2 manual

Functions & Installation: Installation

RC700-A Option Teach Pendant TP3 manual

Functions & Installation: Installation

228 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

This chapter describes maintenance inspections and procedures. Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety.

Be sure to perform the maintenance inspections in accordance with the schedule.

5.1 Maintenance

5.1.1 Manipulator

Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual. The inspection points are added every stage.

If the Manipulator is operated for 250 hours or longer per month, the inspection points must be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.

Daily Monthly

Inspection Point

Quarterly Biannual Annual

1 month (250 h)

2 months (500 h)

3 months (750 h)

4 months (1000 h)

5 months (1250 h)

6 months (1500 h)

7 months (1750 h)

8 months (2000 h)

9 months (2250 h)

10 months (2500 h)

11 months (2750 h)

12 months (3000 h)

13 months (3250 h)

√ √

√

Overhaul

(replacement)

√ 20,000 h h = hour

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 229

5. General Maintenance

Inspection While the Power is ON (Manipulator is operating)

Inspection Point

Check motion range

Check whether unusual

Inspection

Place

Each joint sound or vibration occurs. Whole

Measure the accuracy

Whole repeatedly by a gauge.

RS,

G1, G3, G6, G10, G20

Turn ON and OFF the

Brake Release switch and check the sound of the electromagnetic brake.

If there is no sound, replace the brake.

C4, C8, C12, N2, N6

When brake release unit is installed:

Connect the brake release unit and check the sound of the electromagnetic brake with the brake released. If there is no sound, replace the brake.

When brake release unit is not installed:

Execute Brake off command (brake off, joint #) 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.

Brake

Daily Monthly Quarterly Biannual Annual

√

Inspection items Recommended Intervals

Loose bolts, connectors and cables

Inspect timing belt for damage and looseness.

Replace cables.

Replace timing belt.

230

Once a week

Every half year

Every two years

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

Inspection While the Power is OFF (Manipulator is not operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

End effector

√ √ √ √ √

Check looseness or backlash of bolts/screws.

Tighten them if necessary.

(For the tightening torque, refer to

Tightening Hexagon

Socket Head Cap

Bolts

Check looseness of connectors.

If the connectors are loosen, push it securely or tighten.

Visually check for external defects.

Clean up if necessary. mounting bolts

Manipulator mounting bolts

Each arm locking bolts

Bolts/screws around shaft

Bolts/screws securing motors, reduction gear units, etc.

External connectors on Manipulator (on the connector plates etc.)

Manipulator cable unit

External appearance of

Manipulator

External cables

√

Check for bends or improper location.

Repair or place it properly if necessary.

Check tension of timing belts.

Tighten it if necessary.

Grease conditions

Battery

C4, C8, C12, N2, N6:

Check either the external short connector or the brake release unit connector is connected.

Safeguard etc.

Base,

Inside of Arm

√ √ √

Refer to

5.4 Greasing

Refer to

5.5 Handling and Disposal of Batteries

The external short connector on the back side of the

Manipulator, or the brake release unit connector.

√ √ √

√

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 231

5. General Maintenance

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

Replace a cable or flexible tube if it has serious crack or breakage.

Check for loose bolts by tightening them.

Cables √ √ √ √ √

Check for a loose bolts by tightening them.

Bolts for securing the module

Bolts for securing the end effector

√

232 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

5.1.2 Control Unit (RC700, RC700-A)

Code

Quantity interval

Part

Content

Maintenance

Possible malfunction if maintenance is not performed

The temperature inside the

Controller may get too high and the robot system may not operate properly.

The error may occur due to reduction of the fun rotation.

Duration

(reference)

Reference:

Maintenance

Cleaning

More than once a month is recommended

5 minutes

7.1

Fan Filter

Fan filter

R13N865021

2195106

When the filter gets deteriorated

The robot system may not operate properly due to dust or the like.

5 minutes

7.1

Fan Filter

Fan (Front)

R13B060510

When the error

515 occurs, or when the abnormal noise occurs

The error 9015 occurs and the robot system may stop.

20 minutes

7.2.1

Front Fan

Fan (Rear)

Replacement Replacement Replacement Replacement

R13B060510 R13B060003

When the error 516 occurs, or when the abnormal noise occurs

The error

9016 occurs and the robot system may stop.

15 minutes

7.2.2

Regenerative

Fan (RC700-

A only)

Every 5 years, or when the error 511 occurs

The error

9011 occurs and the robot system may stop.

