Epson EZ Modules 4-Axis Robots Manual

EZ MODULES

X5 series

MANIPULATOR MANUAL

Rev.2 EM105R2015F

EZ MODULES

X5 series

Manipulator Manual

Rev.2

EZ MODULES (X5 series) Rev.2

FOREWORD

WARRANTY

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the EZ modules X5 series Manipulator.

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

Keep this manual handy for easy access at all times.

The robot 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 ask your Regional Sales Office 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 or 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.

EZ MODULES (X5 series) Rev.2

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® XP Operating system

Throughout this manual, Windows XP or Windows refer to above operating system.

NOTICE

INQUIRIES

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.

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier office for your region.

Please prepare the following items before you contact us.

Your controller model and its serial number

Your manipulator model and its serial number

Software and its version in your robot system

A description of the problem

SERVICE CENTER

EZ MODULES (X5 series) Rev.2

iii

MANUFACTURER & SUPPLIER

Japan & Others

SEIKO EPSON CORPORATION

Suwa Minami Plant

Factory Automation Systems Dept.

1010 Fujimi, Fujimi-machi,

Suwa-gun, Nagano, 399-0295

JAPAN

SUPPLIERS

North & South America

EPSON AMERICA, INC.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

Europe

EPSON DEUTSCHLAND GmbH

Factory Automation Division

Otto-Hahn-Str. 4

D-40670 Meerbusch

Germany

TEL: +49 (0) 2159 / 538-1391

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

EZ MODULES (X5 series) Rev.2

For Customers in the European Union

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)

EZ MODULES (X5 series) Rev.2

1. Safety 1

1.1 Conventions.............................................................................................. 1

1.2 Design and Installation Safety................................................................... 2

1.3 Operation Safety ....................................................................................... 3

1.4 Emergency Stop........................................................................................ 4

1.5 Moving sliders by hand in emergency mode............................................. 4

1.6 Manipulator Labels.................................................................................... 5

2. Model Numbers and Specifications 7

2.1 Features of EZ Modules............................................................................ 7

2.2 Model Numbers......................................................................................... 9

2.2.1 Single Axis................................................................................... 10

2.2.2 Two Axis Manipulators................................................................. 11

2.2.3 Three Axis Manipulators.............................................................. 12

2.2.4 Four Axis Manipulators................................................................ 13

2.3 Relation between end effector mass W and moment arm length L......... 14

2.3.1 INERTIA Setting .......................................................................... 14

2.4 Concept and direction of moment ........................................................... 18

2.5 Dimensions ............................................................................................. 19

2.5.1 Single Axis................................................................................... 19

2.5.1.1 RH Type............................................................................ 19

2.5.1.2 RM Type ........................................................................... 21

2.5.2 Two Axis Manipulators................................................................. 22

2.5.2.1 RG-HM ............................................................................. 22

2.5.2.2 RG-HM (Additional Module).............................................. 26

2.5.2.3 YZ-MS (Z axis stroke: 200 mm)........................................ 30

2.5.2.4 YZ-MS (Z axis stroke: 300, 400 mm)................................ 32

2.5.3 Three Axis Manipulators.............................................................. 34

2.5.3.1 RP-HMSz (Z axis stroke: 200 mm) ................................... 34

2.5.3.2 RP-HMSz (Z axis stroke: 300, 400 mm) ........................... 38

2.5.4 Four Axis Manipulators................................................................ 42

2.5.4.1 RU-HMSz (Z axis stroke: 200 mm)................................... 42

2.5.4.2 RU-HMSz (Z axis stroke: 300 mm)................................... 46

2.6 Specifications.......................................................................................... 50

2.6.1 Single Axis ..................................................................................... 50

2.6.2 Two Axis Manipulator ..................................................................... 52

2.6.3 Three Axis Manipulator .................................................................. 57

2.6.4 Four Axis Manipulator .................................................................... 60

2.7 How to Set the Model.............................................................................. 63

3. Transportation, Storage, Unpacking, Handling 64

3.1 Transportation and Storage..................................................................... 64

3.2 Unpacking and Handling......................................................................... 66 vi

EZ MODULES (X5 series) Rev.2

4. Installation 67

4.1 Dimensional Check for Motion Range .....................................................70

4.2 Space Required for Maintenance ............................................................70

4.3 Reversing Module Cable Position ...........................................................71

4.3.1 RH, RM Module ...........................................................................71

4.4 Mounting a Module ..................................................................................73

4.4.1 Installation Patterns .....................................................................77

4.5 Relations between the Stroke and the Code of the Module.....................78

4.6 Installation of Single Axis Modules (RH, RM) ..........................................79

4.7 Installation of Multi-axis Manipulators......................................................83

4.7.1 RG-HM Manipulator.....................................................................83

4.7.2 RG-MS Manipulator .....................................................................93

4.7.3 RD-HM Manipulator ...................................................................105

4.7.4 RD-MS Manipulator ...................................................................117

4.8 Installation of Additional Module ............................................................121

4.8.1 First Manipulator ........................................................................126

4.8.2 Second, Third, Forth Manipulators (Except RS) ........................128

4.9 Mounting End Effector to Slider .............................................................130

4.10 Block Diagrams (Wiring Diagrams) ........................................................131

4.10.1 Single Module Type ....................................................................132

4.10.2 RG, RD Type ..............................................................................133

4.10.3 YZ Type ......................................................................................135

4.10.4 RP Type......................................................................................135

4.10.5 RU Type .....................................................................................136

4.10.6 Examples for Additional Modules ...............................................137

4.10.6.1 RG, RD + Additional Modules

(Adding single modules to J3 and J4 axes).....................137

4.10.6.2 RG, RD + Additional Modules

(Adding two-axis modules to J3 and J4 axes) .................138

4.10.6.3 YZ + Additional Modules

(Adding two-axis modules to J1 and J4 axes) .................139

4.10.6.4 RP + Additional Modules

(Adding single-axis module to J4 axis) ..........................140

4.10.7 Connector Label .........................................................................141

4.11 Connector Pin Assignments ...................................................................142

4.12 Cable Connection ..................................................................................151

4.13 Calibration..............................................................................................153

4.14 Adjusting Cable Support Length.............................................................156

4.15 Reversing Connector Box ......................................................................158

4.15.1 RG, RP, RU Manipulators ...........................................................158

4.15.2 Single Axis Modules, RD Manipulators.......................................158

4.16 Reversing L-fixture .................................................................................160

4.16.1 YZ, RP-HMSz, RU Manipulators ................................................160

4.17 Reversing RU Module ............................................................................161

4.18 User Cables and Pneumatic Tubes........................................................163

4.19 Brake Release Setting (RC620).............................................................164

EZ MODULES (X5 series) Rev.2

vii

5. Maintenance and Inspection 165

5.1 Safety Precautions for Maintenance ..................................................... 166

5.2 Routine Inspections .............................................................................. 168

5.2.1 Inspection of Bolts and Cables .................................................. 168

5.3 Periodic Inspections.............................................................................. 169

5.3.1 Inspection of Timing Belt (Only for RS, RSz module) ................ 169

5.4 Periodic Replacement of Expendable Parts.......................................... 172

5.4.1 Replacement of Cable............................................................... 173

5.4.1.1 Before Replacing the Cables .......................................... 174

5.4.1.2 Replacement procedures ............................................... 174

5.4.1.3 Replacement of Cables for RU Module .......................... 175

5.4.2 Replacement of Timing Belt (Only for RS, RSz module) ........... 179

5.4.3 Replacing the Lithium Battery (Battery Unit) ............................. 183

5.4.3.1 Before Replacing the Lithium Battery ............................. 184

5.4.3.2 How to Replace the Lithium Battery ............................... 185

5.5 Replacing the Motors ............................................................................ 187

5.5.1 Types of Motors......................................................................... 187

5.5.2 Location of Motors..................................................................... 188

5.5.3 Replacing the Motor on Each Module ....................................... 189

5.5.3.1 RH Module...................................................................... 189

5.5.3.2 RM Module ..................................................................... 194

5.5.3.3 RS, RSz Module ............................................................. 199

5.5.3.4 RU Module (Reduction Gear Unit Replacement)............ 204

5.6 Replacing the Signal Relay Board ........................................................ 208

5.6.1 Before Replacing the Signal Relay Board ................................. 208

5.6.2 How to Replace the Signal Relay Board ................................... 209

5.7 Overhaul ............................................................................................... 211

5.8 Precautions for Disposal of Modules..................................................... 211

5.9 Maintenance Parts List ......................................................................... 212 viii

EZ MODULES (X5 series) Rev.2

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.

EZ MODULES (X5 series) Rev.2

1. Safety

1.2 Design and Installation Safety

WARNING

Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training and maintenance training classes 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:

■

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, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.

■

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.

Further precautions for installation are mentioned in the

chapter 4. Installation

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

EZ MODULES (X5 series) Rev.2

1. Safety

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■

Please carefully read the

Safety-related Requirements

in the

Safety

chapter of the EPSON RC+ User’s Guide 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.

WARNING

■

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.

■

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 speeds 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 if the Manipulator moves unexpectedly.

■

Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated.

WARNING

CAUTION

■

To shut off power to the robot system, pull out 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 pull out 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.

■

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.

■ Do not apply any excessive force to the module and peripheral equipment.

Applying excessive force to the module and peripheral equipment may result in damage to them.

EZ MODULES (X5 series) Rev.2

1. Safety

1.4 Emergency Stop

NOTE

)

If the Manipulator moves abnormally during operation, immediately press the Emergency

Stop switch. The motor power will be turned OFF, and the axis motion caused by inertia will be stopped by the dynamic brake.

Avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally. Otherwise, the Manipulator may hit peripheral equipment since the operating trajectory while the robot system stops is different from that in normal operation.

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.

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.

1.5 Moving sliders by hand in emergency mode

When the system is placed in emergency mode, move the modules by hand as follows:

RH module ......Push the slider by hand.

RM module

......Push the slider by hand.

RSz module ....The axis cannot be moved up/down by hand because the electromagnetic brake is applied to the axis. Move the axis up/down while pushing the Z axis brake release switch.

RU module

......Rotate the end effector or flange by hand.

■

Be careful not to allow the Z axis and end effector to move down by their own weight while pressing the Z axis brake release switch.

CAUTION

EZ MODULES (X5 series) Rev.2

1. Safety

1.6 Manipulator Labels

The following labels are attached at locations on the Manipulator where specific dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator 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 Label NOTE

Do not touch current-carrying part to avoid electric shock.

This label is on the top face of the module.

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.

Be careful of the hand falling / rotation while the brake release button is being pressed.

Refer to

4.5 Relations between the Stroke and the Code of the Module

EZ MODULES (X5 series) Rev.2

1. Safety

Location of Labels

NOTE

)

Label D is for the manipulator of up/down axis.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.1 Features of EZ Modules

The features of EZ modules are as follows:

(1) A wide range of module stroke lengths and various module combinations

- EZ modules provide a wide range of module stroke lengths. Five different modules (RH, RM, RSz, and RU) are available and most of them (RH, RM, and

RSz) have several stroke lengths.

- Due to this wide range of module stroke lengths, the module combinations variety: single-axis modules, multi-axis manipulators, two-axis XY manipulators, and two-axis YZ manipulator.

(2) Controllability of two or more manipulators by one controller

- When the additional module is installed (a two-axis manipulator is installed to a two-axis manipulator, a single-axis module is installed to a three-axis manipulator, etc.), the RC series robot controller can control two or more manipulators unifying management of their point data.

- Due to Multi-Manipulator functions, the RC620 controller can control up to 16 single-axis modules separately. (Control unit: 8, Drive unit: 4, 4)

However, there is a limit to the maximum capacity, please contact us for the details.

(3) Available for Large-load

- EZ modules are available for large-load.

Max. Payload: from 80 kg (Single-axis) to 10 kg (four-axis)

The capacity for large-load has been improved since allowable moment of inertia of

Axis 4 has been increased.

- Optimal control for load makes the handling in large-load stable.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

Each model consists of the modules.

Model

RH module

Constituent module

RM module

RSz module

RU module

Single axis

– – –

RM – 9 – –

Two axis

XY RG-HM – –

YZ YZ-MS – 9 –

Three axis (XYZ) RP-HMSz

9 9 9

–

RU-HMSz 9 9 9 9 Four axis (XYZU)

Additional Modules

Model

RH module

Constituent module

RM module

RSz module

RU module

Single axis

RH 9 – – –

RM –

– –

Two axis XY RG-HM 9 – – –

*1: For the figures of respective models, refer to “2.2 Model Numbers”.

*2: Outline of each module

RH module : Large payload

RM module : Medium payload

RSz module : For vertical axis (Z axis)

RU module : For rotation axis (U axis)

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.2 Model Numbers

Examples of EZ module X5 series model number

Example 1: RP-HMSz

(RH: 600 mm stroke, RM: 500 mm stroke, RSz: 300 mm stroke, Mount direction type: A)

X5 P 6H 5M 3S 0 A

Axis 4: None

Axis 3: 300 mm stroke and RSz module

Axis 2: 550 mm stroke and RM module

Axis 1: 600 mm stroke and RH module

Combination type: RP

Example 2: RG-HM (Additional module)

(RH: 800 mm stroke, RM: 750 mm stroke, Mount direction type: C)

X5 G 8H 7M 00 A C

Mount direction type: C

Additional module: Exists

Axis 3: None

Axis 2: 750 mm stroke and RM module

Axis 1: 800 mm stroke and RH module

Combination type: RG

The second digit from the right in the model number means that Axis 4 (RU module) exists or not.

For the model number of the additional module, the second digit from the right means that the additional module exists or not.

The “model number” is the number for an aggregate of parts that are necessary for manipulator assembly.

The “code” in Chapter 4 and later chapters is the number for each part, parts set, and module.

Do not confuse the model number and the code.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

Model numbers shown in the software

Combination

Two axis RG-HM

Three axis RP-HMSz

Model Number & Model Number shown in the software

X5G

ex.: X5G8H7M000C

X5P

ex.: X5P6H5M3S0A

Four axis RU-HMSz

X5U

ex.: X5U6H5M3S1A

2.2.1 Single Axis

Single Axis (RH, RM)

Item Combination Axis 1 Axis 2 Axis 3

Axis 4

(Additional module)

Mount

Direction

X5 S 0H 00 00 0 A

X5 S: Single Axis 4H : RH400

6H : RH600

8H : RH800

0H : RH1000

00: none 00: none 0: none

A: Additional module

Standard

S: Single Axis 0L : RH2000 00: none 00: none 0: none

A: Additional module

Standard

S: Single Axis 3M : RM350

5M : RM550

7M : RM750

Left side mount

00: none 00: none 0: none

A: Additional module

Standard

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.2.2 Two Axis Manipulators

Item Combination Axis 1

Two Axis Manipulators (RG-HM, YZ-MS)

Axis 2 Axis 3

Axis 4

(Additional module)

X5 G 8H 7M 00 0

Mount

Direction

X5 G: RG -HM 4H: RH400

6H: RH600

8H: RH800

0H: RH1000

3M: RM350

5M: RM550

7M: RM750

00: none 0: none

A: Additional module

A: standard

X5G*H*M000A

B: Y mirrored

X5G*H*M000B

C: Y slider mirrored

X5G*H*M000C

D: Slider mirrored

X5G*H*M000D

X5 Z: YZ -MS 00: none 3M: RM350

5M: RM550

7M: RM750

2S: RSz200

3S: RSz300

4S: RSz400

0: none A: standard

B: Y mirrored

X5Z00*M*S0A

X5Z00*M*S0B

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.2.3 Three Axis Manipulators

Three Axis Manipulators (RP-HMSz)

Item Combination

X5 P

Axis 1 Axis 2

6H: RH600

8H: RH800

0H: RH1000

3M: RM350

5M: RM550

7M: RM750

Axis 3 Axis 4

Mount

Direction

A 6H 5M 3S

2S: RSz200

3S: RSz300

4S: RSz400

0: none A: standard

Y mirrored

X5P*H*M*S0A

YZ mirrored

X5P*H*M*S0B

Z mirrored

X5P*H*M*S0C

X5P*H*M*S0D

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.2.4 Four Axis Manipulators

Item Combination

X5 U

Axis 1

Four Axis Manipulators (RU-HMSz)

Axis 2

Axis 3

Axis 4

(RU module)

X5 U: RU -HMSz 4H: RH400

6H: RH600

8H: RH800

0H: RH1000

3M: RM350

5M: RM550

7M: RM750

2S: RSz200

3S: RSz300

1: RU module

Mount

Direction

A: standard

X5U*H*M*S1A

Y mirrored

YZ mirrored

X5U*H*M*S1B

Z mirrored

X5U*H*M*S1C

X5U*H*M*S1D

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.3 Relation between end effector mass W and moment arm length L

■

The total weight of the end effector and the work piece must be within the specified values for each Manipulator.

Always set the weight parameters according to the load. Setting a value that is smaller than the actual load may cause errors, excessive shock, insufficient function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.

CAUTION

■ The moment of inertia of the load (weight of the end effector and work piece) must be set within the specified values for each module.

■ The eccentric quantity of the load (weight of the end effector and work piece) must be set within the specified values for each module.

2.3.1 INERTIA Setting

Moment of Inertia and the INERTIA Setting

The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its resistance to motion”. Set INERTIA parameter considering the weight of the end effector and work piece attached to the RU rotation center.

CAUTION

■

The moment of inertia of load (weight of the end effector and work piece) must be

0.12 kg w m

or less. RU module is not designed to work with moment of inertia exceeding 0.12 kg w m

Always set the moment of inertia (INERTIA) parameter according to the moment of inertia. Setting a value that is smaller than the actual moment of inertia may cause errors, excessive shock, insufficient function of the module, and/or shorten the life cycle of parts/mechanisms.

The acceptable moment of inertia of load for RU module is 0.04 kg w m

at the rating and

0.12 kg w m

at the maximum. When the moment of inertia of load exceeds the rating, change the setting of moment of inertia (INERTIA) parameter of load of INERTIA command. After the setting is changed, the maximum acceleration/deceleration speed of

Axis 4 is corresponding to “moment of inertia” is set automatically.

Moment of inertia of load on the RU rotation center

EPSON

RC+

The moment of inertia of load (weight of the end effector and work piece) on the RU rotation center can be set by the “moment of inertia (INERTIA)” parameter of the

INERTIA command.

The method for setting the parameter varies with the software used.

Enter the combined total moment of inertia of the end effector and work piece into the

[Load inertia:] text box on the [INERTIA] panel ([Project] - [Robot Parameters]).

You may also execute the INERTIA command from the [EPSON RC+ Monitor Window].

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

Automatic acceleration/deceleration setting of Axis 4 by INERTIA (moment of inertia)

(%)

Moment of inertia setting

(kg· m

)

* The percentage in the graph is based on the speed at rated moment of inertia (0.04 kg

⋅ m

) as 100%.

Eccentric Quantity and the INERTIA Setting

CAUTION

■

The eccentric quantity of load (weight of the end effector and work piece) must be

150 mm or less. RU module is not designed to work with eccentric quantity exceeding 150 mm.

Always set the eccentric quantity parameter according to the eccentric quantity.

Setting a value that is smaller than the actual eccentric quantity may cause errors, excessive shock, insufficient function of the module, and/or shorten the life cycle of parts/mechanisms.

The acceptable eccentric quantity of load for RU module is 150 mm at the maximum.

When the eccentric quantity of load exceeds 0 mm, change the setting of eccentric quantity parameter of INERTIA command. After the setting is changed, the maximum acceleration/deceleration speed of Manipulator corresponding to “eccentric quantity” is set automatically.

Rotation center

Position of load’s center of gravity

Eccentric quantity (150 mm or less)

Eccentric Quantity

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

Eccentric quantity of load on the RU rotation center

The eccentric quantity of load (weight of the end effector and work piece) on the RU rotation center can be set by the “eccentric quantity” parameter of the INERTIA command.

The method for setting the parameter varies with the software used.

EPSON

RC+

Enter the combined total eccentric quantity of the end effector and work piece into the

[Eccentricity:] text box on the [INERTIA] panel ([Project] - [Robot Parameters]).

You may also execute the INERTIA command from the [EPSON RC+ Monitor Window].

Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)

(%)

Eccentricity setting

(mm)

* The percentage in the graph is based on the speed at no eccentricity (0 mm) as 100%.

Calculating the Moment of Inertia

Refer to the following examples of formulas to calculate the moment of inertia of load

(end effector with work piece).

The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and

(c).

Rotation center

Work piece (b)

End effector (a)

Work piece (c)

Whole moment of inertia

Moment of inertia of end effector (a)

Moment of inertia of work piece (b)

Moment of inertia of work piece (c)

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

The methods for calculating the moment of inertia for (a), (b), and (c) are shown on this page or the next page. Find the whole moment of inertia using the basic formulas on the next page.

