Epson 6-Axis Robots User Manual
Rev.7 EM19ZR4195F
6-Axis Robots
VT series
MANIPULATOR MANUAL
MANIPULATOR MANUAL
VT series Rev.7
6-Axis Robots
VT series Manipulator Manual
Rev. 7
Copyright 2018-2019 SEIKO EPSON CORPORATION. All rights reserved.
VT Rev.7 i
1.
Damage or malfunction caused by improper use which is not described in the
manual, or careless use.
2.
Malfunctions caused by customers
3.
Dama
4.
Damage caused by natural disasters such as earthquake, flood, etc.
1.
If the Manipulator 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.
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the 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.
WARRANTY
The Manipulator and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please contact the supplier of your region for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
ge due to improper adjustments or unauthorized repair attempts.
Warnings, Cautions, Usage:
’ unauthorized disassembly.
ii VT Rev.7
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.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety and Installation Read this manual first
VT Rev.7 iii
Regarding battery disposal
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household waste
stream. To prevent possible harm to the environment or human health please separate this
product and its batteries from other waste streams to ensure that it can be recycled in an
environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product. Use
of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
The battery removal/replacement procedure is described in the following manuals:
VT series manipulator manual
Maintenance: 18.4 Replacing the Lithium Battery
iv VT Rev.7
Controller Firmware
VT6-A901S-DC
Ver.7.4.57.1 or later
Before Ver.7.4.6
!!!
Ver.7.4.7 or later
OK
EPSON
RC+
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The VT series Manipulators can be used with the following combinations of software.
VT6-A901S, VT6-A901C, VT6-A901P Ver.7.4.56.2 or later
EPSON RC+ 7.0
OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are
available.
!!!: Compatible Connection is OK. It is recommended to use the following version
or later. Display or control may not be operated properly.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON RC+ 7.0 Ver.7.4.7
VT Rev.7 v
vi VT Rev.7
Setup & Operation
1. Safety 3
1.1 Conventions ......................................................................................... 3
1.2 Design and Installation Safety ............................................................. 4
1.3 Operation Safety.................................................................................. 5
1.4 Emergency Stop .................................................................................. 7
1.5 How to Move Arms with the Electromagnetic Brake ........................... 9
1.6 Precaution for Operation in Low Power Status ................................. 10
1.7 Labels ................................................................................................ 11
2. Specifications 13
2.1 Features of VT series Manipulators .................................................. 13
2.2 Model Number ................................................................................... 13
2.3 Part Names ........................................................................................ 14
2.4 Outer Dimensions .............................................................................. 16
2.5 Standard Motion Range .................................................................... 18
2.6 System Example................................................................................ 20
2.7 Specifications .................................................................................... 21
2.8 How to Set the Model ........................................................................ 25
TABLE OF CONTENTS
1.5.1 Arm Motions ............................................................................. 9
1.5.2 Release the Brake by the Software ....................................... 10
3. Environments and Installation 26
3.1 Environmental Conditions ................................................................. 26
3.2 Base Table ........................................................................................ 28
3.3 Mounting Dimensions ........................................................................ 30
3.4 Unpacking and Transportation .......................................................... 31
3.5 Installation Procedure ........................................................................ 32
3.6 Power Supply .................................................................................... 34
3.6.1 Specifications......................................................................... 34
3.6.2 Power Cable .......................................................................... 34
3.6.3 Breaker .................................................................................. 36
3.6.4 Grounding .............................................................................. 37
3.7 Connecting the Cables ...................................................................... 38
3.7.1 Connection Example ............................................................. 38
3.7.2 Noise Countermeasures ........................................................ 41
3.8 Relocation and Storage ..................................................................... 42
3.8.1 Precautions for Relocation and Storage ............................... 42
3.8.2 Relocation .............................................................................. 43
3.9 Checking the Basic Orientation ......................................................... 45
3.10 Origin Position Label ....................................................................... 45
VT Rev.7 vii
TABLE OF CONTENTS
4. Setting of End Effectors 46
5. Motion Range 58
