Epson E2C Series Manipulator Manual

SCARA ROBOT

E2C series

MANIPULATOR MANUAL

Rev. 6 EM069R1409F

MANIPULATOR MANUAL E2C series Rev. 6

E2C Rev.6 i

SCARA ROBOT

E2C series Manipulator Manual

Rev. 6

Copyright © 2002-2006 SEIKO EPSON CORPORATION. All rights reserved.

ii E2C Rev.6

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 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 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.

E2C Rev.6 iii

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

iv E2C Rev.6

MANUFACTURER & SUPPLIER

Japan & Others SEIKO EPSON CORPORATION
Suwa Minami Plant

Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,
Suwa-gun, Nagano, 399-0295

JAPAN
TEL : [phone]
FAX : [phone]

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

USA
TEL : [phone]
FAX : [phone]
E-MAIL : [e-mail]

Europe EPSON DEUTSCHLAND GmbH

Factory Automation Division

Otto-Hahn-Str.4

D-40670 Meerbusch

Germany
TEL : [phone]
FAX : [phone]
E-MAIL : [e-mail]

E2C Rev.6 v

Before Reading This Manual

This section describes what you should know before reading this manual.

Structure of Control System

E2C 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

Type Composition (Hardware)

Software

SPEL CT

SPEL CT

RC520

Control Unit
Drive Unit

EPSON

RC+

EPSON RC+ 4.* or before

RC420 Controller

EPSON

RC+

EPSON RC+ 4.* or before

RC170 Controller

EPSON

RC+

EPSON RC+ 5.0 or later

For details on commands, refer to User’s Guide or “On-line help”.

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. For the Controller composition, refer to the

table above.

Differences in Terminology according to Software

Some expressions are different according to software.

SPEL CT

For SPEL CT, a coordinate point including the arm pose is defined as “pose”. The data

is called “pose data”.

EPSON

RC+

For EPSON RC+, a coordinate point including the arm pose is defined as “point”.

The data is called “point data”.

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.

vi E2C Rev.6

E2C Rev.6 vii

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 For Operations ..........................................................................................4

1.4 Emergency Stop ........................................................................................5

1.5 Emergency Movement Without Drive Power .............................................7

1.6 Manipulator Labels ....................................................................................8

2. Specifications 9

2.1 Features of E2 series Manipulators ...........................................................9

2.2 Model Number and Model Differences ....................................................10

2.3 Appearance .............................................................................................12

2.3.1 Table Top Standard-model: S Type ..............................................12

2.3.2 Table Top Cleanroom-model: C Type ...........................................14

2.3.3 Multiple Mounting Standard-model: SM Type ..............................16

2.3.4 Multiple Mounting Cleanroom-model: CM Type...........................18

2.4 Specifications ..........................................................................................20

2.5 How to Set the Model ..............................................................................22

3. Environments and Installation 23

3.1 Environmental Conditions........................................................................23

3.2 Base Table...............................................................................................24

3.3 Mounting Dimensions ..............................................................................25

3.3.1 Table Top .....................................................................................26

3.3.2 Multiple Mountings.......................................................................27

3.4 Unpacking and Transportation.................................................................28

3.4.1 Precautions for Transportation.....................................................28

3.4.2 Transportation..............................................................................29

3.4.3 Contents ......................................................................................29

3.5 Installation ...............................................................................................30

3.5.1 Table Top .....................................................................................30

3.5.2 Multiple Mountings.......................................................................31

3.6 Connecting the Cables ............................................................................33

3.7 User Wires and Pneumatic Tubes ...........................................................35

3.8 Relocation and Storage ...........................................................................38

3.8.1 Precautions for Relocation and Storage ......................................38

3.8.2 Relocating the Table Top Models .................................................39

3.8.3 Relocating the Multiple Mounting Models ....................................41

viii E2C Rev.6

4. Setting of End Effectors 43

4.1 Attaching an End Effector ....................................................................... 43

4.2 Attaching Cameras and Valves ............................................................... 44

4.3 WEIGHT and INERTIA Settings.............................................................. 45

4.3.1 WEIGHT Setting.......................................................................... 45

4.3.2 INERTIA Setting .......................................................................... 47

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3..................... 52

5. Motion Range 53

5.1 Motion Range Setting by Pulse Range (for All Joints)............................. 54

5.1.1 Max. Pulse Range of Joint #1 ..................................................... 55

5.1.2 Max. Pulse Range of Joint #2 ..................................................... 55

5.1.3 Max. Pulse Range of Joint #3 ..................................................... 56

5.1.4 Max. Pulse Range of Joint #4 ..................................................... 56

5.2 Motion Range Setting by Mechanical Stops (for Joints #1 to #3 of

Standard-model / Joints #1 and #2 of Cleanroom-model)....................... 57

5.2.1 Setting the Mechanical Stops of Joints #1 and #2....................... 58

5.2.2 Setting the Mechanical Stop of Joint #3 ...................................... 61

5.3 Setting the Cartesian (Rectangular) Range in the X, Y Coordinate

System of the Manipulator (for Joints #1 and #2) ................................... 64

5.4 Standard Motion Range .......................................................................... 65

5.4.1 Table Top..................................................................................... 66

5.4.2 Multiple Mountings ......................................................................68

Maintenance

1. Safety Maintenance 71

2. General Maintenance 73

2.1 Schedule for Maintenance Inspection ..................................................... 73

2.2 Inspection Point ...................................................................................... 74

2.2.1 Inspection while the Power Is OFF

(Manipulator is not operating)...................................................... 74

2.2.2 Inspection while the Power Is ON (Manipulator is operating) ...... 74

2.3 Greasing .................................................................................................75

2.4 Tightening Hexagon Socket Head Cap Bolts .......................................... 76

2.5 Matching Origins ..................................................................................... 77

2.6 Layout of Maintenance Parts .................................................................. 78

2.6.1 S Type Manipulator Layout.......................................................... 78

2.6.2 C Type Manipulator Layout ......................................................... 78

2.6.3 SM Type Manipulator Layout....................................................... 79

2.6.4 CM Type Manipulator Layout ...................................................... 79

E2C Rev.6 ix

3. Removing and Installing the Covers 81

3.1 Arm Top Cover.........................................................................................82

3.2 Arm Bottom Cover...................................................................................83

3.3 Joint #1 Cover .........................................................................................83

3.4 Base Connector Box................................................................................84

3.4.1 S, C Type Manipulators................................................................84

3.4.2 SM, CM Type Manipulators..........................................................84

4. Replacing the Cable Unit 85

4.1 Before Replacing the Cable Unit .............................................................86

4.2 How to Replace the Cable Unit ...............................................................86

4.2.1 S, C Type Manipulators................................................................87

4.2.2 SM, CM Type Manipulators..........................................................92

4.3 Wiring Schematics...................................................................................97

4.3.1 S, C Type Manipulators................................................................97

4.3.2 SM, CM Type Manipulators..........................................................98

4.4 Block Diagrams .......................................................................................99

4.5 Connector Pin Assignments ..................................................................100

5. Replacing the Motors 107

5.1 Types of Motors .....................................................................................108

5.2 Location of Motors.................................................................................108

5.3 Replacing the Joint #1 Motor .................................................................109

5.3.1 S, C Type Manipulators..............................................................109

5.3.2 SM, CM Type Manipulators........................................................ 111

5.4 Replacing the Joint #2 Motor ................................................................. 113

5.5 Replacing the Joint #3 Motor ................................................................. 116

5.6 Replacing the Joint #4 Motor .................................................................120

6. Replacing the Reduction Gear Units 123

6.1 Types of Reduction Gear Units..............................................................124

6.2 Location of Reduction Gear Units..........................................................124

6.3 Structure of Reduction Gear Unit...........................................................125

6.4 Greasing the Reduction Gear Units......................................................126

6.5 Replacing the Joint #1 Reduction Gear Unit..........................................127

6.5.1 S, C Type Manipulators..............................................................127

6.5.2 SM, CM Type Manipulators........................................................133

6.6 Replacing the Joint #2 Reduction Gear Unit..........................................139

7. Replacing the Brake 145

x E2C Rev.6

8. Replacing the Timing Belts 151

8.1 Types of Timing Belts............................................................................ 152

8.2 Location of Timing Belts........................................................................ 152

8.3 Replacing the Z Belt.............................................................................. 153

8.4 Replacing the U1 Belt ........................................................................... 156

8.5 Replacing the U2 Belt ........................................................................... 159

9. Replacing the Bellows (C, CM Types) 163

10. Greasing and Replacing the Ball Screw Spline Unit 165

10.1 Type of Ball Screw Spline Unit ............................................................ 166

10.2 Location of Ball Screw Spline Unit ...................................................... 166

10.3 Greasing the Ball Screw Spline Unit ................................................... 167

10.3.1 S, SM Type Manipulators ........................................................ 167

10.3.2 C, CM Type Manipulators........................................................ 169

10.4 Replacing the Ball Screw Spline Unit .................................................. 171

11. Replacing the Signal Relay Board 177

11.1 Before Replacing the Signal Relay Board ........................................... 177

11.2 How to Replace the Signal Relay Board ............................................. 178

11.2.1 S, C Type Manipulators ........................................................... 178

11.2.2 SM, CM Type Manipulators ..................................................... 180

12. Replacing the Lithium Battery 183

12.1 Before Replacing the Lithium Battery.................................................. 184

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

13. Replacing the LED Lamp 187

14. Calibration 189

14.1 About Calibration ................................................................................ 189

14.2 Calibration Procedure .........................................................................190

14.3 Accurate Calibration of Joint #2 .......................................................... 193

15. Maintenance Parts List 195

15.1 Common Parts for All Manipulator Types ............................................ 195

15.2 S, SM Type Manipulators .................................................................... 196

15.3 C, CM Type Manipulators.................................................................... 196

Setup & Operation

This volume contains information for setup and operation
of the E2C series Manipulators.

Please read this volume thoroughly before setting up and
operating the Manipulators.

Setup & Operation 1. Safety

E2C Rev.6 3

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 serious injury

or death 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.

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 or the Safety: 1.3 Design Precautions in
the SPEL CT User’s Guide.

The following items are safety precautions for design personnel:

WARNING

■

Personnel who design and/or construct the robot system with this product must
read the Safety chapter in the EPSON RC+ User’s Guide or the Safety part in the
SPEL CT 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.

Setup & Operation 1. Safety

4 E2C Rev.6

■

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.

WA R N IN G

■

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

1.3 For Operations

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 or the Safety: 1.1 Safety-related Requirements in
the SPEL CT 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.

■

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 (low speeds and low power)
status 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.

WARNING

■

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

Setup & Operation 1. Safety

E2C Rev.6 5

■

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.

WARNING

■

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.

CAUTION

■

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.

1.4 Emergency Stop

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 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 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.

The free running time/angle/distance of the Manipulator are shown below. However,

remember that the values vary depending on following conditions.

Weight of the end effector WEIGHT

Weight of work piece SPEED

Operating pose ACCEL etc.

