Epson RC90, LS6, LS3, LS20 Safety And Installation

Robot Controller RC90

Programming Software EPSON RC+ 7.0

Manipulator LS serie s

(LS3 / LS6 / LS20)

4124972-05

Robot System

Safety and Installation

Read this manual first

Rev.6 EM158B3033F

ii Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

Robot System Safety and Installation (RC90 / EPSON RC+

7.0) Rev.6

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 i

Robot System Safety and Installation

(RC90 / EPSON RC+ 7.0)

Rev.6

Copyright  2013-2015 SEIKO EPSON CORPORATION. All rights reserved

ii Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

FOREWORD

Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Operat or
Panel.
Please carefully read this manual and other related manuals before installing the
robot system.
Keep this manual handy for easy access at all times.

WARRANTY

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

Product malfunctions resulting from normal handling or operation will be repaired
free of charge during the no rmal warranty peri od. (Please ask you r Regional S ales
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 car eless use.

2.

Malfunctions caused by customers’ unauthorized disassembly.

3.

Damage due to improper adjustments or unauthorized repair attempts.

4.

Damage caused by natu r a

l disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

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

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

3. We can not foresee all possib le dangers and consequences. Therefore, this
manual cannot warn the user of all poss

ible hazards.

Safety and Installation (RC90 / EPSON RC+ 7.0) 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.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Win dows® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Microsoft ® Windows® 8 Operating system
Throughout this manual, Windows XP, Windows Vista, Windows 7 and Windows
8 refer to above respective operating systems. In some cases, Windows refers
generically to Windows XP, Window s Vista, Windows 7 and Windows 8.

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, inspec tio ns o r adjustm ents.
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 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

MANUFACTURER

Seiko Epson Corporation

Toyoshina Pla n t
Robotics Solutions Operations Division
6925 Toyoshi

na T azawa,

Azumino

-shi, Nagano, 399-8285

J

apan

TEL

: [phone]

FAX

: [phone]

SUPPLIERS

North & South
America

Epson America, Inc.

Factory Autom ation/Robotics
18300 Central Avenue
Carson, CA 90746
USA

TEL

: [phone]

FAX

: [phone]

E-MAIL

: [e-mail]

Europe

Epson Deutschland GmbH

Factory Autom ation Division
Otto

-Hahn-Str.4

D

-40670 Meerbusch

Germany

TEL

: [phone]

FAX

: [phone]

E-MAIL

: [e-mail]

China

Epson (China) Co., Ltd.

Factory Autom ation Division
7F, Jinbao Building No. 89, Jinbao Street,
Dongcheng District, Beijing,
China, 100005

TEL

: [phone]

FAX

: [phone]

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 v

Taiwan

Epson Taiwan T echnol ogy & T rading Ltd.

Factory Autom ation Division
14F, No.7, Song Ren Road, Taipei 110,
Taiwan, ROC

TEL

: [phone]

FAX

: [phone]

Korea

Epson Korea Co., Ltd.

Marketing Team (Robot Business)
27F DaeSung D

-Polis A, 606

Seobusaet

-gil, Geumcheon-gu, Seoul, 153-803

Korea

TEL

: [phone]

FAX

: [phone]

Southeast Asia

Epson Singapor e Pte. Ltd.

Factory Autom ation System
1 HarbourFront Place, #03

-02,

HarbourFr on t Tower One,
Singapore 09 8633

TEL

: [phone]

FAX

: [phone]

India

Epson India Pvt. Ltd.

Sales & Marketing (F actory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008

TEL

: [phone]

FAX

: [phone]

Japan

Epson Sales Japan Corporation

Factory Automation Systems Department
Nishi

-Shinjuku Mitsui Bldg.6-24-1

Nishishinjuku, Shinjuku

-ku, Tokyo 160-8324

Japan

TEL

:[phone]

vi Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

For Customers in the European Union

The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household
waste stream. To prevent possible harm to the environment or human health please
separate this product and its batteries from other waste streams to ensure that it can be
recycled in an environmentally sound manner. For more details on available collection
facilities plea se co nta ct y our local gover n me nt of fi ce or t he re tailer where you purchased
this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are
used in the battery.