4.1 Attaching an End Effector .................................................................. 46
4.2 Attaching Cameras and Air Valves .................................................... 47
4.3 Weight and Inertia Settings ................................................................ 47
4.3.1 Weight Setting ........................................................................ 50
4.3.2 INERTIA Setting ..................................................................... 53
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 57
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 58
5.1.1 Max. Pulse Range of Joint #1 ................................................ 59
5.1.2 Max. Pulse Range of Joint #2 ................................................ 59
5.1.3 Max. Pulse Range of Joint #3 ................................................ 60
5.1.4 Max. Pulse Range of Joint #4 ................................................ 60
5.1.5 Max. Pulse Range of Joint #5 ................................................ 60
5.1.6 Max. Pulse Range of Joint #6 ................................................ 61
5.2 Motion Range Setting by Mechanical Stops ...................................... 62
5.2.1 Motion Range Setting of Joint #1 ........................................... 62
5.2.2 Motion Range Setting of Joint #2 ........................................... 63
5.2.3 Motion Range Setting of Joint #3 ........................................... 64
5.3 Restriction of Manipulator Operation by Joint Angle Combination .... 65
5.4 Coordinate System ............................................................................. 66
5.5 Changing the Robot ........................................................................... 67
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ............................ 68
6. Operation Mode & LED 69
6.1 Overview ............................................................................................ 69
6.2 Switch Operation Mode ...................................................................... 69
6.3 Program Mode (AUTO) ...................................................................... 70
6.4 Auto Mode (AUTO) ............................................................................ 71
6.5 LED ..................................................................................................... 73
6.3.1 What is Program Mode (AUTO)? ........................................... 70
6.3.2 Setup from EPSON RC+ 7.0 .................................................. 70
6.4.1 What is Auto mode (AUTO)? ................................................. 71
6.4.2 Setup from EPSON RC+ 7.0 .................................................. 71
6.4.3 Setup from Control Device ..................................................... 72
viii VT Rev.7
TABLE OF CONTENTS
7. Development PC Connection Port 74
7.1 What is Development PC Connection Port ....................................... 74
7.2 Precaution ......................................................................................... 75
7.3 Software Setup and Connection Check ............................................ 75
7.4 Disconnection of Development PC and Manipulator ........................ 76
8. Memory Port 77
8.1 What is Controller Status Storage Function? .................................... 77
8.2 Before Using Controller Status Storage Function ............................. 77
8.2.1 Precautions ............................................................................ 77
8.2.2 Adoptable USB Memory ........................................................ 78
8.3 Controller Status Storage Function ................................................... 78
8.3.1 Controller Status Storage ...................................................... 78
8.3.2 Load Data with EPSON RC+ 7.0 .......................................... 79
8.3.3 Transfer with E-mail ............................................................... 80
8.4 Details of Data ................................................................................... 81
9. LAN (Ethernet Communication) Port 82
9.1 What is the LAN (Ethernet Communication) Port ............................. 82
9.2 IP Address ......................................................................................... 83
9.3 Changing Manipulator IP Address .................................................... 83
9.4 Connection of Development PC and Manipulator with Ethernet ...... 84
9.5 Disconnection of Development PC and Manipulator with Ethernet .. 86
10. TP Port 87
10.1 What is the TP Port? ....................................................................... 87
10.2 Teach Pendant Connection ............................................................. 87
11. Options 88
11.1 Camera Plate Unit ........................................................................... 88
11.2 Tool Adapter (ISO flange) ............................................................... 90
11.3 Adjustable Mechanical Stops .......................................................... 91
11.4 External Wiring Kit ........................................................................... 91
12. EMERGENCY 98
12.1 Safeguard Switch and Latch Release Switch ................................. 98
12.1.1 Safeguard Switch ................................................................ 99
12.1.2 Latch Release Switch ........................................................ 100
12.1.3 Checking Latch Release Switch Operation ....................... 100
12.2 Emergency Stop Switch Connection ............................................. 101
12.2.1 Emergency Stop Switch .................................................... 101
12.2.2 Checking Emergency Stop Switch Operation ................... 101
VT Rev.7 ix
TABLE OF CONTENTS
13. Standard I/O Connector 106
12.2.3 Recovery from Emergency Stop ........................................ 101
12.3 Pin Assignments ............................................................................ 102
