Epson LS-B Series, LS6-B, LS3-B, RC90-B, LS20-B Safety And Installation

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Page 1

Rev.4 EM196B3937F

Robot System

Safety and Installation

Read this manual first

Robot Controller RC90-B

Programming Software EPSON RC+ 7.0

Manipulator LS-B series

(LS20-B, LS10-B, LS6-B, LS3-B)

Page 2

Robot System Safety and Installation

(RC90-B / EPSON RC+ 7.0) Rev.4

Page 3

Robot System Safety and Installation

(RC90-B / EPSON RC+ 7.0)

Rev.4

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 i

Page 4

1. Damage or malfunction caused by improper use which is not described in

the manual, or careless use.

Malfunctions caused by customers’ unauthorized disassembly.

Damage due to improper adjustments or unauthorized repair attempts.

Damage caused by natural disasters such as earthquake, flood, etc.

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 cannot foresee all possible dangers and consequences. Therefore, this

manual cannot warn the user of all possible hazards.

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the robot

system.

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 normal warranty period. (Please contact the supplier of

your region for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they

occur during the warranty period):

Warnings, Cautions, Usage:

ii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

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Seiko Epson Corporation

3-3-5 Owa, Suwa-shi, Nagano, 392-8502

URL

: http://global.epson.com/company/

: http://www.epson.jp/prod/robots/

Toyoshina Plant

Robotics Solutions Operations Division

6925 Toyoshina Tazawa,

Azumino

TEL

: +81-(0)263-72-1530

FAX

: +81-(0)263-72-1495

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or

trademarks of Microsoft Corporation in the United States and/or other countries.

Other brand and product names are trademarks or registered trademarks of the

respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 7 Operating system

Microsoft® Windows® 8 Operating system

Microsoft® Windows® 10 Operating system

Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above

respective operating systems. In some cases, Windows refers generically to

Windows 7, Windows 8, and Windows 10.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any

comments regarding its contents.

MANUFACTURER

-shi, Nagano, 399-8285

apan

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 iii

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North & South America

Epson America, Inc.

Factory Automation/Robotics

1650 Glenn Curtiss Street

Carson, CA 90746

USA

TEL

: +1-562-290-5900

FAX

: +1-562-290-5999

E-MAIL

: info@robots.epson.com

Europe

Epson Deutschland GmbH

Robotic Solutions

Otto

Germany

TEL

: +49-(0)-2159-538-1800

FAX

: +49-(0)-2159-538-3170

E-MAIL

: info.rs@epson.de

URL:

: www.epson.de/robots

China

Epson (China) Co., Ltd.

Factory Automation Division

4F,

81 Jianguo Road,

Beijing, 100025, PRC

TEL

: +86-(0)-10-8522-1199

FAX

: +86-(0)-10-8522-1120

Taiwan

Epson Taiwan Technology & Trading Ltd.

Factory Automation Division

15F., No.100, Songren Rd., Sinyi Dist., Taipei City, 11073

Taiwan

TEL : +886-(0)-2-8786-6688

FAX : +886-(0)-2-8786-6600

SUPPLIERS (Country/Region)

-Hahn-St r.4

-40670 Meerbusch

Tow e r 1, China Central Place,

Chaoyang District,

iv Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

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Korea

Epson Korea Co., Ltd.

Marketing Team (Robot Business)

10F Posco P&

Gangnam

Korea

TEL

: +82-(0)-2-3420-6692

FAX

: +82-(0)-2-558-4271

Southeast Asia

Epson Singapore Pte. Ltd.