5 minutes

7.3

Battery

Battery

Expected product life

- -

30,000 hours

30,000 hours -

* Refer to the

Maintenance

chapters in the

Robot Controller RC700/RC700-A

manual.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 233

5. General Maintenance

5.1.3 Drive Unit (RC700DU, RC700DU-A)

Code

Part

Content

Quantity

Maintenance interval

Possible malfunction if maintenance is not performed

Cleaning

Fan filter

Replacement

R13N865021

More than once a month is recommended

2195106

When the filter gets deteriorated

The temperature inside the

Controller may get too high and the robot system may not operate properly.

The error may occur due to reduction of the fun rotation.

The robot system may not operate properly due to dust or the like.

Fan (Front)

Replacement

R13B060510

When the error *

525, 535, 545 occurs, or when the abnormal noise occurs

One of the errors *

9025, 9035, or

9045 occurs and the robot system may stop.

Duration

(reference)

5 minutes 5 minutes 20 minutes

Reference:

Maintenance

4.1

Fan Filter

4.1

Fan Filter

4.2.1

Front Fan

Fan (Rear)

Replacement

R13B060510

Expected product life

- -

30,000 hours

* The error number depends on the number of Drive Units.

* Refer to the

Maintenance

chapters in the

Robot Controller RC700DU/RC700DU-A

manual.

When the error *

526, 536, 546 occurs, or when the abnormal noise occurs

One of the errors

* 9026, 9036, or

9046 occurs and the robot system may stop.

15 minutes

4.2.2

Regenerative Fan

(RC700DU-A only)

30,000 hours

234 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

5.2 Overhaul (Parts Replacement)

CAUTION

■

Overhaul timing is based on an assumption that all joints are operated for equal distance. If a particular joint has a high duty or high load, it is recommended to overhaul all joints (as many as possible) before exceeding 20,000 operation hours with the joint as a basis.

NOTE



The parts for the Manipulator joints may cause accuracy decline or malfunction due to deterioration of the Manipulator resulting from long term use. In order to use the Manipulator for a long term, it is recommended to overhaul the parts (parts replacement).

The time between overhauls is 20,000 operation hours of the Manipulator as a rough indication.

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 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the parts subject to maintenance (motors, reduction gear units, and timing belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.

For details, refer to the following manual.

Robot Controller RC700 / RC700-A Maintenance 6. Alarm

Note:

The recommended replacement time for the maintenance parts is when it reaches the L10 life (time until 10% failure probability). In the [Maintenance] dialog box, the L10 life is displayed as 100%.

The Manipulator operation hours can be checked in [Controller Status Viewer] dialog box-[Motor On Hours].

(1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog box.

(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog box.

(3) Select the folder where the information is stored.

(4) Click <OK> to view the [Controller Status Viewer] dialog box.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 235

5. General Maintenance

(5) Select [Robot] from the tree menu on the left side (Dialog box image: EPSON

RC+ 7.0)

For the parts subject to overhaul, refer to Manipulator manual: Maintenance section:

Maintenance Parts List

For details of replacement of each part, refer to the Manipulator manual:

Maintenance section.

Please contact the supplier of your region for further information.

236 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

5.3 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.)

These bolts are fastened with the tightening torques shown in the following table.

When it is necessary to refasten these bolts in some procedures in this manual

(except special cases as noted), use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below.

Bolt

M10

M12

Tightening Torque

2.0 ± 0.1 N ⋅ m (21 ± 1 kgf ⋅ cm)

4.0 ± 0.2 N ⋅ m (41 ± 2 kgf ⋅ cm)

8.0 ± 0.4 N ⋅ m (82 ± 4 kgf ⋅ cm)

13.0 ± 0.6 N ⋅ m (133 ± 6 kgf ⋅ cm)

32.0 ± 1.6 N

⋅ m (326 ± 16 kgf

⋅ cm)

58.0 ± 2.9 N

⋅ m (590 ± 30 kgf

⋅ cm)

100.0 ± 5.0 N

⋅ m (1,020 ± 51 kgf

⋅ cm)

Refer below for the set screw.

Set Screw Tightening Torque

The bolts aligned on a circumference should be fastened in a crisscross pattern as shown in the figure below.

1.5 ± 0.1 N

⋅ m (16 ± 1 kgf

⋅ cm)

2.4 ± 0.1 N

⋅ m (26 ± 1 kgf

⋅ cm)

3.9 ± 0.2 N

⋅ m (40 ± 2 kgf

⋅ cm)

8.0 ± 0.4 N ⋅ m (82 ± 4 kgf ⋅ cm)

Bolt hole

Do not fasten all bolts securely at one time.