12.4 Circuit Diagrams ............................................................................. 103
12.4.1 Example 1: External emergency stop switch typical application
.......................................................................................................... 103
12.4.2 Example 2: External safety relay typical application .......... 104
12.4.3 Example 3: Connection example of mobile platform and
emergency stop ................................................................. 105
13.1 Standard, Cleanroom Model .......................................................... 106
13.1.1 Input Circuit (Standard, Cleanroom Model) ....................... 106
13.1.2 Output Circuit (Standard, Cleanroom Model) .................... 109
13.2 Protection Model ............................................................................ 112
13.2.1 Input Circuit (Protection Model) ......................................... 112
13.2.2 Output Circuit (Protection Model) ....................................... 114
13.2.3 Pin Assignments of Input and Output Circuit
(Protection Model) ............................................................. 116
13.3 I/O Cable Product Procedure ......................................................... 117
13.3.1 I/O Cable Connecting Method ............................................ 117
13.3.2 How to Fix the I/O Cable .................................................... 117
14. I/O Remote Settings 118
14.1 I/O Signal Description .................................................................... 119
14.2 Timing Specifications ..................................................................... 126
15. SD Card Slot 128
16. RESET Switch 129
17. Fieldbus I/O 130
14.1.1 Remote Input Signals ......................................................... 119
14.1.2 Remote Output Signals ...................................................... 123
14.2.1 Precautions for Remote Input Signals ............................... 126
14.2.2 Timing Diagram for Operation Execution Sequence ......... 126
14.2.3 Timing Diagram for Program Execution Sequence ........... 126
14.2.4 Timing Diagram for Safety Door Input Sequence .............. 127
14.2.5 Timing Diagram for Emergency Stop Sequence ............... 127
x VT Rev.7
Maintenance
TABLE OF CONTENTS
1. Safety Maintenance 135
2. General Maintenance 136
2.1 Maintenance Inspection .................................................................. 136
2.1.1 Schedule for Maintenance Inspection ................................. 136
2.1.2 Inspection Point ................................................................... 137
2.2 Overhaul (Parts Replacement) ........................................................ 138
2.3 Tightening Hexagon Socket Head Cap Bolts.................................. 140
2.4 Matching Origins.............................................................................. 140
2.5 Layout of Maintenance Parts .......................................................... 141
3. Manipulator Structure 142
3.1 AC Specification Manipulator .......................................................... 142
3.2 DC Specification Manipulator .......................................................... 144
4. Alarm 145
4.1 Maintenance .................................................................................... 146
4.2 Maintenance Information ................................................................. 147
5. Backup and Restore 150
5.1 What is the Backup Controller Function .......................................... 150
5.2 Backup Data Types ......................................................................... 150
5.3 Backup ............................................................................................. 151
5.4 Restore ............................................................................................ 152
6. Firmware Update 155
6.1 Updating Firmware .......................................................................... 155
6.2 Firmware Upgrade Procedure ......................................................... 155
6.3 Manipulator Recovery ..................................................................... 157
6.4 Firmware Initialization Procedure .................................................... 158
4.2.1 How to Check the Maintenance Information ....................... 147
4.2.2 How to Edit the Maintenance Information ........................... 148
4.2.3 Alarm Notifying Method ....................................................... 149
4.2.4 How to Cancel the Alarm ..................................................... 149
VT Rev.7 xi
TABLE OF CONTENTS
7. Covers 160
8. Cable 171
9. Joint #1 190
7.1 Arm #1 Cover ................................................................................... 161
7.2 Arm #2 Cover ................................................................................... 163
7.3 Arm #3 Cover ................................................................................... 164
7.4 Arm #4 Cover 1 ................................................................................ 165
7.5 Arm #4 Cover 2 ................................................................................ 166
7.6 Power Cable Cover .......................................................................... 168
7.7 Connector Plate ............................................................................... 169
8.1 Replacing Cable Unit ....................................................................... 172
8.2 Insert or Pull out of Power Cable ..................................................... 189
9.1 Replacing Joint #1 Motor ................................................................. 191
9.2 Replacing Joint #1 Reduction Gear Unit .......................................... 195
9.3 Replacing Joint #1 Timing Belt ........................................................ 196
10. Joint #2 201
10.1 Replacing Joint #2 Motor ............................................................... 202