This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL
OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please c o nt act y our lo ca l government to inv esti gate the possibil it y of
recycling your product.

The battery removal/replacement procedure is described in the following manuals:
Controller manual / Manipulator manual (Maintenance section)

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 vii

Before Reading This Manual

TP port of RC90 is for the Teach Pendant TP1 and TP2. Do not connect
the followings to T P port of RC90. Connecting to the followings may res ult in

malfunction of the device since the pin assignments are different.

OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3** series
Operator Panel OP1

For RC90, be sure to install the EPSON RC+7.0 to the development PC first,
then connect the development PC and RC90 with the USB c able.
If RC90 and the dev el op ment P C ar e con nect ed without installi ng t he E PS ON
RC+7.0 to the development PC, [Add New Hardware Wizard] appears. If
this wizard appears, click the < Cance l> butt on .

Concerning the security support for the network connection:
The network connecting function (Ethernet) on our products assumes the use
in the local network such as the factory LAN network. Do not connect to the
external network such as Internet.
In addition, please take security measure such as for the virus from the
network connection by installing the antivirus software.

Security support for the USB memory:
Make sure the USB memory is not infected with virus when connecting to the
Controller.

NOTE

NOTE

NOTE

NOTE

viii Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

Control System Configuration

This manual explains with the following combinations of Controllers
and software.

Robot Controller RC90 with the following label attached.

Label

Controller

Software

RC90 EPSON RC+ 7.0

Manual PDF for this robot system is available from EPSON RC+ 7.0 Ver. 7.0.2

This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without
the label.

NOTE

NOTE

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 ix

LS3-401*

RC90 controller firmware

Ver.7.0.2.0 or later

EPSON RC+ 7.0

Before Ver.7.0.1

!!!

Ver.7.0.2 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.

7.0.2 or later.

Manipulator serial No. : L6**00****

LS6-602*

RC90 controller firmware

Ver.7.0.2.0 or later

EPSON RC+ 7.0

Before Ver.7.0.1

!!!

Ver.7.0.2 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.

7.0.2 or later.

Manipulator serial No. : L6**01**** or later

LS6-502*, LS6-602*, LS6-702*

RC90 controller firmware

Ver.7.1.6.* or later

EPSON RC+ 7.0

Before Ver.7.1.2

!!!

Ver.7.1.3 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.

7.1.3 or later.

LS20-804*, LS20-A04*

RC90 controller firmware

Ver.7.1.8.* or later

EPSON RC+ 7.0

Before Ver.7.1.3

!!!

Ver.7.1.4 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.

7.1.4 or later.

x Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 xi

TABLE OF CONTENTS

1. Safety 1

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

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

1.2.1 Relevant Manuals .......................................................... 2

1.2.2 Designing a Safe Robot System .................................... 3

1.3 Operation Safety ....................................................................... 7

1.3.1 Safety-related Requirements ......................................... 8

1.3.2 Part Names / Arm Motion ............................................... 9

1.3.3 Operation Modes ......................................................... 14

1.4 Maintenance Safety ................................................................. 15

1.5 Emergency Stop ...................................................................... 18

1.5.1 Free running distance in emergency ............................ 18

1.5.2 How to Reset the Emergency Mode ............................ 25

1.6 Labels ...................................................................................... 26

1.6.1 Controller ..................................................................... 26

1.6.2 Manipulator .................................................................. 27

1.7 Safety Features ....................................................................... 31

1.8 Lockout / Tagout ...................................................................... 34

1.9 Manipulator Specifications ...................................................... 36

1.10 Motion Range Setting by Mechanical Stops .......................... 41

1.11 End User Training .................................................................. 42

2. Installation 43

System Example .............................................................................. 44