Setup & Operation 1. Safety

6 E2C Rev.6

Conditions of Measurement

ACCEL Setting 100

SPEED Setting 100

Load [kg] 3

WEIGHT Setting 3

Joint #1

Point that the
emergency stop
signal is input

Start point of
operation

Target point

Stop point

Joint #2

E2C251* E2C351*

RC420
RC520

RC170

RC420
RC520

RC170

Joint #1+Joint #2 [sec.] 0.2 0.3 0.3 0.4

Free running time

Joint #3 [sec.] 0.3 0.2 0.3 0.2

Joint #1 [deg.] 20 40 35 50

Joint #2 [deg.] 30 55 35 55

Free running angle

Joint #1+Joint #2 [deg.] 50 90 70 105

Free running distance Joint #3 [mm] 25 65 25 65

The free running distance of RC170 differs from RC520/RC420 for the differences of the

braking process.

RC170 stops with the dynamic brake after the deceleration motion as Quick Pause to keep

the operating trajectory while the robot system stops for safety.

Because of this, RC170 may increase the free running distance compared to RC520/RC420

that stop instantly with the dynamic brake at emergency.

)

NOTE

Setup & Operation 1. Safety

E2C Rev.6 7

1.5 Emergency Movement Without Drive Power

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

Manipulator by hand as shown below:

Arm #1 ............. Push the arm by hand.

Arm #2 ............. Push the arm by hand.

Joint #3............ The joint cannot be moved up/down by hand because the

electromagnetic brake is applied to the joint. Move the joint

up/down while pushing the Joint #3 brake release button.

Joint #4............ Rotate the shaft by hand.

Joint #3 brake release button

Joint #3

Joint #4

Arm #1

Arm #2

+

-

Shaft

Setup & Operation 1. Safety

8 E2C Rev.6

1.6 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 of Labels

Table Top Multiple Mountings

Labels

NOTE:

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

10

(Inside of the arm top cover)

Gap gauge for adjusting brake clearance

NOTE:

Hazardous voltage exists while the
Manipulator is ON. To avoid electric
shock, do not touch any internal electric
parts.

NOTE:

You will catch your hand or fingers between the shaft and
cover when bringing your hand close to moving parts.

Setup & Operation 2. Specifications

E2C Rev.6 9

2. Specifications

2.1 Features of E2 series Manipulators

E2 series Manipulators are designed based on the “E series” and have high performance:

high speed; high precision; space saving; and improvement of cost performance.

The features of E2 series Manipulators are as follows:

(1) Compatible with E series Manipulators

- E2 series Manipulators are highly compatible with E series Manipulators; the

installation procedure and mounting dimension of end effector for E2 series are

completely compatible with those for E series.

- Major maintenance parts for E2 series Manipulators are common to those for E

series; consequently, the maintenance cost is reduced.

(2) Space Saving/Multiple Mountings

- E2 series Manipulators have been downsized since the height of the cable duct has

been lowered.

- Installation available for ceiling and wall as standard model (Multiple Mountings)

(3) Available for Large-load

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

U-axis has been increased.

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

(4) High Speed/High Duty Operation

- The ability for high duty operation has been improved since the capacities of

motors have been increased.

- Cycle time has been shortened since vibration has been lower and operating speed

has been higher.

UL1740 Conformance Type

UL1740 is the Standard for Industrial Robots and Robotic Equipment established by

Underwriters Laboratories Inc. (UL). The UL1740 conformance product has a safety

mark which shows that Underwriters Laboratories Inc. (UL) has recognized it.

In the United States, the robot system is recommended to be used with the Manipulators

and Controller that conform to UL1740 in accordance with ANSI/RIA R15.06.

Setup & Operation 2. Specifications

10 E2C Rev.6

2.2 Model Number and Model Differences

E2C Series Model Number

E2C 25 1 -UL

With “-UL” : UL1740 conformance
Without “-UL” : UL1740 nonconformance

Type

S : Table Top Standard-model

C : Table Top Cleanroom-model

Joint #3 stroke

Type is S : 120 mm

1

Type is C : 100 mm

Arm length

25 : 250 mm

E2C 35 1 -UL

With “-UL” : UL1740 conformance
Without “-UL” : UL1740 nonconformance

Type

S : Table Top Standard-model

C : Table Top Cleanroom-model

SM : Multiple Mounting Standard-model

CM : Multiple Mounting Cleanroom-model

Joint #3 stroke

Type is S or SM : 120 mm

1

Type is C or CM : 100 mm

Arm length

35 : 350 mm

When the manual conveys information that applies to all models regardless of “Joint #3

stroke” or “Arm length”, asterisks “*” are used in the model number.

Example : E2C***S

(This model number means that the Manipulator is E2C series Table Top

Standard-model corresponding to all arm lengths.)

The “-UL” is indicated in this manual only when the specifications of UL1740

conformance type are different from those of nonconformance type.

Figures in this manual are for the UL1740 conformance type.

Setup & Operation 2. Specifications

E2C Rev.6 11

Model Differences

Mechanism Mounting Use Environment Name

Applicable

Series

Standard

S type

E2C251

E2C351

Table top

Cleanroom

- Available for clean rooms

* Countermeasure for Electrostatic Discharge (ESD) has been taken.

C type

E2C251

E2C351

Standard

SM type E2C351

Multiple Mountings

Side

Top shelf

(See “NOTE” below.)

Bottom shelf

(See “NOTE” below.)

Ceiling

Cleanroom

- Available for clean rooms

* Countermeasure for Electrostatic Discharge (ESD) has been taken.

CM type E2C351

NOTE: The “shelf” also means beam.

For the example of the installation, refer to Setup & Operation: 3.4.3 Installation Procedure: Multiple
Mountings.

Cleanroom-model (C, CM Types)

Cleanroom-model Manipulators include additional features that reduce dust emitted by the

Manipulator to enable use in clean room environments.

For details on the specifications, refer to Setup & Operation: 2.4 Specifications.

Setup & Operation 2. Specifications

12 E2C Rev.6

2.3 Appearance

2.3.1 Table Top Standard-model: S Type

Part Names

Joint #1

(rotating)

Joint #2

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2

Base

Cable unit

Shaft cover
(only for -UL type)

Sensor monitor

Signature label
(Serial No. of Manipulator)

Fitting (black) for ø6 mm
pneumatic tube

Fitting for ø4 mm
pneumatic tube

Spare

Signal cable connector

Power cable connector

User connector

(15-pin D-sub connector)

Fitting (blue) for ø6 mm
pneumatic tube

LED

+

-

+

-

+

-

Shaft

+

-

Battery box

MT label
(only for custom specification)

Base connector box

Setup & Operation 2. Specifications

E2C Rev.6 13

Outer Dimension

E2C series S type [unit: mm]

(Calibration point position of Joints #3 and #4)

E2C251S E2C351S

a 125 225

b Max. 680 Max. 700

Power cable connector

50

Signal cable connector

65

12

44 125 a 110

ø48

4- ø9

89

73

120

561

234.5

b

7*

230 or more

spac e f or c ables

(*) indicates the stroke margin by mechanical stop.

55

60

28

120
140

140

97 120 85 50 125

7* 11*

55.5

81

229

12

11

90

45

±0.05

60 ±0.05

ø6 H7

8

6

+0.02
0

ø23 2-M3 Depth: 8

Shaft cover
(only for -UL type)

1mm flat cut

ø3, 90°
conical hole

Max. ø11 through hole

ø16 h7 shaft diameter

ø30 mechanical s top

diameter

ø43

10 10 10

15

46 18 12

7

■ The flat cut and conical hole on the end of the shaft can be used for orienting Joint #4 by tightening a setscrew.

Setup & Operation 2. Specifications

14 E2C Rev.6

2.3.2 Table Top Cleanroom-model: C Type

Part Names

The following figure shows the additional parts and specifications for the Table Top Cleanroom-model when

compared with the Standard-model in appearance.

Upper bellows

Exhaust port

Signal cable connecto

r

(Sealing tape)

User connector (15-pin D-sub connector)

(Sealing tape)

Lower bellows

Plate cover
(For static electricity

countermeasure)

Setup & Operation 2. Specifications

E2C Rev.6 15

Outer Dimension

E2C series C type [unit: mm]

(Calibration point position of Joints #3 and #4)

E2C251C E2C351C

a 125 225

b Max. 680 Max. 700

Power cable connector

50

Signal cable connector

65

12

44

4- ø9

120

89

81

5* 633

234.5 55.5

229

12

b

230 or more

spac e f or cables

(*) indicates the stroke margin by mechanical stop.

125 a 110 28

140

60

55 73

92 100 108 52 125

4* 5*

11

120

140

2-M3

Depth:13

90

45

±0.05

60 ±0.05

ø6 H7

8

6

+0.02
0

ø62

23

1mm flat cut

ø3, 90°
conical hole

Max. ø11 through hole

ø16 h7 s haf t di ameter

ø30 mechanical s top

diamet er

10 10 10

15

78

18

30

■ The flat cut and conical hole on the end of the shaft can be used for orienting Joint #4 by tightening a setscrew.

Setup & Operation 2. Specifications

16 E2C Rev.6

2.3.3 Multiple Mounting Standard-model: SM Type

Part Names

MT label
(only for custom specification)

Joint #1

(rotating)

Joint #2

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2

Base

Cable unit

Shaft cover
(only for -UL type)

Sensor monitor

Signature label
(Serial No. of
Manipulator)

Fitting (black) for ø6 mm pneumatic tube

Fitting for ø4 mm pneumatic tube

Spare

Signal cable connector

Power cable connector

User connector
(15-pin D-sub connector)

Fitting (blue) for ø6 mm pneumatic tube

Shaft

Setup & Operation 2. Specifications

E2C Rev.6 17

Outer Dimension

E2C351SM [unit: mm]

Power cable connector

50

Signal cable connector

65

12

ø6 H7
reference
through hole

4- ø8.5

220 ± 0.05

89

170

11* 7*

315

ø116

Max. 510

Depth: 10

61.5 ± 0.05
174

8

6

+0.02

0

(*) indicates the stroke margin by mechanical stop.

225 125 44

60

55 73

190

110 100 10

ø48

125 52 83

120

20

7*

81

137.5

61.5 63 48 47

26.5 70

150

4-M8 Depth: 16

(Both top and bottom of base)

155 189

55.5

2 2

ø23 2-M3 Depth: 8

Shaft cover

(only for -UL type)

(Calibration point position of Joints #3 and #4)

1mm flat cut

ø3, 90°
conical hole

Max. ø11 through hole

ø16 h7 shaft di ameter

ø30 mechanic al s top

diameter

ø43

10 10 10

15

46 18 12

7

■ The flat cut and conical hole on the end of the shaft can be used for orienting Joint #4 by tightening a setscrew.

Setup & Operation 2. Specifications

18 E2C Rev.6

2.3.4 Multiple Mounting Cleanroom-model: CM Type

Part Names

The following figure shows the additional parts and specifications for the Multiple Mounting

Cleanroom-model when compared with the Standard-model in appearance.