10.2 Replacing Joint #2 Reduction Gear Unit ........................................ 208
10.3 Replacing Joint #2 Timing Belt ...................................................... 209
11. Joint #3 210
11.1 Replacing Joint #3 Motor ............................................................... 211
11.2 Replacing Joint #3 Reduction Gear Unit ........................................ 217
11.3 Replacing Joint #3 Timing Belt ...................................................... 218
12. Joint #4 219
12.1 Replacing Joint #4 Motor ............................................................... 220
12.2 Replacing Joint #4 Reduction Gear Unit ........................................ 225
12.3 Replacing Joint #4 Timing Belt ...................................................... 226
13. Joint #5 230
13.1 Replacing Joint #5 Motor ............................................................... 231
13.2 Replacing Joint #5 Reduction Gear Unit ........................................ 235
13.3 Replacing Joint #5 Timing Belt ...................................................... 236
xii VT Rev.7
TABLE OF CONTENTS
14. Joint #6 237
14.1 Replacing Joint #6 Motor............................................................... 238
14.2 Replacing Joint #6 Reduction Gear Unit ....................................... 242
14.3 Replacing Joint #6 Timing Belt ...................................................... 243
15. AMP Board 244
15.1 Replacing AMP Board on Joint #1, #2, and #3 ............................. 246
15.2 Replacing AMP Board on Joint #4 ................................................ 248
15.3 Replacing AMP Board on Joint #5 and #6 .................................... 249
16. LED Plate 250
16.1 Replacing LED Plate ..................................................................... 251
17. Felt Sheet 252
17.1 Replacing Joint #2 Felt Sheet ....................................................... 253
17.2 Replacing Joint #3 Felt Sheet ....................................................... 254
18. Controller Unit 255
18.1 Replacing Controller Unit .............................................................. 256
18.1.1 Standard, Cleanroom Model ............................................. 257
18.1.2 Protection Model ................................................................ 260
18.2 Replacing Power Board ................................................................. 264
18.3 Replacing CPU/DPB Board ........................................................... 265
18.4 Replacing Lithium Battery ............................................................. 268
18.5 Replacing Cooling Fan .................................................................. 268
18.6 Replacing SD Card ........................................................................ 269
18.6.1 Standard, Cleanroom Model ............................................. 269
18.6.2 Protection Model ................................................................ 270
19. Calibration 271
19.1 Overview ........................................................................................ 271
19.2 Calibration Procedures .................................................................. 274
20. Restrictions 278
20.1 Commands Cannot Use ................................................................ 278
20.2 Commands Cause Motion Error If Specifying RS-232C ............... 278
20.3 Commands Cause Error ................................................................ 279
20.3.1 Conveyor Tracking Commands ......................................... 279
20.3.2 PG Commands .................................................................. 280
20.3.3 R-I/O Commands ............................................................... 280
20.3.4 Force Sensing Commands ................................................ 280
20.3.5 Other (FineDist) ................................................................. 280
VT Rev.7 xiii
TABLE OF CONTENTS
21. Error Code Table 284
22. Maintenance Parts List 285
Appendix A: Open Source Software License 287
20.3.6 Other (HealthCalcPeriod) ................................................... 280
20.3.7 Other (ChDisk) ................................................................... 280
20.4 Restrictions of Functions ................................................................ 281
20.4.1 TP3 ..................................................................................... 281
20.4.2 Loop Processing ................................................................. 281
20.4.3 Camera Searching by CV1/CV2 ........................................ 282
20.4.4 Restore the Data of Backup Controller Function ............... 282
20.5 Command only available in DC specification Manipulator ............ 283
xiv VT Rev.7
Setup & Operation
This volume contains information for setup and operation of the VT series Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.
1. Safety
death exists if the associated instructions are not followed
shock exists if the associated
or physical damage to equipment and facilities exists if the
Installation and transportation of Manipulators 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
WARNING
Setup & Operation 1. Safety
This symbol indicates that a danger of possible serious injury or
properly.
This symbol indicates that a danger of possible serious injury or
death caused by electric
instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people
associated instructions are not followed properly.
VT Re v. 7 3
Setup & Operation 1. Safety
Personnel who design and/or construct the robot sy
read the
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
se
problems.
The robot
their respective manuals.
strictly for use in a normal indoor environment.
environment that exceeds the specified enviro
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.
may not only shorten the life cycle of the product but also cause serious safety
problems.