Divide the number of times that the bolts are fastened into two or three and fasten the bolts 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 (RC700 / EPSON RC+ 7.0) Rev.22 237

5. General Maintenance

5.4 Greasing

The ball screw spline and reduction gear units need greasing regularly. Only use the grease specified.

CAUTION

This section contains information of the parts requiring lubrication and greasing intervals. For details of the lubrication procedure, refer to the Manipulator manual.

■

Keep enough grease in the Manipulator. Operating the Manipulator with insufficient grease damages the sliding parts resulting in insufficient Manipulator performance. It may also require a lot of time and money for repair.

■

If grease gets into your eyes, mouth, or on your skin, follow the instructions below.

If grease gets into your eyes:

Flush them thoroughly with clean water, and then see a doctor immediately.

If grease gets into your mouth:

If swallowed, do not induce vomiting. See a doctor immediately.

If grease just gets into your mouth, wash out your mouth with water thoroughly.

If grease gets on your skin

Wash the area thoroughly with soap and water.

NOTE



For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the grease can be checked in the

[Maintenance] dialog box of the EPSON RC+ 7.0.

For details, refer to the following manual.

Robot Controller RC700 / RC700-A Maintenance 6. Alarm

238 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

G, RS series

Joints #1, #2

Joint #3

Greasing part

Reduction gear units

5. General Maintenance

Greasing Interval

Overhaul timing

Joints #1, #2 reduction gear units

As a rough indication, perform greasing at the same timing as overhaul.

Joint #3 Ball screw spline shaft

The recommended greasing interval is at 100 km of operation. However, perform greasing at 50 km of operation for the first time of greasing.

C4, C8, C12 series

Greasing part Greasing Interval

All Joints

Reduction gear units

Overhaul timing

Joint #6 Bevel gear Once a year (every 8000 hours)

Joints #1, #2, #3, #4, #5, #6 reduction gear units

As a rough indication, perform greasing at the same timing as overhaul.

All Joints

Greasing part

Actuator unit,

Reduction gear unit

Greasing Interval

Overhaul timing

As a rough indication, perform greasing at the same timing as overhaul.

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 239

5. General Maintenance

All Joints

Joint #6

Greasing part Greasing Interval

Reduction gear unit Overhaul timing

Bevel gear

Once a year

(every 8000 hours)

Joints #1, #2, #3, #4, #5, #6 reduction gear units

As a rough indication, perform greasing at the same timing as overhaul.

Ball screws and linear guides used for the modules are equipped with a unique lubrication system, which consists of the K1 lubrication unit* and high load grease.

Because of this lubrication system, you do not need replenish the grease if the robot system is going to be operated in the conditions described hereunder.

(1) Clean environment and no contamination.

(2) Ambient temperature is 0°C to 40°C and no condensation.

(3) Load conditions, transportable mass and moment are in the criteria as specified

* K1 lubrication unit: Made of a porous synthetic resin that contains a large amount of lubricating oil and supplies the lubrication oil for a long time.

240 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

5. General Maintenance

5.5 Handling and Disposal of Batteries

CAUTION

■

Use meticulous care when handling the lithium battery. Improper handling of the lithium battery as mentioned below is extremely hazardous, and may result in heat generation, leakage, explosion, or inflammation, and may cause serious safety problems.

・

Battery Charge

・

Disassembly

・

Incorrect Installation

・

Exposing to Fire

・

Deformation by Pressure

Short-circuit (Polarity; Positive/Negative)

Heating (85 ° C or more)

Soldering the terminal of the lithium battery

・

Forced Discharge directly

■ When disposing the battery, consult with the professional disposal services or comply with the local regulation.

Spent battery or not, make sure the battery terminals are insulated.

If the terminal contacts with the other metals, it may short and result in heat generation, leakage, explosion, or inflammation.

WARNING

■

Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

■

To shut off power to the robot system, disconnect the power plug from the power source. Be sure to connect the AC power cable to a power receptacle.

DO NOT connect it directly to a factory power source.

Before performing any replacement procedure, turn OFF the

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 (RC700 / EPSON RC+ 7.0) Rev.22 241

5. General Maintenance

Robot Controller

Before starting battery replacement, turn on the Controller for approximately one minute. Perform the replacement within 10 minutes to prevent data loss.

Make sure to use the designated lithium battery.