Upper bellows

Exhaust port

Signal cable connector
(Sealing tape)

User connector (15-pin D-sub connector)
(Sealing tape)

Lower bellows

Plate cover
(For static electricity

countermeasure)

Setup & Operation 2. Specifications

E2C Rev.6 19

Outer Dimension

E2C351CM [unit: mm]

Power cable connector

50

Signal cable connector

65

12

89

ø6 H7
reference
through hole

4- ø8.5

44 220 ± 0.05

170

5* 4* 100

81

55.5

61.5

Max. 510

Depth: 10

61.5 ± 0.05

70

174

8

6

+0.02

0

(*) indicates the stroke margin by mechanical stop.

137.5

ø116

125 225

60

55 73

190

110 100 10

180

108 52 125 156

20

63 48 47

26.5

2-M3
Depth: 13

4-M8 Depth: 16

(Both top and bottom of base)

23

150

261 5*

ø62

2 2

(Calibration point position of Joints #3 and #4)

1mm flat cut

ø3, 90°
conical hole

Max. ø11 through hole

ø16 h7 shaft diameter

ø30 mec hani cal stop

diameter

10 10 10

15

78

18

30

■ The flat cut and conical hole on the end of the shaft can be used for orienting Joint #4 by tightening a setscrew.

Setup & Operation 2. Specifications

20 E2C Rev.6

2.4 Specifications

Item E2C251* E2C351*

Arm length Arm #1, #2 125 mm / 125 mm 225 mm / 125 mm

Weight (not include the weight of cables) E2C**1S, C: 14 kg : 31lb. / E2C351SM, CM: 16 kg : 36lb.

Driving method All joints AC servo motor

Joint #1, #2 2900 mm/s 3600 mm/s

Max. operating speed *1 Joint #3 1100 mm/s

Joint #4 2600 degrees/s

Joint #1, #2 ± 0.008 mm ± 0.010 mm

Repeatability Joint #3 ± 0.010 mm

Joint #4 ± 0.02 degrees

Joint #1 ± 90 degrees ± 110 degrees

Joint #2 ± 135 degrees ± 145 degrees

Max. motion range *2

Joint #3 E2C**1S, SM 120 mm / E2C**1C, CM: 100 mm

Joint #4 ± 360 degrees

Joint #1 0 to +163840

-18205 to +182045

Joint #2 ± 76800 ± 82489

Max. pulse range

Joint #3

E2C**1S, SM: -36864 to 0 / E2C**1C, CM: -30720 to 0

Joint #4 ± 46695

Joint #1 0.0010986 degrees/pulse

Joint #2 0.0017578 degrees/pulse

Resolution

Joint #3 0.0032552 mm/pulse

Joint #4 0.0077097 degrees/pulse

Joint #1 150 W

Joint #2 150 W

Motor power consumption

Joint #3 150 W

Joint #4 150 W

Payload

Rated
max.

1 kg
3 kg

Joint #4 allowable moment of
inertia *3

Rated
max.

0.005 kg⋅m2

0.050 kg⋅m

2

Shaft diameter
through hole

ø16 (h7)mm

ø11 mm

Joint #3 down force 150 N

Installed wire for customer use 15 wires (15 -pin D-sub connector)

Installed pneumatic tube for customer use

2 pneumatic tubes (ø6 mm), 1 pneumatic tube (ø4 mm)

Allowable pressure: 0.59 MPa (6 kgf/cm

2

: 86psi)

Ambient Temperature 5 to 40°C (with minimum temperature variation) Environmental

requirements

Ambient relative humidity 10 to 80% (no condensation)

Equivalent continuous A-weighted sound pressure
level *4

L

Aeq = 66.3 dB (A) or under

Applicable Controller

RC520
RC420
RC170

SPEED 5

ACCEL 10,10

SPEEDS 50

ACCELS 200

FINE 10,10,10,10

Default values

WEIGHT 1,125

Cleanliness level

Clean Class: 10 or its equivalent

Amount of Dust: 10 particles or less (0.13µm diameter or larger)

(In 28317cm

3

(1cft) sample-air around the center of the motion range)

Exhaust tube

Polyurethane tube

Outer diameter: ø8 mm

Cleanroom-model

Exhaust
System *5

Recommended
exhaust flow rate

Approximately 1000 cm

3

/s (Normal)

Safety standard

ANSI/RIA R15.06 conformance
CE conformance: All models
UL1740 conformance: E2C**1S-UL, E2C**1C-UL, E2C351SM-UL, E2C351CM-UL

(No compliance by RC170 adoption)

Setup & Operation 2. Specifications

E2C Rev.6 21

*1: In the case of PTP control. Maximum operating speed in CP control is 1120 mm/s on horizontal plane.

*2: The motion range of some models is limited by the Cartesian (rectangular) range. For details, refer to

Setup & Operation: 5.4 Standard Motion Range.

*3: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the

center of Joint #4, set the parameter using INERTIA command.

*4: Conditions of Manipulator at measurement as follows:

Operating conditions: Under rated load, 4-joints 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.

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

interior. A crack or other opening in the base unit can cause loss of negative air pressure in the outer

part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base, the acrylic cover on the back of the base,

or the sealing tape on the connector.

- 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.

Setup & Operation 2. Specifications

22 E2C Rev.6

2.5 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.

CAUTION

■

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 ma

y

result in abnormal or no operation of the Manipulator and/or cause safet

y

problems.

If an MT label is attached to the rear 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 or the Setup &

Operation 11.5 Setting Up the Robot Manipulator in the SPEL CT User’s Guide.

)

NOTE

Setup & Operation 3. Environments and Installation

E2C Rev.6 23

3. Environments and Installation

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 environments that meet the following conditions:

Item Conditions

Ambient temperature 5 to 40°C (with minimum temperature variation)

Ambient relative humidity 10 to 80% (no condensation)

First transient burst noise 2 kV or less

Electrostatic noise 6 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 shocks or vibrations.

· Keep away from sources of electric noise.

Manipulators are not suitable for operation in harsh environments such as working in

painting areas, etc. When using Manipulators in inadequate environments that do not

meet the above conditions, please consult your supplier.

)

NOTE

Setup & Operation 3. Environments and Installation

24 E2C Rev.6

3.2 Base Table

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

base table for your Manipulator. The shape and size of the base table differs depending

on the use of the robot system. For your reference, we list some Manipulator table

requirements here.

The base table must not only be able to bear the weight of the Manipulator but 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 materials such as crossbeams.

The torque and reaction force produced by the movement of the Manipulator are as

follows:

Max. Reaction torque on the horizontal plate : 250Nm

Max. Horizontal reaction force : 900N

Max. Vertical reaction force : 1000N

♦ The threaded holes for the Manipulator base are M8. Use the mounting bolts

conforming to the strength, ISO898-1 property class: 10.9 or 12.9. For the

dimensions, refer to Setup & Operation: 3.3 Mounting Dimensions.

♦ The plate for the Manipulator mounting face should be 20 mm thick or more and made

of steel to reduce vibration. The surface roughness of the steel plate should be 25 µm

or less.

♦ The table must be secured on the floor or wall to prevent it from moving.

♦ The Manipulator must be installed horizontally.

♦ When using a leveler to adjust the height of the base table, use a screw with M16

diameter or more.

♦ If making holes for the cables and passing the cables through the holes on the base

table, see figures below.

50

65

12

[unit: mm]

Power Cable Connector

Signal Cable Connector

For environmental conditions regarding space when placing the Controller on the base

table, refer to the controller manual.

WARNING

■

To ensure safety, a safeguard must be installed for the robot system.
For details on the safeguard, refer to the User’s Guide.

)

NOTE

Setup & Operation 3. Environments and Installation

E2C Rev.6 25

3.3 Mounting Dimensions

The maximum space described in figures shows that the radius of end effector is 44 mm or

less. If the radius of the end effector exceeds 44 mm, define the radius as a distance to

the outer edge of maximum space.

If the camera and the electromagnetic valve are bigger than the arm, set the maximum

range including the space that they may reach.

Mounting Area

Be sure to have the following spaces besides the space for mounting the Manipulator,

Controller, and peripheral equipment.

♦ space for teaching

♦ space for maintenance and inspections

♦ space for cables

The minimum bend radius of the power cable is 130 mm. When installing the cable, be

sure to maintain sufficient distance from obstacles. In addition, leave enough space for

other cables so that they are not bent forcibly.

)

NOTE

)

NOTE

Setup & Operation 3. Environments and Installation

26 E2C Rev.6

3.3.1 Table Top

J

J

J

Safeguard

J

Maximum space

Motion range

Area limited by mechanical stop

Center of Joint #3

Standard Motion Range of Manipulator E2C251S/C E2C351S/C

A (Length of Arm #1)

125 mm 225 mm

B (Length of Arm #2)

125 mm 125 mm

C

95.7 mm 142 mm

D (Motion range of Joint #1)

90 degrees 110 degrees

E (Motion range of Joint #2)

135 degrees 145 degrees

F

89.6 mm 136 mm

G (Range to the mechanical stop of Joint #1)

98 degrees 116 degrees

H (Range to the mechanical stop of Joint #2)

138 degrees 148 degrees

J (Range to the safeguard)

approx. 100 mm*

* “J” shows the necessary distance (minimum) between the maximum space and safeguard.

Setup & Operation 3. Environments and Installation

E2C Rev.6 27

3.3.2 Multiple Mountings

J

J

J

Safeguard

J

Maximum space

Motion range

Area limited by
mechanical stop

Center of Joint #3

Standard Motion Range of Manipulator E2C351SM/CM

A (Length of Arm #1)

225 mm

B (Length of Arm #2)

125 mm

C

136 mm

D (Motion range of Joint #1)

110 degrees

E (Motion range of Joint #2)

145 degrees

F

142 mm

G (Range to the mechanical stop of Joint #1)

116 degrees

H (Range to the mechanical stop of Joint #2)

148 degrees

J (Range to the safeguard)

approx. 100 mm*

* “J” shows the necessary distance (minimum) between the maximum space and safeguard.

Setup & Operation 3. Environments and Installation

28 E2C Rev.6

3.4 Unpacking and Transportation

3.4.1 Precautions for Transportation

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL
CODES.

WARNING

■

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.

■

Using a cart or similar equipment, transport the Manipulator in the same manner
as it was delivered.

■

After removing the bolts securing the Manipulator to the delivery equipment, the
Manipulator can fall. Be careful not to get hands or fingers caught.

■

The arm is secured with a wire tie. Leave the wire tie secured until you finish the
installation so as not to get hands or fingers caught.

■

To carry the Manipulator, have two or more people to work on it and secure the
Manipulator to the delivery equipment or hold the areas indicated in gray in the
figure (bottom of Arm #1/main cable elbow fitting/bottom of the base) by hand.
When holding the bottom of the base by hand, be very careful not to get hands or
fingers caught.

Tab l e To p

Approximately

14 kg : 31lb.

Multiple Mountings

approximately 16 kg : 36lb.

■

Be careful not to get hands or fingers caught when holding the bottom of the base
by hand.

■

Stabilize the Manipulator with your hands when hoisting it.

CAUTION

■

When transporting the Manipulator for a long distance, secure it to the delivery
equipment directly so that the Manipulator never falls.
If necessary, pack the Manipulator in the same style as it was delivered.

Setup & Operation 3. Environments and Installation

E2C Rev.6 29

3.4.2 Transportation

Transport the Manipulator following the instructions below:

(1) Attach the eyebolts to the top of the Arm #1.

