C3 Manipulator
Rev.4 EM105R2013F
EPSON ProSix
C3 series
EPSON ProSix C3 series C3 Manipulator Rev. 4
EPSON ProSix
C3 series
C3 Manipulator
Rev. 4
Copyright © 2009-2010 SEIKO EPSON CORPORATION. All rights reserved.
C3 Rev.4 i
t
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 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,
2. Malfunctions caused by customers’ unauthorized disassembly.
or careless use.
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 produc
specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
ii C3 Rev.4
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.
INQUIRIES
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
C3 Rev.4 iii
MANUFACTURER & SUPPLIER
Japan & Others
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,
Suwa-gun, Nagano, 399-0295
JAPAN
TEL : +81-(0)266-61-1802
FAX : +81-(0)266-61-1846
SUPPLIERS
North & South America EPSON AMERICA, INC.
Factory Automation/Robotics
18300 Central Avenue
Carson, CA 90746
USA
TEL : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : info@robots.epson.com
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
E-MAIL : robot.infos@epson.de
iv C3 Rev.4
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)
C3 Rev.4 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
C3 Manipulators can be used with the following combinations of Controllers and software.
The operating methods and descriptions are different depending on which software you are
using. The following icons are put beside appropriate text as necessary. Use the
descriptions that pertain to the software you are using.
Controller
Name Structure
RC180 Controller EPSON RC+ 5.0
RC620
For details on commands, refer to “EPSON RC+ User’s Guide” or “On-line help”.
Control Unit
Drive Unit
EPSON RC+ 6.0 Ver. 6.0 or greater
Software
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to
turn ON/OFF all the hardware components.
Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on
when it was shipped or the specifications. The procedures themselves, however, are
accurate.
vi C3 Rev.4
TABLE OF CONTENTS
Before Reading This Manual ............................................................................v
Setup & Operation
1. Safety 3
1.1 Conventions .............................................................................................3
1.2 Design and Installation Safety .................................................................3
1.3 Operation Safety ......................................................................................4
1.4 Emergency Stop ......................................................................................5
1.5 How to Move Arms the Electromagnetic Brake is Applied to ...................6
1.5.1 Moving the Arm Using the Brake Release Unit ............................7
1.5.2 Moving the Arm Using the Software .............................................7
1.6 Precaution for Operation in Low Power Status ........................................8
1.7 Manipulator Labels ..................................................................................9
2. Specifications 11
2.1 Features of Manipulators ....................................................................... 11
2.2 Model Number .......................................................................................11
2.3 Part Names and Motion Range of Each Arm .........................................12
2.4 Outer dimensions ...................................................................................13
2.5 Standard Motion Range .........................................................................14
2.6 Specifications .........................................................................................15
2.6.1 Specifications table ....................................................................15
2.6.2 Option ........................................................................................17
2.7 How to Set the Model ............................................................................17
3. Environment and Installation 18
3.1 Environmental Conditions ......................................................................18
3.2 Unpacking, Transportation, and Relocation ...........................................19
3.3 Mounting Dimensions ............................................................................21
3.4 Installation .............................................................................................22
3.5 Connecting the Cables ..........................................................................24
3.6 User Wires and Pneumatic Tubes .........................................................25
3.7 Checking the Basic orientation ................................................................27
4. End Effectors 28
4.1 Attaching an End Effector ......................................................................28
4.2 Attaching Camera and Valves ................................................................29
4.3 WEIGHT and INERTIA Settings .............................................................30
4.3.1 WEIGHT Setting .........................................................................32
4.3.2 INERTIA Setting .........................................................................37
4.4 Precautions for Auto Acceleration/Deceleration .....................................41
C3 Rev.4 vii
5. Motion Range 42
5.1 Motion Range Setting by Pulse Range (for All Arms) ............................ 42
5.1.1 Max. Pulse Range of Arm #1 ..................................................... 43
5.1.2 Max. Pulse Range of Arm #2 ..................................................... 43
5.1.3 Max. Pulse Range of Arm #3 ..................................................... 44
5.1.4 Max. Pulse Range of Arm #4 ..................................................... 44
5.1.5 Max. Pulse Range of Arm #5 ..................................................... 45
5.1.6 Max. Pulse Range of Arm #6 ..................................................... 45
5.2 Motion Range Setting by Mechanical Stops .......................................... 45
5.2.1 Motion Range Setting of Arm #1 ................................................ 46
5.2.2 Motion Range Setting of Arm #2 and #3 (Option) ...................... 46
5.2.3 Motion Range Setting of Arm #3 ................................................ 46
5.3 Restriction of Manipulator Operation
by Joint Angle Combination of Arm #1, #2, and #3 ............................... 47
5.4 Coordinate System ................................................................................ 48
5.5 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator .................................................................... 48