Factory Automation System

1 HarbourFront Place, #03

HarbourFront Tower One,

Singapore 098633

TEL

: +65-(0)-6586-5696

FAX

: +65-(0)-6271-3182

India

Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)

12th Floor, The Millenia, Tower A, No. 1,

Murphy Road, Ulsoor, Bangalore,

India 560008

TEL

: +91-80-3051-5000

FAX

: +91-80-3051-5005

Japan

Epson Sales Japan Corporation

Factory Automation Systems Department

Japan

TEL

:+81-(0)3-5919-5257

FAX

:+81-(0)3-5919-5402

S Tower, Teheranro 134(Yeoksam-dong)

-gu, Seoul, 06235

-02,

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 v

floor, JR Shinjuku Miraina Tower, 4-1-6

hinjuku, Shinjuku-ku, Tokyo 160-8801

Page 8

Regarding battery disposal

The crossed out wheeled bin label that can be found on your product indicates that this

product and incorporated batteries should not be disposed of via the normal household

waste stream. To prevent possible harm to the environment or human health please

separate this product and its batteries from other waste streams to ensure that it can be

recycled in an environmentally sound manner. For more details on available collection

facilities please contact your local government office or the retailer where you purchased

this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are

used in the battery.

This information only applies to customers in the European Union, according to

DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL

OF 6 September 2006 on batteries and accumulators and waste batteries and

accumulators and repealing Directive 91/157/EEC and legislation transposing and

implementing it into the various national legal systems.

For other countries, please contact your local government to investigate the possibility of

recycling your product.

The battery removal/replacement procedure is described in the following manuals:

Controller manual / Manipulator manual (Maintenance section)

For California customers only

The lithium batteries in this product contain

Perchlorate Material - special handling may apply,

See www.dtsc.ca.gov/hazardouswaste/perchlorate.

vi Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

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NOTE

Before Reading This Manual

TP port of RC90-B is for the Teach Pendant TP1 and TP2. Do not connect

the followings to TP port of RC90. Connecting to the followings may result 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-B, be sure to install the EPSON RC+7.0 to the development PC

first, then connect the development PC and RC90-B with the USB cable.

If RC90-B and the development PC are connected without installing the

EPSON RC+7.0 to the development PC, [Add New Hardware Wizard]

appears. If this wizard appears, click the <Cancel> button.

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.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 vii

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RC90-B controller firmware

Ver.7.4.5 or later

Before Ver.7.4.4

!!!

Ver. 7 . 4.5 or later

RC90-B controller firmware

Ver.7.4.2.1 or later

Before Ver.7.4.1

!!!

Ver. 7 . 4.2 or later

RC90-B controller firmware

Ver.7.4.3.1 or later

Before Ver.7.4.2

!!!

Ver. 7 . 4.3 or later

RC90-B controller firmware

Ver.7.4.4.2 or later

Before Ver.7.4.3

!!!

Ver.7.4.4 or later

Control System Configuration

This manual explains with the following combinations of Controllers and

software.

LS20-B****

EPSON RC+ 7.0

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

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

LS10-B****

EPSON RC+ 7.0

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

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

LS6-B****

available.

7.4.5 or later.

available.

7.4.2 or later.

EPSON RC+ 7.0

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.

7.4.3 or later.

LS3-B****

EPSON RC+ 7.0

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.7.4.4 or later.

viii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

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产品中有害物质的名称及含量

机器人型号名称

LS-B系列

部件名称

有害物质

铅汞镉

六价铬

多溴联苯

多溴

二苯醚

(Pb)

(Hg)

(Cd)

(Cr(VI))

(PBB)

(PBDE)

机器人

电机（执行器单元、电机单元）

减速机单元

电磁制动器

同步皮带

电池单元（电池、电池固定架、电池基板）

密封（密封填料、油封、密封脂、垫片、

O型环）

润滑脂

电缆（M/C电缆、连接电缆）

散热片

LED指示灯

电路板

外罩

滚珠丝杠花键

制动解除开关

伸缩罩

扎带

气管接头

选件

相机安装板

产品环保使用期限的使用条件

附注：

Note:

China RoHS

This sheet and environmental protection use period label are based on the regulation

in China. These are not necessary to be concerned in other countries.

× ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

× ○ ○ ○ ○ ○

○ ○ ○ ○ ○ ○

× ○ ○ ○ ○ ○

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

× ○ ○ ○ ○ ○

本表格依据SJ/T 11364的规定编制。 ○：表示该有害物质在该部件所有均质材料中的含量在GB/T 26572规定的限量要求以下。 ×：表示该有害物质至少在该部件的某一均质材料中的含量超出GB/T 26572规定的限量要求。本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。

关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注意事项的条件下，从生产日期开始计算，在标志的年限内，本产品中含有的有害物质不会对环境造成严重污染或对人身、财产造成严重损害。

本表格及环保使用期限标志依据中国的有关规定而制定，中国以外的国家/地区则无需关注。

This sheet and environmental protection use period label are based on the regulation in China. These are not necessary to be concerned in other countries.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 ix

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产品中有害物质的名称及含量

控制器型号名称

RC90-B系列

部件名称

有害物质

铅汞镉

六价铬

多溴联苯

多溴

二苯醚

(Pb)

(Hg)

(Cd)

(Cr(VI))

(PBB)

(PBDE)

控制器

机壳

电路板

开关电源

风扇

线束

电源保护装置

存储卡

电池

连接器附件

选件

电路板

接线

接线端子

紧急停止开关

TP1

TP2

墙面安装金属件

CK1

CV1

CV2

相机

延长管

GigE相机PoE转换器

GigE相机PoE交换集线器

GigE相机三脚架适配器

以太网交换机

USB选件密钥

VRT

产品环保使用期限的使用条件

附注：

Note:

× ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○ × ○ ○ ○ ○ ○

本表格及环保使用期限标志依据中国的有关规定而制定，中国以外的国家/地区则无需关注。

This sheet and environmental protection use period label are based on the regulation in China. These are not necessary to be concerned in other countries.

x Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

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1. Safety 1

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

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

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

1.4 Maintenance Safety ................................................................. 16

1.5 Emergency Stop ...................................................................... 19

1.6 Labels ...................................................................................... 24

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

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

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

1.10 Motion Range Setting by Mechanical Stops .......................... 43

1.11 End User Training .................................................................. 44

2. Installation 45

System Example .............................................................................. 46

2.1 Outline from Unpacking to Operation of Robot System ........... 47

2.2 Unpacking ............................................................................... 48

2.3 Transportation ......................................................................... 49

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

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

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

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

1.3.1 Safety-related Requirements ....................................... 10

1.3.2 Part Names / Arm Motion .............................................. 11

1.3.3 Operation Modes ......................................................... 15

1.5.1 Free running distance in emergency ............................ 19

1.5.2 How to Reset the Emergency Mode ............................ 24

1.6.1 Controller ..................................................................... 25

1.6.2 Manipulator .................................................................. 26

Installing the Lockout Attachment ............................................ 34

Padlock Size and Weight ........................................................ 35

Safety Precautions .................................................................. 35

2.3.1 Transportation Precautions .......................................... 49

2.3.2 Manipulator Transportation .......................................... 50

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

2.4.2 Environment................................................................. 52

2.4.3 Noise level ................................................................... 53

2.4.4 Base Table ................................................................... 54

2.4.5 Installation Procedure .................................................. 55

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

2.5.2 Environment................................................................. 59

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 xi

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2.5.3 Installation ................................................................... 60