2.1 Outline from Unpacking to Operation of Robot Sys tem ........... 45

2.2 Unpacking ............................................................................... 46

2.2.1 Package Components Example................................... 46

2.2.2 Unpacking Precautions ................................................ 46

2.3 Transportation ......................................................................... 47

2.3.1 Transportation Precautions .......................................... 47

2.3.2 Manipulator Transportation .......................................... 48

2.4 Manipulator Installation ........................................................... 51

2.4.1 Installation Precautions ................................................ 51

2.4.2 Environment................................................................. 51

2.4.3 Noise level ................................................................... 52

2.4.4 Base Table ................................................................... 53

2.4.5 Installation Procedure .................................................. 54

2.5 Controller Installation ............................................................... 58

2.5.1 Installation Precautions ................................................ 58

2.5.2 Installation.................................................................... 59

xii Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

2.6 Connection to EMERGENCY Connector (Controller) .............. 61

2.6.1 Safety Door Switch and Latch Release Switch ............ 61

2.6.2 Safety Door Switch ...................................................... 61

2.6.3 Latch Release Switch .................................................. 62

2.6.4 Checking Latch Release Switch Operation .................. 63

2.6.5 Emergency Stop Switch ............................................... 64

2.6.6 Checking Emergency Stop Switch Operation .............. 64

2.6.7 Pin Assignm ents .......................................................... 65

2.6.8 Circuit Diagrams .......................................................... 66

2.7 Power supply / AC power cable / Breaker ............................... 68

2.7.1 Power Supply .............................................................. 68

2.7.2 AC Power Cable .......................................................... 69

2.8 Connecting Manipulator and Controller ................................... 71

2.8.1 Connecting Precautions ............................................... 71

2.9 Power-on ................................................................................. 72

2.9.1 Power-on Precautions ................................................. 72

2.9.2 Power ON Procedure ................................................... 73

2.10 Saving Default Status ............................................................ 74

3. First Step 75

3.1 Installing EPSON RC+ 7.0 Software ....................................... 75

3.2 Development PC and Controller Connection ........................... 78

3.2.1 About Development PC Connection Port ..................... 78

3.2.2 Precaution ................................................................... 79

3.2.3 Software Setup and Connection Check ....................... 79

3.2.4 Backup the initial condition of the Controller ................ 80

3.2.5 Disconnection of Development PC and Controller ....... 81

3.2.6 Moving the Robot to Initial Position.............................. 81

3.3 Writing your first program ........................................................ 86

4. Second Step 93

4.1 Connection with External Equipment....................................... 93

4.1.1 Remote Control............................................................ 93

4.1.2 Ethernet ....................................................................... 93

4.1.3 RS-232C (Option) ........................................................ 93

4.2 Ethernet Connection of Development PC and Controller ........ 94

4.3 Connection of Option Teaching Pendant ................................. 94

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 xiii

5. General Maintenance 95

5.1 Schedule for Maintenance Inspection ..................................... 95

5.1.1 Manipulator .................................................................. 95

5.1.2 Controller ..................................................................... 98

5.2 Overhaul .................................................................................. 99

5.3 Tightening Hexagon Socket Head Cap Bolts ........................ 101

5.4 Greasing ................................................................................ 102

5.5 Handling and Disposal of Batteries ....................................... 103

6. Manuals 105

Software ......................................................................................... 105

Software Options ........................................................................... 105

Controller ....................................................................................... 106

Controller Options .......................................................................... 106

Manipulator .................................................................................... 106

7. Directives and Norms 107

xiv Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 1

1. Safety

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

Please read this manual and other related manuals before installing the robot
system or before connecting cables.
Keep this manual handy for easy access at all times.

1.1 Conventions

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

WARNING

This symbol indicates that a danger of possible serious injury

or death exists if the associated instructions are not followed

properly.

WARNING

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

CAUTION

This symbol indicates that a danger of possible harm to

people or physical damage to equipment and facilities exists
if the associated instructions are not followed properly.

1. Safety

2 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

1.2 Design and Installation Safety

Only trained personnel should design and install the robot system. Trained
personnel are defined as those who have taken robot system training held by the
manufacturer, dealer, or local representative compan y, 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. Fo r details
on the safeguard, refer to the Installation and Design Precautions in the Safety
chapter of the EPSON RC+ User’s Guide.
The following items are safety precautions for design personnel:

WARNING

■

Personnel who design and/or construct the robot system with this
product must rea d the

Safety c hapter in the EPSON RC+ User’s Guide

to understand the safety requirements before designing and/or
constructing the robot system.