6. Options 49
Maintenance
1. Safety Maintenance 67
2. General Maintenance 68
3. Covers 73
6.1 Brake Release Unit ............................................................................... 49
6.2 Camera Plate Unit ................................................................................. 54
6.3 PS Compatible Plate ............................................................................. 57
6.4 Base Side Angled Fittings ..................................................................... 58
6.5 Base Side Fittings ................................................................................. 61
2.1 Schedule for Maintenance Inspection ................................................... 67
2.2 Inspection Point ..................................................................................... 69
2.3 Greasing ............................................................................................... 70
2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 71
2.5 Layout of Maintenance Parts ................................................................. 72
3.1 Arm #1 Top Cover ................................................................................. 74
3.2 Arm #1 Side Cover ................................................................................ 74
3.3 Arm #2 Side Cover ................................................................................ 75
3.4 Arm #3 Head Cover .............................................................................. 76
3.5 Arm #3 Bottom Cover ............................................................................ 76
3.6 Arm #4 Side Cover ................................................................................ 77
3.7 Base Bottom Cover ............................................................................... 78
3.8 Connector Plate .................................................................................... 78
3.9 Connector Sub Plate ............................................................................. 79
3.10 User Plate .............................................................................................. 79
viii C3 Rev.4
4. Cable Unit 80
4.1 Replacing the Cable Unit ...........................................................................80
4.2 Connector Pin Assignments ....................................................................91
4.2.1 Signal Cable ................................................................................91
4.2.2 Power Cable ................................................................................93
4.2.3 User Cable...................................................................................95
4.2.4 Color of Cables ..........................................................................95
5. Arm #1 96
5.1 Motor .......................................................................................................97
5.2 Reduction Gear Unit..............................................................................103
5.3 Timing Belt.............................................................................................106
5.4 Electromagnetic Brake ..........................................................................107
6. Arm #2 108
6.1 Motor ..................................................................................................... 110
6.2 Reduction Gear Unit.............................................................................. 115
6.3 Timing Belt.............................................................................................120
6.4 Electromagnetic Brake ..........................................................................121
7. Arm #3 122
7.1 Motor .....................................................................................................123
7.2 Reduction Gear Unit..............................................................................127
7.3 Timing Belt.............................................................................................131
7.4 Electromagnetic Brake ..........................................................................132
8. Arm #4 133
8.1 Motor ...................................................................................................134
8.2 Reduction Gear Unit..............................................................................140
8.3 Timing Belt ...........................................................................................145
8.4 Electromagnetic Brake ..........................................................................146
9. Arm #5 147
9.1 Motor .....................................................................................................148
9.2 Timing Belt.............................................................................................152
9.3 Electromagnetic Brake ..........................................................................153
10. Arm #6 154
10.1 Motor ...................................................................................................155
10.2 Timing Belt...........................................................................................161
10.3 Electromagnetic Brake ........................................................................162
11. Joint #5 and #6 Unit 163
12. Arm #5 O-Ring 168
C3 Rev.4 ix
13. Battery Unit 169
13.1 Battery Unit (Lithium Bttery) .............................................................. 170
13.2 Battery Board .................................................................................... 172
14. LED Lamp 173
15. M/C Cable 175
16. Calibration 177
17. Maintenance Parts List 179
x C3 Rev.4
Setup & Operation
This volume contains information for setup and operation of the
Manipulators.
Please read this volume thoroughly before setting up and operating
the Manipulators.
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
WARNING
Setup & Operation 1. Safety
This symbol indicates that a danger of possible serious injury
or death exists if the associated instructions are not followed
properly.
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
This symbol indicates that a danger of possible harm to people
CAUTION
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.
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:
■
Personnel who design and/or construct the robot system with this product must
read the Safety chapter in the EPSON RC+ User’s Guide. Designing and/or
WARNING
constructing the robot system without understanding the safety requirements is
extremely hazardous, and may result in serious bodily injury and/or severe
equipment damage to the robot system.