2.6 Connection to EMERGENCY Connector (Controller) .............. 62

2.6.1 Safety Door Switch and Latch Release Switch ............ 62

2.6.2 Safety Door Switch ...................................................... 63

2.6.3 Latch Release Switch .................................................. 64

2.6.4 Checking Latch Release Switch Operation .................. 65

2.6.5 Emergency Stop Switch ............................................... 65

2.6.6 Checking Emergency Stop Switch Operation .............. 66

2.6.7 Pin Assignments .......................................................... 67

2.6.8 Circuit Diagrams .......................................................... 68

2.7 Power Source .......................................................................... 70

2.7.1 Power Supply .............................................................. 70

2.7.2 AC Power Cable .......................................................... 71

2.7.3 M/C Power Cable Connection ..................................... 72

2.8 Connecting Manipulator and Controller ................................... 73

2.9 Power-on ................................................................................. 74

2.9.1 Power-on Precautions ................................................. 74

2.9.2 Power ON Procedure ................................................... 75

2.10 Saving Default Status ............................................................ 75

3. First Step 76

3.1 Installing EPSON RC+ 7.0 Software ....................................... 76

3.2 Development PC and Controller Connection ........................... 79

3.2.1 About Development PC Connection Port ..................... 79

3.2.2 Precaution ................................................................... 80

3.2.3 Software Setup and Connection Check ....................... 80

3.2.4 Backup the initial condition of the Controller ................ 81

3.2.5 Disconnection of Development PC and Controller ....... 82

3.2.6 Moving the Robot to Initial Position.............................. 82

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

4.1.4 Analog I/O (Option) ...................................................... 93

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

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

Table of Contents

xii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 15

Table of Contents

5. General Maintenance 95

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

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

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

5.2 Overhaul (Parts Replacement) ................................................ 99

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

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

5.5 Handling and Disposal of Batteries ....................................... 104

6. Manuals 106

Software ......................................................................................... 106

Software Options ........................................................................... 106

Controller ....................................................................................... 107

Controller Options .......................................................................... 107

Manipulator .................................................................................... 107

7. Directives and Norms 108

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 xiii

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Table of Contents

xiv Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 17

1. Safety

or death exists if the associated instructions are not followed

This symbol indicates that a danger of possible harm to

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.

This symbol indicates that a danger of possible serious injury

WARNING

CAUTION

properly.

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

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

1. Safety

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 1

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1. Safety

Personnel who

must read the

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/

system.

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

Using the product in an environment that exceeds the specified

environmental conditions may not only shorten the life cycle of the product

but may also cause serious safety problems.

The robot system must be used within the

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.

Controller manual : Setup & Operation 3. Installation

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 company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses. To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide. The following items are safety precautions for design personnel:

■

WARNING

2 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

■

Further precautions for installation are mentioned in the following manuals. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

Refer



1.2.1 Relevant Manuals

This manual : 2. Installation Manipulator manual : Setup & Operation 3. Environment and Installation

design and/or construct the robot system with this product

Safety chapter in the EPSON RC+ User’s Guide to understand

or severe equipment damage to the robot

indoor environment.

installation requirements described

Page 19

1. Safety

1.2.2 Designing a Safe Robot System

It is important to operate robots safely. It is also important for robot users to give 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 the methods described in each manipulator manual. Utilize both software and mechanical stops as measures to restrict motion. Install the emergency stop switch 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 the safeguarded area. For further details, refer to the following section:

1.8 Lockout/Tagout

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 3

Page 20

1. Safety

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 limits. Use of values that exceed the allowable limits can subject the robot to excessive loads. This will not only shorten the service life of the robot but can lead to unexpectedly dangerous situations due to additional external forces applied to the end effector and the 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 other measures to ensure that 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 controller are allowed only when the control device is set to REMOTE, 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 from remote. For the safety of the overall system, however, 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 the emergency stop, the power supplied to the motor for driving the robot is shut off, and the robot is stopped due to the dynamic brake.

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

Page 21

1. Safety

Make sure that all external components that shut off the power in case of emergency are turned OFF by the emergency stop circuit. Do not design to turn OFF the robot controller by using outputs of all I/O boards. For example, if the I/O board is faulty, the controller cannot turn OFF the power of external components. The emergency stop on the controller is hardwired to disconnect the motor power from the robot, but not the external power supplies.

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

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 robot manual, and install the safeguard system outside the maximum space. Carefully consider the size of the end effector and the work pieces to be held so that there will be no error between the moving parts and the safeguard system.

Manufacture the safeguard system to withstand calculated external forces (forces that will be added during operation and forces from the surrounding environment).

When designing the safeguard system, make sure that it is free from sharp corners and projections, and that the safeguard system itself is not dangerous.

Make sure that the safeguard system can only 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.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 5

Page 22

1. Safety

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 dangerous to allow someone else to release the safeguard interlock by mistake 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 the presence sensing device is not

activated 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 that it does not start again until the detected object has been removed. Make sure that the robot cannot automatically restart.