(a) Moment of inertia of a rectangular parallelepiped

Rotation center Rectangular parallelepiped’s center of gravity

Mass (m) b

+ h

12 h

L b

(b) Moment of inertia of a cylinder

Cylinder’s center of gravity

Rotation center r

Mass (m)

Sphere’s center of gravity

Rotation center r

2 r

Mass (m)

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.4 Concept and direction of moment

•

Apply the roll, yaw, and pitch moments that are generated by payload within the transportable moment.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5 Dimensions

2.5.1 Single Axis

2.5.1.1 RH Type

Outer Dimensions (Model number: X5S#H0000#A)

IF/BOX LEFT SIDE MOUNT

10 65 65 10

4-M8depth12

T slot

[Unit: mm]

T slot matching nut size

2-2.3

180 8

182.4

(225) 150

8H7depth11

Stroke/2

Stroke

HOME POSITION(X=0)

0 Pulse POSITION

(65)

8H7depth11

5.2

Additional module: CONNECTOR BOX

LEFT SIDE MOUNT

(200) 200

100

200

100

200

(SB)

100

(40)

8H7depth11(A)

12-M8depth12

Only 400st: 8-M8depth12

IF/BOX RIGHT SIDE MOUNT

182.4

Additional module: CONNECTOR BOX

RIGHT SIDE MOUNT

182.4

*: Mechanical stop area

X5S#H0000#A

0 : Standard

A : Additional module

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

Stroke L SA SB

400 mm 840 200 240

600 mm 1040 400 340

800 mm 1240 600 440

1000 mm 1440 800 540

2. Model Numbers and Specifications

Outer Dimensions (Model number: X5S#H0000#A)

IF/BOX RIGHT SIDE MOUNT

[Unit: mm]

IF/BOX LEFT SIDE MOUNT

X5S0C00000#

Mount

A :

Standard

B : Left side mount

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.1.2 RM Type

Outer Dimensions (Model number: X5S#M0000#A)

[Unit: mm]

IF/BOX LEFT SIDE MOUNT

T slot

T slot matching nut size

8H7depth11

2-2.3

4-M6depth9

25 55 55 15

8H7depth11

4-M6depth9

5.2

182.4

(265)

(220)

150

Stroke/2

-X

Stroke

HOME POSITION(X=0)

0 Pulse POSITION

(67)

Additional module: CONNECTOR BOX

LEFT SIDE MOUNT

182.4

200

100

200

100

200

(SB)

100

(42)

Additional module: CONNECTOR BOX

RIGHT SIDE MOUNT

182.4

A A

8H7depth11(A)

12-M6depth9

IF/BOX RIGHT SIDE MOUNT

182.4

*: Mechanical stop area

X5S#M0000#A

0 : Standard

A : Additional module

Xst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Stroke L SA SB

350 mm 832 170 227

550 mm 1032 370 327

750 mm 1232 570 427

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.2 Two Axis Manipulators

2.5.2.1 RG-HM

A Type: Outer Dimensions (Model number: X5G#H#M000A)

502.4

182.4

110

107.5

215.5

[Unit: mm]

8H7depth11

4-M6depth9

132 66

107 116 68

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

75.5

224.5

Xst/2

Xst

Xst+440

100

224.5

HOME POSITION

0 Pulse POSITION

Max 90

225.5

215.5

X5G#H#M000A

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X4G#H#M000B)

[Unit: mm]

215.5

Max 90

225.5

224.5

107 116 68

132 66

HOME POSITION

0 Pulse POSITION

224.5

100

Xst/2

Xst+440

Xst

4-M6depth9

8depth11

75.5

107.5

X5G#H#M000B

Yst

Xst

0 : 1000 mm

215.5

182.4

502.4

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X4G#H#M000C)

384.5

374.5

Max 90

HOME POSITION

0 Pulse POSITION

375.5

100

375.5 Xst

Xst/2

75.5

[Unit: mm]

4-M6depth9

8H7depth11

68 116 107

66 132

182.4

384.5

X5G#H#M000C

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

Xst+440

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5G#H#M000D)

[Unit: mm]

Xst+440

182.4

384.5

75.5

4-M6depth9

8H7depth11

375.5

384.5

100

375.5

Xst/2

Xst

HOME POSITION

0 Pulse POSITION

Max 90

66 132

68 116 107

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

290.5

X5G#H#M000D

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.2.2 RG-HM (Additional Module)

A Type: Outer Dimensions (Model number: X4G#H#M00AA)

215.5

502.4

110

[Unit: mm]

8H7depth11

4-M6depth9

132

107 116 68

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

75.5

224.5

Xst/2

Xst

Xst+440

100

HOME POSITION

0 Pulse POSITION

Max 90

224.5

225.5

215.5

X5G#H#M00AA

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5G#H#M00AB)

[Unit: mm]

215.5

Max 90

225.5

224.5

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

107 116 68

132 66

HOME POSITION

0 Pulse POSITION

224.5

4-M6depth9

8H7depth11

75.5

100

Xst/2

Xst+440

Xst

X5G#H#M00AB

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

215.5

502.4

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X5G#H#M00AC)

384.5

374.5

Max 90

375.5

100

[Unit: mm]

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

4-M6depth9

8H7depth11

116

107

132

HOME

POSITION

0 Pulse

POSITION

375.5

Xst/2

Xst

75.5

384.5

Xst+440

X5G#H#M00AC

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5G#H#M00AD)

[Unit: mm]

Xst+440

384.5

75.5

*5 *5

375.5

Xst/2

Xst

HOME POSITION

0 Pulse POSITION

66 132

68 116 107

4-M6depth9

8H7depth11

384.5

100

375.5

290.5 84

X5G#H#M00AD

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

Max 90

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.2.3 YZ-MS (Z axis stroke: 200 mm)

A Type: Outer Dimensions (Model number: X5Z00#M2S0A Z axis stroke = 200 mm)

[Unit: mm]

100 60

170

*: Mechanical stop area

Refer to “2.5.1.2 RM Type

(Single Axis)” for mounting dimensions.

X5Z00#M2S0A

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

8 182.4

502.4

182.4

31.2

-Z

4-M6depth8

8H7depth9

HOME POSITION

0 Pulse POSITION

Max 90

21.2

328

361

241.5

Yst/2

Yst

Yst+482

86.5

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5Z00#M2S0B Z axis stroke = 200 mm)

[Unit: mm]

4-M6depth8

HOME POSITION

0 Pulse POSITION

Max 90

-Z

502.4

182.4

31.2

182.4

8H7depth9

Yst

Yst/2

Yst+482

86.5

328

361

241.5

21.2

60 100

170

*: Mechanical stop area

Refer to “2.5.1.2 RM Type

(Single Axis)” for mounting dimensions.

X5Z00#M2S0B

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.2.4 YZ-MS (Z axis stroke: 300, 400 mm)

A Type: Outer Dimensions (Model number: X5Z00#M3S0A Z axis stroke = 300 mm)

(Model number: X5Z00#M4S0A Z axis stroke = 400 mm)

[Unit: mm]

100 60

170

*: Mechanical stop area

Refer to “2.5.1.2 RM Type

(Single Axis)” for mounting dimensions.

X5Z00#M#S0A

Zst

3 : 300 mm

4 : 400 mm

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

182.4

502.4

182.4

31.2

4-M6depth8

8H7depth9

HOME POSITION

0 Pulse POSITION

Max 90

21.2

328

361

Yst/2

Yst

Yst+482

241.5

86.5

-Z

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5Z00#M3S0B Z axis stroke = 300 mm)

(Model number: X5Z00#M4S0B Z axis stroke = 400 mm)

[Unit: mm]

4-M6depth8

HOME POSITION

0 Pulse POSITION

Max 90

182.4

31.2

502.4

182.4

8H7depth9

-Z

21.2

Yst

Yst/2

Yst+482

86.5

328

361

241.5

60 100

170

*: Mechanical stop area

Refer to “2.5.1.2 RM Type

(Single Axis)” for mounting dimensions.

X5Z00#M#S0B

Zst

3 : 300 mm

4 : 400 mm

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.3 Three Axis Manipulators

2.5.3.1 RP-HMSz (Z axis stroke: 200 mm)

A Type: Outer Dimensions (Model number: X5P#H#M2S0A Z axis stroke = 200 mm)

[Unit: mm]

291

107.5

215.5

182.4

502.4

4-M6depth8

Z 200 st

372

107 116

100

-Z

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

8H7depth9

Z HOME POSITION

Z 0 Pulse POSITION

225.5

139.5

149.5

Xst/2

Xst

Xst+440

117

60 100

226.5

139.5

100

HOME POSITION

0 Pulse POSITION

Max 90

X5P#H#M2S0A

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5P#H#M2S0B Z axis stroke = 200 mm)

[Unit: mm]

Max 90

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Z 200 st

372

107 116

139.5

226.5

100

-Z

100

Z HOME POSITION

Z0 Pulse POSITION

8H7depth9

225.5

149.5

60 100

117

139.5

Xst/2

Xst

Xst+440

4-M6depth8

107.5

291

X5P#H#M2S0B

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

182.4

215.5

502.4

EZ MODULES (X5 series) Rev.2

HOME POSITION

0 Pulse POSITION

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X4P#H#M2S0C Z axis stroke = 200 mm)

[Unit: mm]

Max90

460.5

273.5 100

273.5

390.5

100

460.5

290.5

Xst/2

Xst

HOME POSITION

0 Pulse POSITION

226.5

Z HOME POSITION

Z0 Pulse POSITION

8H7depth9

100

-Z

372

116 107

Z 200 st

182.4

384.5

502.4

Xst+440

X5P#H#M2S0C

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

4-M6depth8

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

291

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5P#H#M2S0D Z axis stroke = 200 mm)

[Unit: mm]

182.4

502.4

Xst+440

591

291

8depth9

226.5

374.5

460.5

Xst/2

Xst

4-M6depth8

Z HOME POSITION

Z 0 Pulse POSITION

HOME POSITION

0 Pulse POSITION

100

-Z

116 107

Z 200 st

372

390.5 60

273.5

100

460.5

273.5

100

Max 90

*:Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

X5P#H#M2S0D

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.3.2 RP-HMSz (Z axis stroke: 300, 400 mm)

A Type: Outer Dimensions (Model number: X5P#H#M3S0A Z axis stroke = 300 mm)

(Model number: X5P#H#M4S0A Z axis stroke = 400 mm)

[Unit: mm]

291

107.5

215.5

182.4

502.4

4-M6depth8

Z300: 115

Z400: 165

Zst/2+142

Zst

-Z

107 116

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

100

8H7depth9

Z HOME POSITION

Z 0 Pulse POSITION

225.5

139.5

Xst/2

Xst

Xst+440

117

149.5

60 100

HOME POSITION

0 Pulse POSITION

100

Max 90

226.5

139.5

X5P#H#M#S0A

Zst

3 : 300 mm

4 : 400 mm

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5P#H#M3S0B Z axis stroke = 300 mm)

(Model number: X5P#H#M4S0B Z axis stroke = 400 mm)

[Unit: mm]

*:Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

139.5

226.5

100

Zst/2+142

Zst

107 116

100

225.5

149.5

60 100

117

139.5

Xst/2

Xst

Xst+440

Z HOME POSITION

Z 0 Pulse POSITION

8H7depth9

Max 90

Z300: 115

Z400: 165

4-M6depth8

107.5

291

182.4

215.5

502.4

HOME POSITION

0 Pulse POSITION

X5P#H#M#S0B

Zst

Yst

Xst

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X5P#H#M3S0C Z axis stroke = 300 mm)

(Model number: X5P#H#M4S0C Z axis stroke = 400 mm)

[Unit: mm]

460.5

273.5

100

Max90

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

273.5

390.5

100

460.5

290.5

226.5

Xst/2

Xst

HOME POSITION

0 Pulse POSITION

Z HOME POSITION

Z 0 Pulse POSITION

8H7depth9

100

116 107

-Z

Zst/2+142

Zst

4-M6depth8

182.4

384.5

502.4

Xst+440

X5P#H#M#S0C

Zst

3 : 300 mm

4 : 400 mm

Yst

3 : 350 mm

5 : 550 mm

7 : 750 mm

Xst

4 : 400 mm

6 : 600 mm

8 : 800 mm

0 : 1000 mm

291

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5P#H#M3S0D Z axis stroke = 300 mm)

(Model number: X5P#H#M4S0D Z axis stroke = 400 mm)

[Unit: mm]

182.4

502.4

Xst+440

291

8depth9

Z300: 115

Z400: 165

226.5

374.5

460.5

Xst/2

Xst

4-M6depth8

100

Z HOME POSITION

Z 0 Pulse POSITION

HOME POSITION

0 Pulse POSITION

390.5 60

273.5 100

273.5

460.5

100

Max 90

*: Mechanical stop area

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

-Z

116 107

Zst

Zst/2+142

X5P#H#M#S0D

Zst

Yst

Xst

0 : 1000 mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.4 Four Axis Manipulators

2.5.4.1 RU-HMSz (Z axis stroke: 200 mm)

A Type: Outer Dimensions (Model number: X5U#H#M2S1A Z axis stroke = 200 mm)

291

107.5

215.5

182.4

502.4

[Unit: mm]

HOME POSITION (X=0)

0 Pulse POSITION

Z 200st

−

107 116

316

RU Module

Z HOME POSITION

Z 0 Pulse POSITION

225.5

163.5

Xst/2

Xst

Xst+440

° = deg.

127.5

199

100

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

*: Mechanical stop area

226.5

100

Max 90

80 A

4-M6depth12

6 depth12

Tram Mark

80 84

40 47

A: Magnified View

55.5

Height from base-installed surface: 316

14H7depth5

P.C.D 30

6-M4depth7

X5U#H#M2S1A

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

（

360

）

U HOME POSITION

U 0 Pulse POSITION

−

（

360

）

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5U#H#M2S1B Z axis stroke = 200 mm)

RU Module

° = deg.

A: Magnified View

55.5

Height from base-installed surface: 316

14H7depth5

P.C.D 30

6-M4depth7

X5U#H#M2S1B

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

4-M6depth12

6 depth12

Tram Mark

47 40

226.

100

127.5

199

U HOME POSITION

U 0 Pulse POSITION

+U （ 360

）

−

U （ 360

）

Z 200st

316

10 116

Z HOME POSITION

Z 0 Pulse POSITION

163.5

225.5

Xst/2

Xst+440

Xst

Max 90

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

*: Mechanical stop

182.4

215.5

502.4

HOME POSITION (X=0)

0 Pulse POSITION

107.5

291

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X5U#H#M2S1C Z axis stroke = 200 mm)

A: Magnified View RU Module

[Unit: mm]

X5U#H#M2S1C

° = deg.

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

55.5

Height from base-installed surface: 316

14H7depth5

P.C.D 30

6-M4depth7

273.5

100

273.5 100

472.5

Max 90

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

*: Mechanical stop area

4-M6depth12

6 depth12

−

U （ 360

）

80 84

40 47

+U （ 360

）

U HOME POSITION

U 0 Pulse POSITION

Tram Mark

316

116

107

436.5

290.5 84 Xst/2

Xst

*5 +Y

226.5

HOME POSITION (X=0)

0 Pulse POSITION

Z HOME POSITION

Z 0 Pulse POSITION

−

Z 200 st

8 182.4

384.5

502.4

Xst+440

291

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5U#H#M2S1D Z axis stroke = 200 mm)

[Unit: mm]

502.4

Xst+440

291

8 182.4

226.5

374.5

436.5

Xst/2

Xst

Z HOME POSITION

Z 0 Pulse POSITION

HOME POSITION (X=0)

0 Pulse POSITION

472.5

273.5

100

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

*: Mechanical stop area

−

Zst 200 st

116

107

316

RU Module

° = deg.

273.5

100

Max 90

X5U#H#M2S1D

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

A: Magnified View

55.5

Height from base-installed surface: 316

14H7depth5

P.C.D 30

6-M4depth7

4-M6depth12

6 depth12

−

U （ 360

）

U HOME POSITION

U 0 Pulse POSITION

Tram Mark

+U （ 360

）

47 40

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

2.5.4.2 RU- HMSz (Z axis stroke: 300 mm)

A Type: Outer Dimensions (Model number: X5U#H#M3S1A Z axis stroke = 300 mm)

291

107.5

215.5

182.4

502.4

[Unit: mm]

HOME POSITION (X=0)

0 Pulse POSITION

Z 300 st

−

107 116

236

RU Module

Z HOME POSITION

Z 0 Pulse POSITION

*5 *5

225.5

163.5

Xst/2

Xst

Xst+440

° = deg.

100

226.5

127.5

100

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

Max 90

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

4-M6depth12

6 depth12

Tram Mark

80 84

40 47

+U （ 360

）

U HOME POSITION

U 0 Pulse POSITION

−

U （ 360

）

A: Magnified View

55.5

Height from base-installed surface: 236

14H7depth5

P.C.D 30

6-M4depth7

*: Mechanical stop area

X5U#H#M3S1A

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

B Type: Outer Dimensions (Model number: X5U#H#M3S1B Z axis stroke = 300 mm)

RU Module

° = deg.

A: Magnified View

55.5

Height from base-installed surface: 236

14H7depth5

P.C.D 30

6-M4depth7

X5U#H#M3S1B

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

4-M6depth12

6 depth12

*: Mechanical stop area

Tram Mark

47 40

U HOME POSITION

U 0 Pulse POSITION

+U （ 360

）

−

U （ 360

）

236

107 116

Z 300 st

−

Z HOME POSITION

Z 0 Pulse POSITION

127.5

226.5

100

Max 90

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

100

163.5

225.5

Xst/2

Xst+440

Xst

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

8 182.4

215.5

502.4

HOME POSITION (X=0)

0 Pulse POSITION

107.5

291

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

C Type: Outer Dimensions (Model number: X5U#H#M3S1C Z axis stroke = 300 mm)

A: Magnified View

RU Module

[Unit: mm]

° = deg.

X5U#H#M3S1C

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

55.5

Height from base-installed surface: 236

14H7depth5

P.C.D 30

6-M4depth7

*: Mechanical stop area

4-M6depth12

6 depth12

273.5

100

Max 90

472.5

436.5

290.5

Xst

84 Xst/2

*5 +Y

226.5

HOME POSITION (X=0)

0 Pulse POSITION

Z HOME POSITION

Z 0 Pulse POSITION

−

U （ 360

）

40 47

+U （ 360

）

U HOME POSITION

U 0 Pulse POSITION

Tram Mark

236

116 107

−

Z 300 st

8 182.4

384.5

502.4

Xst+440

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

291

Refer to “2.5.1.1 RH Type (Single

Axis)” for mounting dimensions.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications

D Type: Outer Dimensions (Model number: X5U#H#M3S1D Z axis stroke = 300 mm)

502.4

384.5

182.4

Xst+440

Refer to “2.5.1.1 RH Type

(Single Axis)” for mounting dimensions.

[Unit: mm]

*: Mechanical stop area

291

226.5

Z HOME POSITION

Z 0 Pulse POSITION

436.5

472.5

Xst/2

Xst

HOME POSITION (X=0)

0 Pulse POSITION

Install this type manipulator in a top shelf pattern since the Z axis is lower than the mounting surface of X axis.

−

Zst 300 st

116 107

236

RU Module

° = deg.

273.5 100

Max 90

X5U#H#M3S1D

Yst

3 : 350mm

5 : 550mm

7 : 750mm

Xst

4 : 400mm

6 : 600mm

8 : 800mm

0 : 1000mm

A: Magnified View

4-M6depth12

6 depth12

55.5

Height from base-installed surface: 236

14H7depth5

P.C.D 30

6-M4depth7

−

U （ 360

）

U HOME POSITION

U 0 Pulse POSITION

Tram Mark

47 40

+U （ 360

）

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Single Axis)

2.6 Specifications

2.6.1 Single Axis

Item

RH module

(including additional module)

RM module

(including additional module)

Installation

Applicable controller

Stroke length

Max. pulse range

Floor / Side / Ceiling / Top shelf

RC620

400 mm

600 mm

800 mm

1000 mm

2000mm

400mm : ±1310720p

600mm : ±1966080p

800mm : ±2621440p

1000mm : ±3276800p

2000mm : ±6553600p

350 mm

550 mm

750 mm

350mm : ±1146880p

550mm : ±1802240p

750mm : ±2457600p

Weight

Repeatability

Lead

Motor installation

400 mm: 21 kg

600 mm: 25 kg

800 mm: 29 kg

1000 mm: 34 kg

2000 ｍｍ : 61 ｋｇ

±0.010mm (RH2000 : ±0.020mm)

20 mm

350 mm: 12 kg

550 mm: 14 kg

750 mm: 17 kg

Direct Direct

Motor power

Roll moment

Pitch moment

Yaw moment

400 W 400 W

600 N m 70

Transportable moment

Payload

Rated

Max.

450 N

m 120

400 N

m 120

40 kg

80 kg

20 kg

40 kg

Resolution 0.0001526mm/p

Mechanical calibration method Mechanical Calibration Free (All axes absolute encoder system)

Equivalent continuous A-weighted sound pressure level

Aeq

= 75.3 dB (A) or under L

Aeq

= 76.5 dB (A) or under

Safety standard conformity

Ambient temperature

Ambient relative humidity

First transient burst noise

UL1740 (Third Edition, Dated December 7, 2007)

ANSI/RIA R15.06-1999

NFPA 79 (2007 Edition)

CSA/CAN Z434-03 (February 2003)

CE Marking

−

Machinery Directive, Low Voltage Directive, EMC Directive

+5°C to +40

10% to 80% (no condensation)

2 kV or less

Electrostatic noise 6 kV or less

Environmental requirements

Installation Environment

Max. operating speed

(Rated payload)

Base bracket (Option)

Camera bracket (Option)

- Install indoors.

- Keep away form direct sunlight.

- Keep away form dust, oily smoke, salinity, metal power or other contaminants.

- Keep away from flammable or corrosive solvents and gases.

- Keep away from water.

- Keep away from shock or vibration.

- Keep away from sources electric noise.

400 mm: 1500 mm/s

600 mm: 1500 mm/s

800 mm: 1500 mm/s

1000 mm: 1200 mm/s

2000mm : 560mm/s

RH400, 600: 2 pcs.

RH800, 1000, 2000: 3 pcs.

R12B031905

1500 mm/s

RM350, 550: 2 pcs.

RM750: 3 pcs.

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Single Axis)

RH module 2000 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

RH module 1000 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

100

100/100

100

116/116

100

100/100

100

116/116

100

100/100 100/100 100/100

100

116/116

20 40

100 100

116/116 100/100

100

70/70

100/100

Automatic speed and acceleration/deceleration setting by WEIGHT

RH module 800 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

RH module 400,600 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

RM module 750 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

100

100/100

100

170/170

100

100/100

100

170/170

100

100/100

100

150/150

20 40

100 100

100/100 100/100

20 40

100 100

120/120 100/100

65/65

50/50

100

100/100

100

100/100

100

100/100

10 20

100 100

100/100 100/100

100

60/60

RM module 350,550 mm

WEIGHT parameter (kg)

Speed rate (%)

Acc./Dec. rate (%)

100

180/180

100

160/160

100

140/140

10 20

100 100

120/120 100/100

65/65

*1: Refer to “4.4.1 Installation Patterns”.

*2: Conditions of Manipulator at measurement as follows:

Operating conditions: Under rated load, maximum speed, maximum acceleration, and duty 50%.

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

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Two Axis)

2.6.2 Two Axis Manipulator

RG-HM

Installation

Applicable controller

Mount direction type

Floor / Top shelf

RC620

A/B/C/D type

Stroke length

Max. pulse range

Weight

Repeatability

Motor power

Axis 1 (X): RH module

400 mm

600 mm

800 mm

1000 mm

Axis 1 (X): RH module

400mm : ±1310720p

600mm : ±1966080p

800mm : ±2621440p

1000mm : ±3276800p

RH module

400 mm: 21 kg

600 mm: 25 kg

800 mm: 29 kg

1000 mm: 34 kg

Axis 1: ±0.010 mm

Axis 1 (X): RH module

400 W

Axis 2 (Y): RM module

350 mm

550 mm

750 mm

Axis 2 (Y): RM module

350mm : ±1146880p

550mm : ±1802240p

750mm : ±2457600p

RM module

350 mm: 12 kg

550 mm: 14 kg

750 mm: 17 kg

Axis 2: ±0.010 mm

Axis 2 (Y): RM module

400 W

Payload

Axis 3 down force –

Resolution 0.0001526mm/p

Mechanical Calibration Free (All axes absolute encoder system) Mechanical calibration method

Equivalent continuous A-weighted sound pressure level

Aeq

= 75.1 dB (A) or under

Safety standard conformity

UL1740 (Third Edition, Dated December 7, 2007)

ANSI/RIA R15.06-1999

NFPA 79 (2007 Edition)

CSA/CAN Z434-03 (February 2003)

CE Marking

−

Machinery Directive, Low Voltage Directive, EMC Directive

Ambient temperature

Ambient relative humidity

+5°C to +40

10% to 80% (no condensation)

Environmental requirements

First transient burst noise

Electrostatic noise

2 kV or less

Installation

Environment

Max. operating speed

(Rated payload)

CP max. operating speed

CP max. acceleration

Base bracket (Option)

Camera bracket (Option)

6 kV or less

- Install indoors.

- Keep away form direct sunlight.

- Keep away form dust, oily smoke, salinity, metal power or other contaminants.

- Keep away from flammable or corrosive solvents and gases.

- Keep away from water.

- Keep away from shock or vibration.

- Keep away from sources electric noise.

RH module

400 mm: 1500 mm/s

600 mm: 1500 mm/s

800 mm: 1500 mm/s

1000 mm: 1200 mm/s

RM module

1500 mm/s

1120 mm/s

5000 mm/s

RH400, 600: 2 pcs.

RH800, 1000: 3 pcs.