C3 Rev.4 3
Setup & Operation 1. Safety
■
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
WARNING
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 Setup & Operation
3. Environment and Installation. Please read this chapter carefully to understand
safe installation procedures before installing the robots and robotic equipment.
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
WARNING
■
Please carefully read the Safety-related Requirements in the Safety chapter of
the EPSON RC+ User’s Guide. Operating the robot system without
understanding the safety requirements is extremely hazardous and may result in
serious bodily injury and/or severe equipment damage to the robot system.
■
Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON. Entering the operating area with the power ON is
extremely hazardous and may cause serious safety problems as the Manipulator
may move even if it seems to be stopped.
■
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 in case that the Manipulator moves
unexpectedly.
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated. Continuing the operating the
robot system while the Manipulator moves abnormally is extremely hazardous
and may result in serious bodily injury and/or severe equipment change to the
robot system.
4 C3 Rev.4
■
Be sure to connect the AC power cable to a power receptacle. DO NOT
connect it directly to a factory power source. To shut off power to the robot
system, pull out the power plug from the power source. Performing any work
while connecting the AC power cable to a factory power source is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
■
Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then pull out the power plug from the power source.
WARNING
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 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.
1.4 Emergency Stop
Setup & Operation 1. Safety
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. The motor power will be turned OFF, and the arm motion by inertia will be
stopped with the electromagnetic brake and dynamic brake.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory while the robot system stops is different from that in normal
operation.
To place the robot 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.
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
However, remember that the values vary depending on conditions such as the weight of
the end effector and work piece, WEIGHT/SPEED/ACCEL settings, operating pose, etc.
The free running time/angle/distance of the Manipulator are shown below.
Conditions of Measurement
ACCEL Setting
SPEED Setting
Load [kg]
WEIGHT Setting
100
100
3
3
C3 Rev.4 5
Setup & Operation 1. Safety
Robot controller RC180 / RC620
Free running
time
[sec.]
Free running
angle
[deg.]
Brake
Arm #1
Arm #2
Arm #3
Arm #4
Arm #5
Arm #6
Arm #1
Arm #2
Arm #3
Arm #4
Arm #5
Arm #6
Standard
J2, J3, J5 with brake
0.4
0.4
0.4
0.5 0.3
0.3
0.1
85
60
55
55 45
45
10
Option
All joint with brake
1.5 How to Move Arms the Electromagnetic Brake is Applied to
Standard: Brakes on Joints #2, #3, #5
While the electromagnetic brake is ON (such as in emergency mode), you can move
Arms #1, #4, #6 by pushing manually.
Option : Brakes on all joints
While the electromagnetic brake is ON (such as in emergency mode), you cannot move
any arm by pushing manually.
There are two methods to release the electromagnetic brake. Follow either method to
release the electromagnetic brake and move the arms manually.
1.5.1 Moving the arm using the brake release unit
Follow the method when you just unpack the delivered boxes or when the
Controller does not start up yet.
1.5.2 Moving the arm using the software
Follow the method when you can use the software.
6 C3 Rev.4
Setup & Operation 1. Safety
Arm Motion
J6−
J6+
Arm #5
Arm #4
J5+
J5−
Joint #5
Joint #4
J4−
J4+
Joint #2
J3−
J3+
J2+J2−
Arm #3
Joint #3
Arm #2
J1+
Arm #6
Joint #6
Arm #1 (Lower Arm)
Joint #1
Base
1.5.1 Moving the arm using the brake release unit
The C3 series has the Brake Release Unit as an option.
For details, refer to Setup & Option: 6 Options.
1.5.2 Moving the arm using the software
■
Normally, release the brake of a single joint at a time. Take extra care to release
the brakes of two or more joints simultaneously from necessity. Releasing the
brakes of two or more joints simultaneously may cause hands and fingers to be
caught and/or equipment damage to or malfunction of the Manipulator as the
arms of the Manipulator may move in unexpected directions.
J1−
■
Be careful of the arm falling when releasing the brake.
While the brake is being released, the Manipulator’s arm falls by its own weight.
CAUTION
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage to or malfunction of the Manipulator.
■
Before releasing the brake, be sure to keep the Emergency Stop switch handy so
that you can immediately press the Emergency Stop switch. If you cannot
immediately press the Emergency Stop switch, you have no means to stop the
arms urgently when a wrong operation causes the arm to fall. The arm falling
may cause equipment damage to and/or malfunction of the Manipulator.