Designing and/or constructing the

robot system without understanding the safety requirements is
extremely hazardous,

and may result in serious bodily injury and/or

severe equipment damage to the robot system.

■

The Manipulator and the Controller must be used within the
environmental conditi ons de sc ribed in their resp ect iv e manu als.

This

product has been designed and manufactured strictly for use in a
normal indoor environ ment.

Using the product in an env ir o nmen t th at

exceeds the specified environmental conditions may not only shorten
the life cycle of the product but may also cause serious safety
problems.

■

The robot system must be used within the installation requirements
described in the manuals.

Using the robot system outside of the

installation require men ts may not only shor ten the life cycl e of the
product but also cause serious safety problems.

Further precautions for installation are mentioned in the following manuals.
Please read this ch apter carefull y to understan d safe install ation proced ures before
installing the robots and robotic equipment.

1.2.1 Relevant Manuals

Refer



This manual : 2. Installation

Manipulator manual : Setup & Operation 3. Environment and Installation

Controller manual : Setup & Operation 3. Installation

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 3

1.2.2 Designi ng a Safe Robot System

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

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

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

Environmental Conditions

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

System Layout

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

When designing a robot system to restrict the area of motion of the robots, do so in
accordance with th e methods descri bed in each manipulator manual. Utilize both
software and mechan ical stops as measures to restrict motion.
Install the emergenc y stop s witch at a location near the operation unit for the robot
system where the operator can easily press and hold it in an emergency.

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

Disabling Power to the System using lock out / tag out

The power connection for the robot controller should be such that it can be locked
and tagged in the off position to prevent anyone from turning on power while
someone else is in th e s afeguar ded area.
For further details, refer to the following section:

1.8 Lockout/Tagout

1. Safety

4 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

End Effector Design

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

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

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

Peripheral Equipment Design

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

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

Remote Control

To prevent operation by remote control from being dangerous, start signals from
the remote con tro ll er are all owed o n ly when t he co n trol d evice i s s et to RE MOTE,
TEACH mode is OFF, and the system is configured to accept remote signals.
Also when remote is valid, motion command execution and I/O output are
available only fro m remote. F or the safet y of the overall system, h owever, safety
measures are needed to eliminate the risks associated with the start-up and
shutdown of peripheral equipment by remote control.

Emergency Stop

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

During an emergency stop, the power that is supplied to the motor driving the
robot is shut off, and the robot is stopped by dynamic braking.

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 5

The emergency stop circuit should also remove power from all external
components that must be turned off during an emergency. Do not assume that the
robot controller will turn off all outputs if configured to. For example, if an I/O
card is faulty, the controller cannot turn off a component connected to an output.
The emergency stop on the controller is hardwired to remove motor power from
the robot, but not external power supplies.

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

1.5 Emergency Stop

Safeguard System

To ensure safety, a safeguard system should be installed for the robot system.
When installing the safeguard system, strictly observe the following points:
Refer to each rob o t manual , an d instal l th e safegu ard syste m ou tsi de th e maxi mum

space. Carefully consid er the size of the end effector and the work p ieces to be
held so that there will be no error between the moving parts and the safeguard
system.

Manufacture th e safeguard system to withst and calculated external force s (forces
that will be added during operation and forces from the surrounding environment).

When designing the safeguard system, make sure that it is free of sharp corners
and projections, and that the safeguard system itself is not a hazard.

Make sure that the safeguard system can on ly be removed by using a tool.
There are several types of safeguard devices, including safety doors, safety barriers,

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

Connect the interlock switch to the safeguard input of the drive unit’s
EMERGENCY connector. The safeguard input informs the robot controller that
an operator may be inside the safeguard area. When the safeguard input is
activated, the robot stops immediately and enters pause status, as well as either
operation-prohibited status or restricted status (low power status).