R12B031905

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Two Axis)

Automatic speed and acceleration/deceleration setting by WEIGHT

RG-HM: RH1000mm-RM750mm

WEIGHT parameter (kg) 0

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

2 5 10 15 25

100 100 100 100 100 100

100/100 100/100 100/100 100/100 100/100 60/60

RG-HM: RH1000mm-RM(350, 550)mm

WEIGHT parameter (kg) 0

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

2 5 10 15 25

100 100 100 100 100 100

100/100 100/100 100/100 100/100 100/100 80/80

250/250 250/250 160/160 120/120 100/100 80/80

RG-HM: RH800mm-RM750mm

WEIGHT parameter (kg)

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

0 2 5 10 15 25

100 100 100 100 100 100

100/100 100/100 100/100 100/100 100/100 80/80

RG-HM: RH800mm-RM550mm

WEIGHT parameter (kg)

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

0 2 5 10 15 25

100 100 100 100 100 100

100/100

233/233

100/100

210/210

100/100

160/160

100/100 100/100

130/130 100/100

80/80

RG-HM: RH800mm-RM350mm

WEIGHT parameter (kg)

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

0 2 5 10 15 25

100 100 100 100 100 100

100/100

175/175

100/100

175/175

100/100

150/150

100/100 100/100

125/125 100/100

80/80

RG-HM: RH(400, 600)mm-RM750mm

WEIGHT parameter (kg) 0

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

2 5 10 15 25

100 100 100 100 100 100

163/163 150/150 120/120 100/100 100/100 70/70

100/100 100/100 100/100 100/100 100/100 70/70

RG-HM: RH(400, 600)mm-RM(350, 550)mm

WEIGHT parameter (kg) 0

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

2 5 10 15 25

100 100 100 100 100 100

163/163 163/163 160/160 130/130 100/100 60/60

233/233 210/210 160/160 130/130 100/100 60/60

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Two Axis)

RG-HM (RH: 1000 mm)

Axis 2 automatic Acc./Dec.

RG-HM (RH: 800 mm)

Axis 2 automatic Acc./Dec.

Automatic speed and acceleration/deceleration setting by Axis 2 position

Axis 2 position [mm]

RG-HM (RH: 400, 600 mm)

Axis 2 automatic Acc./Dec.

Axis 2 position [mm]

*1: Refer to “4.4.1 Installation Patterns”.

*2: Conditions of Manipulator at measurement as follows:

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

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

● For transportable moment, refer to respective values (Single Axis).

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Two Axis)

YZ-MS

Installation

Applicable controller

Mount direction type

Stroke length

Weight

Item YZ-MS

Max. pulse range

Floor (Optional base brackets are required.) / Side

Axis 2 (Y): RM module

350 mm

550 mm

750 mm

Axis 2 (Y): RM module

350 mm : ±1146880 p

550 mm : ±1802240 p

750 mm : ±2457600 p

RM module

350 mm: 12 kg

550 mm: 14 kg

750 mm: 17 kg

RC620

A/B type

Axis 3 (Z): RSz module

200 mm

300 mm

400 mm

Axis 3 (Z): RSz module

200mm :

−

2621440 / 0 p

300mm :

−

3932160 / 0 p

400mm :

−

15242880 / 0 p

RSz module

200 mm: 7 kg

300 mm: 7.6 kg

400 mm: 8.3 kg

Repeatability

Motor power

Axis 2: ±0.010 mm

Axis 2 (Y): RM module

400 W

Axis 3: ±0.010 mm

Axis 3 (Z): RSz module

150 W (with brake)

Payload

Axis 3 down force

Resolution

Mechanical calibration method

Equivalent continuous A-weighted sound pressure level

0.0001526 mm/p

200 N

0.0000763 mm/p

Mechanical Calibration Free (All axes absolute encoder system)

L aeq

= 76.8 dB (A) or under

Safety standard conformity

UL1740 (Third Edition, Dated December 7, 2007)

ANSI/RIA R15.06-1999

NFPA 79 (2007 Edition)

CSA/CAN Z434-03 (February 2003)

CE Marking

−

Machinery Directive, Low Voltage Directive, EMC Directive

Environmental requirements

Ambient temperature

Ambient relative humidity

First transient burst noise

Electrostatic noise

Installation

Environment

Max. operating speed

(Rated payload)

CP max. operating speed

CP max. acceleration

Base bracket (Option)

Camera bracket (Option)

+5 °C to + 40

2 kV or less

6 kV or less

10 % to 80 % (no condensation)

5000 Install indoors.

5001 Keep away form direct sunlight.

5002 Keep away form dust, oily smoke, salinity, metal power or other contaminants.

5003 Keep away from flammable or corrosive solvents and gases.

5004 Keep away from water.

5005 Keep away from shock or vibration.

- Keep away from sources electric noise.

RM module

1500 mm/s

1120 mm/s

5000 mm/s

RM350: 1 pc.

RM550, 750: 2 pcs.

R12B031905

RSz module

750 mm/s

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Two Axis)

YZ-MS: RM750 mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg)

Speed rate (%)

0 5 10 15

100 100 100 100

Acc./Dec. rate of X (%)

100/100 100/100 100/100 80/80

Acc./Dec. rate of Y (%)

200/200 200/200 100/100 80/80

Automatic speed and acceleration/deceleration setting by WEIGHT

YZ-MS: RM(350, 550) mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg)

Speed rate (%)

0 5

Acc./Dec. rate of X (%)

10 15

100 100 100 100

127/127 127/127 100/100 60/60

Acc./Dec. rate of Y (%)

200/200 200/200 100/100 60/60

*1: Refer to “4.4.1 Installation Patterns”.

*2: Conditions of Manipulator at measurement as follows:

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

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

● For transportable moment, refer to respective values (Single Axis).

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Three Axis)

2.6.3 Three Axis Manipulator

RP-HMSz

Installation

Applicable controller

Mount direction type

Stroke length

Max. pulse range

Weight

Repeatability

Motor power

Payload

Axis 1 (X): RH module

400 mm

600 mm

800 mm

1000 mm

Axis 1 (X): RH module

400 mm : ±1310720 p

600 mm : ±1966080 p

800 mm : ±2621440 p

1000 mm : ±3276800 p

Floor (only for 200 mm Z axis stroke) / Top shelf

RC620

A/B/C/D type

Axis 2 (Y): RM module

350 mm

550 mm

750 mm

Axis 2 (Y): RM module

350mm : ±1146880 p

550mm : ±1802240 p

750mm : ±2457600 p

Axis 3 (Z): RSz module

200 mm

300 mm

400 mm

Axis 3 (Z): RSz module

200mm :

−

2621440 / 0 p

300mm :

−

3932160 / 0 p

400mm :

−

15242880 / 0 p

RH module

400 mm: 21 kg

600 mm: 25 kg

800 mm: 29 kg

1000 mm: 34 kg

Axis 1: ±0.010 mm

Axis 1 (X): RH module

400 W

RM module

350 mm: 12 kg

550 mm: 14 kg

750 mm: 17 kg

Axis 2: ±0.010 mm

Axis 2 (Y): RM module

400 W

RSz module

200 mm: 7 kg

300 mm: 7.6 kg

400 mm: 8.3 kg

Axis 3: ±0.010 mm

Axis 3 (Z): RSz module

150 W (with brake)

Rated 10

Axis 3 down force

Resolution

Mechanical calibration method

Equivalent continuous A-weighted sound pressure level

Safety standard conformity

0.0001526 mm/p

200 N

Mechanical Calibration Free (All axes absolute encoder system)

0.0000723 mm/p

L aeq

= 76.2 dB (A) or under

UL1740 (Third Edition, Dated December 7, 2007)

ANSI/RIA R15.06-1999

NFPA 79 (2007 Edition)

CSA/CAN Z434-03 (February 2003)

CE Marking

−

Machinery Directive, Low Voltage Directive, EMC Directive

+5°C to +40

Environmental requirements

Ambient temperature

Ambient relative humidity

First transient burst noise

Electrostatic noise

10% to 80% (no condensation)

2 kV or less

6 kV or less

Installation

Environment

Max. operating speed

(Rated payload)

CP max. operating speed

CP max. acceleration

Base bracket (Option)

Camera bracket (Option)

5000 Install indoors.

5000 Keep away form direct sunlight.

5000 Keep away form dust, oily smoke, salinity, metal power or other contaminants.

5000 Keep away from flammable or corrosive solvents and gases.

5000 Keep away from water.

5000 Keep away from shock or vibration.

- Keep away from sources electric noise.

RH module

400 mm: 1500 mm/s

600 mm: 1500 mm/s

800 mm: 1500 mm/s

1000 mm: 1200 mm/s

RM module

1500 mm/s

1120 mm/s

5000 mm/s

RH400, 600: 2 pcs.

RH800, 1000: 3 pcs.

R12B031905

RSz module

750 mm/s

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Three Axis)

RP-HMSz: RH1000 mm-RM750mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5 10 15

100 100 100 100

Acc./Dec. rate of X (%) 100/150 100/150 100/100 40/40

Acc./Dec. rate of Y (%) 100/112.5 100/112.5 100/100 40/40

Acc./Dec. rate of Z (%) 200/200 200/200 100/100 40/40

RP-HMSz: RH1000 mm-RM (350, 550) mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5 10 15

Speed rate (%) 100 100 100 100

Acc./Dec. rate of Y (%) 166.7/187.5

166.7/187.5

100/100 40/40

RP-HMSz: RH800 mm-RM750 mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5

Speed rate (%) 100 100

100

Automatic speed and acceleration/deceleration setting by WEIGHT

Acc./Dec. rate of Y (%) 100/112.5 100/112.5 100/100 50/50

RP-HMSz: RH800 mm-RM (350, 550) mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5 10 15

Speed rate (%) 100 100 100 100

Acc./Dec. rate of Y (%) 166.7/187.5

166.7/187.5

100/100 50/50

RP-HMSz: RH600 mm-RM750 mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5

Speed rate (%) 100 100

Acc./Dec. rate of Y (%)

100

100/112.5 100/112.5 100/100 50/50

RP-HMSz: RH (400, 600) mm-RM (350, 550) mm-RSz (200, 300, 400) mm

WEIGHT parameter (kg) 0 5 10

100

Speed rate (%) 100 100 100 100

Acc./Dec. rate of Y (%) 166.7/187.5

166.7/187.5

100/100 50/50

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Three Axis)

RP-HMSz Axis 2 automatic Acc./Dec.

Automatic speed and acceleration/deceleration setting by Axis 2 position

Axis 2 position [mm]

*1: Refer to “4.4.1 Installation Patterns”.

*2: Conditions of Manipulator at measurement as follows:

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

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

● For transportable moment, refer to respective values (Single Axis).

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Four Axis)

2.6.4 Four Axis Manipulator

RU-HMSz

Item RU-HMSz

Installation

Floor (only for 200 mm Z axis stroke) / Top shelf

Applicable controller

Mount direction type

Stroke length

Max. pulse range

Weight

Repeatability

Motor power

Axis 1 (X): RH module

400 mm

600 mm

800 mm

1000 mm

Axis 1 (X): RH module

400 mm : ±1310720 p

600 mm : ±1966080 p

800 mm : ±2621440 p

1000 mm : ±3276800 p

RC620

A/B/C/D type

Axis 2 (Y): RM module

350 mm

550 mm

Axis 3 (Z): RSz module

200 mm

300 mm

750 mm

Axis 2 (Y): RM module

350 mm : ±1146880 p

550 mm : ±1802240 p

750 mm : ±2457600 p

Axis 3 (Z): RSz module

200 mm :

−

2621440 / 0 p

300 mm :

−

3932160 / 0 p

Axis 4 (U): RU module

±360 deg.

Axis 4 (U): RU module

360

: ±2752512 p

RH module

400 mm: 21 kg

600 mm: 25 kg

800 mm: 29 kg

RM module

350 mm: 12 kg

550 mm: 14 kg

750 mm: 17 kg

RSz module

200 mm: 7 kg

300 mm: 7.6 kg

RU module

2.6 kg

1000 mm: 34 kg

Axis 1: ±0.010 mm Axis 2: ±0.010 mm Axis 3: ±0.010 mm Axis 4: ±0.005 deg.

Axis 1 (X): RH module Axis 2 (Y): RM module Axis 3 (Z): RSz module Axis 4 (U): RU module

400 W 400 W 150 W (with brake) 150 W

Payload

Axis 4 allowable moment of inertia

Axis 3 down force

Resolution

Mechanical calibration method

Equivalent continuous

A-weighted sound pressure level

Safety standard conformity

200 N

0.0001526 mm/p 0.0000723 mm/p

Mechanical Calibration Free (All axes absolute encored system)

0.0001308

Aeq

= 76.2 dB (A) or under

UL1740 (Third Edition, Dated December 7, 2007)

ANSI/RIA R15.06-1999

NFPA 79 (2007 Edition)

CSA/CAN Z434-03 (February 2003)

CE Marking

−

Machinery Directive, Low Voltage Directive, EMC Directive

+5 °C to + 40

Environmental requirements

Ambient temperature

Ambient relative humidity

First transient burst noise

Electrostatic noise

10 % to 80 % (no condensation)

2 kV or less

6 kV or less

Installation

Environment

Max. operating speed

(Rated payload)

CP max. operating speed

CP max. acceleration

Base bracket (Option)

Camera bracket (Option)

- Install indoors.

- Keep away form direct sunlight.

- Keep away form dust, oily smoke, salinity, metal power or other contaminants.

- Keep away from flammable or corrosive solvents and gases.

- Keep away from water, shock or vibration.

- Keep away from sources electric noise.

RH module

400 mm: 1500 mm/s

RM module

1500 mm/s

600 mm: 1500 mm/s

800 mm: 1500 mm/s

1000 mm: 1200 mm/s

1120 mm/s

5000 mm/s

RH400, 600: 2 pcs.

RH800,1000: 3 pcs.

R12B031905

RSz module

750 mm/s

RU module

1428 deg./s

EZ MODULES (X5 series) Rev.2

Automatic speed and acceleration/deceleration setting by WEIGHT

2. Model Numbers and Specifications (Specifications: Four Axis)

RU-HMSz: RH1000 mm-RM750 mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

Acc./Dec. rate of Z (%)

Acc./Dec. rate of U (%)

100/150

100/112.5

200/200

142/142

100/100

40/40

RU-HMSz: RH1000b mm-RM (350, 550) mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%) 100/150 100/100 40/40

Acc./Dec. rate of Y (%)

Acc./Dec. rate of Z (%)

Acc./Dec. rate of U (%)

166.7/187.5

200/200

121/121

100/100

40/40

RU-HMSz: RH800 mm-RM750 mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

100/200

100/112.5

100/100

50/50

Acc./Dec. rate of Z (%)

Acc./Dec. rate of U (%)

200/200

142/142

100/100

50/50

RU-HMSz: RH800 mm-RM (350, 550) mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

100/200

166.7/187.5

100/100

50/50

Acc./Dec. rate of Z (%) 200/200 100/100 50/50

Acc./Dec. rate of U (%) 121/121 100/100 50/50

RU-HMSz: RH600 mm-RM750 mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

Acc./Dec. rate of Z (%)

Acc./Dec. rate of U (%)

100/168

100/112.5

200/200

142/142

100/100

50/50

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Four Axis)

Automatic speed and acceleration/deceleration setting by WEIGHT

RU-HMSz: RH (400, 600) mm-RM (350, 550) mm-RSz (200, 300) mm-RU

WEIGHT parameter (kg)

0 5 10

Speed rate (%) 100 100 100

Acc./Dec. rate of X (%)

Acc./Dec. rate of Y (%)

Acc./Dec. rate of Z (%)

Acc./Dec. rate of U (%)

100/168

166.7/187.5

200/200

121/121

100/100

50/50

RU-HMSz Axis 2 automatic Acc./Dec.

Automatic speed and acceleration/deceleration setting by Axis 2 position

Axis 2 position [mm]

*1: Refer to “4.4.1 Installation Patterns”.

*2: Conditions of Manipulator at measurement as follows:

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

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

● For transportable moment, refer to respective values (Single Axis).

EZ MODULES (X5 series) Rev.2

2. Model Numbers and Specifications (Specifications: Four Axis)

2.7 How to Set the Model

CAUTION

■

Do not change the setting of the Manipulator model. The Manipulator model for your system is set at shipping. It is normally not required to change the model.

However, if it is necessary to change it, be sure to set the model properly.

Improper settings of the Manipulator model may result in abnormal or no operation of the Manipulator and/or cause serious safety problems.

Combination

Refer to the chapter

Robot Configuration

in EPSON RC+ User’s Guide.

Two axis RG-HM

Model Number & Series Name to be selected

X5G

ex.: X5G8H7M000C

Three axis RP-HMSz

Four axis RU-HMSz

X5P ex.: X5P6H5M3S0A

X5U ex.: X5U6H5M3S1A

EZ MODULES (X5 series) Rev.2

3. Transportation, Storage, Unpacking, Handling

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION PERSONNEL AND

SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.

3.1 Transportation and Storage

■

To carry the Manipulator, have two or more people to work on it and use the delivery equipment. When holding the bottom of the module by hand, be very careful not to get hands or fingers caught.

CAUTION

■ The robot modules are not provided any special measures against environmental problems for transportation and storage.

Problems may arise or the service life may be reduced unless it is handled with great care as a precision instrument.

•

When transporting the Manipulator for a long distance, secure it to the delivery equipment so that the

Manipulator cannot fall. If necessary, pack the Manipulator in the same way as it was delivered.

•

When the Manipulator is used for a robot system again after long-term storage, perform a test run of it to verify that it works properly, and then operate it thoroughly.

•

Transport and store the Manipulator in the range of

C to +55

C. Humidity within 10% to 90% is recommended.

•

When condensation occurs on the Manipulator during transport or storage, turn ON the power only after the condensation dries.

•

Do not shock or shake the Manipulator during transport.

•

Store the modules indoors in a clean environment, and do not expose to wind, rain or direct sunlight.

EZ MODULES (X5 series) Rev.2

3. Transportation, Storage, Unpacking, Handling

3.2 Unpacking and Handling

■

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.

WARNING

■ When pulling out a module from the container, keep it in its horizontal position.

If you put a module without a motor brake in a vertical position, the slider may fall by its own weight (back drive), which is extremely hazardous, and could cause injury.

■

Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is extremely hazardous and may result in fall of the Manipulator.

CAUTION

Contents check

•

Unpack all containers and compare parts with a provided checklist to check for damaged or missing parts. Unnecessary parts for your model can be included in the containers because some parts are common to different models.

EZ MODULES (X5 series) Rev.2

3. Transportation, Storage, Unpacking, Handling

How to Handle

(1) Single module : Use the module body for slinging or mounting to handle for transport.

(2) Multi-axis manipulator : Secure the robot using ropes or a fixture so that it won’t move in transit.

•

Basically transport the manipulator by each module.

Mass of a module

RH module Max. 61 kg

RM module Max. 17 kg

RSz module

RU module

Max. 8.3 kg

2.6 kg

EZ MODULES (X5 series) Rev.2

4. Installation

WARNING

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION

PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL

CODES.

The base table must not only be able to bear the weight of the Manipulator but should also be able to withstand the dynamic movement of the Manipulator when the Manipulator operates at maximum acceleration. Ensure that there is enough strength on the base table by attaching reinforcing components such as crossbeams.

The controller has been set up for the robot system configuration before shipping.

Refer to respective controller manuals for installation procedures.

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

For details on the safeguard, refer to the User’s Guide.

■

Improper mounting of a module may result in mechanical breakage of the equipment and / or personal injuries.

- The base axis module of a multi-axis manipulator must be firmly attached to the mounting surface using the specified bolts and mounting holes.

- For a multi-axis manipulator, attach the modules securely to each other using the specified combining bracket and bolts.

- Be especially careful not to cause damage to the robot module system by mechanical interference, and also not to cause harm to yourself and others.

■

Before performing any installation procedure, turn OFF the controller and related equipment, and then pull out the power plug from the power source.

Performing any installation procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

■ Grounding the manipulator is done by connecting with the controller. Ensure that the controller is grounded and the cables are correctly connected. If the ground wire is improperly connected to ground, it may result in the fire or electric shock.

■

Do not change the setting of the Manipulator model. The Manipulator model for your system is set before shipping. It is normally not required to change the model. However, if it is necessary to change it, be sure to set the model properly. Improper settings of the Manipulator model may result in abnormal or no operation of the Manipulator and/or cause serious safety problems.

CAUTION

■ 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 serious safety problems. The connection method varies with the Controller used. For details on the connection, refer to the controller manual.

EZ MODULES (X5 series) Rev.2

4. Installation

CAUTION

■ When limiting the motion range for safety, set it by pulse range.

■ When carrying a multi-axis manipulator or a single axis manipulator with an end effector, the sliders of these robots may back-drive and pinch your hands.

Secure the slider using a rope or similar means so the slider will not move while carrying the robot.

■ Do not grab motor cover, connector box or cables when carrying a module.

■ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points.

EZ MODULES (X5 series) Rev.2

•

Refer to relevant sections in Figure for the assembly procedures of your manipulator.

Installation procedure

Single Axis module

Multi-Axis Manipulator

4. Installation

4.1 Dimensional Check for Motion Range

4.2 Space Required for Maintenance

Installation

4.6 Installation of Single Axis Modules

Two Axis Manipulator

4.7.1 RG-HM Manipulator

4.7.2 YZ-MS Manipulator

Three / Four Axis Manipulator

4.7.3 RP-HMSz Manipulator

4.7.4 RU-HMSz Manipulator

Parts modifications (depending on the mount direction type*)

4.3 Reversing Module Cable Position

4.15 Reversing Connector Box

Refer to the tables in the assembly procedure (1) of the respective modules/manipulators for required modifications.

4.16 Reversing L-Fixture

4.17 Reversing RU Module

4.4 Mounting a Module

4.14 Adjusting Cable Support Length

4.18 Attaching the Ferrite Core

4.12 Cable Connection

4.13 Calibration

4.9 Mounting End Effector to Slider

*: Refer to “2.2 Model Numbers”.

EZ MODULES (X5 series) Rev.2

4. Installation

4.1 Dimensional Check for Motion Range

•

The specified stroke of a module is between 0 (zero) position and just before the end of stroke at both sides. There is approximately 5 mm allowance for the dead end at both sides. Add 10 mm or more allowance to the end of the specified stroke for the motion range of the robot system for the floor plan so that the robot does not interfere with peripheral equipment.

4.2 Space Required for Maintenance

•

We recommend allowing an open space for maintenance work. If the space is not wide enough you may need to dismount a module for maintenance work.

Single axis : Clear upper side of the module and the area shown in Figure 4-2.

Multi-axis manipulator : The area shown in Figure 4-2 is required for motion range and each axis end.

Space required for maintenance [Unit: mm]

Motor direct mount module (RH, RM module)

Motor

Inside check

Wiring check

500

200

Connector

Box

Wiring check

500

200

Connector

Box

500

Motor

Inside check

Wiring check

Inside check

Wiring check

Replace timing belt

500

Motor indirect mount module (RSz module)

500

Wring check

Replace timing belt

500

Motor

200

Inside check

Wiring check

Replace timing belt

200

500

Wring check

Replace timing belt

EZ MODULES (X5 series) Rev.2

4. Installation

4.3 Reversing Module Cable Position

WARNING

■

To shut off power to the robot system, pull out 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 pull out 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.

4.3.1 RH, RM Module

♦

All procedures hereunder are common to RH and RM modules. The RH module is shown as an example in the following photographs.