C3 Rev.4 7
Setup & Operation 1. Safety
EPSON
RC+
After releasing the Emergency Stop switch, Execute the following commands.
[Command Window] EPSON RC+ 5.0 (RC180) / EPSON RC+ 6.0 (RC620)
>Reset
>Brake Off,[the number (from 1 to 6) corresponding to the arm whose brake will be
turned off]
Execute the following command to turn on the brake again.
>Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be
turned on]
1.6 Precaution for Operation in Low Power Status
When the power mode is low, the Manipulator will operate at low speed and low torque.
However, comparatively high torque is generated under some circumstances so that the
Manipulator can support its own weight. The maximum torque of each joint in the low
power status is shown in the following table “Max. Joint Torque in Low Power Status”.
Even though the Manipulator is in the low power status, carefully operate the Manipulator
since a comparatively high joint torque may be generated. Be careful not to get hands or
fingers caught during operations. The Manipulator may also collide with peripheral
equipment and it may cause equipment damage to or malfunction of the Manipulator.
Max. Joint Torque in Low Power Status
#1 #2 #3 #4 #5 #6
102.28 102.28 33.51
CAUTION
Joint
Joint Torque
■
Carefully operate the Manipulator even though it is in the low power status. A
comparatively high joint torque may be generated. The comparatively high joint
torque may cause hands and fingers to be caught and/or may cause equipment
damage to or malfunction of the Manipulator as it may collide with peripheral
equipment.
[Unit: N·m]
10.31 10.31 7.98
8 C3 Rev.4
Setup & Operation 1. Safety
1.7 Manipulator Labels
The following labels are attached around the locations of 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
Hazardous voltage exists while the Manipulator is ON.
(1)
(2)
To avoid electric shock, do not touch any internal electric
parts.
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.
(3)
(4)
(5)
C3 Rev.4 9
Setup & Operation 1. Safety
Location Label NOTE
(6)
(7)
Location of Labels
Be careful of the arm falling / rotation while the brake
release button is being pressed.
* This label is on the Brake Release Box (Option).
(6)
(1)
Top V i e w
Front View
(3)
(1)
(1)
(1)
Lateral View
(4)
(2)
(1)
(5)
Back View
(1)
10 C3 Rev.4
2. Specifications
2.1 Features of Manipulators
Speed & Accuracy
Increases productivity with the balanced performance of best in class speed and
accuracy
Average cycle time (300 mm) 0.39 second (Speed 100 / Accel 100)
0.37 second (Speed 120 / Accel 120)
Repeatability ± 0.02 mm
Slim Body
High space efficiency
Manipulator volume only 1/44 of its motion range
Small elbow area (Joint #3) half of current model
Less interference with peripherals, walls and ceiling permits more compact
installation
Skillful Wrist
Setup & Operation 2. Specifications
Compact wrist (Joint #5) with wide motion range enables smooth movement and the
ability to work from many angles
Minimal interference with surroundings improves flexibility in hand design
2.2 Model Number
C3 – A 6 0 0 S R -UL
NOTE
For the Wall / Skewed mounting types, brakes are equipped on all joints.
)
UL specification
UL : UL compliant
□
: Non UL compliant
Type
□
: Table Top mounting
W : Wall mounting
R : Ceiling mounting
A : Skewed mounting
Environment
S : Standard model
C : Cleanroom model
Brake equipment
0 : Standard : Brakes on Joint #2, #3, #5
1 : Option : Brakes on all joints
Arm length
6 : 600 mm
C3 Rev.4 11
Setup & Operation 2. Specifications
−
A
A
r
2.3 Part Names and Motion Range of Each Arm
J6−
Arm #6
Joint #6
J6+
Arm #5
Upper Arm (Arms #3 to #6)
Arm #4
J5+
J5−
Joint #5
Joint #4
J4−
J4+
J3
LED Lamp
This lamp lights up
while the motors are ON.
J3+
rm #3
Joint #3
J2+J2−
J1+
rm #2
Joint Motion
Joint #1 : The whole Manipulator revolves.
Joint #2 : The lower arm swings.
Joint #3 : The upper arm swing s.
Joint #4 : The wrist revolves.
Joint #5 : The wrist swings.
Joint #6 : The hand rotates.