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

1. Safety

6 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

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

It is dangerou s to allo w someon e else t o rel ease th e sa feguar d i nt erlo ck by mist ake
while the operator is working inside the safeguarded area. To protect the operator
working inside the safeguarded area, take measures to lock out and tag out the
latch-release switch.

Presence Sensing Device

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

Here are precautions that should be noted :

Design the system so that when th e presence sensin g device is not acti vated
or a dangerous situation still exists that no personnel can go inside the
safeguard area or place their hands inside it.

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

If the robot stops operating when the presence sensing device is activated, it
is necessary to ensure t hat it does not s tart again until the detected object has
been removed. Make sure that the robot cannot automatical ly restart.

Resetting the Safeguard

Ensure that the robot system can only be restarted through careful operation from
outside the safeguarded system. The robot will n ever restart simply b y resetting
the safeguard interlock switch. Apply this concept to the interlock gates and
presence sensin g devices for the entire system.

Robot Operation Panel

When using the robot operation panel, it must be installed so as to operate the
robot system from outside the safeguard.

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 7

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

WARNING

■

Please carefully read the

Safety-related Requirements before

operating the robot system. Operating the robot system without
understanding the safety requirements is extremely hazardous and
may result in serious bodily injury and/or sever

e 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 mov e ev en if i t s ee ms t o be stopped.

■

Before operating the robot system, make sure that no one is inside the
safeguarded area.

The robot system can be oper ate d in the mode for

teaching

even when someone is inside the safeguarded area.

The motion of the Manipulator is always in restricted

status (low

speeds and low power) to secure the safety of an operator.

However,

operating the robot system while someone is inside the safeguarded
area is extremely h az ar dou s a nd m ay resu lt i n serious

safety problem s

in case that the Manipulator moves unexpectedly.

■

Immediately press the Emergency Stop switch whenever the
Manipul

ator moves abnormally while the robot system is operated.

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

WARNING

■

Be sure to connect the AC power cable to a power receptacle. DO
NOT connect it directly to a factory power source. To shut off power
to the robot system, pull out the power plug from the power source.
Performing any work while connecting the AC power ca

ble to a factory

power source is extremely hazardous and may result in

electric shock

and/or malfunction of the robot system.

1. Safety

8 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

1.3.1 Safety-related Requirements

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

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

Robot systems safety standards and other examples are given in this chapter.
Therefore, to ensure that safety measures are complete, please refer to the other
standards listed as well.

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

EN ISO 10218-1

Robots and robotic devices -- Safety requirements for industrial

robots -- Part 1: Robots

EN ISO 10218-2

Robots and robotic devices -- Safety requirements for industrial

robots -- Part 2: Robot systems and integration

ANSI/RIA R15.06

American National Standard for Industrial Robots and Robot

Systems -- Safety Requir ements

EN ISO 12100

Safety of machinery -- General principles for design -- Risk

assessment and r isk reduction

EN ISO 13849-1

Safety of machinery -- Safety-related parts of control systems --

Part 1: General principles for design

EN ISO 13850

Safety of machin ery -- Emergency stop -- Principles for design

EN ISO 13855

Safety of machinery -- P ositioning of safeguards with respect to the

approach speeds of parts of the human body.

EN ISO 13857

Safety of machinery -- Safety distances to prevent hazard zones

being reached by upper and lower limbs.

ISO14120

EN953

Safety of machinery -- Guards -- General requirements for the

design and construction of fixed and movable guards

IEC 60204-1
EN 60204-1

Safety of machiner y -- El ectrical equipment of machines -- P art 1:

General requirements

CISPR11
EN55011

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

-- Electromagnetic disturbance characteristics --

Limits and

methods of measurement

IEC 61000-6-2
EN 61000-6-2

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

standards -- Immunity for industrial environments

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 9

1.3.2 Part Names / Arm Motion

(3)

(19)

(12) (13) (14) (15) (16) (17) (7)

(4)

(1)

(11) (10)

(9)

(20)

(20)

(18)

(5)
(6)

(Left side)

(2)

(8)