Resetting the Safeguard

Ensure that the robot system can only be restarted through careful operation from outside the safeguarded system. The robot will never restart simply by resetting the safeguard interlock switch. Apply this concept to the interlock gates and presence sensing 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.

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

Page 23

1.3 Operation Safety

Please carefully read the Safety-related Requirements before

operating the robot system.

the robot system without

understanding the safety requirements is extremely hazardous and

may result in serious bodily injury and/or sever

the robot system.

Do not enter the operating area of the Manipulator while the power to

the robot system is turned ON.

power ON is extremely hazardous and may cause serious safety

problems as the Manipulator may move even if it seems to

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

safeguarded area.

teaching

The motion of the Manipulator is always in restricted

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

operating the robot system while someone is inside the safeguarded

area is extremely hazardous and may result in serious s

in case that the Manipulator moves unexpectedly.

Immediately press the Emergency Stop switch whenever the

Manipul

Continuing operation of the robot system while the Manipulator mo

abnormally is extremely hazardous and may result in serious bodily

injury and/or severe equipment change to the robot system.

To shut off power

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.

The following items are safety precautions for qualified Operator personnel:

■

WARNING

1. Safety

Operating

e equipment damage to

Entering the operating area with the

be stopped.

The robot system can be operated in the mode for

even when someone is inside the safeguarded area.

status (low speed

However,

■

ator moves abnormally while the robot system is operated.

WARNING

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 7

■

to the robot system, disconnect the power plug from

afety problems

ves

Page 24

1. Safety

Before

from the power source.

Performing any replacement procedure with the power ON is

extremely hazardous and may result in electric shock and/or

malfunction of the robot system.

Do not connect or disconnect the motor connectors while the power to

the robot system is turned ON. Connecting or disconnecting the

motor connectors

result

abnormally, and also may result in

the robot system.

Whenever possible, only one person should operate the robot system.

If it is necessary to operate the robot system with more than one

person, ensure that all people involved communicate with each other

as to what they are doing and take all necessary safety precautions.

Joint #1, #2, and #4:

If the joints are operated

5 degrees, they may get damaged early because the bearings are

likely to cause oil film shortage in such situation. To prevent early

breakdown, move the joints larger than 50 degrees

ten times a day.

Joint #3:

If the up

a half of the maximum stroke for five to ten times a day.

LS20-B : less than 50 mm

WARNING

■

performing any replacement procedure, turn OFF the

ontroller and related equipment, and then disconnect the power plug

with the power ON is extremely hazardous and may

in serious bodily injury as the Manipulator may move

electric shock and/or malfunction of

■

CAUTION

8 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

-and-down motion of the hand is the following, move the joint

LS3-B : less than 32 mm

LS6-B : less than 40 mm

LS10-B : less than 50 mm

repeatedly with the operating angle less than

for about five to

Page 25

■

Oscillation (resonance) may occur continuously depending on the

combination of robot motion speed, Arm orientation, and end effector

load.

and can be Manipulator may be warmed up due to motor heat or similar causes.

Do not touch the Manipulator

the temperature of the Manipulator falls and

it.

Oscillation arises from natural oscillation frequency of the Arm

controlled by following measures.

Changing Manipulator speed

CAUTION

Changing the teach points

Changing the end effector load

■

Then perform teaching or maintenance.

1. Safety

until temperature falls. Also, make sure

is not hot when you touch

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 9

Page 26

1. Safety

EN ISO 10218-1

Robots and robotic devices -- Safety requirements for industrial

EN ISO 10218-2

Robots and robotic devices -- Safety requirements for industrial

ANSI/RIA R15.06

American National Standard for Industrial Robots and Robot

EN ISO 12100

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

EN ISO 13849-1

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

EN ISO 13850

Safety of machinery -- Emergency stop function-- Principles for

Safety of machinery -- Positioning of safeguards with respect to the

Safety of machinery -- Safety distances to prevent hazard zones

EN ISO14120

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

IEC 60204-1

Safety of machinery -- Electrical equipment of machines -- Part 1:

CISPR11

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

Limits and

IEC 61000-6-2

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

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 system safety standards and other examples are given in this chapter. To ensure that safety measures are satisfied, also refer to these standards.