(2) Pass the belts through the eyebolts.

(3) Hoist the Manipulator slightly so that it does not fall. Then, remove the bolts

securing the Manipulator to the delivery equipment or pallet.

(4) Hoist the Manipulator holding it by hand so that it can keep its balance. Then,

move it to the base table.

3.4.3 Contents

1. Manipulator

2. Accessories (Standard-model/Cleanroom-model)

Item Quantity

Power cable 1

Signal cable 1

Connector and Clamp hood for user wiring 2 sets

Grease for ball screw spline 1

3. Manual or CD manual

Setup & Operation 3. Environments and Installation

30 E2C Rev.6

3.5 Installation Procedure

3.5.1 Table Top

* This section describes the installation procedure with the figures for the Standard-model.

When the Manipulator is C type, unpack it outside of the clean room.

Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator with

a little alcohol or distilled water on a lint-free cloth. After that, carry the

Manipulator in the clean room.

(1)

Secure the base to the base table with four

bolts.

Use the bolts conforming to the strength,

ISO898-1 Property Class: 10.9 or 12.9.

9 mm

Threaded hole

for M8

(Depth: 20 mm or more)

4-M8

Spring
washe

r

Plain
washe

r

(2)

Using nippers, cut off the wire tie securing

Arm #2.

(3)

Unscrew the M4 screw on the end of Ar

m

#2.

Wire tie

M4 screw

(4)

Push Arm #1 slowly in the direction shown

with an arrow in the figure on the right.

Fasten the arm retaining bolt on the base.

The arm retaining bolt must be fastened.

Otherwise, the motion range of Joint #1 is

limited.

Arm retaining bolt
M8

×30

When the Manipulator is C type, connect an exhaust tube to the exhaust port.

)

NOTE

)

NOTE

Setup & Operation 3. Environments and Installation

E2C Rev.6 31

3.5.2 Multiple Mountings

■

Install the Multiple Mounting Manipulator with two or more people.
The Manipulator weighs approximately 16 kg. 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.

The Multiple Mountings Manipulators have mounting holes available for the following

installation patterns.

Side Ceiling

Top Shelf Bottom Shelf

Design and make the base table for anchoring the Multiple Mounting Manipulators so that

it does not touch any cable connected to the base connector plate.

The recommended installation patterns are as follows:

Side Ceiling

)

NOTE

Setup & Operation 3. Environments and Installation

32 E2C Rev.6

Installation Procedure

The following shows a recommended procedure for installing the Multiple Mounting

Manipulators to a wall.

When the Manipulator is CM type, unpack it outside of the clean room.

Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator with

a little alcohol or distilled water on a lint-free cloth. After that, carry the

Manipulator in the clean room.

(1)

Secure the base to the base table with four

bolts.

Use the bolts conforming to the strength,

ISO898-1 Property Class: 10.9 or 12.9.

Threaded hole

for M8

(Depth: 20 mm or more)

4-M8

×40

Spring
washe

r

Plain
washe

r

(2)

Using nippers, cut off the wire tie securing

Arm #2.

(3)

Unscrew the M4 screw on the end of Ar

m

#2.

Wire tie

(4)

Push Arm #1 slowly in the direction shown

with an arrow in the figure on the right.

Fasten the arm retaining bolt under the

base.

The arm retaining bolt must be fastened.

Otherwise, the motion range of Joint #1 is

limited.

Bolt
M8

×30

When the Manipulator is CM type, connect an exhaust tube to the exhaust port.

)

NOTE

)

NOTE

Setup & Operation 3. Environments and Installation

E2C Rev.6 33

3.6 Connecting the Cables

■

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.

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

CAUTION

■

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.

Connecting the Cables for Cleanroom-model (C, CM Types)

When the Manipulator is a Cleanroom-model (C, CM types), use it with an exhaust system.

For details, refer to Setup & Operation: 2.4 Specifications.

Setup & Operation 3. Environments and Installation

34 E2C Rev.6

Cable Connections

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.

M/C signal cable

M/C power cable

To Controller

Signal cable connector

Power cable connector

To Controller

Table Top

M/C signal cable

M/C power cable

To Controller

Signal cable connector

Power cable connector

Multiple Mountings

Setup & Operation 3. Environments and Installation

E2C Rev.6 35

3.7 User Wires and Pneumatic Tubes

WARNING

■

When adding wires and tubes along the outside of the duct, pay attention to
following:

- Be careful not to move or bend the duct. Moved or bent duct may result in
damage to the duct and/or duct cables, disconnection, and/or contact failure.
Damaged duct/cables, disconnection, or contact failure may result in electric
shock and/or improper function of the robot system.

- Be sure that the duct can rotate in the main cable elbow fitting and duct joint.
When the duct is inserted in the main cable elbow fitting and/or duct joint too
deep or the cable is bound on the duct, main cable elbow fitting, and duct joint
with the wire ties, the duct cannot smoothly rotate in the main cable elbow
fitting and/or duct joint. The difficulty in rotating the duct may result in
damage to the duct. (See the figures below.)

Be sure
that the
duct can
smoothly
rotate.

(Right)

Cable

Cable wire tie

Cable

(Wrong)

Cable
wire tie

CAUTION

■

Only authorized or certified personnel should be allowed to perform wiring.
Wiring by unauthorized or uncertified personnel may result in bodily injury and/or
malfunction of the robot system.

User electrical wires and pneumatic tubes are contained in the cable unit.

Electrical Wires

Rated Voltage

Allowable

Current

Wires Nominal Sectional Area Outer Diameter Note

AC/DC30 V 1 A 15 0.211 mm2 ø8.3±0.3 mm Shielded

Maker Standard

Suitable Connector JAE DA-15PF-N (Solder type)

Clamp Hood JAE DA-C8-J10-F2-1 (Connector setscrew: #4-40 NC)

Pins with the same number, indicated on the connectors on both ends of the cables, are

connected.

Setup & Operation 3. Environments and Installation

36 E2C Rev.6

Pneumatic Tubes

Max. Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter × Inner Diameter

2 ø6 mm × ø4 mm

0.59 MPa (6 kgf/cm2 : 86psi)
1 ø4 mm × ø2.5 mm

Fittings for ø6 mm and ø4 mm (outer diameter) pneumatic tubes are supplied on the both

ends of the pneumatic tubes.

Setup & Operation 3. Environments and Installation

E2C Rev.6 37

The pneumatic tubes for the Standard-model are the same type as the Cleanroom-model.

The details on the fittings are shown in the following figure for the Standard-model.

Fitting (blue) for ø6 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

Spare

Fitting for ø4 mm pneumatic tube

Brake release
button

15-pin D-sub
connector

Spare

User connector
15-pin D-sub connector)

Fitting for ø4 mm
pneumatic tube

Fitting (black) for ø6 mm
pneumatic tube

Fitting (blue) for ø6 mm
pneumatic tube

Table Top

Spare

User connector
(15-pin D-sub connector)

Fitting (black) for ø6 mm
pneumatic tube

Fitting (blue) for ø6 mm
pneumatic tube

Fitting for ø4 mm
pneumatic tube

Fitting (blue) for ø6 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

Spare

Fitting for ø4 mm pneumatic tube

Brake release button

15-pin D-sub connector

Multiple Mountings

Setup & Operation 3. Environments and Installation

38 E2C Rev.6

3.8 Relocation and Storage

3.8.1 Precautions for Relocation and Storage

Observe the following when relocating, storing, and transporting the Manipulators.

THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL
CODES.

■

Before relocating the Manipulator, fold the arm and secure it tightly with a wire tie
to prevent hands or fingers from being caught in the Manipulator.

■

When removing the anchor bolts, support the Manipulator to prevent falling.
Removing the anchor bolts without supporting may result in fall of the
Manipulator, and then get hands, fingers, or feet caught.

■

To carry the Manipulator, have two or more people to work on it and secure the
Manipulator to the delivery equipment or hold the bottom of Arm #1, bottom of the
main cable fitting, and bottom of the base by hand. When holding the bottom of
the base by hand, be very careful not to get hands or fingers caught.
Do not hold the duct joint on the back of the base.

CAUTION

■

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

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 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 -25°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.

Setup & Operation 3. Environments and Installation

E2C Rev.6 39

3.8.2 Relocating the Table Top Models

Follow the procedures described below when relocating the Manipulator.

(1) Turn OFF the power on all devices and unplug the cables.

Remove the mechanical stops if using them to limit the motion range of Joint #1 an

d

#2. For details on the motion range, refer to Setup & Operation: 5.2

M

otion Range

Setting by Mechanical Stops.

(2)

Tighten the M4 screw on the bottom o

f

Arm #2’ end.

Wire tie

M4 screw

(3)

Push Arm #1 by hand in the direction

shown with the arrow in the figure on the

right until the arm retaining bolt appears.

Turn the arm retaining bolt upward until

the part under the head of the bolt appears

by 15 mm.

Arm retaining bolt
M8

×30

(4)

Push Arms #1/#2 by hand in the direction

shown with the arrows in the figure on the

right until the arms touch the arm retaining

bolt and mechanical stop.

Arm #1

Arm #2

)

NOTE

Setup & Operation 3. Environments and Installation

40 E2C Rev.6

(5)

Tie the M4 screw and the main cable elbow

fitting together with a wire tie as shown in

the figure on the right.

Be careful not to tie them too tight.

Otherwise, the shaft may bend.

Wire tie

M4 screw

(6)

Hold the bottom of Arm #1 by hand to unscrew the anchor bolts.

Then, remove the Manipulator from the base table.

Setup & Operation 3. Environments and Installation

E2C Rev.6 41

3.8.3 Relocating the Multiple Mounting Models

■

Install the Multiple Mounting Manipulator with two or more people.
The Manipulator weighs approximately 16 kg. Be careful not to get hands,
fingers, or feet caught and/or have equipment damage by the fall of the
Manipulator.

WARNING

■

When relocating the Manipulator from wall, support the Manipulator, and then
remove the anchor bolts. Removing the anchor bolts without supporting is
extremely hazardous and may result in fall of the Manipulator.

Follow the procedures described below when relocating the Manipulator.

(1) Turn OFF the power on all devices and unplug the cables.

Remove the mechanical stops if using them to limit the motion range of Joint #1 an

d

#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range

Setting by Mechanical Stops.

(2)

Push Arm #1 by hand in the direction

shown with the arrow in the figure on the

right until the arm retaining bolt appears.

Turn the arm retaining bolt upward until

the part under the head of the bolt appears

by 15 mm.

(3)

Tighten the M4 screw on the bottom o

f

Arm #2’s end.

Arm #1

Arm #2

Arm retaining bolt

M8

×30

(4)

Push Arms #1/#2 by hand in the direction

shown with the arrows in the figure on the

right until the arms touch the arm retaining

bolt and mechanical stop.

Arm #1

Arm #2

)

NOTE

Setup & Operation 3. Environments and Installation

42 E2C Rev.6

(5)

Tie the M4 screw and the main cable elbow

fitting together with a wire tie as shown in

the figure on the right.

Be careful not to tie them too tight.