1.2 Design and Installation Safety
Only trained personnel should design and install the robot system. Trained personnel are
defined as those who have taken robot system training 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:
■
Safety chapter in the EPSON RC+ User’s Guide to understand the safety
vere equipment damage to the robot system, and may cause serious safety
■
system must be used within the environmental conditions described in
WARNING
■
Further precautions for installation are mentioned in Setup & Operation: 3. Environments
and Installation. Please read this chapter carefully to understand safe installation
procedures before installing the robots and robotic equipment.
stem with this product must
This product has been designed and manufactured
Using the product in an
nmental conditions may not only
Using the robot system outside of the installation requirements
4 V T R ev.7
1.3 Operation Safety
Please carefully read the
of the
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 sever
equipment damage to the robot system.
Do not enter the operating
system is turned ON.
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.
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low
status to secure the safety of an operator.
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves unexpect
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally
the Manipulator moves abnormally is extremely hazardous and may result in
serious bodily i
If mounting Manipulator on
switch to
also stops. If the mobile platform does not stop and it keeps moving, it is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system, and may cause serious safety problems.
Do
Manipulator
while the mobile platform
severe equipment damage to t
The following items are safety precautions for qualified Operator personnel:
Setup & Operation 1. Safety
WARNING
■
■
■
■
1.3 Safety-related Requirements in the Safety chapter
Safety and Installation manual
e
area of the Manipulator while the power to the robot
Entering the operating area with the power ON is extremely
The robot system can be operated in the mode for teaching
speed and low power)
However, operating the robot system
edl y.
while the robot system is operated. Continuing the operation while
■
stop Manipulator, be sure to design the system that the mobile platform
■
not operate Manipulator when the mobile platform is moving. When using
njury and/or severe equipment damage to the robot system.
the mobile platform and pressing Emergency Stop
, it must be surrounded by the safeguards. Operating Manipulator
is moving may result in serious bodily injury and/or
he robot system.
VT Re v. 7 5
Setup & Operation 1. Safety
■
To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
DO
■
Before performing any replacement procedure, turn OFF the robot system and
related equipment,
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
■
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors
the power ON is extremely hazardous and may result
the Manipulator may move abnormally,
and/or malfunction of the robot system.
■
When using DC specification Manipulator, do not connect to AC power source.
Connecting to AC power source is extremely hazardous and may result in electric
shock and/or malf
■
When using DC specification Manipulator and connecting to DC power source
such as battery, be careful for polarity.
polarity, it may result in malfunction of the robot system.
c
■
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.
■
Each Joint:
If the joints are operated
the
with grease during movement. To prevent early breakdown, move the joints
larger than 30 deg
■
Vibration (resonance) may occur continuously depending on the combination of
robot motion
natural vibration frequency of the Arm and can be controlled by following
measures.
■
Manipulator may be heated due to motor heat etc. Do not touch the Manipulator
until
falls and is not hot
■
When mounting Manipulator on the mobile platform, be sure to stop Manipulator
while the mobile platform
axes
power mode to
Manipulator
NOT connect it directly to a factory power source.
WARNING
onnection, refer to Setup & Operation 3.6.2 Power Cable.
plug.
and then disconnect the power plug from the power source.
electric shock and/or malfunction of the robot system.
with
in serious bodily injury as
and also may result in electric shock
unction of the robot system.
If connecting Manipulator cable to wrong
For details on
CAUTION
repeatedly with the operating angle less than 5 degrees,
Manipulator may get damaged early due to the bearings are not being covered
rees for about five to ten times a day.
speed, Arm orientation, and end effector load. Vibration arises from
Changing Manipulator speed
Changing the teach points
Changing the end effector load
temperature falls. After confirming that the temperature of the Manipulator
when you touch it. Then perform teaching or maintenance.
is in operation. Manipulator stops when motors on all
are turned OFF (servo free status). If you cannot turn OFF the motor, set
6 V T R ev.7
“Low” and perform exclusive control of mobile platform and
so that they do not move simultaneously.
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator
to deceleration motion and stops it at the maximum deceleration speed.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Pressing the Emergency Stop switch locks the brake and it may cause
wear on the friction plate of the brake, resulting in the short life of the brake.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving.
Refer to the Setup & Operation: 12. EMERGENCY for instructions on how to wire the
Emergency Stop switch circuit.
Do not turn OFF the power while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch.