(1) Remove the counter-sunk head screws for the end cover. Remove the motor end cover.

Motor end cover

NOTE

)

(2) Remove the cables from the opening.

Then, remove the slot plug from the opening on the other side.

Be careful not to lose the slot plug.

Slot plug

Cable

Slot plug

EZ MODULES (X5 series) Rev.2

4. Installation

(3) Insert the part of the cable bound with rubber in the opening where the slot plug was inserted before.

Bend the cable in as large a radius as possible to minimize the force applied to the cable outlet of the motor cover. Insert the slot plug in the groove on the other side.

Slot plug

(4) Attach the motor end cover. Be careful not to pinch the cables in the cover.

Complete

EZ MODULES (X5 series) Rev.2

4. Installation

4.4 Mounting a Module

WARNING

■

When mounting a module manipulator on a wall, do not remove the support until all the anchor bolts are secured. Removing the support while the anchor bolts are not secured sufficiently is extremely hazardous and may cause the

Manipulator to fall.

■

When relocating the Manipulator from a wall, support the Manipulator, and then remove the anchor bolts. Removing the anchor bolts without supporting the

Manipulator is extremely hazardous and may cause the Manipulator to fall.

CAUTION

■

When removing or installing a module, there must be two or more people to work on it so that at least one of them can support the module while others are removing the bolts. Removing the bolts without supporting the module may result in the module falling, bodily injury, and/or malfunction of the robot system.

Maximum Reaction Force

•

A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table by yourself.

The torque and reaction force produced by the movement of the Manipulator.

Single Axis

RH, RM

Max. Horizontal reaction force 1400 N

Max. Vertical reaction force –

Max. Reaction torque on the horizontal plate

RG-HM

2000 N

–

Two Axis

YZ-MS

1400 N

1050 N

Three Axis

RP-HMSz

2000 N

1050 N

Four Axis

RU-HMSz

2000 N

1050 N

Surface for mounting the module

•

The following two methods of mounting are available:

1. Attach the module directly to mounting surface using the tapped holes on its bottom.

2. Attach the module to mounting surface using the optional base bracket.

For both methods, 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.

EZ MODULES (X5 series) Rev.2

4. Installation

1. Attach the module directly to mounting surface using the tapped holes on its bottom.

•

Drill holes through the mounting base and attach the module from its rear side.

• φ

8 H7 holes on its bottom may be used for locating pins to secure the position of the module.

Refer to Figure for specifications of the locating pins.

Module

Mounting base

Bolt diameter

Screw-in depth

Tightening torque (max.)

Hexagon socket head cap bolt

RH module

RM module

12 to 16 mm 9 to 12 mm

33.3 N

⋅ m 14.7

RH module

RM module

Chamfered pin details

[Unit: mm]

EZ MODULES (X5 series) Rev.2

4. Installation

2. Attach the module to mounting surface using the optional base bracket.

(1) Attach the base bracket to the module using the bolts provided with the base bracket.

Refer to Table 4-3 for tightening torque.

(2) Tap on the mounting base and secure the module to the mounting base.

Code

RH module base bracket

RM module base bracket

YZ-MS base bracket

R114X4E001 R114X4E002 R114X4E005

Bolt diameter × length

(number of bracket)

M8×20 (4) M6×20 (4)

M8×20 (4)

M6×20 (4)

Tightening torque 33.3 N

m 14.7

Recommended number of bracket for mounting

Weight

Applicable modules / manipulators

RH module base bracket (option)

RH400: 2

RH600: 2

RH800: 3

RH1000: 3

Approx. 2.4 kg

RG-HM

RP-HMSz

RU-HMSz

RM350: 2

RM550: 2

RM750: 3

Approx. 1.8 kg

33.3 N

14.7 N

m (M8) m (M6)

RM350: 1

RM550: 2

RM750: 2

Approx. 3.6 kg

RM YZ-MS

[Unit: mm]

9 drill through,

14 counterbore, 8.6 deep

9 drill through,

14 counterbore, 12 deep on the back

4-C3

EZ MODULES (X5 series) Rev.2

200

216

(8) 20

Material: aluminum alloy

4. Installation

RM module base bracket (option)

9 drill through,

14 counterbore, 8.6 deep

6.6 drill through,

11 counterbore,

9 deep on the back

4-C3

[Unit: mm]

YZ-MS base bracket (option)

116

330

202

200

216

(8)

Material: aluminum alloy

[Unit: mm]

8 straight pin

8 chamfered pin

9 drill through

200

100

147

9.5

6.6 drill through,

11 counterbore on the back

Material: aluminum alloy

EZ MODULES (X5 series) Rev.2

4. Installation

4.4.1 Installation Patterns

■

Install the manipulator with two or more people. Be careful not to get hands, fingers, or feet caught and/or have equipment damage by the fall of the manipulator.

WARNING

■ When mounting the manipulator on the wall, do not remove the support until all the anchor bolts are secured. Removing the support while the anchor bolts are not secured sufficiently is extremely hazardous and may result in fall of the manipulator.

Each module has mounting holes available for following installation patterns.

Floor Side

(Ex.) RP-HMSz

(Ex.) RH module

YZ-MS (with the optional base bracket)

YZ-MS

YZ-MS module base bracket

(option)

(Ex.) RP-HMSz

(Ex.) RH module

NOTE

)

Design and make the base table for anchoring the manipulators so that it does not touch any cable connected to the interface box.

Available Installation Patterns

Single Axis RH, RM

Two Axis

Three Axis

Four Axis

RP-HMSz (Z = 200 mm)

RP-HMSz (Z = 300, 400 mm)

RU (Z = 200 mm)

RU (Z = 300 mm)

: Optional base brackets are required.

9 9 9 9

9 – – 9

9 * 9 – –

9 – – 9

– – – 9

9 – – 9

– – – 9

EZ MODULES (X5 series) Rev.2

4. Installation

4.5 Relations between the Stroke and the Code of the Module

•

The code of the module differs according to the stroke length.

•

The “code” is the number for each part, parts set, and module.

The “model number” in Chapter 2 is the number for an aggregate of parts that are necessary for manipulator assembly.

Do not confuse the code and the model number.

•

A label for the “code” and “serial

MODEL number” is attached to each module.

SERIAL NO.

：Ｒ１１４Ｘ５Ｈ０４０

：００００１

Code

Serial No.

Check the code and serial number when unpacking the module.

Please refer to this code and serial number when contacting us about your module.

MANUFACTURED

：１０／２００９

WEIGHT

：２１ｋｇ

MOTOR POWER

：４００

SEIKO EPSON CORPORATION

Module Stroke

R 1 1 4 X 5 H

Code

(A) Left

(B) Right

2000 mm

R 1 1 4 X 5 M

RSz (A/C) Left

RSz (B/D) Right

R 1 1 4 X 5 S

R 1 1 4 X 5 U

0 1

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Single Axis)

4.6 Installation of Single Axis Modules (RH, RM)

WARNING

■

Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) Unnecessary strain on 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

■

When removing or installing the module, there must be two or more people to work on it so that at least one of them can support the module while others are removing the bolts. Removing the bolts without supporting the module may result in the module falling, bodily injury, and/or malfunction of the robot system.

•

Shows the codes of the components of RH and RM modules. Find the codes of the components with the model number and make sure that all components are ready.

Name of Components

RH Module

RM Module

Accessory kit

Interface box

Model Number

X5S

H00000A X5S

M00000A

R114X5H

–

– R114X5M0

R114X4A0S0

R114X5B010

R114X4A0S0

R114X5B010

*1:

For details of numbers substituted by and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

*2:

Numbers substituted by in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

♦

Single axis module assembly procedures (Photographs in this section are B type.)

(1) The mount direction types of the following parts have been set at the factory.

X axis module: A type

Connector box: B type

When using these parts in different mount direction type, refer to Table 4-7 and change the position for the module cable outlet and the orientation of the part as required.

Mount Direction Type

X axis module

Connector box

Not necessary

Reverse of connector box

Reverse of cable outlet position

*1: Refer to “2.2 Model Numbers”.

*2: Refer to “4.3.1 RH, RM Module (Reversing Module Cable Position)”.

*3: Refer to “ 4.15.2 Single Axis Modules (Reversing Connector Box)”.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Single Axis)

(2) Attach the module to the mounting base. Refer to “4.4 Mounting a Module”.

(3) Remove the end cover and top cover.

NOTE

)

Be careful not to lose any parts since they are provided in exact number.

Top cover

End cover

(4) Insert two plate nuts into the T-slots located on the cable side opposite from the end with the motor.

Attach the connector box to the module using four screws (M3×10, tightening torque: 0.8 N

m).

Insert the cable into the U-shaped opening in the box frame.

M3×10

(4 bolts)

Plate nut

U-shaped opening

(5) Affix labels*, which are provided with the interface box, to their respective cable connectors.

(The connectors are common to all modules regardless of the motor power specifications. Be sure to affix them to avoid miss-connection.)

* Refer to “4.10.1 Single Module Type (Block Diagrams)” and affix the labels correctly.

Power cable

Signal cable

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Single Axis)

(6) To secure the ground wire (green) to the connection box, put a crown washer and a ground terminal on the box (in that order), and tighten a bolt (M4

8).

Ground wire

(7) Connect the power and signal cables to the interface box

Refer to “4.10.1 Single Module Type (Block Diagrams)” and connect the cables properly.

Signal cable

Power cable

(8) Put the connected cables in the interface box while bending the cables into as large a radius as possible. Put projections under the interface box on the grooves of the connector box and push the interface box.

CAUTION

■

When installing the interface box, be careful not to allow the cables to interfere with the box mounting and do not bend these cables forcibly to push them into the box. Unnecessary strain on 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.

When routing the cables, observe the cable locations after removing the interface box. Be sure to place the cables back to their original locations.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Single Axis)

(9) Secure both end covers. (M5

10, 8 bolts, button head cap bolt)

Then, put the grommets for the interface box in openings on the end cover.

Grommet

20×2

(10) Connect the module to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

4.7 Installation of Multi-axis Manipulators

4.7.1 RG-HM Manipulator

WARNING

■

When passing the cables through the cable support, be careful not to rub or tangle the cables. Adjust the links of the cable support to prevent the cables from stretching too tight, getting too loose, or twisting. Rubbing or tangling the cables may result in damage to the cables. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

CAUTION

■

•

Shows the codes of components of RG-HM manipulator. Find the codes of the components with the model number and make sure that all components are ready.

Name of

Components

X5G

M000A X5G

Model Number

M000B X5G

M000C X5G

M000D

RH module

RM module

R114X5H

R114X5M0

Accessory kit

Cable set 1

R114X4A0G0 R114X4A0G1 R114X4A0G0 R114X4A0G1

R114X5C001

Interface box R114X5B010

*1: For details of numbers substituted by

and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

*2 : Numbers substituted by

in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

•

Be sure that all parts of the interface box (<1>, <2>) and accessory kit (<3> to <22>) are ready before proceeding.

<1>

X

<3>

<4>

<2>

20 grommet × 2, connector label × 2, M4×8 (1 bolt),

M4 crown washer × 1

Y

<5> <6> <10> <8> <9> <7>

M5×10 (4 bolts, button head cap bolt),

M4×25 (2 bolts), M3×6 (6 bolts)

<11>

Moving side

<19>

<12>

Fixed side

<20>

<21>

<13> <14> <18> <16> <17> <15>

M5×10 (4 bolts, button head cap bolt),

M4×25 (2 bolts), M4×20 setscrew (2 screws*),

M3×6 (6 bolts)

* One of the screws is a spare.

M6×10 (4 bolts),

M5×10 (8 bolts, button head cap bolt),

M3×6 (2 bolts)

<22>

NOTE

)

M8×20 (4 bolts), M6×20 (4 bolts)

The labels marked with “X”, “Y”, and “G” are attached to the respective packages of the accessory kit.

Be careful not to lose any parts since they are provided in exact number.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

Interface box

–

Name of section

Interface box (attach to X axis connector box)

Part No.

<1>

<2>

Name

Interface box

Signal short cable

Accessory kit

Name of section Part No.

Name

Connector box, fixed side

(attach to X axis)

Connector box, moving side

(attach to Y axis)

– Bracket

Quantity Hexagon socket head cap bolt

M4×8 (1 bolt)

<7>

<9>

Plate nut

Cable clamp

<10> Spacer

<15> Plate nut

<17> Cable clamp

<18> Spacer

<19> X-Y cable support

<20> Support rest (L-shaped)

<21> Plate nut

<22> X-Y combining bracket

Quantity Hexagon socket head cap bolt

M5×10 (4 bolts, button head cap bolt)

2 M3×6 (6 bolts)

1 M4×25 (2 bolts)

M5×10 (4 bolts, button head cap bolt)

M4×20 setscrew (2 screws*)

* One of the screws is a spare.

2 M3×6 (6 bolts)

1 M4×25 (2 bolts)

27 links

M6×10 (4 bolts),

M5×10 (8 bolts, button head cap bolt)

M3×6 (2 bolts)

M8×20 (4 bolts)

M6×20 (4 bolts)

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

RG-HM (Example: A type)

Top cover

End cover

X-Y cable support

Connector box, moving side

*Interface box

Inlet cover

Plate nut

Top cover

Connector box, fixed side

End cover

Support rest (L-shaped)

Plate nut

* Y axis module

Slot plug

X-Y combining bracket

*Interface box grommet

* X axis module

The parts that are not marked by * (asterisk) are for the accessory kit.

•

No cables of the cable set are shown in the figure above.

♦

RG-HM manipulator assembly procedures (Photographs in this section are A type.)

(1) The mount direction types of the following parts have been set at the factory.

Y axis module: A/C type

X axis module, and moving-side connector box: A/D type

When using these parts in different mount direction type, refer to Table 4-11 and change the position for the module cable outlet and the orientation of the parts as required.

Mount Direction Type

A B C D

X axis module

Y axis module

Not necessary

Connector box, fixed side

Connector box, moving side Not necessary

Reverse of cable outlet position

*2 necessary

Reverse of cable outlet position

Not necessary Reverse of cable outlet position

Not necessary

Reverse of connector box

*1: Refer to “2.2 Model Numbers”.

*2: Refer to “4.3.1 RH, RM Module (Reversing Module Cable Position)”.

*3: Refer to “ 4.15.1 RG, RP, RU Manipulators (Reversing Connector Box)”.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

(2) Refer to “4.4 Mounting a Module” and attach the X axis module to the mounting base.

(3) Attach the X-Y combining bracket to the slider of the X axis module.

(M8×20, 4 bolts, tightening torque: 27.5 to 33.3 N m)

(4) Attach the Y axis module to the combining bracket.

(M6×20, 4 bolts, tightening torque: 9.8 to 11.8 N m)

(5) Affix labels*, which are provided with the interface box, to their respective cable connectors. (We recommend affixing the labels to the connectors to avoid miss-connection in multi-axis manipulators because the connector is common to all modules regardless of their motor power specifications.)

* Refer to “4.10.2 RG Type (Block Diagrams)” and affix the labels correctly.

Power cable

Signal cable

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

(6) Insert the plate nuts <7> into the T slots on the side of the X axis module opposite from the side for the motor.

Attach the fixed-side connector box <3> to the module. (M3×6, 6 bolts, tightening torque: 0.8

<7>

<3>

(7) Insert the plate nuts <15>, the same as the procedure (6), into the T slots on the side of the Y axis module opposite from the side of the motor. (Tightening torque: 0.8 N

m) Then attach the moving-side connector box <11> to the module.

Use bolt holes in the bottom as shown in Figureto fix it. (M3×6, 6 bolts) Locations of the bolt holes are different according to manipulator type. Pass the cables through the bottom opening of the connector box. Attach the inlet cover <14> to the connector box as show in Photo and attach it from the end side of the module. (M4×20, 1 hexagon socket setscrew)

---- A and C type manipulator

Ú ---- B and D type manipulator

<11>

<14>

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

(8) Attach the support rest <20> to the X axis module. Insert the plate nut <21> into the T slot as described in procedure (6) and secure the support rest <20> by M3×6 (2 bolts, tightening torque:

0.8 N

m).

<20>

X axis

(9) Adjust the length of the X-Y cable support

Pass the power cable and signal cable through the cable support <19>

. (Be careful to observe the tangle of cables and the direction of the cable.) Attach the cable to the fixed-side connector box

<3> (M6×10, 4 bolts).

*1: Refer to “4.14 Adjusting Cable Support Length”.

*2: When connecting the user cable and pneumatic tubes, refer to “4.19 User Cables and Pneumatic

Tubes”.

X axis stroke Y axis stroke Length of cable support

400 mm

600 mm

800 mm

1000 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

15 links

19 links

23 links

27 links

Moving side

Fixed side

Cable support

Male connector

<3>

<19> Fixed side

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

(10) Attach the moving side of cable support to the moving-side connector box <11>.

Unfasten side bolts of each side of the cable support and remove covers (A) and blocks (B) from the cable support temporarily (both sides of the cable support). (M5×10, 2 bolts each side, button head cap bolt)

Put the cable support and the cables through an opening of the moving-side connector box <11>, then attach the covers (A) and the blocks (B) to the cable support using the side bolts. Then, attach the blocks to the connector box using bolts. (M5×10, 2 bolts each side, button head cap bolt)

<19>

Side bolt

(M5×10,

4 bolts, button head cap bolt)

<19> <11>

(A)

(B)

(A)

M5×10 (4 bolts, button head cap bolt)

(11) Connect the power cable (2 m) and signal cable (2 m) to the Y axis module (2 connectors).

Then attach the end cover <13>. (M5×10, 4 bolts, button head cap bolt)

Power connector

<13>

Signal connector

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

(12) Put the cables through the center of the cable support as shown in Figure so that a full stroke operation does not strain the cables. Use a large bending radius for the cables as much as possible when installing them in the connector boxes. Then secure the cables with the clamps <8> to <10>,

<16> to <18>, and M4×25 (2 bolts). (2 places: put the clamp base under the cables, set the cables on it and clamp them with the cable clamp. Do not screw the bolts too tight. Screwing the bolt too tight may result in damaged cables or disconnection.)

Cable support

<8>, <16> <9>, <17>

Cable

<10>, <18>

<8>, <16>

Details of clamping cables

X axis

<11>

Connector box, fixed side

Connector box, moving side

(13) Attach the top covers to their respective connector boxes*.

Hook the edge of top cover to a groove on the side of connector box as shown in Photo and push the other side edge to other groove.

* For the top cover of the fixed-side connector box, attach the top cover at the bottom end of the connector box.

<4>

X axis

(14) Attach the ferrite cores to the cables referring to “4.18 Attaching the Ferrite Core”.

Refer to the step (6) through (9) in “4.6 Installation of Single Axis Modules (RH, RM)” and install the ground, cables*, interface box, end cover, and grommet.

* For cable connection, refer to “4.10.2 RG Type (Block Diagrams)” and connect the cables correctly.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RG-HM)

Completion of RG-HM manipulator assembly

(15) Connect the manipulator to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

4.7.2 YZ-MS Manipulator

WARNING

■

CAUTION

■

When removing or installing a module, there must be two or more people to work on it so that at least one of them can support the module while others are removing the bolts. Removing the bolts without supporting may the module result in the module falling, bodily injury, and/or malfunction of the robot system.

•

Table shows the codes of components of YZ-MS manipulator. Find the codes of the components with the model number and make sure that all components are ready.

Name of

Components

X5Z

Model Number

S000A X5Z

S000B

RM module

RSz module

R114X4M0

R114X5S0

Accessory kit R114X4A1Z0

Cable set 1

Interface box

R114X5C001

R114X5B010

*1: For details of numbers substituted by and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

: Numbers substituted by in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

EZ MODULES (X5 series) Rev.2 93

4. Installation (Installation: YZ-MS)

•

Be sure that all parts of the interface box (<1>, <2>) and accessory kit (<3> to <20>) are ready before proceeding.

<1>

Y

<3>

<4>

<2>

20 grommet × 2, connector label × 2, M4×8 (1 bolt),

M4 crown washer × 1

<5> <6> <10> <8>

<9> <7>

M5×10 (4 bolts, button head cap bolt), M4×25 (2 bolts)

M4×20 setscrew (2 screws*), M3×6 (6 bolts)

*: One of the screws is a spare.

Z

G

Moving side

<11>

<17>

<15>

Fixed side

<13> <14> <16> <12>

M5×10 (8 bolts, button head cap bolt),

M4×25 (2 bolts)

<18>

<19>

M6×10 (8 bolts), M3×6 (2 bolts)

<20>

NOTE

)

M6×16 (4 bolts), M5×18 (4 bolts)

The labels marked with “Y”, “Z”, and “G” are attached to the respective packages of the accessory kit.

Be careful not to lose any parts since they are provided in exact number.

94 EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

Interface box

–

Name of section

Interface box (attach to Y axis connector box)

Part No.

Name

<1> Interface box

<2> Signal short cable

Accessory kit

Name of section Part No.

Name

Connector box, fixed side

(attach to Y axis)

Connector box, moving side

(attach to Z axis)

– Bracket

Quantity Hexagon socket head cap bolt

M4×8 (1 bolt)

<6>

<7>

<9>

Inlet cover (plastic)

Plate nut

Cable clamp

<10> Spacer

<15> Cable clamp

<16> Spacer

<17> Y-Z cable support

<18> Support rest (plastic)

<19> Plate nut

<20> Y-Z combining bracket

Quantity Hexagon socket head cap bolt

M5×10

(4 bolts, button head cap bolt)

M4×20 setscrew (2 screws*)

*: One of the screws is a spare.

2 M3×6 (6 bolts)

1 M4×25 (2 bolts)

M5×10

(8 bolts, button head cap bolt)

1 M4×25 (2 bolts)

28 links M6×10 (8 bolts)

M3×6 (2 bolts)

M6×16 (4 bolts), M5×18 (4 bolts)

EZ MODULES (X5 series) Rev.2 95

4. Installation (Installation: YZ-MS)

YZ-MS (Example: A Type)

*Interface box

*Interface box grommet

End cover

Top cover

End cover

Connector box, fixed side

Inlet cover

Plate nut

Connector box, moving side

Top cover

Y-Z cable support

* Y axis module

Support rest

Plate nut

* Z axis module

Y-Z combining bracket

The parts that are not marked by * (asterisk) are for the accessory kit.

•

No cables of the cable set are shown in the figure above.

♦

YZ-MS manipulator assemble procedures (Photographs in this section are A type.)

(1) The mount direction types of the following parts have been set at the factory.

Y axis module and moving-side connector box: A type

When using these parts in B type, refer to Table and change the position for the module cable outlet and the orientation of the parts as required.

Mount Direction Type

Y axis module Not necessary

Reverse of cable outlet position

Z axis module

Connector box, fixed side

Connector box, moving side Not necessary

Not necessary

Reverse L-fixture

*1: Refer to “2.2 Model Numbers”.

*2: Refer to “4.3.1 RH, RM Module (Reversing Module Cable Position)”.

*3: Refer to “ 4.16.1 YZ, RP-HMSz, RU Manipulators (Reversing L-fixture)”.

96 EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

NOTE

)

(2) Drive the pins to Y-Z combining bracket.

•

Drive a chamfered pin and a straight pin with a plastic hammer in the bracket for the locations shown in Figure below. The pins are provided with the Y-Z combining bracket.

Be careful with the orientation of the chamfered pin. See Figure for the orientation.

Be careful not to push in pins for Y axis module on the back when driving the pins.