(1) POWER switch
(2) AC IN
(3) LED
(4) Fan Filter
(5) Signature label
(6) MT label
(7) Controller Nu mber lab el
(8) Connectio n Check labe l
(9) M/C PO WER connector
(10) M/C SIGNAL connector
(11) EMERGENCY connector
(12) TP port
(13) Development PC connection port
(14) Memory port
(15) Trigg er Switch
(16) LAN (Ethernet communication) port
(17) I/O connector
(18) Standard RS-232C port
(19) Option slot
(20) Cable Clamp
(21) Battery (Mounted inside the controller)

1. Safety

10 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

LS3 / LS6

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

Joint #3

Brake release switch

Arm #1

Arm #2

Base

Shaft

MT label

(only for custom

specification)

Signature label

(Serial No.

of Manipulator)

Signal cable

Power cable

Fittings (black or blue)

for ø4 mm pneumati c tub e

Fittings (black or blue)

for ø6 mm

pneumatic tube

Fittings (white)

for ø6 mm

pneumatic tube

User connector
(15-pin
D-sub connector)

CE label

+

+

+

+

-

-

-

-

Joint #2
(Rotation)

Joint #1
(Rotation)

Joint #3
(Up/Down)

Joint #4
(Rotation)

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 11

When the system is placed in emergency mode, push the arm or joint of
the Manipulator by hand as shown below:

Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the

solenoid brake applied to the joint has been released.
Move the joint up/down while pressing the brake release
switch.

Joint #4 LS3: Rotate the shaft by hand.

LS6: The shaft cannot be rotated by hand until the

solenoid brake applied to the shaft has been
released. Move the shaft while pressing the
brake release switch.

LS3: The brake release switch affects only Joint #3. When the brake

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

LS6: The brake release switch affects both Joints #3 and #4. When the

brake release switch is p ress ed in emergen cy mod e, th e b rake for both
Joints #3 and #4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release
switch is pressed because the shaft may be lowered by the weight of
an end effector.

NOTE

1. Safety

12 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

LS20

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

Joint #3 / Joint #4

Brake release switch

Joint #1

(Rotation)

Joint #2

(Rotation)

Joint #3
(Up/Down)

Joint #4

(Rotation)

Arm #1

Arm #2

+

-

+

- + -

+

-

Shaft

(Figure: LS20-804S)

Base

MT label

(only for custom

specification)

Signature label

(Serial No.

of Manipulator)

Signal cable

Power cable

Fittings (blue)
for ø4 mm
pneumatic tube

Fittings (blue) for
ø6 mm
pneumatic tube

Fittings (white) fo r

ø6 mm

pneumatic tube

User connector
(15-pin D-sub connector)

CE label

User connector
(9-pin D-sub connector)

Fittings (white) fo r

ø4

mm

pneumatic tube

KC Mark

1. Safety

Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 13

When the system is placed in emergency mode, push the arm or joint of
the Manipulator by hand as shown below:

Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the

solenoid brake applied to the joint has been released.
Move the joint up/down while pressing the brake release
switch.

Joint #4 The shaft cannot be rotated by hand until the solenoid

brake applied to the shaft has been released. Move the
shaft while pressing the brake release switch.

The brake release s witch affects both Joints #3 and #4. When the brake
release switch is p ressed in emergency mode, the brakes for both Joints
#3 and #4 are released simultaneously. Be careful of the shaft falling
and rotating while the brake release switch is pressed because the shaft
may be lowered by the weight of an end effector.

NOTE

1. Safety

14 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6

1.3.3 Operation Modes

The operation mode is defined as the single control point for the controller,
therefore you cannot use more than one ope r a ti on mode at the s am e time .

There are four operation modes for the controller: AUTO, PROGRAM,
TEACH, and TEST.

- AUTO operation modes allow you to execute programs in the

controller when the safeguard is closed.

- PROGRAM operation mode allows you to execute and debug

programs when the safeguard is closed.

- TEACH operation mode allows you to jog and teach the robot at

slow speed while in s ide the safeguarded ar ea.

- TEST operation mode allows you to execute a program at slow speed

while the safeguard is opened.