If the Manipulator is stopped by turning OFF the power while it is operating, following
problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Manipulator was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the Maintenance 19.
Calibration in this manual. Also, the same troubles may occur if an error occurs and the
Manipulator stops in emergency during the operation. Check the Manipulator condition
and perform calibration if necessary.
Before using the Emergency Stop switch, be aware of the following.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STOP.
- When Emergency Stop switch is pressed, a great force is applied to the base table.
When mounting Manipulator on the mobile platform, be sure to design the system that
the system does not turnover and Manipulator does not fall over.
Setup & Operation 1. Safety
VT Re v. 7 7
Setup & Operation 1. Safety
VT series
ACCEL Setting
100
SPEED Setting
100
Load [kg]
6
WEIGHT Setting
6
VT6-A901**
Arm #1
0.2
Arm #2
0.3
Arm #3
0.2
Arm #4
0.2
Arm #5
0.2
Arm #6
0.2
Table Top
Ceiling
Wall
30
Arm #2
70
Arm #3
20
Arm #4
20
Arm #5
20
Arm #6
30
For details on the Safeguard system, refer to the following manuals.
EPSON RC+ User’s Guide
2. Safety - Installation and Design Precautions - Safeguard System
Safety and Installation
2.5 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
Safety and Installation
5.1.1 Manipulator
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
(Manipulator is operating)
- Inspection While the Power is ON (Manipulator is operating)
Weight of the end effector Weight setting
Weight of workpiece Speed setting
Operating pose Accel setting
Conditions for measurement
Free
running
time
[sec.]
Arm #1
50
8 V T R ev.7
Free
running
angle
[°]
Setup & Operation 1. Safety
Joint #1
Base
Arm #1
(Lower Arm)
Arm #2
Arm # 4
Joint #6
Joint #3
Joint #4
Joint #5
Arm #6
Joint #2
Arm #5
Arm #3
Upper Arm (Arms #3 to #6)
Joint Motion
Joint #1 : The whole Manipulator revolves.
Joint #2 : The lower arm swings.
Joint #3 : The upper arm swings.
Joint #4 : The wrist revolves.
Joint #5 : The wrist swings.
Joint #6 : The hand rotates.
1.5 How to Move Arms with the Electromagnetic Brake
When the electromagnetic brake is operating such as an emergency status, all arms cannot
be moved.
For procedures to release the electromagnetic brake, refer to the following section.
When the electromagnetic brake is released, the arms can be moved by hand.
1.5.2 Release the Brake by the Software
(When the software is available)
In an emergency situation such as you cannot /do not want to turn ON the power, you can
forcibly move the robot arm by pushing or pulling it with strong force.
A measure of force: 500N (near Arm #6)
However, if moving the robot forcibly, the joints may get damage. Be sure to do this only
in an emergency situation.
1.5.1 Arm Motions
VT Re v. 7 9
Setup & Operation 1. Safety
Normally, release the brake of joints one by
release the brakes of two or more joints simultaneously. Releasing the brakes
of two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage or malfunction of the Manipulator as t
Manipulator may move in unexpected directions.
Be careful of the arm falling when releasing the brake.
While the brake is being released, the Manipulator
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage or malfunction of the Manipulator.
Before releasing the brake, be sure to
EPSON
RC+
After releasing the Emergency Stop switch,
[Command Window]
>Reset
>Brake Off,
Execute the following command to turn
>Brake On,
Carefully operate the Manipulator in the low power status. A comparatively high
joint torque may be generated. It may cause your hands and fingers caught
and/or cause
collide with peripheral equipment.
1.5.2 Release the Brake by the Software
CAUTION
(When the software is available)
■
one. Take extra care if you need to
he arms of the
■
■
keep the Emergency Stop switch handy so
’s arm falls by its own weight.
that you can immediately press the Emergency Stop switch. Otherwise, you
cannot immediately stop the arm falling due to an erroneous operation. The arm
falling may cause equipment damage and/or malfunction of the Manipulator.
execute the following command in
.
[the Arm (#1 to #6) whose brake will be turned OFF]
ON the brake again.
[the Arm (#1 to #6) whose brake will be turned ON]
1.6 Precaution for Operation in Low Power Status
In the low power status, the Manipulator operates at low speed and low torque.