Otherwise, the shaft may bend.

Wire tie

(6)

Hold the bottom of Arm #1 by hand to unscrew the anchor bolts.

Then, remove the Manipulator from the base table.

Setup & Operation 4. Setting of End Effectors

E2C Rev.6 43

4. Setting of End Effectors

4.1 Attaching an End Effector

Users are responsible for making their own end effector(s). Before attaching an end

effector, observe these guidelines.

CAUTION

■

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/Os are set 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.

Shaft

♦

Attach an end effector to the lower end of the shaft.

For the shaft dimensions, and the overall dimensions of the Manipulator, refer to Setup

& Operation: 2. Specifications.

♦

Do not move the upper limit mechanical stop on the lower side of the shaft.

Otherwise, when “Jump motion” is performed, the upper limit mechanical stop may hi

t

the Manipulator, and the robot system may not function properly.

♦

Use a split muff coupling with an M4 bolt or larger to attach the end effector to the

shaft.

Joint #3 brake release button

♦

Joint #3 cannot be moved up/down by hand because the electromagnetic brake is

applied to the joint while power to the robot system is turned OFF. This prevents the

shaft from hitting peripheral equipment in the case that the shaft is lowered

b

y the

weight of the end effector when the power is disconnected during operation, or whe

n

the motor is turned OFF even thought the power is turned ON.

To move Joint #3 up/down while attaching

an end effector, turn the Controller ON an

d

move the joint up/down while pushing the

Joint #3 brake release button.

This button is a momentary-type; the brake is

released only while the button is

b

eing

pushed.

♦

Be careful of the shaft falling while the Join

t

#3 brake release button is being pushe

d

because it may be lowered by the weight o

f

an end effector.

Brake release button

The shaft may be lowered by the
weight of the end effector.

Setup & Operation 4. Setting of End Effectors

44 E2C Rev.6

Layouts

♦

When you operate the manipulator with an end effector, the end effector may interfere

with the Manipulator because of the outer diameter of the end effector, the size of the

work piece, or the position of the arms. When designing your system layout, pa

y

attention to the interference area of the end effector.

If the maximum radius of the end effector is over 37 mm, the end effector may hit the

Manipulator depending on the motion.

4.2 Attaching Cameras and Valves

Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching

cameras, valves, and other equipment.

36

5.5

20

To thread hole A

To thread hole B, C

Table Top

Multiple Mountings

To thread
hole A

To thread
hole B, C

Base mounting
face

Center of base
reference hole

Height from the base

mounting face

E2C**1S / C

To thread hole A 300

To thread hole B 302

To thread hole C 302

Height from the center of

base reference hole

E2C351SM / CM

To thread hole A 72

To thread hole B 70

To thread hole C 70

Thread hole B: 2-M4 (8 in depth)

50 20 78

35

16

R58

Thread hole C:
2-M4 (10 in depth)

Thread hole A:
2-M4 (8 in depth)

Setup & Operation 4. Setting of End Effectors

E2C Rev.6 45

4.3 WEIGHT and INERTIA Settings

To ensure optimum Manipulator performance, it is important to make sure that the load

(weight of the end effector and work piece) and moment of inertia of the load are within

the maximum rating for the Manipulator, and that Joint #4 does not become eccentric.

If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow

the steps below, 4.3.1 and 4.3.2, to set parameters.

Setting parameters makes the operation of the Manipulator optimal, reduces oscillation to

shorten the operating time, and improves the capacity for bigger load. In addition, it

reduces persistent oscillation produced when the moment of inertia of the end effector and

work piece is bigger.

4.3.1 WEIGHT Setting

CAUTION

■

The total weight of the end effector and the work piece must be 3 kg or less.
The E2C series Manipulators are not designed to work with loads exceeding
3 kg.
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.

The acceptable weight capacity (end effector and work piece) in E2C series is 1 kg at the

rating and 3 kg at the maximum. When the load (weight of the end effector and work

piece) exceeds the rating, change the setting of WEIGHT parameter.

After the setting is changed, the maximum acceleration/deceleration speed of the robot

system corresponding to the “WEIGHT Parameter” is set automatically.

Load on the Shaft

The load (weight of the end effector and work piece) on the shaft can be set by WEIGHT

parameter.

The method for setting parameter varies with the software used.

SPEL CT

Enter the combined total weight of the end effector and work piece into the [Weight:] tex

t

box on the [WEIGHT] panel ( [Setup] - [Robot Parameters] ).

EPSON

RC+

EPSON RC+ 4.* or before（RC520/RC420）

Enter the combined total weight of the end effector and work piece into the [Weight:] tex

t

box on the WEIGHT panel ( [Project]-[Robot Parameters] ).
You may also execute the Weight command from the [EPSON RC+ Monitor Window].

EPSON RC+ 5.0 or later（RC170）

Enter into the [Weight:] text box on the [Weight] panel ([Tools]-[Robot Manager]).

You may also execute the Weight command from [Command Window].

Setup & Operation 4. Setting of End Effectors

46 E2C Rev.6

Load on the Arm

When you attach a camera or other devices to the arm, calculate the weight as the

equivalent of the shaft. Then, add this to the load and enter the total weight to the

WEIGHT parameter.

Equivalent Weight Formula

When you attach the equipment near Joint #2:

When you attach the equipment to the end of Arm #2:

W

M

= M (L1)2/(L1+L2)2

W

M

= M (LM)2/(L2)2

W

M

M

L

1

L

2

L

M

: equivalent weight

: weight of camera etc.

: length of Arm #1

: length of Arm #2

: distance from rotation center of Joint #2 to center of gravity

of camera etc.

<Example> A “0.5 kg” camera is attached to the end of the E2C series arm (225

mm away from the rotation center of Joint #2) with a load weight “1

kg”.

M = 0.5

L

2

= 125

L

M

= 225

W

M

= 0.5 × 2252/1252 = 1.62 → 1.7 (round up)

W+W

M

= 1 + 1.7 = 2.7

Enter “2.7” to the WEIGHT Parameter.

Automatic speed setting by WEIGHT

* The percentage in the graph is based on the speed at rated weight (1 kg) as 100%.

WEIGHT setting

E2C25/35

Setup & Operation 4. Setting of End Effectors

E2C Rev.6 47

4.3.2 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”. This value is typically referred to as “the moment of inertia”,

“inertia”, or “GD

2

”. When the Manipulator operates after objects such as an end effector

are attached to the shaft, the moment of inertia of load must be considered.

CAUTION

■

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

0.05 kgwm

2

or less. The E2C series Manipulators are not designed to work with

moment of inertia exceeding 0.05 kgwm

2

.
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 Manipulator, and/or
shorten the life cycle of parts/mechanisms.

The acceptable moment of inertia of load in E2C series is 0.005 kgwm

2

at the rating and

0.05 kgwm

2

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

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

Moment of inertia of load on the shaft

The moment of inertia of load (weight of the end effector and work piece) on the shaft can

be set by “moment of inertia (INERTIA)” parameter of INERTIA command.

The method for setting parameter varies with the software used.

SPEL CT

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

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

EPSON

RC+

EPSON RC+ 4.* or before（RC520/RC420）

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].

EPSON RC+ 5.0 or later（RC170）

Enter into the [Load inertia:] text box on the [Inertia] panel ([Tools]–[Robot Manager]).

You may also execute the Inertia command from [Command Window].

Setup & Operation 4. Setting of End Effectors

48 E2C Rev.6

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

* The percentage in the graph is based on the speed at rated moment of inertia (0.005 kg⋅m2) as 100

%

Moment of inertia setting

E2C25/35

Eccentric Quantity and the INERTIA Setting

CAUTION

■

The eccentric quantity of load (weight of the end effector and work piece) must be
100 mm or less. The E2C series Manipulators are not designed to work with
eccentric quantity exceeding 100 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 Manipulator, and/or shorten
the life cycle of parts/mechanisms.

The acceptable eccentric quantity of load in E2C series is 0 mm at the rating and 100 mm

at the maximum. When the eccentric quantity of load exceeds the rating, 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.

Position of load’s center of gravity

Rotation center

Eccentric quantity (100 mm or less)

Eccentric Quantity

Setup & Operation 4. Setting of End Effectors

E2C Rev.6 49

Eccentric quantity of load on the shaft

The eccentric quantity of load (weight of the end effector and work piece) on the shaft can

be set by “eccentric quantity” parameter of INERTIA command.

The method for setting parameter varies with the software used.

SPEL CT

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

[Eccentricity:] text box on the [INERTIA] panel ( [Setup] – [Robot Parameters] ).

EPSON

RC+

EPSON RC+ 4.* or before（RC520/RC420）

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].

EPSON RC+ 5.0 or later（RC170）

Enter into the [Eccentricity:] text box on the [Inertia] panel ([Tools]–[Robot Manager]).

You may also execute the Inertia command from [Command Window].

Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)

* The percentage in the graph is based on the speed at rated eccentricity (0 mm) as 100%.

Eccentricity setting

E2C35

Eccentricity setting

E2C25

Setup & Operation 4. Setting of End Effectors

50 E2C Rev.6

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).

Work piece (b)

Work piece (c)

End effector (a)

Joint #3 shaft

Rotation center

Moment of inertia
of end effector (a)

=

Moment of inertia

of work piece (b)

+

Moment of inertia

of work piece (c)

+

Whole moment

of inertia

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.

Setup & Operation 4. Setting of End Effectors

E2C Rev.6 51

(a) Moment of inertia of a rectangular parallelepiped

h

b

L

Mass (m)

Rectangular parallelepiped’s center of gravity

Rotation center

m + m

× L

2

b2 + h2

12

(b) Moment of inertia of a cylinder

m + m

× L

2

r 2

2

Mass (m)

L

r

Cylinder’s center of gravity

Rotation center

(c) Moment of inertia of a sphere

m r

2

+ m × L2

2
5

Sphere’s center of gravity

r

Mass (m)

L

Rotation center

Setup & Operation 4. Setting of End Effectors

52 E2C Rev.6

4.4 Precautions in Auto Acceleration/Deceleration of Joint #3

When you move the Manipulator horizontally with Joint #3 (Z) at a high position, the

motion time will be faster. When Joint #3 gets below a certain point (-60 mm in figure

below), then auto acceleration/deceleration is used to reduce acceleration/deceleration.

The higher the position of the shaft is, the faster the motion acceleration/deceleration is.

However, it takes more time to move Joint #3 up and down. Adjust the position of Joint

#3 for the Manipulator motion after considering the relation between the current position

and the destination position. The upper limit of Joint #3 during horizontal motion can be

set by the LIMZ command.

Automatic acceleration/deceleration vs. Joint #3 position

Height of the shaft

E2C25/35

* The percentage in the graph is based

on the acceleration/deceleration at the
upper-limited position of Joint #3
as 100%.

When moving the Manipulator horizontally while the shaft is being lowered, it may cause

over-shoot at the time of final positioning.

)

NOTE

Setup & Operation 5. Motion Range

E2C Rev.6 53

5. Motion Range

CAUTION

■

When setting up the motion range for safety, both the pulse range and
mechanical stops* must be always set at the same time.