Mount Direction Type: A

Attach to the side of Z axis module opposite from the side for the motor (4 places)

Driving orientation

of the chamfered pin

Pin for Z axis module

59 40

Pins for Y axis module

Straight pin

(To be driven)

Right

Attach to Y axis slider (4 places)

Down

Wrong

Z direction

Y direction

Chamfered pin (To be driven)

Pins for Z axis module

Pin for Y axis module

: These holes are not used for this

manipulator type.

Mount Direction Type: B

Attach to the side of Z axis module opposite from the side for the motor (4 places)

27 40

Pin for Z axis module

Straight pin

(To be driven)

Attach to Y axis slider (4 places)

Z direction

Y direction

Chamfered pin (To be driven)

Pins for Z axis module

Down

: These holes are not used for this

manipulator type.

Pin for Y axis module

Pins for Y axis module

EZ MODULES (X5 series) Rev.2 97

4. Installation (Installation: YZ-MS)

(3) Refer to “4.4 Mounting a Module” and mount the Y axis module to the mounting base.

(4) Turn the Z axis module over and attach the Y-Z combining bracket to its mounting surface.

(M5×18, 4 bolts: tightening torque 4.9 to 5.9 N

Then attach the Y-Z combining bracket with Z axis unit to the slider of Y axis.

(M6×16, 4 bolts: tightening torque 9.8 to 11.8 N

•

When the Z axis stroke is 200 mm, insert the pins into the lower holes to mount the bracket.

When it is 300 or 400 mm, insert the pins into the center holes to mount the bracket. Inserting the pins into incorrect holes may increase vibration. Increasing vibration may result in insufficient function of the robot system and/or severe equipment damage to the robot system.

Z axis stroke: 200 mm Z axis stroke: 300 or 400 mm

Motor

Lower hole

Motor

Center hole

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

(5) Affix labels*, which are provided with the interface box, to their respective cable connectors. (We recommend affixing the labels to the connectors to avoid miss-connection in multi-axis manipulator because the connector is common to all modules regardless their motor power specifications.)

* Refer to “4.10.3 YZ Type (Block Diagrams)” and affix the labels correctly.

Power cable

Signal cable

(6) Insert two plate nuts <7> into T-slots on the side of Y axis module opposite from the side for the motor. Attach the fixed-side connector box <3> to the module. Use holes shown in Figure to mount the connector box. (M3×6, 6 bolts, tightening torque: 0.8 N

Put the cables of module through the bottom opening of the connector box, then install the inlet cover <6> on to plug the opening and secure it from the end. (M4×20, 1 hexagon socket setscrew)

------A type manipulator

------B type manipulator

<3>

<6>

EZ MODULES (X5 series) Rev.2 99

4. Installation (Installation: YZ-MS)

(7) Attach the support rest to the Y axis module.

Y axis : <18> (plastic)

Insert the plate nut <19> to T-slot, and then attach the support rest <18>. (M3×6, 2 bolts, tightening torque: 0.8 N

<18>

Y axis

(8) Attach the moving-side connector box <11> to the back of Z axis module. (M5×10, 4 bolts, button head cap bolt)

<11>

100 EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

(9) Adjust the length of the Y-Z cable support

Put the power cable and signal cable through Y-Z cable support <17>

. (Be careful to observe the tangle of cables and the direction of the cable.)

Attach the fixed side of Y-Z cable support <17> (bracket with holes) to the fixed-side connector box <3>. (M6×10, 4 bolts)

*1: Refer to “4.14 Adjusting Cable Support Length”.

*2: When connecting the user cable and pneumatic tubes, refer to “4.19 User Cables and Pneumatic

Tubes”.

Y axis stroke Z axis stroke Length of cable support

350 mm

550 mm

750 mm

200 mm

300 mm

400 mm

200 mm

300 mm

400 mm

200 mm

300 mm

400 mm

17 links

15 links

16 links

21 links

20 links

25 links

24 links

25 links

Moving side

Fixed side

Cable support

Female connector

<3>

<17>

Power and signal cables

(10) Attach the other end (moving side) of the cable support to the moving-side connector box <11> using the procedure described in (9). (M6×10, 4bolts) Install the cables of Z axis module through an edge saddle of the end cover <13> and attach the end cover to the connector box.

(M5×10, 4 bolts, button head cap bolt) Then connect the cables of Z axis module and the power cable (2 m) and signal cable (2 m).

Z axis

<17>

<11>

<13>

EZ MODULES (X5 series) Rev.2 101

4. Installation (Installation: YZ-MS)

(11) Insert the cables through the center of the cable support as shown in Figure 4-24 so that they are not strained. Use as large of a bending radius as possible, then secure the cables with the clamping parts <8> to <10>, <14> to <16>, and M4×25 (2 bolts).

(2 places: put the clamp base under the cables, set the cables on it and clamp them with the cable clamp. Do not screw the bolts too tight. Screwing the bolts too tight may result in damaged cables or disconnection.)

Cable support

<8>, <14> <9>, <15>

Cable

<10>, <16>

<8>, <14>

Details of clamping cables

Connector box, fixed side

Connector box, moving side

(12) Attach the top covers to each connector box*.

Hook the edge of the top cover to the groove on the side of connector box as shown in Photo

4-17YZ and push in the other side of the top cover.

* For the top cover of the fixed-side connector box, attach the top cover at the bottom end of the connector box.

<4>

102 EZ MODULES (X5 series) Rev.2

4. Installation (Installation: YZ-MS)

(13) Attach the ferrite cores to the cables referring to “4.18 Attaching the Ferrite Core”.

Refer to the step (6) through (9) in “4.6 Installation of Single Axis Modules (RH, RM)” and install the ground, cables*, interface box, end cover, and grommet.

* For cable connection, refer to “4.10.3 YZ Type (Block Diagrams)” and connect the cables properly.

Completion of YZ-MS manipulator assembly

(14) Connect the manipulator to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

EZ MODULES (X5 series) Rev.2 103

4. Installation (Installation: RP-HMSz)

4.7.3 RP-HMSz Manipulator

WARNING

■

CAUTION

■

•

Table shows the codes of components of RP-HMSz manipulator. Find the codes of the components with the model number and make sure that all components are ready.

Name of

Components

RH module

RM module

RSz module

Accessory kit

Cable set 5

Interface box

Model Number

X5P

S0A X5P

S0B X5P

S0C X5P

S0D

R114X5H

R114X5M0

R114X5S0

R114X4A0P0 R114X4A0P1 R114X4A0P0 R114X4A0P1

R114X5C007

R114X5B010

*1:

For details of numbers substituted by and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

: Numbers substituted by in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

104

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RP-HMSz)

•

Be sure that all parts of the interface box (<1>, <2>) and accessory kit (<3> to <31>) are ready before proceeding.

X

<1>

<3>

<4>

<2>

20 grommet × 2, connector label × 2,

M4×8 (1 bolt), M4 crown washer × 1

Y

<11> <12>

<5> <6> <10> <8> <9>

<7>

M5×10 (4 bolts, button head cap bolt),

M4×25 (2 bolts), M3×6 (6 bolts)

Z

<19>

<13> <14> <18> <16> <17> <15>

M5×10 (4 bolts, button head cap bolt),

M4×25 (4 bolts), M4×20 setscrew (2 screws*),

M3×6 (6 bolts)

*: One of the screws is a spare.

<20>

<21>

<22>

<23>

<24>

M5×10 (8 bolts, button head cap bolt),

M4×25 (2 bolts)

G

Moving side

<30>

<25>

Fixed side

<26>

Fixed side

<27>

<28>

<29>

M6×10 (12 bolts), M5×10 (8 bolts, button head cap bolt),

M3×6 (4 bolts)

<31>

M8×20 (4 bolts), M6×20 (4 bolts),

M6×16 (4 bolts), M5×18 (4 bolts)

The labels marked with “X”, “Y”, “Z”, and “G” are attached to the respective packages of the accessory kit.

NOTE

)

Be careful not to lose any parts since they are provided in exact number.

EZ MODULES (X5 series) Rev.2

105

4. Installation (Installation: RP-HMSz)

Interface box

Name of section Part No.

Interface box (attach to

–

X axis connector box)

Accessory kit

Name of section

Name

<1> Interface box

<2> Signal short cable

Part No. Name

Quantity Hexagon socket head cap bolt

M4×8 (1 bolt)

Connector box, fixed side

(attach to X axis)

Junction connector box

(attach to Y axis)

Connector box, moving side (attach to Z axis)

<7>

<9>

<11>

<14>

<15>

<17>

Cable clamp

<10> Spacer

Junction connector box

Inlet cover (plastic)

Plate nut

<18> Spacer

<23>

Cable clamp

<24> Spacer

<25>

Plate nut

X-Y cable support

<26> Y-Z cable support

<27> Support rest (L-shaped)

<28> Support rest (plastic)

<29> Plate nut

– Bracket

<30> X-Y combining bracket

Quantity Hexagon socket head cap bolt

M5×10 (4 bolts, button head cap bolt)

2 M3×6 (6 bolts)

1 M4×25 (2 bolts)

M5×10 (4 bolts, button head cap bolt)

M4×20 setscrew (2 screws*)

*: One of the screws is a spare.

2 M3×6 (6 bolts)

2 M4×25 (4 bolts)

M5×10

(8 bolts, button head cap bolt)

1 M4×25 (2 bolts)

27 links

M6×10 (4 bolts),

M5×10 (8 bolts, button head cap bolt)

28 links M6×10 (8 bolts)

M3×6 (4 bolts)

M8×20 (4 bolts), M6×20 (4 bolts)

1 M6×16 (4 bolts), M5×18 (4 bolts)

106

EZ MODULES (X5 series) Rev.2

RP-HMSz (Example: A Type)

Junction connector box

End cover

X-Y cable support

Top cover

Inlet cover (plastic)

*Interface box

Connector box, fixed side

Plate nut

Top cover

4. Installation (Installation: RP-HMSz)

End cover

Top cover

Connector box, moving side

Y-Z cable support

Support rest

(L-shaped)

Plate nut

Slot plug

Support rest

(plastic)

Plate nut

End cover

Plate nut

*Y axis module

X-Y combining bracket

Y-Z combining bracket

*Interface box grommet

*X axis module

*Z axis module

The parts that are not marked by * (asterisk) are for the accessory kit.

•

No cables of the cable set are shown in the figure above.

♦

RP-HMSz manipulator assembly procedures (Photographs in this section are A type.)

(1) The mount direction types of the following parts have been set at the factory.

Y axis module, and Moving-side connector box: A/C type

X axis module, and Junction connector box: A/D type

When using these parts in different mount direction type, refer to Table 4-34 and change the position for the module cable outlet and the orientation of the parts as required.

Mount Direction Type

A B C D

X axis module

Y axis module

Not necessary

Reverse of cable outlet position

Not necessary

Z axis module

Connector box, fixed side

Junction connector box Not necessary

Not necessary

Reverse of connector box

Reverse of L-fixture

Not necessary Connector box, moving side Not necessary

*1: Refer to “2.2 Model Numbers”.

*2: Refer to “4.3.1 RH, RM Module (Reversing Module Cable Position)”.

*3: Refer to “ 4.15.1 RG, RP, RU Manipulators (Reversing Connector Box)”.

*4: Refer to “4.16.1 YZ, RP-HMSz, RU Manipulators (Reversing L-fixture)”.

Reverse of cable outlet position

Reverse of L-fixture

EZ MODULES (X5 series) Rev.2

107

4. Installation (Installation: RP-HMSz)

NOTE

)

(2) Drive the pins to Y-Z combining bracket.

•

Drive a chamfered pin and a straight pin with a plastic hammer in the bracket for the locations shown in Figure below. The pins are provided with the Y-Z combining bracket.

Be careful with the orientation of the chamfered pin. See Figure for the orientation.

Be careful not to push in pins for Y axis module on the back when driving the pins.

Mount Direction Type: A/C

Attach to the side of Z axis module opposite from the side for the motor (4 places)

Driving orientation

of the chamfered pin

Pin for Z axis module

40 27

Pins for Y axis module

Straight pin

(To be driven)

Right

Attach to Y axis slider (4 places)

Down

Wrong

Z direction

Chamfered pin (To be driven)

Pins for Z axis module

Y direction

Pin for Y axis module

: These holes are not used for this

manipulator type.

Mount Direction Type: B/D

Attach to the side of Z axis module opposite from the side for the motor (4 places)

40 59

Pin for Z axis module

Pins for Y axis module

Straight pin

(To be driven)

Attach to Y axis slider (4 places)

Z direction

Y direction

Chamfered pin (To be driven)

Pins for Z axis module

Down

: These holes are not used for this

manipulator type.

Pin for Y axis module

(3) Refer to “4.4 Mounting a Module” and mount the X axis module to the mounting base.

108

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RP-HMSz)

(4) Attach the X-Y combining bracket to the slider of X axis module.

(M8×20, 4 bolts, tightening torque: 27.5 to 33.3 N

⋅ m)

(5) Secure the X-Y combining bracket to the Y axis module.

(M6×20, 4 bolts, tightening torque: 9.8 to 11.8 N

⋅ m)

(6) Turn the Z axis module over and attach the Y-Z combining bracket to its mounting surface.

(M5×18, 4 bolts: tightening torque 4.9 to 5.9 N

Then, attach the Y-Z combining bracket with the Z axis module to the slider of Y axis.

(M6×16, 4 bolts: tightening torque 9.8 to 11.8 N

•

When the Z axis stroke is 200 mm, insert the pins into the lower holes to mount the bracket.

EZ MODULES (X5 series) Rev.2

109

4. Installation (Installation: RP-HMSz)

Z axis stroke: 200 mm Z axis stroke: 300 or 400 mm

Motor

Lower hole

Motor

Center hole

(7) Affix labels*, which are provided with the interface box, to their respective cable connectors. (We recommend affixing the labels to the connectors to avoid miss-connection in multi-axis manipulator because the connector is common to all modules regardless their motor power specifications.)

* Refer to “4.10.4 RP Type (Block Diagrams)” and affix the labels correctly.

Power cable

Signal cable

(8) Insert the plate nuts <7> into the T slots on the side of the X axis module opposite from the side for the motor.

Secure the fixed-side connector <3> to the module. (M3×6, 6 bolts, tightening torque: 0.8 N

110

<7>

<3>

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RP-HMSz)

(9) Insert the plate nuts <15>, the same as the procedure (8), into the T slots on the side of the Y axis module opposite from the side of the motor. Then attach the junction connector box <11> to the module (tightening torque: 0.8 N

m).

Use bolt holes in the bottom as shown in Figure to secure it. (M3×6, 6 bolts) Locations of the bolt holes are different according to manipulator type. Pass the cables through the bottom opening of the connector box. Attach the inlet cover <14> to the junction connector box <11> as show in

Photo and attach it from the end side of the module. (M4×20, 1 hexagon socket setscrew)

---- A and C type manipulator

Ú ---- B and D type manipulator

<11>

<14>

(10) Attach the respective support rests to the X axis and Y axis modules.

For the X axis: <27> (L-shaped)

For the Y axis: <28> (plastic)

Insert the plate nut <29> into the T slot as described in procedure (8) and secure each support rest by M3×6 (2 bolts, tightening torque: 0.8 N

m).

<28>

<27>

X axis

EZ MODULES (X5 series) Rev.2

Y axis

111

4. Installation (Installation: RP-HMSz)

(11) Attach the moving-side connector box <19> to the back of Z axis module. (M5×10, 4 bolts, button head cap bolt)

<19>

(12) Adjust the length of the X-Y cable support

Put the power cable and signal cable through the X-Y cable support <25>

. (Be careful to observe the tangle of cables and the direction of the cable.)

Attach the X-Y cable support <25> to the fixed-side connector box <3>. (M6×10, 4 bolts)

*1: Refer to “4.14 Adjusting Cable Support Length”.

*2: When connecting the user cable and pneumatic tubes, refer to “4.19 User Cables and Pneumatic

Tubes”.

X axis stroke Y axis stroke Length of cable support

400 mm

600 mm

800 mm

1000 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

15 links

19 links

23 links

27 links

Moving side

Fixed side

Cable support

<3>

<25>

Fixed side Male connector

112

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RP-HMSz)

(13) Attach the moving side of cable support to the junction connector box <11>.

Put the cable support and the cables through an opening of the junction connector box <11>, then attach the covers (A) and the blocks (B) to the cable support using the side bolts. Then, secure the blocks to the junction connector box using bolts. (M5×10, 2 bolts each side, button head cap bolt)

<11>

<25>

(B)

(A)

Side bolt

(M5×10, 4 bolts, button head cap bolt)

(A)

(B)

M5×10 (4 bolts, button head cap bolt)

(14) Connect the power cable (3.6 m) and signal cable (3.6 m) to the Y axis module. (2 connectors)

Then, attach the end cover <13>. (M5×10, 4 bolts, button head cap bolt)

Power connector

<13>

Signal connector

EZ MODULES (X5 series) Rev.2

113

4. Installation (Installation: RP-HMSz)

(15) Adjust the length of the Y-Z cable support*.

Pass the power cable and signal cable through the Y-Z cable support <26>. (Be careful to observe the tangle of cables and the direction of the cable.)

Attach the fixed side (bracket with holes) of the Y-Z cable support <26> to the junction connector box <11>. (M6×10, 4 bolts)

* Refer to “4.14 Adjusting Cable Support Length”.

Y axis stroke

350 mm

550 mm

750 mm

Z axis stroke Length of cable support

200 mm

300 mm

17 links

15 links

400 mm

200 mm

300 mm

400 mm

200 mm

300 mm

400 mm

16 links

21 links

20 links

25 links

24 links

25 links

Moving side

Fixed side

Cable support

Female connector

<11>

<26>

114

Power and signal cables

(16) Attach the other end (moving side) of cable support <26> to the moving-side connector box <19> using the procedure described in (15). (M6×10, 4 bolts)

Install the cables of Z axis module through an edge saddle of the end cover <21> and attach the end cover to the moving-side connector box (M5×10, 4 bolts, button head cap bolt), then connect the cables of Z axis module to the power cable (3.6 m) and signal cable (3.6 m).

Z axis

<26>

<19>

<21>

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RP-HMSz)

(17) Insert the cables through the center of the cable support as shown in Figure 4-29 so that they are not strained. Use as large of a bending radius as possible when fix them to the connector boxes.

Then fasten them with the clamping parts <8> to <10>, <16> to <18>, <22> to <24>, and M4×25

(2 bolts). (4 places: put the clamp base under the cables, set the cables on it and clamp them with the cable clamp. Do not screw the bolts too tight. Screwing the bolts too tight may result in damaged cables or disconnection.)

Cable support

<8> <16> <22>

<9> <17> <23>

Cable

<10>

<18>

<24>

<8> <16> <22>

Details of clamping cables

<3>

<11>

Junction connector box

Y-Z cable support side

Junction connector box

X-Y cable support side

Connector box, fixed side Connector box, moving side

EZ MODULES (X5 series) Rev.2

115

4. Installation (Installation: RP-HMSz)

(18) Attach the top covers to their respective connector boxes*.

Hook the edge of the top cover to the groove on the side of connector box as shown in Photo and push the other side edge to other groove.

* For the top cover of the fixed-side connector box, attach the top cover at the bottom end of the connector box.

<4>

X axis

(19) Attach the ferrite cores to the cables referring to “4.18 Attaching the Ferrite Core”.

Refer to the step (6) through (9) in “4.6 Installation of Single Axis Modules (RH, RM)” and install the ground, cables*, interface box, end cover, and grommet.

* For cable connection, refer to “4.10.4 RP Type (Block Diagrams)” and connect the cables properly.

Completion of RP-HMSz manipulator assembly

(20) Connect the manipulator to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

116

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RU-HMSz)

4.7.4 RU-HMSz Manipulator

WARNING

■

CAUTION

■

•

Table shows the codes of components of RU-HMSz manipulator. Find the codes of the components with the model number and make sure that all components are ready.

Name of

Components

X5U

S1A X5U

Model Number

S1B X5U

S1C X5U

S1D

RH module R114X5H

RM module R114X5M0

RSz module R114X5S0

R114X5S0

RU module

R114X5U001

Accessory kit R114X4A0P0 R114X4A0P1 R114X4A0P0 R114X4A0P1

Cable set 5

Interface box

R114X5C007

R114X5B010

*1: For details of numbers substituted by

and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

*2 : Numbers substituted by

in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

*3: Cables are provided along with RU module.

EZ MODULES (X5 series) Rev.2

117

4. Installation (Installation: RU-HMSz)

•

Be sure that all parts of the accessory kit, interface box, and RU module are ready before proceeding.

For the parts of the accessory kit and interface box.

RU Module (A/C type)

U Cable

Support

U Support 1

U Support 2

U Cover

U Plate 1

U Plate 2

U Plate 3

Hexagon socket head cap bolt M6×12 (4 bolts)

Hexagon socket head cap bolt M5×10 (2 bolts)

Plain washer M5 (2 pcs.)

RU-HMSz (Example: A/C Type)

RU module is connected to RP-HMSz.

(Only Z axis of RP-HMSz is drawn in this figure.)

RU Module

Z axis module

•

No cables of the cable set are shown in the figure above.

118

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: RU-HMSz)

♦

RU-HMSz manipulator assembly procedures (Photographs in this section are A type.)

(1) The mount direction types of the following parts have been set at the factory.

Y axis module, RU module, and Moving-side connector box: A/C type

X axis module, and Junction connector box: A/D type

When using these parts in different mount direction type, refer to Table and change the position for the module cable outlet and the orientation of the parts as required.

Mount Direction Type

A B C D

X axis module

Y axis module

Z axis module

RU module

Connector box, fixed side

Junction connector box

Not necessary

Reverse of cable outlet position

Not necessary

Reverse of RU module

Not necessary

Reverse of connector box

Reverse of L-fixture

Not necessary Connector box, moving side Not necessary

*1: Refer to “2.2 Model Numbers”.

*2: Refer to “4.3.1 RH, RM Module (Reversing Module Cable Position)”.

*3: Refer to “ 4.15.1 RG, RP, RU Manipulators (Reversing Connector Box)”.

*4: Refer to “4.16.1 YZ, RP-HMSz, RU Manipulators (Reversing L-fixture)”.

*5: Refer to “4.17 Reversing RU Module”.

Reverse of cable outlet position

Reverse of RU module

Reverse of L-fixture

(2) Refer to the section “4.7.6 RP-HMSz Manipulator” (from the beginning to the assembly procedure

(16)) and install Axis 1, Axis 2, and Axis 3.

(3) Install the cables of RU module through an edge saddle of the end cover on the moving-side connector box.

(4) Insert the cables through the Y-Z cable support and then X-Y cable support.

Binding the connectors with tape (gummed tape, etc.) can allow you to insert the cables through the cable supports easily.

(5) Refer to assembly procedure (17) in “4.7.6 RP-HMSz Manipulator” and secure the cables to the respective connector boxes.

(6) Refer to assembly procedure (18) and (19) in “4.7.6 RP-HMSz Manipulator”, and attach the ferrite cores to the cables and install the top cover, ground wire, cable, interface box, end cover, and grommet to the respective connector boxes.

EZ MODULES (X5 series) Rev.2

119

4. Installation (Installation: RU-HMSz)

(7) Attach the U plate 1 to the slider of Z axis with four hexagon socket head cap bolts (M6×12, tightening torque: 11.7 N

m).