If in close proximity to the Manipulator, operate the Manipulator carefully. Otherwise,
your hands or fingers may get caught during operation. The Manipulator may also collide
with peripheral equipment and cause equipment damage or malfunction of the Manipulator.
Maximum Joint Torque in Low Power Status [Unit: N·m]
VT6-A901* (Table top mounting), VT6-A901SR (Ceiling mounting)
Joint #1 #2 #3 #4 #5 #6
Joint Torque 100.57 274.29 94.22 31.83 31.53 31.92
VT6-A901SW (Wall mounting)
Joint #1 #2 #3 #4 #5 #6
Joint Torque 210.29 274.29 94.22 31.83 31.53 31.92
■
CAUTION
equipment damage or malfunction of the Manipulator as it may
10 VT Re v. 7
Setup & Operation 1. Safety
and secure it tightly with a band to prevent hands or
1.7 Labels
The Manipulator has the following warning labels.
The warning labels are attached around the locations 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 warning labels. Use meticulous care when handling
those parts or units to which the following warning labels are attached as well as the nearby
areas.
Location Warning Label NOTE
Before loosening the base mounting screws, hold the arm
A
B
C
D
E
fingers from being caught in the Manipulator.
For transport and install procedures, follow the steps
described in this manual.
Do not enter the operation area while the Manipulator is
moving. The robot arm may collide against the operator.
This is extremely hazardous and may result in serious
safety problems.
Hazardous voltage exists while the Manipulator is ON.
To avoid electric shock, do not touch any internal
electric parts.
When releasing the brakes, be careful of the arm falling
due to its own weight.
Only authorized personnel should perform sling work and
operate a crane and a forklift. When these operations are
performed by unauthorized personnel, it is extremely
hazardous and may result in serious bodily injury and/or
severe equipment damage to the robot system.
F
VT Re v. 7 11
You may get your hand or fingers caught when bringing
your hand close to moving parts.
Setup & Operation 1. Safety
C
C
C
B
C
C
C
C
C
F
D
A
E
C
G
Protection model
Standard model, Cleanroom model
Location Warning Label NOTE
Signature label
S/N (Serial Number) label
G
Location of labels
12 VT Re v. 7
2. Specifications
Power supply
Mounting type
: Table Top mounting
R
: Ceiling mounting (AC specification Manipulator only)
W
: Wall mounting (AC specification Manipulator only)
Environment
S
: Standard model
C
: Cleanroom model (AC specification Manipulator only)
P
: Protection model (IP67) (AC specification Manipulator only)
Arm length
90
: 920 mm
Payload
Brake equipment
1
: Brakes on all joints
2.1 Features of VT series Manipulators
The VT series Manipulators are Controller integrated Manipulators.
The features of the VT series Manipulators are as follows:
For Device design and tooling
- There is no external Controller
No installation space required for an external Controller.
No design is required for external Controller installation or tooling.
- No robot to Controller external cables
There are no external cables required between the robot and Controller.
- DC specification: battery-driven Manipulator. No fixed power supply is required
Easy to connect to the mobile platform*.
* Mobile platform indicates Cartesian coordinate robot, wheeled platform, AGV, etc.
In this manual, these terms are referred to as “mobile platform”.
For Maintenance
- There are no motor unit batteries for the robot
No longer necessary to connect external devices for battery replacement.
Setup & Operation 2. Specifications
- Easy to replace the Manipulator
2.2 Model Number
VT6-A90 1 □ □-□
□
: AC specification Manipulator
DC : DC specification Manipulator
□
For details on the specifications, refer to Setup & Operation: 2.7 Specifications.
VT Re v. 7 13
6 : 6 kg
Setup & Operation 2. Specifications
Joint #1
Base
Arm #1
(Lower Arm)
Arm #2
Arm #4
Joint #6
Joint #3
Joint #4
Joint #5
Arm #6
Joint #2
Arm #5
Arm #3
LED Lamp
(This lamp lights up
while the motors are ON.)
NOTE
2.3 Part Names
When the LED lamp is lighting or the Controller power is ON, current is being applied to
the Manipulator. (The LED lamp may not be seen depending on the Manipulator’s posture.
Be very careful.)
Performing any work with the power ON is extremely hazardous and it may result in electric
shock and/or improper function of the robot system. Make sure to turn OFF the Controller
power before the maintenance work.
14 VT Re v. 7
Loading...