* For the Cleanroom-model Manipulator, the motion range set with the Joint #3

mechanical stop cannot be changed.

The motion range is preset at the factory as explained in Setup & Operation: 5.4 Standard

Motion Range. That is the maximum motion range of the Manipulator.

There are three methods for setting the motion range described as follows:

1. Setting by pulse range (for all joints)

2. Setting by mechanical stops

(for Joints #1 to #3 of Standard-model / Joints #1 and #2 of Cleanroom-model)

3. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the

Manipulator (for Joints #1 and #2)

Mechanical

stop

Rectangular range setting

Pulse range

Motion range

Mechanical

stop

When the motion range is changed due to layout efficiency or safety, follow the

descriptions in 5.1 to 5.3 to set the range.

Setup & Operation 5. Motion Range

54 E2C Rev.6

5.1 Motion Range Setting by Pulse Range (for All Joints)

Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is

controlled by the pulse range between the pulse lower limit and upper limit of each joint.

Pulse values are read from the encoder output of the servo motor.

For the maximum pulse range, refer to the following sections.

The pulse range must be set inside of the mechanical stop range.

5.1.1 Max. Pulse Range of Joint #1

5.1.2 Max. Pulse Range of Joint #2

5.1.3 Max. Pulse Range of Joint #3

5.1.4 Max. Pulse Range of Joint #4.

Once the Manipulator receives an operating command, it checks whether the target

position specified by the command is within the pulse range before operating. If the

target position is out of the set pulse range, an error occurs and the Manipulator does not

move.

The method for setting pulse ranges varies with the software used.

SPEL CT

The pulse range can be set on the [RANGE] panel shown by selecting the [Setup]- [Robot

Parameters].

EPSON

RC+

EPSON RC+ 4.* or before（RC520/RC420）

The pulse range can be set on the [RANGE] panel shown by selecting the [Project]-[Robo

t

Parameters].

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

EPSON RC+ 5.0 or later（RC170）

The pulse range can be set on the [Range] panel shown by selecting the [Tools]-[Robot

manager].

You may also execute the Range command from the [Command Window].

)

NOTE

Setup & Operation 5. Motion Range

E2C Rev.6 55

5.1.1 Max. Pulse Range of Joint #1

0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive

(+) direction on the X-coordinate axis.

When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).

+Y

+X
0 pulse

+163840 pulse 0 pulse

E2C251*
(Table Top)

-90 deg. +90 deg.

+Y

+X
0 pulse

+182045 pulse -18205 pulse

E2C351*
(Table Top)

+Y

+X
0 pulse

+182045 pulse -18205 pulse

E2C351*M
(Multiple Mountings)

-110 deg. +110 deg. -110 deg. +110 deg.

5.1.2 Max. Pulse Range of Joint #2

0 (zero) pulse position of Joint #2 is the position where Arm #2 is parallel to Arm #1.

With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).

-76800 pulse +76800 pulse

0 pulse

E2C251*
(Table Top)

+135 deg. -135 deg.

-82489 pulse+82489 pulse

0 pulse 0 pulse

-82489 pulse+82489 pulse

E2C351*
(Table Top)

E2C351*M
(Multiple Mountings)

+145 deg. -145 deg. +145 deg. -145 deg.

Setup & Operation 5. Motion Range

56 E2C Rev.6

5.1.3 Max. Pulse Range of Joint #3

0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit.

The pulse value is always negative because Joint #3 always moves lower than the 0 pulse

position.

Upper limit: 0 pulse

Lower limit:

Manipulator Joint #3 stroke Pulse value of lower limit

E2C**1S / SM 120 mm

-36864 pulse

E2C**1C / CM 100 mm

-30720 pulse

5.1.4 Max. Pulse Range of Joint #4

0 (zero) pulse position of Joint #4 is the position where the flat surface near the end of the

shaft faces toward the end of Arm #2. With the 0 pulse as a starting point, the

counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value
is defined as the negative (-).

+X 0 pulse ±46695 pulse

+Y

Clockwise (-value)

Counterclockwise (+value)

Setup & Operation 5. Motion Range

E2C Rev.6 57

5.2 Motion Range Setting by Mechanical Stops

(for Joints #1 to #3 of Standard-model / Joints #1 and #2 of Cleanroom-model)

Mechanical stops physically limit the absolute area that the Manipulator can move.

Mechanical stop
of Joint #2

Mechanical stop of Joint #1

(Do not move the upper limit
mechanical stop)

Multiple Mountings

Mechanical stop of Joint #3
(Lower limit mechanical stop)

For the Cleanroom-model Manipulator, the motion range set with the Joint #3 mechanical

stop cannot be changed.

The mechanical stop can be set at the angle shown in the table below.

If the position of the mechanical stop is changed, re-specify the pulse range.

(º: degree)

Manipulator Joint Position for area setting by mechanical stops

1 +0°

-0°

2 +110°

-110°

E2C251*

3 less than the maximum stroke

1 +0°

-0°

2 +120°

-120°

E2C351*

3 less than the maximum stroke

* In the E2C***C/CM, the position of the Joint #3 mechanical stop cannot be changed.

)

NOTE

Setup & Operation 5. Motion Range

58 E2C Rev.6

5.2.1 Setting the Mechanical Stops of Joints #1 and #2

Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for

the mechanical stop settings. Tighten the bolts in holes corresponding to the angle that

you want to set.

The following figures show the positions of the threaded holes for the mechanical stop

settings of Joints #1/#2 and the setting angles (pulse value).

Joint #1 (º: degree)

E2C251*
(Table Top)

+90° (163840 pulse) (standard) -90° (0 pulse) (standard)

+0° (81920 pulse)

Mechanical stop of Joint #1 (standard)

Mechanical stop for 0°

-0°

(81920 pulse)

E2C351*
(Table Top)

E2C351*M
(Multiple Mountings)

+110° (182045 pulse) (standard)

-110° (-18205 pulse) (standard)

+0° (81920 pulse)

Mechanical stop of Joint #1 (standard)

Mechanical stop for 0°

-0° (81920 pulse)

+110° (182045 pulse) (standard)

-110° (-18205 pulse) (standard)

+0° (81920 pulse)

Mechanical stop for 0°

-0° (81920 pulse)

Setup & Operation 5. Motion Range

E2C Rev.6 59

Joint #2 (º: degree)

E2C251*

+135° (76800 pulse) (standard)

-135° (-76800 pulse) (standard)

+110° (62578 pulse)

-110° (-62578 pulse)

Mechanical stop of Joint #2

E2C351*

+145° (82489 pulse) (standard)

-145° (-82489 pulse) (standard)

+120° (68267 pulse)

-120° (-68267 pulse)

Mechanical stop of Joint #2

(1) Turn OFF the Controller.

(2)

Tighten a hexagon socket head cap bolt into the hole corresponding to the setting

angle.

Joint

Hexagon socket head

cap bolt

The number of

bolts

Recommended tightening

torque

M8×10 (fully threaded)

1

two M10 nuts

one plain washer

3720 N⋅cm (380 kgf⋅cm)

2 M6×10 (fully threaded)

1 (one side)

1860 N⋅cm (190 kgf⋅cm)

(3) Turn ON the Controller.

(4)

Set the pulse range corresponding to the new positions of the mechanical stops.

Be sure to set the pulse range inside the positions of the mechanical stop range.

<Example: The angle of Joint #1 is set from – 90 degrees to + 0 degrees

The angle of Joint #2 is set from – 110 degrees to + 135 degrees>

The method for setting pulse ranges varies with the software used.

)

NOTE

Setup & Operation 5. Motion Range

60 E2C Rev.6

SPEL CT

Select the [RANGE] panel. Set the lower limit value at “0” and the upper limit

value at “81920” for Joint #1. Additionally, set the lower limit value at “– 62578”

and the upper limit value at “76800” for Joint #2.

EPSON

RC+

Execute the following commands.

[Monitor Window] EPSON RC+ 4.* or before（RC520/RC420）
[Command Window] EPSON RC+ 5.0 or later（RC170）

>JRANGE 1,0,81920 '

Sets the pulse range of Joint #1

>JRANGE 2,-62578,76800 '

Sets the pulse range of Joint #2

>RANGE '

Checks the setting using RANGE

0,81920,-62578,76800,-36864,0,-46695,46695

(5)

Move the arm by hand until it touches the mechanical stops, and make sure that the

arm does not hit any peripheral equipment during operation.

(6)

Operate the joint changed at low speeds until it reaches the positions of the minimum

and maximum pulse range. Make sure that the arm does not hit the mechanical

stops.

<Example: The angle of Joint #1 is set from – 90 degrees to + 0 degrees

The angle of Joint #2 is set from – 110 degrees to + 135 degrees>

The method for setting pulse ranges varies with the software used.

SPEL CT

Click the <Debug Pane> button, and execute the following commands from

the [Command Execution] Window.
MOTOR ON '

Turns ON the motor

SPEED 5 '

Sets at low speeds

GO PULSE(0,0,0,0) '

Moves to the min. pulse position of Joint #1

GO PULSE(81920,0,0,0) '

Moves to the max. pulse position of Joint #1

GO PULSE(40960,-62578,0,0) '

Moves to the min. pulse position of Joint #2

GO PULSE(40960,76800,0,0) '

Moves to the max. pulse position of Joint #2

EPSON

RC+

Execute the following commands.

[Monitor Window] EPSON RC+ 4.* or before（RC520/RC420）
[Command Window] EPSON RC+ 5.0 or later（RC170）

>MOTOR ON '

Turns ON the motor

>SPEED 5 '

Sets at low speeds

>PULSE 0,0,0,0 '

Moves to the min. pulse position of Joint #1

>PULSE 81920,0,0,0 '

Moves to the max. pulse position of Joint #1

>PULSE 40960,-62578,0,0 '

Moves to the min. pulse position of Joint #2

>PULSE 40960,76800,0,0 '

Moves to the max. pulse position of Joint #2

Setup & Operation 5. Motion Range

E2C Rev.6 61

PULSE command (GO PULSE command) moves all joints to the specified positions

at the same time. Specify safe positions after considering motion of not only the

j

oints whose pulse range have been changed, but also other joints.

In this example, Joint #1 is moved to the position near the center of its motion range

(pulse value: 40960) when checking Joint #2.

If the arm is hitting the mechanical stops or if an error occurs after the arm hits the

mechanical stops, either reset the pulse range to a narrower setting or extend the

positions of the mechanical stops within the limit.

5.2.2 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model Manipulator.
For the Cleanroom-model Manipulator, the motion range set with the Joint #3 mechanical

stop cannot be changed.

(1) Turn ON the Controller and turn OFF the motors using the MOTOR OFF command.

(2)

Push up the shaft while pushing the Joint #3

brake release button.

Do not push the shaft up to its upper limit

since it is difficult for the arm top cover to

be removed. Push the shaft up to the

p

osition where the position of the Joint #3

mechanical stop can be changed.

When you push the Joint #3 brake release

button, the shaft may lower due to the

weight of the end effector. Be sure to hol

d

the shaft by hand while pushing the button.

Lower limit
mechanical stop

M3×10
(split muff
coupling)

Brake release button

Shaft

(3) Turn OFF the Controller.