U Plate 1

(8) Secure the U support 2 to the top side of the Z axis module with two hexagon socket head cap bolts

(M5×10, tightening torque: 5N

m) and two plain washers (M5)

．

U Support 2

Completion of RP-HMSz manipulator assembly

(9) Connect the manipulator to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

120

EZ MODULES (X5 series) Rev.2

4.8 Installation of Additional Modules

4. Installation (Installation: Additional Modules)

WARNING

■

CAUTION

NOTE

)

■

The interface box has the power connectors and signal connectors that are available for up to four axes. To add new modules to the robot system, use unused connectors and external cables. The total number of manipulators allowed in the robot system is four.

However, some type of modules cannot be added.

EZ MODULES (X5 series) Rev.2

121

4. Installation (Installation: Additional Modules)

Available Combinations of Additional Modules

First Manipulator: Single Axis

First Manipulator Second, Third, Forth Manipulators (Additional)

Specifications Single axis Two axis manipulator

YZ-MS

Single axis

RH Max.3 1

Max.3: Up to three additional modules can be installed.

1: One additional module can be installed.

-: No additional module can be installed.

First Manipulator: Two Axis

–

First Manipulator Second, Third, Forth Manipulators (Additional)

YZ-MS

Two axis

RG-HM Max.2 Max.2 – 1

YZ-MS Max.2 Max.2 – 1

Max.2: Up to two additional modules can be installed.

1: One additional module can be installed.

-: No additional module can be installed.

First Manipulator: Three Axis

–

First Manipulator Second, Third, Forth Manipulators (Additional)

Three axis

RP-HMSz 1 1 –

1: One additional module can be installed.

-: No additional module can be installed.

–

YZ-MS

–

122

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Additional Modules)

Connection Diagrams of Additional Modules

Single Axis + (Single Axis × 3)

Three RH modules are added to one RH module.

First

Manipulator

Second

Manipulator

(Additional

Module)

Third

Manipulator

(Additional

Module)

Forth

Manipulator

(Additional

Module)

Controller

Signal Cable

RH RH

Power Cable

Two Axis + (Single Axis × 2)

Two RH modules are added to RG-HM manipulator.

First

Manipulator

External Cable

Second

Manipulator

(Additional

Module)

Third

Manipulator

(Additional

Module)

RG-HM

Controller

Signal Cable

Power Cable

External cable

EZ MODULES (X5 series) Rev.2

123

4. Installation (Installation: Additional Modules)

Two Axis + Two Axis

One RG-HM manipulator is added to RG-HM manipulator.

First Manipulator

Second Manipulator

(Additional Module)

RG-HM RG-HM

Controller

Signal Cable

Power Cable

Three Axis + Single Axis

One RH module is added to RP-HMSz manipulator.

External Cable

First Manipulator

Second Manipulator

(Additional Module)

RP-HMSz

Controller

Signal Cable

Power Cable

External Cable

124

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Additional Modules)

•

Required parts are listed in tables below. Find the codes of the components with the model number and make sure that all components are ready.

RH, RM Module (Additional Module)

Name of

Components

RH module

RM module

Accessory kit

Model Number

X5S

H0000AA X5S

M0000AA

R114X5H

–

– R114X5M0

R114X4A0S0 R114X4A0S0

External cable

Connector cover

R114X5C000

R114X4B020

RG-HM Manipulator (Additional Modules)

Name of

Components

RH module

RM module

Accessory kit

Cable set 3

Model Number

X5G

M00AA X5G

M00AB X5G

M00AC X5G

M00AD

R114X5H

R114X5M0

R114X4A0G0 R114X4A0G1 R114X4A0G0 R114X4A0G1

R114X5C003

Connector cover R114X4B020

*1: For details of numbers substituted by

and the mount direction type (the last alphabet) in the model number, refer to “2.2 Model Numbers”.

*2 : Numbers substituted by

in the code vary with stroke. Refer to “4.5 Relations between the

Stroke and the Code of the Module”.

EZ MODULES (X5 series) Rev.2

125

4. Installation (Installation: Additional Modules)

4.8.1 First Manipulator

(1) Remove the end cover from the fixed-side connector box. Then, remove two grommets on the end cover and the interface box.

(2) Affix labels, which are provided with the interface box, to respective cable connectors.

Refer to respective block diagrams in

“4.10.6 Examples for Additional Modules” and affix the labels correctly.

(We recommend affixing the labels to the connectors to avoid miss-connection in multi-axis combination because the connector is common to all modules regardless their motor power specifications.)

(3) Connect the power connector and signal connector of the external cable to the interface box.

Refer to respective block diagrams in

“4.10.6 Examples for Additional

Modules”, and connect them correctly.

External cable

(4) Mount the interface box on the connector box.

126

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Additional Modules) to the opening on the end cover of the connector box, and secure the end cover.

Brake release switch

(6) When you do not insert any other cable to the opening on the end cover, attach one of the grommets removed in step

(1) to the opening.

Brake release switch

EZ MODULES (X5 series) Rev.2

127

4. Installation (Installation: Additional Modules)

4.8.2 Second, Third, Forth Manipulators

♦

All procedures hereunder are common to RG-HM manipulators, and RM modules. The additional RH module is shown as an example in the following photographs.

(1) Affix labels, which are provided with the interface box or cable set, to respective cable connectors. Refer to respective block diagrams in “4.10.6 Examples for

Additional Modules” and affix the labels correctly.

(We recommend affixing the labels to the connectors to avoid miss-connection in multi-axis combination because the connector is common to all modules regardless their motor power specifications.)

(2) Refer to respective procedures below and install an additional module.

RH, RM: From the beginning to (4) in “4.6

Installation of Single Axis

Modules (RH, RM)”

RG-HM: From the beginning to (13) in

“4.7.1 RG-HM Manipulator”

(3) Connect the external cables whose other sides are connected to the first manipulator to the power and signal cables from the additional module.

Refer to respective block diagrams in

“4.10.6 Examples for Additional Modules” and connect the cables correctly. the opening on the end cover of the connector box, and secure the top cover and end cover.

128 the opening on the end cover, attach the provided

20 grommet to the opening.

Grommet (

20×1)

EZ MODULES (X5 series) Rev.2

4. Installation (Installation: Additional Modules)

(6) Attach the provided grommets (

22×1 and

14×3) to the connector cover.

Grommet (

22×1)

Grommet (

14×3)

(7) Connect the manipulator to the controller referring to “4.12 Cable Connection”.

Then, perform the calibration referring to “4.13 Calibration”.

EZ MODULES (X5 series) Rev.2

129

4. Installation

4.9 Mounting End Effector to Slider

WARNING

■

If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF. Improper connection of the wires and/or pneumatic tubes may damage the robot system and/or work piece as the work piece is released when the Emergency Stop switch is pressed.

I/O outputs are configured at the factory so that they are automatically shut off (0) by power disconnection, the Emergency Stop switch, or the safety features of the robot system.

■

After mounting an end effector to the slider, make sure that, by moving the slider manually, no interference to peripheral equipment exists.

CAUTION

•

Use specified mounting bolts in Table.

•

When using

8H7 pin holes, refer to Figure 4-39 for dimensions of locating pins.

RH module RM module

RSz module

RU module

(Slider side)

RU module

(U axis rotating side) diameter M4

Screw-in depth

Tightening torque

12 to 16 mm

33.3 N

(340 kgf

m cm)

9 to 12 mm

14.7 N

(150 kgf

m cm)

6 to 8 mm

11.7 N

(120 kgf

m cm)

9 to 12 mm

11.7 N

(120 kgf

m cm)

7 mm

4.9 N

(50 kgf

m cm)

130

EZ MODULES (X5 series) Rev.2

4. Installation

RH module

8h7 Straight pin

RM module

8h7 Straight pin

RSz module

8h7 Straight pin

RU module

(slider side)

6h7 Straight pin

Chamfered pin details

Chamfered pin

8h7

Work Work

•

For details of RU module (U axis rotating side), refer to the outer dimensions in “2.5.4 Four Axis

Manipulators”.

•

When designing an end effector, consider the transportable moment in Table 2-11 (Single Axis) in

“2.6 Specifications”.

4.10 Block Diagrams (Wiring Diagrams)

● This section shows the internal connections in the robot module.

■

To avoid miss-connection in multi-axis combination, affix the provided connector labels to the connectors that are enclosed with in the diagram.

CAUTION

EZ MODULES (X5 series) Rev.2

131

4. Installation (Block Diagram: Single Module Type)

4.10.1 Single Module Type

● This diagram is for the case where a single module is connected to J1 axis.

When a single module is connected to J2, J3, or J4 axis, connect it as shown in this diagram.

However, the connector numbers should be changed according to the axis.

132

Connecting this connector is unnecessary.

EZ MODULES (X5 series) Rev.2

4. Installation

4.10.2 RG Type

● This diagram is for the case where the RG-type modules are connected to J1 and J2 axes. When the

RG-type modules are connected to the other axes, connect them as shown in this diagram. However, the connector numbers should be changed according to the axes.

EZ MODULES (X5 series) Rev.2

Connecting this connector is unnecessary.

133

4. Installation

4.10.3 YZ Type

● This diagram is for the case where the YZ-type modules are connected to J1 and J2 axes. When the

YZ-type modules are connected to the other axes, connect them as shown in this diagram. However, the connector numbers should be changed according to the axes.

134

1 Reconnected signal short cable to X20

2 Peel off the connector labels

X10, X11 、 XB11, and affix new ones on the connectors.

EZ MODULES (X5 series) Rev.2

4. Installation

4.10.4 RP Type

● This diagram is for the case where the RP-type modules are connected to J1, J2, and J3 axes. When the RP-type modules are connected to the other axes, connect them as shown in this diagram.

However, the connector numbers should be changed according to the axes.

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4. Installation

4.10.5 RU Type

● Connect the RU-type modules to J1, J2, J3, and J4 axes.

When the RU-type modules are connected to the other axes, connect them as shown in this diagram.

However, the connector numbers should be changed according to the axes.

136

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4. Installation

4.10.6 Examples for Additional Modules

4.10.6.1 RG + Additional Modules (Adding single modules to J3 and J4 axes)

•

The RG-type modules are connected to J1 and J2 axes and additional single modules are connected to

J3 and J4 axes. When these modules are connected to different axes, connect them as shown in this diagram. However, the connector numbers should be changed according to each axis.

RG (First Manipulator)

Additional module

(Second Manipulator)

Additional module

(Third Manipulator)

Connecting this connector is unnecessary.

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4. Installation

4.10.6.2 RG + Additional Modules (Adding two-axis modules to J3 and J4 axes)

•

The RG-type modules are connected to J1 and J2 axes and additional modules are connec ted to J3 and

J4 axes. When these modules are connected to different axes, connect them as shown in this diagram. However, the connector numbers should be changed according to each axis.

RG (First Manipulator)

RG (Second Manipulator)

138

Connecting this connector is unnecessary.

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4. Installation

4.10.6.3 YZ + Additional Modules (Adding two-axis modules to J1 and J4 axes)

•

Figure 4-47 is for the case where the YZ-type modules are connected to J2 and J3 axes and additional modules are connected to J1 and J4 axes. When these modules are connected to different axes, connect them as shown in this diagram. However, the connector numbers should be changed according to each axis.

YZ (First Manipulator)

RG (Second Manipulator)

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4. Installation

4.10.6.4 RP + Additional Module (Adding single-axis module to J4 axis)

•

Figure 4-48 is for the case where the RP-type modules are connected to J1, J2, and J3 axes, and one additional module is co nnected to J4 axis. When these modules are connected to different axes, connect them as shown in this diagram. However, the connector numbers should be changed according to each axis.

RP (First Manipulator)

Additional module

(Second Manipulator)

140

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4. Installation

4.10.7 Connector Label

■

To avoid miss-connection in multi-axis combination, affix the provided connector labels to the connectors that are enclosed with in the diagram.

CAUTION

AXIS

I/F Box

Motor

Additional

Brake release sw

Brake

Battery

User

× 2 sets

User cable

Power cable connector Signal cable connector

―

1 2 3 4 1 2 3 4

―

X110 X120 X130 X140 X10 X20 X30 X40 ―

X111 X121 X131 X141 X11 X21 X31 X41 ―

X112 X122

―

X132

―

X142

―

X12 X22 X32 X42

―

― ― ― ―

XBS

― ― ― ―

―

XB1 XB2

XB11 XB31 XB41 XB12 XB22 XB42

X50

― ― ― ― ― ― ― ― ―

•

Refer to the block diagram for each type and affix the labels to the connectors.

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4. Installation

4.11 Connector Pin Assignments

I/F BOX

Power connector

No.

1 1U

3 1V

6 1W

10 2U

14 2V

16 2W

15 3U

13 3V

9 3W

4 4U

2 4V

7 4W

5 FGND

17 FGND

8 N.C.

12 N.C.

11 N.C.

Connector X110

1 BLK

2 WHT

3 RED

4 GRN/YLW

Connector X120

1 BLK

2 WHT

3 RED

4 GRN/YLW

Connector X130

1 BLK

2 WHT

3 RED

4 GRN/YLW

Connector X140

1 BLK

2 WHT

3 RED

4 GRN/YLW

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EZ MODULES (X5 series) Rev.2

X10, X20, X30, X40 Single Relay Board

1A FGND

1B N.C.

2A *S

−

3A N.C.

3B N.C.

4A N.C.

4B EMB+

5A N.C.

5B N.C.

6A ENC+5V

6B EGND

7A BAT+

BAT

−

8A N.C.

8B N.C.

9A N.C.

9B N.C.

10A N.C.

10B N.C.

11A N.C.

11B BRK

−

12A N.C.

12B +V24

13A N.C.

13B N.C.

X5 Battery Extension Cable

Signal Relay Board Side X60 Connector

1 ORN

2 WHT

X60 Battery Connector

1 RED

2 BLK

1 ORN

2 WHT

4. Installation

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143

4. Installation

Motor Power Connector

1 U BLK

2 V WHT

3 W RED

Motor Signal Cable

1 S SKY

− SKY/(WHT)

5 FG FG

Motor Brake Lead (Only for RSz module)

Internal Power cable 1

X5 U Cable Unit (Power)

: 2 m in length

: 4.5 m in length

RH2000 Cable Unit (Power) : 1.2 m in length

Connector on the I/F Box side (male)

1 BLK

2 WHT

3 RED

Connector on the motor side (female)

1 BLK

2 WHT

3 RED

144

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4. Installation

X5 U Cable Unit (Signal)

RH2000 Cable Unit (Signal) :

: 4.5 m in length

1.2 m in length

Connector on the signal relay board side

1A Shield

2A BLU/(WHT)

2B WHT/(BLU)

6A PPL/(WHT)

6B WHT/(PPL)

7A BLU/(BRN)

7B BRN/(BLU)

10A

10B

11A

11B

12A

12B

13A

13B

Connector on the motor side

1 BLU/(WHT)

2 WHT/(BLU)

3 PPL/(WHT)

4 WHT/(PPL)

5 Shield

Battery connector

1 BLU/(BRN)

2 BRN/(BLU)

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4. Installation

Internal Signal cable 1 : 2 m in length

Internal Signal cable 2 : 3.6 m in length

Connector on the signal relay board side

1A Shield

2A BLU/(WHT)

2B WHT/(BLU)

3A YLW/(WHT)

4B RED/(WHT)

6A PPL/(WHT)

6B WHT/(PPL)

7A BLU/(BRN)

7B BRN/(BLU)

10A

10B

11A

11B WHT/(RED)

12A

12B BLU

13A

13B

1 BLU

2 WHT

XBS: Brake release sw connector

(Only for the module with brake)

Connector on the motor side

1 BLU/(WHT)

2 WHT/(BLU)

3 PPL/(WHT)

4 WHT/(PPL)

5 Shield

Battery connector

1 BLU/(BRN)

2 BRN/(BLU)

XB1: Brake connector

(Only for the module with brake)

1 RED/(WHT)

2 WHT/(RED)

Diode connector

146

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4. Installation

Internal Signal cable 3 : 2 m in length

Internal Signal cable 4 : 3.6 m in length

Signal short cable : 0.2 m in length

Connector on the external cable side

1 BLU/(WHT)

2 WHT/(BLU)

3 PPL/(WHT)

4 WHT/(PPL)

5 Shield

Battery connector

1 BLU/(BRN)

2 BRN/(BLU)

XB1: Brake connector

1 RED/(WHT)

2 WHT/(RED)

1 WHT

2 BLU

Connector on the motor side

1 BLU/(WHT)

2 WHT/(BLU)

3 PPL/(WHT)

4 WHT/(PPL)

5 Shield

Battery connector

1 BLU/(BRN)

2 BRN/(BLU)

XB2: Brake connector

RED/(WHT)

WHT/(RED)

Diode connector

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4. Installation

Internal User cable 1 : 4 m in length

Signal relay board side: X50

1A BLU/(WHT)

1B WHT/(BLU)

2A YLW/(WHT)

2B WHT/(YLW)

3A GRN/(WHT)

3B WHT/(GRN)

4A RED/(WHT)

4B WHT/(RED)

5A PPL/(WHT)

5B WHT/(PPL)

6A BLU/(BRN)

6B BRN/(BLU)

7A YLW/(BRN)

7B BRN/(YLW)

8A GRN/(BRN)

8B Shield

Redundant line: BRN/(GRN)

Line color

BLU/(WHT)

WHT/(BLU)

YLW/(WHT)

WHT/(YLW)

GRN/(WHT)

WHT/(GRN)

RED/(WHT)

WHT/(RED)

PPL/(WHT)

WHT/(PPL)

BLU/(BRN)

BRN/(BLU)

YLW/(BRN)

BRN/(YLW)

GRN/(BRN)

148

EZ MODULES (X5 series) Rev.2

External cable : 6 m in length

I/F Box side

1 BLK

2 WHT

3 RED

1A Shield

2A BLU/(WHT)

2B WHT/(BLU)

4B RED/(WHT)

6A PPL/(WHT)

6B WHT/(PPL)

7A BLU/(BRN)

7B BRN/(BLU)

10A

10B

11A

11B WHT/(RED)

12A

12B BLU

13A

13B

1 BLU

2 WHT

XBS: Brake release sw connector

(Only for the module with brake)

EZ MODULES (X5 series) Rev.2

4. Installation

Connector on the motor

1 BLK

2 WHT

3 RED

1 BLU/(WHT)

2 WHT/(BLU)

3 PPL/(WHT)

4 WHT/(PPL)

5 Shield

Battery connector

1 BLU/(BRN)

2 BRN/(BLU)

XB1: Brake connector

(Only for the module with brake)

1 RED/(WHT)

2 WHT/(RED)

Diode connector

1 WHT

2 BLU

149

4. Installation

Internal User cable 3 : 4 m in length

Line color Line color

BLU/(WHT)

WHT/(BLU)

YLW/(WHT)

WHT/(YLW)

GRN/(WHT)

WHT/(GRN)

RED/(WHT)

BLU/(WHT)

WHT/(BLU)

YLW/(WHT)

WHT/(YLW)

GRN/(WHT)

WHT/(GRN)

RED/(WHT)

WHT/(RED)

PPL/(WHT)

WHT/(PPL)

BLU/(BRN)

BRN/(BLU)

YLW/(BRN)

BRN/(YLW)

GRN/(BRN)

BRN/(GRN)

WHT/(RED)

PPL/(WHT)

WHT/(PPL)

BLU/(BRN)

BRN/(BLU)

YLW/(BRN)

BRN/(YLW)

GRN/(BRN)

BRN/(GRN)

150

EZ MODULES (X5 series) Rev.2

4. Installation

4.12 Cable Connection

WARNING

■

To shut off power to the robot system, pull out 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 pull out 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.) Unnecessary strain on the cables may result in damage to the cables, disconnections, 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

■

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 serious safety problems. The connection method varies with the controller used. For details on the connection, refer to the controller manual.

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4. Installation

Figure for Cable Connection

Connect an M/C power cable to the power cable connector. Connect an M/C signal cable to the signal cable connector.

The connection method for the controller side varies with the controller used. For details, refer to the controller manual.

To Controller

M/C signal cable

To Controller

M/C power cable

Power cable connector

Interface box

Signal cable connector

152

EZ MODULES (X5 series) Rev.2

4. Installation

4.13 Calibration

After parts have been replaced (motors, timing belts, etc.), the Manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the Controller.

After replacing the parts, it is necessary to match these origins.

The process of aligning the two origins is called “Calibration”. Note that calibration is not the same as teaching*.

* “Teaching” means to teach the Controller coordinate points (including poses) anywhere in the operating area of the Manipulator.

■ 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.

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.

CAUTION

■

Calibrate the Z axis first when aligning origins of more than one axis. When the

Z axis is too low, it may collide with peripheral equipment during the calibration of the other axes and may damage the peripheral equipment.

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4. Installation

♦

Calibration procedures

(1) Turn ON the Controller.

(2) Check whether an error occurs or not.

Immediately after a new module is installed or after a new motor is replaced for maintenance, an error may occur since the super-capacitor (condenser) in the motor encoder is not charged enough.

For EPSON RC+, an error message: “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be restarted.” is displayed.

In both cases, leave the power ON for 3 or more minutes to sufficiently charge the capacitor. Then, go to the next step (3) below. (The error or error message is still displayed.)

(3) Manually move the axis that needs origin alignment to its approximate 0 pulse position*.

RH module:

RM module:

0 pulse position*: the center of its motion range

(

)

0 pulse

(+)

0 pulse position*: upper limit

Push up the module to its upper limit while pressing the J3 (Z) axis brake release switch.

* Arrow labels are affixed at 0 pulse position. Align both edges of the slider with the arrow labels as shown in Photo.

(

)

Arrow label

0 pulse

Arrow label

154

NOTE

)

Reduction Gear Unit

0 pulse position: where the mark on the reduction gear unit is aligned with the line on the U plate 3

The U axis home position varies depending on the mount direction. For the details, refer to the respective dimensions in

2.5.4 Four Axis

Manipulators

U Plate 3

Line

Mark

EZ MODULES (X5 series) Rev.2

4. Installation

(4) Execute the encoder initialization command.

Input one of the following commands to the [Command Window] according to the joint being calibrated.

Joint #1:

>EncReset 1

Joint #2:

>EncReset 2

Joint #3:

>EncReset 3

Joint #4:

>EncReset 4

All axes:

>EncReset 1,2,3,4

(5) Reboot the controller. Select EPSON RC+ menu | Tools | Controller and click the

<Reset Controller> button.

This window will be disappeared when the controller starts up.

(6) Enter the position pulses as 0 in the [Monitor Window] (EPSON RC+) to perform the calibration.

>CALPLS 0, 0, 0, 0

(7) Perform a rough calibration of the axis.

Input one of the following commands to the [Command Window] according to the joint being calibrated.

Joint #1:

>Calib 1

Joint #2:

>Calib 2

Joint #3:

>Calib 3

Joint #4:

>Calib 4

All axes:

>Calib 1,2,3,4

(8) Display the current pulse values.

>PULSE

Pulse 1:0 2:0 3:0 4:0

(9) Move the modules to respective end positions. Make sure that the modules do not touch the mechanical stops and that the modules are in the motion range.

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4. Installation

4.14 Adjusting Cable Support Length

WARNING

■

When passing the cables through the cable support, be careful not to rub or tangle the cables. Adjust the links of the cable support to prevent the cables from stretching too tight, getting too loose, or twisting. Rubbing or tangling cables may result in damage to the cables. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

■

Take appropriate safety measures when shortening the cable support.