Signal cable
(only for UL specification)
Power cable
MT label
(only for custom
specification)
UR label
Joint #2
Arm #1
(Lower Arm)
Joint #1
Base
User cable connecto
(9-pin D-sub connector)
White
Black
Standard-model / Clean-room type
Fitting for ø4 mm pneumatic tube
Cover Exhaust port
For ø8 mm pneumatic tube
J1−
CE label
(only for CE specification)
Signature label
(Serial No. of Manipu lator)
NOTE
)
When the LED lamp is lighting or the controller power is on, the current is being applied
to the manipulator. 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.
12 C3 Rev.4
Setup & Operation 2. Specifications
2.4 Outer Dimensions
[Unit: mm]
Space for cables
*1:
*2:
*2:
*2:
Including the lamp
(Tolerance is optimum for ø6H7)
*1: Tolerance in this range
*2: Front and back
C3 Rev.4 13
Setup & Operation 2. Specifications
2.5 Standard Motion Range
[Unit: mm]
Motion range of P point*
Top Vi e w
*1
*2
*3
Joint #1
0 pulse position
P point*
Lateral viewFront View
Joints #4, #6
0 pulse position
P point*
Joints #3, #5
0 pulse position
Joint #2
0 pulse position
*5
CAUTION
*4
Motion range of P point*
* P point : Intersection of the rotation centers for Joint #4, #5, and #6
*1 : Joint #1 without mechanical stop (
*2 : P point from top with Joint #3 declining
*3 : P point from top with Joint #3 tilting up
*4 : P point from lateral with Joint #3 declining (51 deg. (Joint #2 center – P point center)
*5 : P point from lateral with Joint #3 tilting up (225 deg. (Joint #2 center – P point center)
Pay attention to the arm pose of the basic arms (Arms #1, #2, and #3) when
±180 deg.)
−51 deg. (Joint #1 center – P point center)
+225 deg. (Joint #1 center – P point center)
operating the Manipulator. Arm #5 moves keeping a constant angle regardless
of the arm pose. Depending on the arm pose of the basic arms, the wrist may
collide with the Manipulator. The collision may cause equipment damage to
and/or malfunction of the Manipulator.
14 C3 Rev.4
2.6 Specifications
2.6.1 Specifications table
Item Specification
Model Number
Mounting type
Weight (not include the weight of cables
or shipping jigs)
Driving method All joints
Joint #1
Joint #2
Max. operating
*1
speed
Repeatability Joint #1 ~ #6
Max. motion range
Max. pulse range
Resolution
Motor power consumption
Payload *2
Allowable moment
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Rated
Max.
Joint #4
Joint #5
Joint #6
Setup & Operation 2. Specifications
C3
Table Top, Ceiling, Skewed mounting Wall mounting
27 kg (59.5 lb.)
AC servo motor
450 deg/s
450 deg/s
514 deg/s
553 deg/s
553 deg/s
720 deg/s
± 0.02 mm
± 170 deg
(± 180 deg without the mechanical stop)
± 30 deg
− 160 deg ~ + 65 deg
− 51 deg ~ + 225 deg
± 200 deg
± 135 deg
± 360 deg
± 4951609
(± 5242880 without the mechanical stop)
± 873814
− 4660338
+ 1893263
− 1299798
+ 5734400
± 4700057
± 3217222
± 6553600
0.00000429 deg /pulse
0.00000429 deg /pulse
0.00000490 deg /pulse
0.00000531 deg /pulse
0.00000524 deg /pulse
0.00000686 deg /pulse
400 W
400 W
150 W
50 W
50 W
50 W
1 kg
3 kg
5 kg with arm downward positioning
4.41 N·m (0.45 kgf·m)
4.41 N·m (0.45 kgf·m)
2.94 N·m (0.3 kgf·m)
C3 Rev.4 15
Setup & Operation 2. Specifications
Item Specification
Allowable moment of
inertia (GD
Installed wire for customer use
Installed pneumatic tube for customer use *4
Environmental
requirements
Equivalent continuous A-weighted sound pressure level
*6
Environment
Applicable Controller
Default values
(Max. setting values)
Safety standard
2
/4) *3
*5
Joint #4
Joint #5
Joint #6
Ambient Temperature
Ambient relative humidity
Vibration
SPEED
ACCEL
SPEEDS
ACCELS
FINE
WEIGHT
*1 In the case of PTP control
0.15 kgxm2
0.15 kgxm2
0.1 kgxm2
9 wires (D-sub)
4 pneumatic tubes,
Allowable pressure: 0.59Mpa
(6 kgf/cm
2
) (89 psi)
5 ~ 40 deg C
20 ~ 80 % (no condensation)
4.9 m⋅s2 (0.5 G) or less
LAeq = 76 dB (A) or under
Standard model
Cleanroom model
*7
& ESD
RC180, RC620
5 (100)
5, 5 (120, 120)
50 (2000)
200 (25000)
10000, 10000, 10000, 10000, 10000, 10000
(65535, 65535, 65535, 65535, 65535, 65535)
1, 0
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
*2 When the setting payload is more than 3 kg and less than or equal to 5 kg, refer to the
section “Restrictions on payload exceeding 3 kg (more than 3 kg and less than or equal
to 5 kg)” in the Setup & Operation 4.3.1 WEIGHT Setting.