(4) Remove the arm top cover. (Only for -UL type)

For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.

(5) Loosen the lower limit mechanical stop.

A mechanical stop is mounted on both the top and bottom of Joint #3. However, onl

y

the position of the lower limit mechanical stop on the top can be changed. Do not

remove the upper limit mechanical stop on the bottom because the calibration

p

oint of

Joint #3 is specified.

)

NOTE

)

NOTE

)

NOTE

Setup & Operation 5. Motion Range

62 E2C Rev.6

(6)

The upper end of the shaft defines the

maximum stroke. Move the lower limit

mechanical stop down by the length you

want to limit the stroke.

For example, when the lower limit

mechanical stop is set at “120 mm” stroke

(standard), the lower limit Z coordinate
value is “-120”. To change the value to

“-100”, move the lower limit mechanical

stop down “20 mm”. Use calipers to

measure the distance when adjusting the

mechanical stop.

Measure
this
distance

(7) Securely tighten the bolt (for the split muff coupling) in the appropriate position.

Recommended tightening torque: 245 N⋅cm (25 kgf⋅cm)

(8) Install the arm top cover. (Only for -UL type)

For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.

(9) Turn ON the Controller.

(10)

Move Joint #3 to its lower limit while pushing the brake release button, and then chec

k

the lower limit position. Do not lower the mechanical stop too far. Otherwise, the

j

oint does not reach target position.

(11)

Calculate the lower limit pulse value of the pulse range using the formula shown below

and set the value.

The result of the calculation is always negative because the lower limit Z coordinate

value is negative.

Lower limit of pulse = lower limit Z coordinate value / 16 × 4096 × 1.2

< Example: When lowering the mechanical stop by 20 mm and changing the lowe

r

limit Z coordinate value to “−100” in 120 mm stroke>

(-100) / 16 × 4096 × 1.2 = -30720

The method for setting pulse ranges varies with the software used.

SPEL CT

Select the [RANGE] panel, and set the lower limit value at “−30720” and the uppe

r

limit value at “0” for Joint #3.

EPSON

RC+

Execute the following command.

[Monitor Window] EPSON RC+ 4.* or before（RC520/RC420）
[Command Window] EPSON RC+ 5.0 or later（RC170）

>JRANGE 3,-30720,0 '

Sets the pulse range of Joint #3

Setup & Operation 5. Motion Range

E2C Rev.6 63

(12)

Using the PULSE command (GO PULSE command), move Joint #3 to the lower

limit position of the pulse range at low speeds. If the mechanical stop range is less

than the pulse range, Joint #3 will hit the mechanical stop and an error will occur.

When the error occurs, either change the pulse range to a lower setting or extend the

position of the mechanical stop within the limit.

The clearance between the lower-limit pulse position and the mechanical stop shoul

d

be approximately 11 mm.

If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the

Controller and lift the arm top cover to check the condition causing the problem fro

m

the side.

For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.

< Example: When lowering the mechanical stop by 20 mm and changing the lowe

r

limit Z coordinate value to “−100” in 120 mm stroke >

The method for setting pulse ranges varies with the software used.

SPEL CT

Click the <Debug Pane> button, and execute the following commands from the

[Command Execution] window.
MOTOR ON '

Turns ON the motor

SPEED 5 '

Sets at low speeds

GO PULSE(0,0,-30720,0) '

Moves to the lower limit-pulse position of Joint #3. (In

this example, all pulses except those for Joint #3 are “0”.

Substitute these “0s” with the other pulse values specifying

a position where there is no interference even when

lowering Joint #3.)

EPSON

RC+

Execute the following commands.

[Monitor Window] EPSON RC+ 4.* or before（RC520/RC420）
[Command Window] EPSON RC+ 5.0 or later（RC170）

>MOTOR ON '

Turns ON the motor

>SPEED 5 '

Sets at low speeds

>PULSE 0,0,-30720,0 '

Moves to the lower limit-pulse position of Joint #3. (In

this example, all pulses except those for Joint #3 are “0”.

Substitute these “0s” with the other pulse values specifying

a position where there is no interference even when

lowering Joint #3.)

)

NOTE

Setup & Operation 5. Motion Range

64 E2C Rev.6

5.3 Setting the Cartesian (Rectangular) Range

in the X, Y Coordinate System of the Manipulator (for Joints #1 and #2)

Use this method to set the upper and lower limits of the X and Y coordinates.

This setting applies only to the software. Therefore, it does not change the physical

range. The maximum physical range is based on the position of the mechanical stops.

The method for changing the XYLIM setting varies with the software used.

SPEL CT

Set the XYLIM setting on the [XYLIM] panel shown by selecting the [Setup]- [Robot

Parameters].

EPSON

RC+

EPSON RC+ 4.* or before(RC520/RC420)

Set the XYLIM setting on the [XYLIM] panel shown by selecting the [Project]-[Robot

Parameters].

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

EPSON RC+ 5.0 or later(RC170)

Set the XYLIM setting on the [XYZ Limits] panel shown by selecting the [Tools]-[Robot

manager].

You may also execute the XYLim command from the [Command Window].

For setting values of Table Top E2C251* and Multiple Mounting Manipulators at shipping,

refer to Setup & Operation: 5.4 Standard Motion Range.

Setup & Operation 5. Motion Range

E2C Rev.6 65

5.4 Standard Motion Range

The “motion range” shows the standard (maximum) specification. When each Joint

motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the

area shown in the figure.

“Area limited by mechanical stop” is the area where the center of Joint #3’s lowest point

can be moved when each joint motor is not under servo control.

“Mechanical stop” sets the limited motion range so that the center of Joint #3 cannot move

beyond the area mechanically.

“Maximum space” is the area that contains the farthest reach of the arms. If the

maximum radius of the end effector is over 44 mm, add the “Area limited by mechanical

stop” and “radius of the end effector”. The total value is specified as the maximum area.

Setup & Operation 5. Motion Range

66 E2C Rev.6

5.4.1 Table Top

Motion Range of E2C251S/C [unit: mm]

Type

S C

a

(Joint #3 stroke)

120 mm 100 mm

b

(Height from the base mounting face)

97 mm 93 mm

c

(Height to the upper limit mechanical stop)

7 mm 5 mm

d

(Height to the lower limit mechanical stop)

11 mm 4 mm

Center of Joint #3

Maximum space

Motion range

Area limited by
mechanical stop

Base mounting face

Setting value of Cartesian
(rectangular) range at shipping

X coordinate axis: -94 to 94
Y coordinate axis: -250 to 0

Setup & Operation 5. Motion Range

E2C Rev.6 67

Motion Range of E2C351S/C [unit: mm]

Type

S C

a

(Joint #3 stroke)

120 mm 100 mm

b

(Height from the base mounting face)

97 mm 93 mm

c

(Height to the upper limit mechanical stop)

7 mm 5 mm

d

(Height to the lower limit mechanical stop)

11 mm 4 mm

Center of Joint #3

Maximum space

Motion range

Area limited by
mechanical stop

Base mounting face

Setup & Operation 5. Motion Range

68 E2C Rev.6

5.4.2 Multiple Mountings

Motion Range of E2C351SM/CM [unit: mm]

Type

SM CM

a

(Joint #3 stroke)

120 mm 100 mm

b

(Height from the center of base reference hole)

83 mm 108 mm

c

(Height to the upper limit mechanical stop)

7 mm 5 mm

d

(Height to the lower limit mechanical stop)

11 mm 4 mm

Center of Joint #3

Maximum space

Motion range

Area limited by
mechanical stop

+X

+Y

Center of base reference hole

Setting value of Cartesian
(rectangular) range at shipping

X coordinate axis:

-160 to 160

Y coordinate axis: -350 to -50

Maintenance

This volume contains maintenance procedures
with safety precautions for E2C series Manipulators.

Maintenance 1. Safety Maintenance

E2C Rev.6 71

1. Safety 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 the safety training should be allowed
to maintain the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation.
The personnel who have taken the safety training acquire knowledge of industrial
robots (operations, teaching, etc.), knowledge of inspections, and knowledge of
related rules/regulations.
The personnel who have completed the robot system-training and maintenance­training 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.

■

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 safeguard area. Checking the operation of
the Manipulator while you are inside of the safeguard area may cause serious
safety problems as the Manipulator may move unexpectedly.

WARNING

■

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.

■

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.

Maintenance 1. Safety Maintenance

72 E2C Rev.6

CAUTION

■

Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.

Maintenance 2. General Maintenance

E2C Rev.6 73

2. General Maintenance

Performing the inspection steps properly is essential to preventing trouble and maintaining

safety. This section describes schedule for maintenance inspection and the procedures.

Be sure to perform the maintenance inspection in accordance with the schedule.

2.1 Schedule for Maintenance Inspection

Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and

annual. The inspection points are added every stage.

If the Manipulator is operated for 250 hours or longer per month, the inspection points

must be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.

Inspection Point

Daily

inspection

Monthly

inspection

Quarterly

inspection

Biannual

inspection

Annual

inspection

1 month (250h) √
2 months (500h) √

3 months (750h) √ √

4 months (1000h) √

5 months (1250h) √

6 months (1500h) √ √ √

7 months (1750h) √

8 months (2000h) √

9 months (2250h) √ √

10 months (2500h) √

11 months (2750h) √

12 months (3000h) √ √ √ √

13 months (3250h)

Inspect every day

√

…

…

…

…

…

…

h = hour

Maintenance 2. General Maintenance

74 E2C Rev.6

2.2 Inspection Point

2.2.1 Inspection while the Power Is OFF (Manipulator is not operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

End effector mounting bolts

√ √ √ √ √

Manipulator mounting bolts

√ √ √ √ √

Each arm locking bolts

√ √ √ √ √

Bolts/screws around shaft

√

Check looseness or backlash of

bolts/screws.

Tighten them if necessary.

(For the tightening torque, refer to

Maintenance: 2.4 Tightening

Hexagon Socket Head Cap Bolts.)

Bolts/screws securing motors,

reduction gear units, etc.

√

External connectors on

Manipulator (on the base

connector box etc.)

√ √ √ √ √

Check looseness of connectors.

If the connectors are loosen, push it

securely or tighten.

Manipulator cable unit

√ √ √ √

External appearance of

Manipulator

√ √ √ √ √

Visually check for external defects.

Clean up if necessary.

External cables

√ √ √ √

Check for bends or improper

location. Repair or place it properly

if necessary.

Safeguard etc.

√ √ √ √ √

Check tension of timing belts.

Tighten it if necessary.

Inside of Arm #2

√ √

Grease conditions

Refer to Maintenance: 2.3 Greasing.

2.2.2 Inspection while the Power Is ON (Manipulator is operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

Check motion range Each joint

√

Move the cables back and forth

lightly to check whether the cables

are disconnected.

External cables

(including Cable Unit of the

Manipulator)

√ √

Push each arm in MOTOR ON

status to check whether backlash

exists.

Each arm

√

Check whether unusual sound or

vibration occurs.

Whole

√ √ √ √ √

Measure the accuracy repeatedly by

a gauge.