(e.g. wearing gloves and glasses)

CAUTION

■ Be careful not to pinch your fingers in the rungs or links of the cable support.

•

A standard cable support can be used for several multi-axis manipulator types by adjusting for stroke length.

•

You can shorten dimensions of the cable support projection by reducing the number of links.

For installation, refer to Table and perform the step (2) and (3) in the following procedure while no cables are in the cable support.

RU-HMSz, RP-HMSz (X-Y), RG-HM

X axis stroke Y axis stroke

Length of cable support

RU-HMSz, RP-HMSz (Y-Z), YZ-MS

Y axis stroke Z axis stroke

Length of cable support

400 mm

600 mm

350 mm

550 mm

750 mm

350 mm

550 mm

15 links

19 links

350 mm

550 mm

200 mm

300 mm

400 mm*

200 mm

300 mm

17 links

15 links

16 links

21 links

20 links

800 mm

1000 mm

750 mm

350 mm

550 mm

750 mm

350 mm

550 mm

750 mm

23 links

27 links

750 mm

*: For RU-HMSz, a 400-mm stroke Z axis is unavailable.

400 mm*

200 mm

300 mm

400 mm*

20 links

25 links

24 links

25 links

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EZ MODULES (X5 series) Rev.2

4. Installation

♦

Procedures for adjusting a cable support

(1) Open the links to be removed, and a rung in front and behind of the portion being removed. Put a flat screwdriver in a clearance at the side of a rung, then pry the rung off of the cable support.

(both sides)

(2) Take off a link at both ends of the cable support to be removed. Put a flat screwdriver in a clearance between two adjacent links and turn the screwdriver approximately 90°.

(3) Connect the links.

Insert the pin of link to the pin hole of other one and push in the other side of the links.

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4. Installation

(4) Connect the links on both sides. Do not fold the cables in the cable support. Push the cables into the connector box, then snap the rungs to close.

To connector box

CAUTION

■

Move the module sliders for full stroke to check for any disturbance after the cable has been shortened. Reduction of stroke or breakage of the cable support can occur if the cable support is shortened too much.

4.15 Reversing Connector Box

4.15.1 RG, RP, RU Manipulators

RG-HM: Reverse the moving-side connector box.

RP-HMSz: Reverse the junction connector box.

RU-HMSz: Reverse the junction connector box.

(1) Remove the cover from the connector box, and then insert it into the other side.

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4. Installation

4.15.2 Single Axis Modules, RD Manipulators

Single axis module (A type) : Reverse the connector box.

(1) Loosen M3 bolts (4 places) and remove the connector plate.

(2) Loosen M5 bolts (4 places) and remove the end cover.

Then, attach it to the other side of the connector box.

(3) Re-attach the connector plate to the connector box as shown in Photo.

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159

4. Installation

4.16 Reversing L-fixture

4.16.1 YZ, RP-HMSz, RU Manipulators

(1) Prepare the moving-side connector box.

(2) Remove M4 bolts (4 places) to detach the L-fixture.

(3) Reverse the L-fixture and attach it to the connector box.

160

EZ MODULES (X5 series) Rev.2

4. Installation

4.17 Reversing RU Module

The mount direction type of RU module has been set to A/C type* at the factory. To use RU module in

B/D type*, reverse it.

*: For details of the mount direction type (A, B, C, and D), refer to “2.2 Model Numbers”.

Before reversing

After reversing

(1) Unscrew six truss head screws (M4×8) and remove the U cover.

(2) Unscrew two hexagon socket head cap bolts (M5×12) and remove the U support

1. U support 1

U cover

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4. Installation

(3) Unscrew four hexagon socket head cap bolts (M5×20) that secure the U plate 2 from the bottom of the U plate 3.

Then, remove the U plate 1 and U plate 2.

U plate 1

U plate 3

U plate 2

(4) Join the U plate 1 to the U plate 2 as shown in Photo 4.17-7. Then, secure them to the U plate 3 with four hexagon socket head cap bolts (M5×20).

(5) Secure the U support 1 with two hexagon socket head cap bolts (M5×12).

162

(6) Attach the U cover and secure it with six truss head screws (M4×8).

Bend the cables using as large a radius as possible to minimize the force applied to the cable outlet.

EZ MODULES (X5 series) Rev.2

4. Installation

4.18 User Cables and Pneumatic Tubes

WARNING

■

CAUTION

■

Do not pass pneumatic tubes through the cable support more than allowance.

Passing pneumatic tubes through the cable support more than the allowance and improper usage may shorten the life cycle of the cables in the cable support.

User Cables

The end of the user cable on the moving side is not connected to anywhere yet during the assembly procedures. Connect the end of the user cable as you desire.

(Refer to “4.11 Connector Pin Assignments”.)

Pneumatic Tubes

Prepare necessary pneumatic tubes and connect them.

Allowable Number of Pneumatic Tubes in Cable Support

6 Pneumatic Tube

8 Pneumatic Tube

Two axis 13 tubes 7 tubes

Three axis 8 tubes 4 tubes

Four axis 4 tubes 2 tubes

Table shows the allowable number of pneumatic tubes when either

6 or

8 pneumatic tubes are passed through the cable support.

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4. Installation

How to connect the user cable and pneumatic tube

(1) When using the user cable, affix the label (X50), which is provided with the interface box, to the user cable connector.

(Be sure to affix the label to avoid miss-connection.)

(2) Pass the user cable and pneumatic tube through the cable support with the power cable and signal cable during the installation. (The user cable and pneumatic tube are passed between the fixed-side connector box and the moving-side connector box.)

(3) Remove the grommet on the end cover of the fixed-side connector box. Then, let out the ends of the user cable and pneumatic tube on the fixed side from the opening on the end cover.

(4) Let out the other ends of the user cable and pneumatic tube on the moving side from the edge saddle on the end cover of the moving-side connector box.

(5) When using the user cable and pneumatic tube for the RU-type (four axis) manipulator, let out the user cable and pneumatic tube from the edge saddle on the end cover of the moving-side connector box and let them pass along the outside of the RU cable support. (Do not pass them through the RU cable support.)

4.19 Brake Release Setting (RC620)

■ If the electromagnetic brake cannot be released properly, it may break the manipulator with heat and wear caused by dragging motion.

CAUTION

X axis of the X5 series manipulator has the electromagnetic brake installed to hold the orientation.

For the X5 series with the Z axis (2-axis YZ / 3-axis XYZ / 4-axis XYZU), if the manipulator structure is changed as below, you also need to change the brake release setting.

1. Install the X5 series additionally to your controller

2. Replace the G series or RS series with the X5 series

In addition, if you purchased a set of X5 series and RC620 Controller, this setting is done before shipment. And please contact us for the details of brake release setting procedure.

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EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

•

We recommend conducting periodic inspections and replace the parts as shown in Table 5-1 to avoid an unexpected system failure due to the breakdown of parts.

•

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.

* 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.

(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 in

“2.6 Specifications”.

Inspections

Recommended intervals

Inspection items

Section in manual

Routine inspections

Periodic inspections

5.2.1

5.3.1

Periodic replacement of

Every two years expendable parts

Replace cables.

Replace timing belt.

Every three years Replace lithium battery.

5.4.1

5.4.2

5.4.3

Overhaul

Once a week Loose bolts, connectors and cables

Every half year Inspect timing belt for damage and looseness.

Approximately every five years

Thorough inspection, replace parts if necessary.

(Please ask suppliers about details.)

5.7

*1 Increase the frequency of inspection if your operating condition exceeds the standard operation pattern.

*2 This check is not necessary for a motor direct mount module. (Timing belt is not used.)

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165

5. Maintenance and Inspection

5.1 Safety Precautions for Maintenance

Please read this chapter, this manual, and other relevant manuals carefully to understand safe maintenance procedures before performing any routine maintenance.

Only authorized personnel who have taken safety training should be allowed to maintain the robot system.

Safety training is the program for industrial robot operators that follow the laws and regulations of each nation.

The personnel who have taken safety training acquire knowledge of industrial robots (operations, teaching, etc.), knowledge of inspections, and knowledge of related rules/regulations.

The personnel who have completed the robot system-training and maintenance- training classes held by the manufacturer, dealer, or locally-incorporated company are 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. Improper removal of parts or improper maintenance may not only cause improper function of the robot system but also serious safety problems.

WARNING

■ 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 it seems to be stopped.

■

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 switch 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.

WARNING

■

To shut off power to the robot system, pull out 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 pull out 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.

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WARNING

■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) Unnecessary strain on 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

■

If grease gets into your eyes or mouth or it sticks on your skin, treat as shown below:

When grease gets into your eyes:

Wash your eyes with clear water thoroughly and consult a doctor immediately.

When grease gets into your mouth:

When you swallow grease, do not vomit by force. Consult a doctor immediately.

When grease is in your mouth, wash out your mouth with clean water thoroughly.

When grease sticks on your skin:

Wash your skin with clean water and soap thoroughly.

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5. Maintenance and Inspection

5.2 Routine Inspections

5.2.1 Inspection of Bolts and Cables

WARNING

Be sure to perform the routine inspection before the operation.

■

To shut off power to the robot system, pull out 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 pull out 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 careful not to get any foreign substances in the Manipulator, connectors, and pins during maintenance. Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

CAUTION

■

When installing the cover, be careful not to allow the cables to interfere with the cover mounting and do not bend these cables forcibly to push them into the cover. Unnecessary strain on 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.

When routing the cables, observe the cable locations after removing the cover.

Be sure to place the cables back to their original locations.

To prevent an accident due to loose bolts, perform following inspections listed in the table below.

Inspection point Description

Bolts for securing the module

Bolts for securing the end effector

Check for a loose bolts by tightening them. *

Cables

•

Replace a cable or flexible tube if it has serious crack or breakage.

•

Check for loose bolts by tightening them.

*: Refer to “4.4 Mounting a Module” and “4.9 Mounting End Effector to Slider” for the tightening torque of the bolts.

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5.3 Periodic Inspections

Be sure to perform the periodic inspections by following the schedule and inspection items.

■

To shut off power to the robot system, pull out 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 pull out 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.

CAUTION

■

When routing the cables, observe the cable locations after removing the cover.

Be sure to place the cables back to their original locations.

5.3.1 Inspection of Timing Belt (Only for RSz module)

•

The timing belt is treated as an expendable part. The manufacturer has no obligation to the timing belt beyond the warranty period. Be sure to perform the periodic inspections to prevent from malfunctioning of the system, colliding against an obstacle and free-falling of a vertical axis slider.

(1) Turn OFF the power of the controller.

(2) Unscrew four counter-sunk head screws

(M3×6) on the motor end cover on the cable side.

Remove the motor end cover.

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5. Maintenance and Inspection

(3) Unscrew four pan head screws (M3×6) on the motor end cover on the bottom side.

Unscrew

(4) Unscrew three pan head screws (M3×6) that secure the motor covers, and remove the motor covers.

Unscrew

(5) Unscrew two pan head screws (M3×4) on the pulley cover, and remove the pulley cover.

(6) Move the slider manually and inspect the timing belt visually for damage. Replace the timing belt if it is damaged as described in Table 5-3. Refer to “5.4.2

Replacement of Timing Belt”.

(7) Attach the covers again if there is no damage on the timing belt.

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Criteria for replacing timing belt

(1) The teeth are worn off.

The duck of teeth are worn off.

● The duck fiber is fuzzed up and texture is getting vague.

● The surface rubber is removed and faded to whitish.

Cracks in the root of teeth (2) The teeth are sheared.

(3) The side face is fuzzed and worn off.

Core thread got frayed.

The edges are worn out and the thread is getting frayed.

Abnormal wear

(4) The belt is partially damaged.

(5) Scored in lengthwise.

Scores caused by running on pulley flange.

The belt is partially cracked. In some case, it may be accompanied by scores in the other part of belt, which are caused by foreign matters.

The belt has run on the pulley flange.

(6) The rubber of the back surface have softened and got sticky.

(7) Cracks in the back surface

Softened rubber stuck to the back surface.

(Use of an idle pulley may be the cause.)

The back surface is sticky.

(Stuck oil may be the cause.)

Cracks in the back surface are parallel to the teeth.

(due to high or low temperature)

(8) Wear on pulley teeth

Crack

Pressure angle is changed due to wear.

Wear on tooth edge

May be caused by improper pulley material or existence of fine particles.

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5. Maintenance and Inspection

5.4 Periodic Replacement of Expendable Parts

■

To shut off power to the robot system, pull out 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 pull out 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.

CAUTION

■

When installing the interface box, be careful not to allow the cables to interfere with the cover mounting and do not bend these cables forcibly to push them into the cover. Unnecessary strain on 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.

When routing the cables, observe the cable locations after removing the interface box. Be sure to place the cables back to their original locations.

■ If the connectors have been disconnected during the replacement of the cable unit, be sure to reconnect the connectors to their proper positions. Refer to the block diagrams. Improper connection of the connectors may result in improper function of the robot system.

For details on the connections, refer to “4.11 Connector Pin Assignments”.

■ Be careful not to apply excessive shock to the motor shaft when replacing the motors. The shock may shorten the life cycle of the motors and encoder and/or damage them.

■ Never disassemble the motor and encoder. A disassembled motor and encoder will cause a positional gap and cannot be used again.

Before replacing the Z axis motor, always move the Z axis down to its lower limit.

To move the shaft down, push and hold the Z axis brake release switch while the power to the controller is turned ON. Be careful that the end effector does not hit peripheral equipment. Then, turn OFF the controller.

A brake is mounted on the Z axis motor to prevent the Z axis from moving down due to the weight of the end effector while the power to the controller is OFF or while the motor is in OFF status

(MOTOR OFF). Note that the brake will not work during the replacement procedure.

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5. Maintenance and Inspection (Replacement of Cable)

5.4.1 Replacement of Cable

■

Do not remove the interface box forcibly. Removing the interface box forcibly 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

■ When installing the interface box, be careful not to allow the cables to interfere with the box mounting and do not bend these cables forcibly to push them into the box. Unnecessary strain on 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.

When routing the cables, observe the cable locations after removing the interface box. Be sure to place the cables back to their original locations.

•

The cable is an expendable part. We recommend to replace it periodically to avoid system failure due to a sheared cable.

Cable for replacement

Name Code Contents

X5 cable set 1

X5 cable set 3

X5 cable set 5

X5 U cable unit

R114X5C001

R114X5C003

R114X5C007

R13B020041

Power cable:

Signal cable:

User cable:

Power cable:

Signal cable:

User cable:

Power cable:

Signal cable:

User cable:

Power cable:

Signal cable:

External cable R114X5C000

Additional user cable R114X4C005

•

The length of the cable differs according to the multi-axis manipulator. Refer to “5.9 Maintenance

Parts List”.

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5. Maintenance and Inspection (Replacement of Cable)

5.4.1.1 Before Replacing the Cables

Before replacing the cables, turn ON the Controller and keep it ON for 30 or more minutes.

Then, turn OFF the Controller.

This preparation is necessary to charge the super-capacitors that provide the power to retain the position data.

A super-capacitor is mounted on each motor. The charged motors can keep their position data for about 2 hours after the motors are disconnected from the lithium battery on the signal relay board.

Since the power is supplied to each motor from the lithium battery on the signal relay board via signal connector, the position data will not be lost when the Controller is turned

OFF. When the signal connectors are disconnected, only the super-capacitors in the motors will retain the position data.

When the data storage time of the super-capacitors is exceeded, the position data will be lost, and an error* will occur when the Controller is turned ON.

* : In case of EPSON RC+, the error message that “Encoder alarm has occurred” is displayed.

If the error occurs, perform the calibration of all axes. For details on the calibration method, refer to “4.13

Calibration”.

5.4.1.2 Replacement procedures

(1) Turn OFF the controller.

(2) Remove an end cover of respective connector boxes and pull out the interface box and the top covers.

(3) Detach the cable clamps and cable holders, and disconnect both connectors of the cable to be replaced. Then, pull out the cable from the cable support.

(4) Fix the cable to the connector box with the cable clamp and the cable holders.

(5) Attach the top covers, interface box, and end the end covers to respective connector boxes in reversed order of procedure (2).

(6) Move the modules respectively and check for jerking of cable in the cable support.

(7) Leave the operating area of the robot and turn ON the controller.

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

5.4.1.3 Replacement of Cables for RU Module

Removal

(1) Turn OFF the controller.

(2) Remove an end cover of respective connector boxes and pull out the interface box and the top covers.

(3) Detach the cable clamps and cable holders, and disconnect the power connector and signal connector of the U cable unit from the interface box.

(4) Pull out the cables of the U cable unit from the X-Y cable support and the Y-Z cable support. Then, remove the cable from the edge saddle on the moving-side connector box.

(5) Unscrew six truss head screws (M4×8) and remove the U cover.

U cover

(6) Unscrew two hexagon socket head cap bolts (M5×10) and two plain washers

(M5). Then, remove the U support 2 from the Z axis.

U support 2

Z axis

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

(7) Cut off the two wire ties securing the cables. (Photo 5.4-4 and 5.4-5)

U support 1 side

U support 2 side

(8) Disconnect the power cable and signal cable.

176

(9) Remove two hexagon nuts.

Then, remove the cable unit from the U support 1 and U support 2.

Hexagon nut

U support 1

Hexagon nut

U support 2

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

Installation

(1) Secure the cable unit to the U support 1 and U support 2 with the hexagon nuts as shown in Photo.

U support 1

Attach the joint to the U support turning the joint. At that time, use a metallic stick, etc. to prevent the hexagon nut from rotating.

Metallic stick

Joint

U support 2

(2) Connect the power connector and signal connector.

Metallic stick

(3) Secure the cables with a wire tie.

Put the wire tie through the hole on the U support 1 and fasten the cables with the wire tie at the position where the wire tie is 80 mm apart from the end of the cable connector.

Cut off the extra part of the wire tie.

U support 1 side

Put the wire tie through two holes on the

U support 2 and fasten the cables with the wire tie.

Cut off the extra part of the wire tie.

Be sure to stretch the cables tight in the U cable support.

U support 2 side

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

(4) Secure the U support 2 to the Z axis with two hexagon socket head cap bolts

(M5×10, tightening torque: 5 N

m) and two plain washers (M5).

U support 2

(5) Secure the U cover with six truss head screws (M4×8). (Photo 5.4-15)

U cover

(6) Insert the power cable and signal cable into the edge saddle on the moving-side connector box.

178

(7) Insert the cables of U cable unit through the Y-Z cable support and then X-Y cable support. Binding the connectors with tape (gummed tape, etc.) can allow you to insert the cables through the cable supports easily.

(8) Adjust the length of the cables to prevent them from tangling. Then, secure the cables to the fixed-side, junction, and moving-side connector boxes with cable clamps and cable holders.

(9) Connect the power cable and signal cable of the U cable unit to the interface box.

Refer to “4.10.5 RU Type (Block Diagrams)” and connect the cables correctly.

(10) Attach the top covers, interface box, and end covers to respective connector boxes.

(11) Move each axis to its stroke end by hand and make sure that the cables do not stretch too tight in the cable supports.

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

5.4.2 Replacement of Timing Belt (Only for RSz module)

•

The timing belt is treated as a expendable part. The manufacturer is not liable for damage when it is out of the warranty. We recommend replacing it periodically to avoid the system malfunction, collision to an obstacle and free-falling of slider of a vertical axis module.

No. Code Applicable

1 R13B030201

Removal

When you replace the timing belt of RSz module, bind the module and end effector with string to prevent the end effector from falling down.

(1) Unscrew four counter-sunk head screws

(M3×6) on the motor end cover on the cable side.

Remove the motor end cover.

(2) Unscrew four pan head screws (M3×6) on the motor end cover on the bottom side.

Unscrew

(3) Unscrew three pan head screws (M3×6) that secure the motor covers, and remove the motor covers.

EZ MODULES (X5 series) Rev.2

Unscrew

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

(4) Unscrew two pan head screws (M3×4) on the pulley cover, and remove the pulley cover.

(5) Hold the motor and unscrew two hexagon socket head cap bolts (M4×15) that secure the motor to the motor plate.

Motor plate

Nut

Pulley

Timing belt

(6) Remove the timing belt from the pulleys on the motor side and the module side.

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

Installation

(1) Put the timing belt on the pulleys on the module side and the motor side.

(2) Loosely tighten the two hexagon socket head cap bolts (M4×15) that secure the motor.

(3) Apply the proper tension (70 N ±5) to the timing belt, and secure the motor

(tightening torque: 3 N

m).

Pass a suitable cord or string around the motor flange. Then, pull the cord using a force gauge or similar tool to apply the specified tension.

Rotate the pulley on the motor side, and make sure that the gear teeth of the belt mesh with the pulleys completely.

Force gauge

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5. Maintenance and Inspection (Replacement of Timing Belt: RS/RSz module)

(4) Mount the pulley cover to the pulley, and secure the cover with the two pan head screws (M3×4).

(5) Mount the motor covers to the motor, and secure the covers with three pan head screws (M3×6).

Make sure that the positions of the screw holes are correct.

(6) Tighten the four pan head screws (M3×6) on the motor end cover on the bottom side and secure it to the motor covers.

Tighten the screws in a crisscross pattern.

(7) Mount the motor end cover on the cable side to the motor covers. Secure the motor end cover with the four counter-sunk head screws (M3×6).

(8) Refer to “4.13 Calibration” and perform the calibration.

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5. Maintenance and Inspection

5.4.3 Replacing the Lithium Battery (Battery Unit)

■

Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out 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, pull out 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 pull out 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 remove the interface box forcibly. Removing the interface box forcibly 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.

When routing the cables, observe the cable locations after removing the interface box. Be sure to place the cables back to their original locations.

■

Use meticulous care when handling the lithium battery. Improper handling of the lithium battery as mentioned below is extremely hazardous, may result in heat generation, leakage, explosion, or inflammation, and may cause serious safety problems.

Battery Charge

Disassembly

Incorrect Installation

Exposing to Fire

Forced Discharge

Deformation by Pressure

Short-circuit (Polarity; Positive/Negative)

Heating (85°C or more)

Soldering the terminal of the lithium battery directly

■

When disposing of the battery, consult with the professional disposal services or comply with the local regulation.

Spent battery or not, make sure the battery terminal is insulated. If the terminal contacts with the other metals, it may short and result in heat generation, leakage, explosion, or inflammation.

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5. Maintenance and Inspection

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 the motors will be lost and all axes need to be completely calibrated again.

The life span of the lithium battery is 3 years. Even if the Manipulator is constantly connected to power, the lithium battery needs to be replaced every 3 years.

Part Name Code Note

Lithium battery (Battery unit) R13ZA00600300

5.4.3.1 Before Replacing the Lithium Battery

Before replacing the lithium battery, turn ON the Controller and keep it ON for 30 or more minutes. Then, turn OFF the Controller.

This preparation is necessary to charge the super-capacitors that retain the position data.

A super-capacitor is mounted on each motor. The charged motors can keep their position data for about 2 hours after the motors are disconnected from the lithium battery on the signal relay board.

Since the power is supplied to each motor from the lithium battery on the signal relay board via signal connector, the position data will exist even when the Controller is turned

OFF. When the signal connectors are disconnected, only the super-capacitors in the motors will keep the position data.

When the data storage time of the super-capacitors is exceeded, the position data will be lost, and an error* will occur when the Controller is turned ON.

* In case of EPSON RC+, the error message that “Encoder alarm has occurred” is displayed.