*3 In the case where the center of gravity is at the center of each arm. If the center of
gravity is not at the center of each arm, set the eccentric quantity using INERTIA
mmand.
*4 For details of the installed pneumatic tube for customer use, refer to the Setup &
Operation 3.6 User Wires and Pneumatic Tubes.
*5 For details of the environmental requirements, refer to the Setup & Operation 3.1
Environmental Conditions.
*6 Conditions of Manipulator at measurement are as follows:
Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed,
maximum acceleration, and duty 50%.
Measurement point: 1000 mm apart from the rear of Manipulator
16 C3 Rev.4
Setup & Operation 2. Specifications
*7: The exhaust system in the Cleanroom-model Manipulator draws air from the base
interior and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the
outer part of the arm, which can cause increased dust emission.
Do not remove the covers.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified
maximum level.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria; Clean Class: 10 or its equivalent
Amount of Dust (0.1 µm diameter or larger) in
28317 cm
of the motion rang: 10 particles or less.)
Exhaust System : Fitting for ø8 mm pneumatic tube
Refer to Setup & Operation: 3.6 User Wires and Pneumatic Tubes.
60 L/min vacuum
Exhaust tube : Polyurethane tube
Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)
3
(1cft) sample-air around the center
2.6.2 Option
C3 series has the options below. For details of options, refer to Setup& Operation: 6.
Options.
Brake release unit
Camera plate unit
PS compatible plate
Base side angled fittings
Base side fittings
2.7 How to Set the Model
The Manipulator model for your system has been set before the shipment from the factory.
It is normally not required to change the model when you receive your system.
■
When you need to change the setting of the Manipulator model, be sure to set the
Manipulator model properly. Improper setting of the Manipulator model may
CAUTION
NOTE
)
result in abnormal or no operation of the Manipulator and/or cause safety
problems.
If an MT label is attached to the side of a Manipulator, the Manipulator has custom
specifications. If the Manipulator has custom specifications, the methods for setting the
model may differ from those described below. Please contact us with the number on the
MT label.
The method for setting the Manipulator model depends on the software used.
Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.
C3 Rev.4 17
Setup & Operation 3. Environment and Installation
3. Environment and Installation
Installation and transportation of robots and robotic equipment shall be performed
by qualified personnel and should conform to all national and local codes.
3.1 Environmental Conditions
A suitable environment is necessary for the robot system to function properly and safely.
Be sure to install the robot system in an environment that meets the following conditions:
Item Conditions
Ambient temperature* 5 deg C ~ 40 deg C
Ambient relative humidity 20 % ~ 80 % (no condensation)
First transient burst noise 2 kV or less (Power supply wire)
1 kV or les (Signal wire)
Electrostatic noise 4 kV or less
Environment · Install indoors.
· Keep away from direct sunlight.
· Keep away from dust, oily smoke, salinity, metal
powder or other contaminants.
· Keep away from flammable or corrosive solvents
and gases.
· Keep away from water.
· Keep away from shock or vibration.
· Keep away from sources of electric noise.
* The ambient temperature conditions are for the Manipulators only. For the Controller
the Manipulators are connected to, refer to the Controller manual.
NOTE
)
When using the Manipulators in inadequate environments that do not meet the above
conditions, please consult your distributor.
Be sure to transport and store the robot system in environments that meet the following
conditions:
Item Conditions
Ambient temperature 0 ~ 45 deg C
Ambient relative humidity 20 ~ 80 %
18 C3 Rev.4
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