Whole

√

Maintenance 2. General Maintenance

E2C Rev.6 75

2.3 Greasing

The ball screw spline and reduction gear units need greasing regularly. Only use the

grease specified in the following table.

CAUTION

■

Keep enough grease in the Manipulator. Operating the Manipulator with
insufficient grease will damage sliding parts and/or result in insufficient function of
the Manipulator. Once the parts are damaged, a lot of time and money will be
required for the repairs.

Greasing part Greasing Interval Grease Refer to:

Joint #3

Ball screw spline

shaft

First time: after 50 km operation

2nd or more: after 100 km operation

AFB

Maintenance: 10.3 Greasing the Ball

Screw Spline Unit

Joint #1

Reduction gear

unit

In the replacement of motor* SK-1A

Joint #2

Reduction gear

unit

In the replacement of motor* SK-2

Maintenance:

6.5 Replacing the Joint #1 Reduction

Gear Unit

6.6 Replacing the Joint #2 Reduction

Gear Unit

* Under normal conditions, the reduction gear units shall be greased only when the motor is replaced.

However, in case of severe working conditions (such as high duty, high speeds, large loading, etc.),

the reduction gear units must be greased every 10,000 hours.

CAUTION

■

If grease gets into your eyes, mouth, or on your skin, follow the instructions
below.

If grease gets into your eyes

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

immediately.

If grease gets into your mouth

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

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

thoroughly.

If grease gets on your skin

: Wash the area thoroughly with soap and water.

Maintenance 2. General Maintenance

76 E2C Rev.6

2.4 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts are used in places where mechanical strength is required.

(A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are

fastened with the tightening torques shown in the following table.

When it is necessary to refasten these bolts in some procedures in this manual (except

special cases as noted), use a torque wrench so that the bolts are fastened with the

appropriate tightening torques as shown below.

Bolt

Tightening Torque

M3 245 N⋅cm (25 kgf⋅cm)

M4 490 N⋅cm (50 kgf⋅cm)

M5 980 N⋅cm (100 kgf⋅cm)

M6 1,760 N⋅cm (180 kgf⋅cm)

M8 3,720 N⋅cm (380 kgf⋅cm)

M10 7,350 N⋅cm (750 kgf⋅cm)

M12 12,740 N⋅cm (1,300 kgf⋅cm)

We recommend that the bolts aligned on a circumference should be fastened in a crisscross

pattern as shown in the figure below.

1

5

3

7

2

6

4

8

Bolt hole

Do not fasten all bolts securely at one time. Divide the number of times that the bolts are

fastened into two or three and fasten the bolts securely with a hexagonal wrench. Then,

use a torque wrench so that the bolts are fastened with tightening torques shown in the

table above.

Maintenance 2. General Maintenance

E2C Rev.6 77

2.5 Matching Origins

After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball

screw spline unit, 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 method of calibration is different depending on the software used. Refer to

Maintenance: 14. Calibration and follow the steps that pertain to the software you are

using.

For the calibration, the pulse values for a specific position must be recorded in advance.

Before replacing the parts, select easy point (pose) data from the registered point data to

check the accuracy. Then, follow the steps below to display the pulse values and record

them.

SPEL CT

Click the <Debug Pane> button and execute the following command from the [Comman

d

Execution] window.

WHERE

pulse 1: [Joint #1 Pulse value] 2: [Joint #2 Pulse value] 3: [Joint #3 Pulse value] 4:

[Joint #4 Pulse value]

EPSON

RC+

Execute the following command.

[Monitor Window] EPSON RC+ 4.* or before（RC520/RC420）
[Command Window] EPSON RC+ 5.0 or later（RC170）

>PULSE

PULSE: [5Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value]

pls [Joint #4 Pulse value] pls

Maintenance 2. General Maintenance

78 E2C Rev.6

2.6 Layout of Maintenance Parts

2.6.1 S Type Manipulator Layout

Joint #4 motor

Joint #3 motor

Joint #4
counter shaft

Joint #2 motor

Signal relay board

Joint #1 motor

U1 belt

U2 belt

Z belt

Ball screw spline unit

Joint #2 reduction gear unit

Joint #1 reduction
gear unit

Cable unit

LED lamp

Shaft cover
(only for -UL type)

2.6.2 C Type Manipulator Layout

Joint #4 motor

Joint #3 motor

Joint #4 counter shaft

Joint #2 motor

Signal relay board

Joint #1 motor

U1 belt

U2 belt

Z belt

Ball screw spline unit

Joint #2 reduction
gear unit

Joint #1 reduction
gear unit

Cable unit

LED lamp

Upper bellows

Lower bellows

Maintenance 2. General Maintenance

E2C Rev.6 79

2.6.3 SM Type Manipulator Layout

Joint #4 motor

Joint #3 motor

Joint #4 counter shaft

Joint #2 motor

Signal relay board

Joint #1 motor

U1
belt

U2 belt

Z belt

Ball screw spline unit

Joint #2 reduction
gear unit

Joint #1 reduction
gear unit

LED lamp

Cable unit

Shaft cover
(only for -UL type)

2.6.4 CM Type Manipulator Layout

Joint #4 motor

Joint #3 motor

Joint #4 counter shaft

Joint #2 motor

Signal relay board

Joint #1 motor

U1
belt

U2 belt

Z belt

Ball screw spline unit

Joint #2 reduction
gear unit

Joint #1 reduction
gear unit

LED lamp

Cable unit

Upper bellows

Lower bellows

Maintenance 2. General Maintenance

80 E2C Rev.6

Maintenance 3. Removing and Installing the Covers

E2C Rev.6 81

3. Removing and Installing the Covers

All procedures for removing/installing covers in maintenance are described in this chapter.

■

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.

■

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.

WARNING

■

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.

Maintenance 3. Removing and Installing the Covers (Arm Top Cover)

82 E2C Rev.6

3.1 Arm Top Cover

■

Do not remove the arm top cover forcibly. Removing the cover 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 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.

Unscrew the bolts from the arm top cover, and

then lift the cover.

The cover cannot be removed completely

because user wires and tubes are connected.

However, you can continue the regula

r

maintenance.

Arm top cover

4-M4×12
+Spring washer

2-M4×8
truss head screw

After installing the arm top cover, push and hold

the brake release button to let the shaft down.

Make sure that the lower limit mechanical stop

does not touch the cylindrical part of the arm top

cover.

Lower limit
mechanical stop

Brake release button

Shaft

Cylindrical
part of
the arm top
cover

Maintenance 3. Removing and Installing the Covers (Arm Bottom Cover/Joint #1 Cover)

E2C Rev.6 83

3.2 Arm Bottom Cover

Unscrew the bolts from the arm bottom cover,

and then pull the cover downward and remove

it.

The arm bottom cover may not be removed

from the shaft because the end effector is

installed.

If it is necessary to remove the cover completely

(for replacement of the ball screw spline uni

t

etc.), remove the end effector.

If it is not necessary to remove the cover

completely, move the shaft to the lower limit,

and lower the arm bottom cover. Then,

perform maintenance or inspection.

3-M4×8
+Spring washer

Arm bottom cover

3.3 Joint #1 Cover

Only S and C types have the Joint #1 cover.

Unscrew the bolt from the Joint #1 cover an

d

remove the cover.

2-M4×8 truss head screw

Joint #1 cover

Maintenance 3. Removing and Installing the Covers (Base connector Box)

84 E2C Rev.6

3.4 Base Connector Box

The procedure for removing/installing the base connector box varies with the Manipulator

used.

■

Do not remove the base connector box forcibly. Removing the base connector
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 base connector 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 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 base
connector box. Be sure to place the cables back to their original locations.

3.4.1 S, C Type Manipulators

Unscrew the bolts from the base connector box

and remove the box.

4-M4×8

Base
connector box

3.4.2 SM, CM Type Manipulators

Unscrew the bolts from the base connector box

and remove the box.

4-M4×8

Base connector box

Maintenance 4. Replacing the Cable Unit

E2C Rev.6 85

4. Replacing the Cable 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.

■

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.

WARNING

■

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

■

Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.

Maintenance 4. Replacing the Cable Unit

86 E2C Rev.6

4.1 Before Replacing the Cable Unit

Before replacing the cable unit, 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 keep the position data.

A super-capacitor is mounted on each motor. The charged motors can keep the position

data for about 2 hours after their cables are disconnected.

Since the power is supplied to each motor from the lithium battery on the signal relay

board via the signal connectors, 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-capacitor is exceeded, the position data will be

lost, and the error* will occur when the Controller is turned ON.

* : In the case of SPEL CT, the “Error F-5016” occurs. In case of EPSON RC+, the error

message that Encoder alarm has occurred is displayed.

If the error occurs, execute the calibration of all joints and axes.

For details on the calibration method, refer to Maintenance: 14 Calibration.

4.2 How to Replace the Cable Unit

The procedure for replacing the cable unit varies with the Manipulator used.

■

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 Maintenance: 4.5 Connector Pin
Assignments.

■

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.

CAUTION

■

Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.

Maintenance 4. Replacing the Cable Unit

E2C Rev.6 87

4.2.1 S, C Type Manipulators

Removal

(1) Turn OFF the Controller.

(2) Disconnect all the connectors and tubes from the base connector box (outside).

(3) Remove the base connector box.

For details on the removal method, refer to Maintenance: 3.4 Base Connector Box.

Remember the cable layout so that the cables can be reconnected correctly afte

r

replacement.

(4) Remove the connector cover and cut of

f

the wire tie binding cables.

Detach the ferrite core.

(5) Disconnect X110 connector by holding the

claw next to the connector number on the

motor side.

Wire tie

Ferrite core

Connector

cover

Connector box

(6) Remove the receptacle from the base

connector box.

(7) Disconnect the pneumatic tubes and

ground terminal from the base connecto

r

box (inside).

To disconnect the pneumatic tube, push the

ring on each pneumatic tube fitting an

d

pull out its tube.

To disconnect the ground terminal,

unscrew the bolt from the ground terminal.

(8) Disconnect X20, X30, X40, and X50

connectors from the signal relay board.

Receptacle

4-M3×8

Ground terminal

Pneumatic tube
fittings

8-M4×8

Be sure to connect motors to the signal relay board with a new cable unit within 2

hours after the connectors are disconnected. Otherwise, the motor will lose position

data and the calibration must be executed again.

)

NOTE

)

NOTE

Maintenance 4. Replacing the Cable Unit

88 E2C Rev.6

(9) Using a pair of water pump pliers, loosen

the duct joint.

Duct joint

(10) Remove the arm top cover.

For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.

Remember the cable layout so that the cables can be reconnected correctly afte

r

replacement.

(11) Cut off the wire tie binding the duct plate, motor, and cables together.

(12) Disconnect the pneumatic tubes and

ground terminal on the arm side.

To disconnect the pneumatic tubes, push

the ring on each pneumatic tube fitting an

d

pull out its tube.

To disconnect the ground terminal,

unscrew the mounting bolt for groun

d

terminal on the duct plate.

Mounting bolt for ground terminal

M4×8

Pneumatic
tube fitting

(13) Remove the duct plate from Arm #2.

Duct plate

3-M5×15

(14) Cut off the wire tie binding cables to the

duct plate.

Wire tie

)

NOTE