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

robots -- Part 1: Robots

robots -- Part 2: Robot systems and integration

Systems -- Safety Requirements

assessment and risk reduction

Part 1: General principles for design

design

EN ISO 13855

EN ISO 13857

EN 60204-1

EN55011

EN 61000-6-2

approach speeds of parts of the human body.

being reached by upper and lower limbs.

design and construction of fixed and movable guards

General requirements

-- Electromagnetic disturbance characteristics -methods of measurement

standards -- Immunity for industrial environments

10 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 27

1.3.2 Part Names / Arm Motion

(3)

(18)

(11) (12) (13) (14) (15) (16) (6)

(4)

(1)

(10)

(9)

(8)

(19)

(17)

(5)

(Left side)

(2)

(7)

(10) EMERGENCY connector

(20) Battery (Mounted inside the controller)

RC90-B

(1)

POWER switch

(2) AC IN

(3) LED

(4) Fan Filter

(5) Signature label

(6) Controller Number label

(7) Connection Check label

(8) M/C POWER connector

(9) M/C SIGNAL connector

1. Safety

(11) TP port

(12) Development PC connection port

(13) Memory port

(14) Trigger Switch

(15) LAN (Ethernet communication) port

(16) I/O connector

(17) Standard RS-232C port

(18) Option slot

(19) Cable Clamp

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 11

Page 28

1. Safety

Brake release switch

Joint #1

(Rotation)

Joint #2

(Rotation)

Joint #3

(Up/Down)

Joint #4

(Rotation)

Arm #1

Arm #2

−

+ − +

−

Shaft

(Figure: LS20-B804S)

Base

NOTE

LS20-B

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

necessary safety precautions.

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

electromagnetic 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 electromagnetic

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

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

release switch is pressed 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.

12 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 29

LS10-B

Joint #3, #4

Brake release switch

Joint #1 (Rotation)

Joint #2 (Rotation)

Joint #3

(Up/Down)

Joint #4

(Rotation)

Arm #1

Arm #2

−

Shaft

(Figure: LS10-B702S)

NOTE

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

necessary safety precautions.

1. Safety

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

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

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

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

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

Page 30

1. Safety

Brake release switch

Joint #1

(Rotation)

Joint #2

(Rotation)

Joint #4

(Rotation)

Joint #3

(Up/Down)

Arm #1

Arm #2

Shaft

(Figure: LS6-B602S)

LS3-B, LS6-B

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

necessary safety precautions.

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

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

Joint #4 LS3-B Rotate the shaft by hand.

LS6-B The shaft cannot be rotated by hand until the

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

14 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 31

LS3-B: The brake release switch is applied to Joint #3. When the brake release

NOTE

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

LS6-B: The brake release switch is applied to both Joint #3 and Joint #4. When

the brake release switch is pressed 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.

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 operation mode at the same 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 inside the safeguarded area.

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

safeguard is opened.

1. Safety

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 15

Page 32

1. Safety

Do not remove any parts that are not covered in th

the maintenance procedure strictly as described in this manual

Maintenance

Controller manual

maintenance may not only cause improper function of the robot sy

but also serious safety problems.

Keep away from the Manipulator while

taken the training courses.

power

extremely

Manipulator may move

When you check the operation of the Manipulator a

be sure to

Checking the operation of the Manipulator while you are inside of the

safeguarded area may cause serious safety problems as the

Manipulator may move unexpectedly.

Before

the robot system when the switches do not function properly is

extremely hazardous and may result in serious bodily injury and/or

serious damage

inten

1.4 Maintenance Safety

Please read this section, Maintenance of the Manipulator manual, Maintenance of the Controller manual, and other related manuals carefully to understand safe maintenance procedures before performing any 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 the 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. Only personnel who have completed the robot system-training and maintenance-training classes held by the manufacturer, dealer, or locally-incorporated company should be allowed to maintain the robot system.