NOTE



Manipulator

When the lithium battery power is low, an error will occur to warn the user about the low battery status when the Controller is turned ON (when software is started up).

When the error occurs, the position data in motors will be lost and all joints need to be completely calibrated again.

The life span of the lithium battery varies depending on the energizing hours and installation environment of the Controller. The general life spans of the batteries are as follows (when the Controller is connected to power for 8 hours a day). When the Controller is not connected to power, the battery consumption will significantly increase compared to when the Controller is energized. If warnings of voltage reduction occur, replace the lithium metal battery even if it has not reached the above product life.

Manipulator

C4 series

RS, G1, G3, G6, G10, G20, C8, C12, N2, N6, X5 series

Battery life

1.5 years

3 years

For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the battery can be checked in the

[Maintenance] dialog box of the EPSON RC+ 7.0.

For details, refer to the following manual.

Robot Controller RC700 / RC700-A Maintenance 6. Alarm

The battery may run out if it passes the recommended replacement time.

If the error of the Power-low warning is not occurred, the calibration of the all joints is not necessary. However, when the position is out of place after the battery replacement, perform the calibration.

Be sure to use the designated lithium battery and the battery board.

Be sure to set the correct polar when installing the battery.

242 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

6. 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

This manual contains information on the Robot system and program development software.

Safety

Robot System Operation and Configuration

Operation of Program Development Software EPSON RC + GUI

SPEL+ Language and Application

Configuration of Robot, I/O, Communication

EPSON RC+ 7.0 SPEL+ Language Reference

This manual contains information on the SPEL+ programming language.

Details of the commands

Error Messages

Precaution of EPSON RC+ 4.0, 5.0, and 6.0 Compatibility

Software Options

Followings manuals contain information on the software options and commands.

RC+ API 7.0

Vision Guide 7.0 Hardware & Setup

Vision Guide 7.0 Software

Vision Guide 7.0 Properties & Results Reference

GUI Builder 7.0

Remote Control Reference

Force Guide 7.0

Force Guide 7.0 SPEL+ Language Reference

Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 243

6. Manuals

Controller

Robot Controller RC700/RC700-A

Drive Unit RC700DU/RC700DU-A

This manual indicates descriptions of the Robot Controller RC700, RC700-A, Drive unit RC700DU, RC700DU-A and Robot system.

Safety

Specification, Installation, Operation, and Setup

Backup and Restore

Maintenance

Verifying Robot System Operation

Error Codes

Controller Options

Followings manuals contain information on the Controller options.

PG Motion System

Fieldbus I/O

Teach Pendant TP1

Teach Pendant TP2

Teach Pendant TP3

Manipulator

The Manipulator manuals contain information on the Manipulator(s).

Each Manipulator model has a different manual.

EPSON SCARA Robot : G1, G3, G6, G10, G20, RS (RS3, RS4)

EPSON 6-Axis Robots : C4, C8, C12, N2, N6

EZ module

Safety

: X5 series

Specification, Installation, Setting

Maintenance

Calibration

244 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

7. Directives and Norms

These products conform to the following directives and norms.

For more details of the Controller and the Manipulator, please refer to each manual.

Product Name

Controller

Manipulator

Model

RC700 RC700-A

C4 series C8 series C12 series G series RS series

N series X5 series

Name

Directive 2006/42/EC

Directive 2014/30/EU

EN ISO 12100 (2010)

EN ISO 10218-1 (2011)

EN 60204-1 (2006/A1:2009)

EN ISO 13849-1 (2015)

EN ISO 13850 (2015)

EN 55011 (2009)

EN 61000-6-2 (2005)

Definition

Directive 2006/42/EC of the European Parliament and of the

Council of 17 May 2006 on machinery, and amending

Directive 95/16/EC

Directive 2014/30/EU of the European Parliament and of the

Council of 26 February 2014 on the harmonisation of the laws of the Member States relating to electromagnetic compatibility (recast).

Safety of machinery -- General principles for design -- Risk assessment and risk reduction

Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots

Safety of machinery -- Electrical equipment of machines --

Part 1: General requirements

Safety of machinery -- Safety - related parts of control systems -- Part 1: General principles for design

Safety of machinery -- Emergency stop function - principles for design

Industrial, scientific and medical (ISM) radio-frequency equipment -- Electromagnetic disturbance characteristics --

Limits and methods of measurement

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 (RC700 / EPSON RC+ 7.0) Rev.22 245

7. Directives and Norms

246 Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22

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