If the error occurs, perform the calibration of all axes. For details on the calibration method, refer to “4.13

Calibration”.

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5. Maintenance and Inspection

5.4.3.2 How to Replace the Lithium Battery

Removal

(1) Disconnect all the connectors and tubes from the interface box (outside).

(2) Remove the battery box from the interface box.

Battery box

2-M3×6

(3) Disconnect the X60 connector from the lithium battery.

Lithium battery

(4) Cut off the wire ties securing the lithium battery, and then remove the lithium battery.

Lithium battery

Wire tie

Battery box

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5. Maintenance and Inspection

Installation

NOTE

)

Be sure to use the specified lithium battery (Code: R13ZA00600300).

Observe polarity (positive/negative) when connecting the lithium battery.

(1) Connect the X60 connector to the new lithium battery.

Lithium battery

(2) Secure the lithium battery to the battery box.

Lithium battery

(3) Mount the battery box on the interface box.

Wire tie

Battery box

2-M3×6

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(4) Connect the connectors to the interface box (outside).

(5) Turn ON the Controller.

(6) Check if the Manipulator moves to points (poses) correctly.

To do so, select 2 points (poses) or more from the registered points (poses) and move the Manipulator to the points (poses).

(7) If the Manipulator does not move to the points (poses) correctly, perform the calibration of all axes.

For details on the calibration method, refer to “4.13 Calibration”.

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5. Maintenance and Inspection

5.5 Replacing the Motors

■

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.

WARNING

■

To shut off power to the robot system, pull out 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 pull out 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 careful not to apply excessive shock to the motor shaft when replacing the motors. The shock may shorten the life cycle of the motors and encoder and/or damage them.

CAUTION

■

Never disassemble the motor and encoder. A disassembled motor and encoder will cause a positional gap and cannot be used again.

NOTE

)

After replacing the parts, it is necessary to match these origins.

The process of aligning the two origins is called “Calibration”.

Refer to “4.13 Calibration” and perform the calibration.

NOTE

)

The motor as a maintenance part is provided without a pulley or a timing belt. Therefore, be careful not to lose them during motor replacement.

5.5.1 Types of Motors

The motor types used in the EZ Modules X5 series Manipulators are shown in the table below.

When ordering a motor for replacement, check the motor type. Then, specify the code from the table below.

Part Name Code Note

400W motor

150W motor

150W motor (with brake)

R13B000616

R13B000615

R13B000622

For RH, RM

For RU

For RSz

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5. Maintenance and Inspection

5.5.2 Location of Motors

RH module

Motor

RM module

RSz module

RU module

Motor

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EZ MODULES (X5 series) Rev.2

5.5.3 Replacing the Motor on Each Module

5.5.3.1 RH Module

Removal

(1) Unscrew four counter-sunk head screws on the motor end cover, and remove the motor end cover.

5. Maintenance and Inspection

(2) Unscrew four hexagon socket head cap bolts on both sides of the motor cover (M4×8, 2 bolts on each side), and remove the motor cover. of the slider cover (M4×8, 2 screws on each end), and remove the slider cover.

(4) Unscrew two hexagon socket head cap bolts

(M4×10) on the stop (yellow) on the motor side. Remove the stop.

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5. Maintenance and Inspection

(5) Loosen the clamping bolt on the coupling on the motor shaft side.

Coupling

NOTE

)

Loosen the clamping bolt on the coupling sufficiently. Pulling the motor forcibly while the clamping bolt on the coupling is tightened may cause a slack of the spring in the coupling. When the spring gets slack, the accuracy is not obtained.

(6) Unscrew four motor mounting bolts (M5×16), and remove the motor from the module body.

M5×16

(4 bolts)

When replacing the coupling, turn the coupling by hand and loosen the mounting bolt of the coupling opposite from the side of the motor. Then, pull the coupling out of the module.

Secure a new coupling in the position.

(Tightening torque: 1.5 N m)

10 mm

Loosen

Pull

Coupling

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5. Maintenance and Inspection

Installation

(1) Make sure that the clamping bolt on the coupling on the motor shaft side is loosened.

(2) Mount the motor to the module body so that the motor cables are on the right side of the motor when you face the motor end cover.

Tighten the four motor mounting bolts

(M5×16, tightening torque: 5 N

m) in a crisscross pattern.

M5×16

(4 bolts)

(3) Move the slider so that the motor shaft fits in the coupling.

(4) Tighten the clamping bolt on the coupling.

(Tightening torque: 1.5 N m)

(5) Mount the stop in the module body and secure the stop with the two hexagon socket head cap bolts (M4×10).

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5. Maintenance and Inspection

(6) Move the slider to the end of the module.

(Either the motor side end or the other side end)

(7) Install the slider cover in the module body and secure the slider cover with the four round head screws on both ends (M4×8, 2 screws on each end).

It is not necessary to put the slider belts into the grooves of the slider cover at this step.

(8) Move the slider to the stop on the opposite side. The slider belts automatically fit into the grooves of the slider cover.

Slider

(9) Make sure that the slider belts fit into the grooves correctly. If the slider belts do not fit into the grooves, move the slider from end to end again.

(10) Mount the motor cover to the motor, and secure the cover with the four hexagon socket head cap bolts on both sides (M4×8, 2 bolts on each side).

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EZ MODULES (X5 series) Rev.2

(11) Put the cables into the opening where they were previously installed.

Bend the cables using as large a radius as possible to minimize the force applied to the cable outlet of the motor cover.

Put tape around the cables to prevent them from being damaged on the edge of the opening.

Insert the slot plug into the opening on the other side.

(12) Mount the motor end cover to the motor cover, and secure the motor end cover with the four counter-sunk head screws.

5. Maintenance and Inspection

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5. Maintenance and Inspection

5.5.3.2 RM Module

Removal

(1) Unscrew two counter-sunk head screws on the motor end cover, and remove the motor end cover.

(2) Unscrew four hexagon socket head cap bolts (M4×8) in the motor cover, and remove the motor cover.

CAUTION

■

Be careful not to cut your hand on the edge of motor cover or parts inside the cover when you unscrew the bolts in the motor cover.

(3) Insert a flat screwdriver between the maintenance hole and the cut part of the cover, and remove the cover.

194

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

(4) Move the slider, and find the clamping bolt on the coupling from the maintenance hole.

Insert a flat end of hexagonal wrench through the maintenance hole vertically, and loosen the clamping bolt on the coupling.

90 degrees

Bolt

Hexagonal wrench

(flat end)

Coupling

NOTE

)

EZ MODULES (X5 series) Rev.2

195

5. Maintenance and Inspection

(5) Unscrew four motor mounting bolts

(M5×16), and remove the motor from the module body.

M5×16

(4 bolts)

When replacing the coupling, unscrew the round head screws on both ends of the slider cover. Then, move the slider cover.

Turn the coupling by hand and loosen the mounting bolt of the coupling opposite from the side of the motor.

Then, secure a new coupling in the position.

(Tightening torque: 1.5 N m)

13 mm

Loosen

Pull

196

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

Installation

(1) Make sure that the clamping bolt on the coupling is loosened.

(2) Mount the motor to the module body so that the motor cables are on the right side of the motor when you face the motor end cover.

Tighten the four motor mounting bolts

(M5×16, tightening torque: 5 N

m) in a crisscross pattern.

M5×16

(4 bolts)

(3) Move the slider so that the motor shaft fits in the coupling.

(4) Insert a hexagonal wrench through the maintenance hole, and tighten the clamping bolt on the coupling. (Tightening torque:

1.5 N

(5) Insert the cover into the maintenance hole.

EZ MODULES (X5 series) Rev.2

197

5. Maintenance and Inspection

(6) Mount the motor cover to the module body, and tighten the four hexagon socket head cap bolts (M4×8) in the motor cover.

CAUTION

■

Be careful not to cut your hand on the edge of motor cover or parts inside the cover when you tighten the bolts in the motor cover.

(7) Insert the cables into the opening where they were previously installed.

Bend the cable using as large a radius as possible to minimize the force applied to the cable outlet of the motor cover.

Put tape around the cables to prevent them from being damaged on the edge of the opening.

Insert the slot plug in the opening on the other side.

(8) Mount the motor end cover to the motor cover, and secure the motor end cover with the two counter-sunk head screws.

198

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

5.5.3.3 RSz Module

Removal

When you replace the timing belt of RSz module, bind the module and end effector with string to prevent the end effector from falling down.

(1) Unscrew four counter-sunk head screws

(M3×6) on the motor end cover on the cable side.

Remove the motor end cover.

(2) Unscrew four pan head screws (M3×6) on the motor end cover on the bottom side, and loosen two hexagon socket head cap bolts (M3×6) that secure the cover to the module body. Then, move the motor end cover horizontally.

(3) Unscrew three pan head screws (M3×6) that secure the motor covers, and remove the motor covers.

Unscrew

Loosen

Unscrew

(4) Unscrew two pan head screws (M3×4) on the pulley cover, and remove the pulley cover.

EZ MODULES (X5 series) Rev.2

199

5. Maintenance and Inspection

(5) Hold the motor and unscrew two hexagon socket head cap bolts (M4×15) that secure the motor to the motor plate.

Motor plate

Nut

Pulley

Timing belt

(6) Remove the timing belt from the pulley.

Then, pull out the motor.

(7) Unscrew two setscrews (M5×8) that secure the pulley to the motor, and remove the pulley from the motor.

There is a brass bushing in one of the setscrew holes. Be careful not to lose it.

Setscrew

200

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

Installation

(1) Mount the pulley on the motor so that the tip of the motor shaft sticks out 2 mm from the pulley (tightening torque: 2.9 N

m).

Screw one of the setscrews for the flat of the motor shaft until the setscrew just touches the surface. Insert a bushing into the other setscrew hole to prevent damage to the motor shaft.

Loosely tighten the setscrew on the flat of the motor shaft.

Then, loosely tighten the other setscrew with the bushing.

Unscrew the setscrew on the flat, and securely tighten it.

Securely tighten the setscrew with the bushing until the setscrew presses the bushing.

Screw hole position Pulley position

Setscrew (M5×8)

Pulley

Flat

Pulley

2 mm

Motor shaft

Setscrew

(M5×8)

Bushing

Motor shaft

Motor

(2) Insert the motor into the motor plate and nut so that the cables of the motor are set in the opening of the motor plate.

Opening

(3) Put the timing belt on the pulley on the motor side. Make sure that the timing belt is put on the other pulley in the module.

EZ MODULES (X5 series) Rev.2

201

5. Maintenance and Inspection

(4) Loosely tighten the two hexagon socket head cap bolts (M4×15) that secure the motor.

(5) Apply the proper tension (70 N ±5) to the timing belt, and secure the motor.

(Tightening torque: 3 N

Pass a suitable cord or string around the motor flange. Then, pull the cord using a force gauge or similar tool to apply the specified tension.

Rotate the pulley on the motor side, and make sure that the gear teeth of the belt mesh with the pulleys completely.

(6) Mount the pulley cover to the pulley, and secure the cover with the two pan head screws (M3×4).

Force gauge

(7) Mount the motor covers to the motor, and secure the covers with three pan head screws (M3×6).

Make sure that the positions of the screw holes are correct.

202

EZ MODULES (X5 series) Rev.2

bottom side.

Tighten the four pan head screws (M3×6) on the same motor end cover and secure it to the motor covers.

Tighten the screws in a crisscross pattern.

(9) Tighten the two hexagon socket head cap bolts (M3×6) and secure the motor end cover to the module body.

5. Maintenance and Inspection

(10) Mount the motor end cover on the cable side to the motor covers. Secure the motor end cover with the four counter-sunk head screws. (M3×6)

(11) Refer to “4.13 Calibration” and perform the calibration.

EZ MODULES (X5 series) Rev.2

203

5. Maintenance and Inspection

5.5.3.4 RU Module (Including the Reduction Gear Unit Replacement)

Removal

and remove the U cover.

U cover

(2) Disconnect the power connector and signal connector.

(3) Remove the rubber plug from the maintenance hole on the reduction gear unit.

(4) Find the clamping bolt (M3) on the coupling from the maintenance hole turning the input axis joint of reduction gear unit.

Insert a flat end of hexagonal wrench through the maintenance hole vertically, and loosen the clamping bolt (M3) on the coupling.

204

Rubber plug

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

Hexagonal wrench

(flat end)

90 degrees

Bolt

Coupling

NOTE

)

Loosen the clamping bolt on the coupling sufficiently. Pulling the motor forcibly while the clamping bolt on the coupling is tightened maybe cause a slack of the spring in the coupling. When the spring gets flack, loss of accuracy may occur.

(5) Unscrew two hexagon socket head cap bolts (M4×12) that secure the motor.

Then, remove the motor.

M4×12

(2 bolts)

(6) When replacing the reduction gear unit:

Unscrew four bolts (M5×20) that secure the reduction gear unit.

Then, remove the reduction gear unit.

M5×20

(4 bolts)

EZ MODULES (X5 series) Rev.2

205

5. Maintenance and Inspection

Installation

(1) Make sure that the clamping bolt on the coupling is loosened.

(2) Place the reduction gear unit so that the maintenance hole on it is on the right side as you face the front. Then secure the reduction gear unit with four bolts

(M5×20, tightening torque: 9.8 N

m).

Tighten the bolts in a crisscross pattern.

Front

M5×20

(4 bolts)

(3) Place the motor so that its cables come to the maintenance hole side.

Insert the motor into the reduction gear unit slowly and secure the motor with the two hexagon socket head cap bolts

(M4×12). (Tightening torque: 3.1 N

Do not insert the motor at a tilt.

(4) Insert a hexagonal wrench through the maintenance hole and tighten the clamping bolt (M3) on the coupling.

(Tighten torque: 2 N

Maintenance hole

M4×12

(2 bolts)

(5) Put the rubber plug in the maintenance hole.

Rubber plug

206

EZ MODULES (X5 series) Rev.2

(6) Connect the power connector and signal connector.

5. Maintenance and Inspection

(7) Secure the U cover with six truss head screws (M4×8).

Bend the cable using as large a radius as possible to minimize the force applied to the cable outlet.

(8) Refer to “4.13 Calibration” and perform the calibration.

U cover

EZ MODULES (X5 series) Rev.2

207

5. Maintenance and Inspection

5.6 Replacing the Signal Relay Board

■

WARNING

■ To shut off power to the robot system, pull out 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.

CAUTION

■ Before performing any replacement procedure, turn OFF the controller and related equipment, and then pull out 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 remove the interface box forcibly. Removing the interface box forcibly 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.

When routing the cables, observe the cable locations after removing the interface box. Be sure to place the cables back to their original locations.

5.6.1 Before Replacing the Signal Relay Board

208

Before replacing the signal relay board, turn ON the Controller and keep it ON for 30 or more minutes. Then, turn OFF the Controller.

This preparation is necessary to charge the super-capacitors that retain the position data.

A super-capacitor is mounted on each motor. The charged motors can keep their position data for about 2 hours after the motors are disconnected from the lithium battery on the signal relay board.

Since the power is supplied to each motor from the lithium battery on the signal relay board via signal connector, the position data will not be lost when the Controller is turned

OFF. When the signal connectors are disconnected, only the super-capacitors in the motors will retain the position data.

When the data storage time of the super-capacitors is exceeded, the position data will be lost, and an error* will occur when the Controller is turned ON.

* : In case of EPSON RC+, the error message that “Encoder alarm has occurred” is displayed.

If the error occurs, perform the calibration of all axes. For details on the calibration method, refer to “4.13 Calibration”.

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

5.6.2 How to Replace the Signal Relay Board

Removal

(1) Disconnect all the connectors and tubes from the interface box (outside).

(2) Remove the interface box from the connector box.

(3) Disconnect the connectors (X10, X20, X30, X40, X50, and X4) from the signal relay board.

To do so, open up the top and bottom clips of the connectors.

NOTE

)

Connect motors and the signal relay board with a new cable unit within 2 hours after the connectors are removed. When the motors and the signal relay board are connected with a new cable unit after 2 hours have passed, the position data in motors will be lost and calibration will be required again.

(4) Remove the signal relay board from the interface box.

The signal relay board is secured from the outside of the interface box.

Signal relay board

4-M3

(2 crown washers)

Interface box

EZ MODULES (X5 series) Rev.2

209

5. Maintenance and Inspection

Installation

(1) Install a new signal relay board to the interface box.

Secure the board from the outside of the box.

Signal relay board 4-M3

(2 crown washers)

Interface box

(2) Connect the connectors (X10, X20, X30, X40, X50, and X4) to the signal relay board.

WARNING

■

(3) Install the interface box.

For details on the installation method, refer to step (6) to (9) in “4.6 Installation of

Single Axis Modules (RH, RM)”.

(4) Connect the connectors and tubes to the interface box (outside).

(5) Turn ON the Controller.

(6) Check if the Manipulator moves to points (poses) correctly.

To do so, select 2 points (poses) or more from the registered points (poses) and move the Manipulator to the points (poses).

(7) If the Manipulator does not move to the points (poses) correctly, perform the calibration of all axes.

For details on the calibration method, refer to “4.13 Calibration”.

210

EZ MODULES (X5 series) Rev.2

5. Maintenance and Inspection

5.7 Overhaul

We recommend that you periodically overhaul the manipulator to prevent system failure due to wear and/or deterioration.

Recommended overhaul period : 5 years

Method of overhaul : Please ask suppliers about details.

5.8 Precautions for Disposal of Modules

When disposing the modules, refer to respective precautions and procedures of the transportation and maintenance, and pay attention to safety.

EZ MODULES (X5 series) Rev.2

211

5. Maintenance and Inspection

5.9 Maintenance Parts Lis t

Specify the code when ordering maintenance parts.

Part Name Code

RH module (1000 mm)

RH module (800 mm)

RH module (600 mm)

RH module (400 mm)

RM module (750 mm)

RM module (550 mm)

RM module (350 mm)

RSz module (400 mm)

Note

R13B080001

R13B080002

R13B080003

R13B080004

R13B080005

No motor

R13B080006

R13B080007

R R13B080014

Reference page

7, 9, 17, 19

RSz module (300 mm) 7, 10, 11

RSz module (200 mm)

400W motor

150W motor

Timing belt

X5 cable set 1

X5 cable set 3

L R13B080019

With brake

R13B000616 For RH, RM

R13B000615 For RU

R13B000622 For RSz

R13B030201 For RSz

2 m

(User cable is 4 m.)

2 m

(User cable is 4 m.)

R114X5C001

RG-HM 、 YZ-MS

X5 cable set 5

Cable support

Coupling

X5 U cable unit

External cable

Additional user cable

Signal relay board

Lithium battery (Battery unit)

4.5 m

6 m

4 m

28 links

Brake release switch

Pulley (on the motor shaft side)

Reduction gear unit

R114X5C007

R13B020041 For RU-HMSz

R114X4C000

R114X4C005

For RP-HMSz,

RU-HMSz

161

R13B031901

Refer to “4.14 Adjusting

Cable Support Length” 147

R13B031501

R13ZA00450400 and adjust the links.

For RH, RM 176

193

R13ZA00600300 ER17330V (TOSHIBA) 171

R13B030001

R13B031101

R13B010001

For RS, RSz

For RU-HMSz

174

167

120

185

190

*1: Use a 200W motor driver module for RU and RSz modules.

For the codes of the motor diver modules, refer to the maintenance parts list in the robot controller manual.

*2: For details, refer to the block diagrams in “4.10.4 RP Type” and “4.10.5 RU Type”.

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EZ MODULES (X5 series) Rev.2

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Download PDF

Epson EZ Modules 4-Axis Robots Manual

EZ MODULES

X5 series

MANIPULATOR MANUAL

EZ MODULES

X5 series

Manipulator Manual

Rev.2

FOREWORD

WARRANTY

TRADEMARKS

TRADEMARK NOTATION IN THIS MANUAL

NOTICE

INQUIRIES

SERVICE CENTER

MANUFACTURER & SUPPLIER

SUPPLIERS

For Customers in the European Union

TABLE OF CONTENTS

1. Safety 1

2. Model Numbers and Specifications 7

3. Transportation, Storage, Unpacking, Handling 64

4. Installation 67

5. Maintenance and Inspection 165

1. Safety

1.1 Conventions

1.2 Design and Installation Safety

1.3 Operation Safety

1.4 Emergency Stop

1.5 Moving sliders by hand in emergency mode

1.6 Manipulator Labels

2. Model Numbers and Specifications

2.1 Features of EZ Modules

2.2 Model Numbers

Examples of EZ module X5 series model number

Example 1: RP-HMSz

(RH: 600 mm stroke, RM: 500 mm stroke, RSz: 300 mm stroke, Mount direction type: A)

Example 2: RG-HM (Additional module)

(RH: 800 mm stroke, RM: 750 mm stroke, Mount direction type: C)

Model numbers shown in the software

2.2.1 Single Axis

2.2.2 Two Axis Manipulators

2.2.3 Three Axis Manipulators

2.2.4 Four Axis Manipulators

2.3 Relation between end effector mass W and moment arm length L

2.3.1 INERTIA Setting

Moment of Inertia and the INERTIA Setting

Moment of inertia of load on the RU rotation center

Eccentric Quantity and the INERTIA Setting

Eccentric quantity of load on the RU rotation center

Calculating the Moment of Inertia

2.4 Concept and direction of moment

2.5 Dimensions

2.5.1 Single Axis

Outer Dimensions (Model number: X5S#H0000#A)

Outer Dimensions (Model number: X5S#H0000#A)

Outer Dimensions (Model number: X5S#M0000#A)

2.5.2 Two Axis Manipulators

A Type: Outer Dimensions (Model number: X5G#H#M000A)

B Type: Outer Dimensions (Model number: X4G#H#M000B)

C Type: Outer Dimensions (Model number: X4G#H#M000C)

D Type: Outer Dimensions (Model number: X5G#H#M000D)

A Type: Outer Dimensions (Model number: X4G#H#M00AA)

B Type: Outer Dimensions (Model number: X5G#H#M00AB)

C Type: Outer Dimensions (Model number: X5G#H#M00AC)

D Type: Outer Dimensions (Model number: X5G#H#M00AD)

A Type: Outer Dimensions (Model number: X5Z00#M2S0A Z axis stroke = 200 mm)

B Type: Outer Dimensions (Model number: X5Z00#M2S0B Z axis stroke = 200 mm)

A Type: Outer Dimensions (Model number: X5Z00#M3S0A Z axis stroke = 300 mm)

(Model number: X5Z00#M4S0A Z axis stroke = 400 mm)

B Type: Outer Dimensions (Model number: X5Z00#M3S0B Z axis stroke = 300 mm)

(Model number: X5Z00#M4S0B Z axis stroke = 400 mm)

2.5.3 Three Axis Manipulators

A Type: Outer Dimensions (Model number: X5P#H#M2S0A Z axis stroke = 200 mm)

B Type: Outer Dimensions (Model number: X5P#H#M2S0B Z axis stroke = 200 mm)

C Type: Outer Dimensions (Model number: X4P#H#M2S0C Z axis stroke = 200 mm)

D Type: Outer Dimensions (Model number: X5P#H#M2S0D Z axis stroke = 200 mm)

A Type: Outer Dimensions (Model number: X5P#H#M3S0A Z axis stroke = 300 mm)

(Model number: X5P#H#M4S0A Z axis stroke = 400 mm)

B Type: Outer Dimensions (Model number: X5P#H#M3S0B Z axis stroke = 300 mm)