WARNING

■

of the Manipulator manual, and Maintenance of the

. Improper removal of parts or improper

■

Do not enter the operating area while the

is ON. Entering the operating area with the power ON is

hazardous and may cause serious safety problems as the

even though it seems to be stopped.

■

check it while you are outside of the safeguarded area.

■

operating the robot system, make sure that both the Emergency

top switches and safeguard switches function properly. Operating

the power is ON if you have not

is manual. Follow

fter replacing parts,

stem

16 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

ded functions in an emergency.

to the robot system as the switches cannot fulfill their

Page 33

■

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

the

the power plug from the power source.

Performing any work while connecting the AC power cable to a factory

power source is extremely hazardous and may result in

and/or malfunction of the robot system.

Before

and related equipment,

power source.

Performing any replacement procedure with the power ON is extremely

hazardous and may result in

robot system.

Be sure to connect the cables properly.

strain on the cables.

bend or pull the cables forcibly.)

may result in damage to the cables, disconnection, and/or contact

failure.

hazardous and may result in electric shock and/or improper function of

the robot system.

Carefully use

instructions

gasket, or adhesive may cause a fire and/or safety problems.

Wear protective gear including a mask, protective goggles, and

robot system, disconnect

1. Safety

electric shock

■

WARNING

■

performing any replacement procedure, turn OFF the Controller

and then disconnect the power plug from the

electric shock and/or malfunction of the

Do not allow unnecessary

(Do not put heavy objects on the cables. Do not

The unnecessary strain on the cables

Damaged cables, disconnection, or contact failure is extremely

■

- Never put alcohol, liquid gasket, or adhesive close to fire.

CAUTION

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 17

- Use alcohol, liquid gasket, or adhesive while ventilating the room.

oil-resistant gloves.

- If alcohol, liquid gasket, or adhesive gets on your skin, wash the area thoroughly with soap and water.

- If alcohol, liquid gasket, or adhesive gets into your eyes or mouth, flush your eyes or wash out your mouth with clean water thoroughly, and then see a doctor immediately.

alcohol, liquid gasket, and adhesive following respective

and also instructions below. Careless use of alcohol, liquid

Page 34

1. Safety

Wear protective gear including a mask, protective goggles, and

oil

mouth, or on your skin, follow the instructions below.

Manipulator may be warmed up due to motor heat or similar causes.

Do not touch the Manipulator

the temperature of the Manipulator falls and you

you touch it.

■

-resistant gloves during grease up. If grease gets into your eyes,

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.

CAUTION

■

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.

Then perform teaching or maintenance.

until temperature falls. Also, make sure

do not feel hot when

18 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 35

1.5 Emergency Stop

1.5.1 Free running distance in emergency

If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. The motor power will be turned OFF, and the arm motion by inertia will be stopped with the electromagnetic brake and dynamic brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally. Pressing the switch during the operation makes the brakes work. This will shorten the life of the brakes due to the worn friction plates.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

To place the robot system in emergency mode during normal operation, press the

Emergency Stop switch when the Manipulator is not moving.

Refer to the Controller manual for instructions on how to wire the Emergency Stop

switch circuit.

Do not turn OFF the Controller while the Manipulator is operating. If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”, make sure to stop the Manipulator using the E-STOP switch of the Controller. If the Manipulator is stopped by turning OFF the Controller while it is operating, following problems may occur. Reduction of the life and damage of the reduction gear unit Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like while the Manipulator is operating, make sure to check the following points after power restoration. Whether or not the reduction gear is damaged Whether or not the joints are in their proper positions If there is a position gap, perform calibration by referring to Maintenance: 13. Calibration in the manipulator manual. Manipulator manuals contain information on the Emergency Stop. Please also read the descriptions in the manual and use the robot system properly.

1. Safety

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 19

Page 36

1. Safety

Before using the Emergency Stop switch, be aware of the followings.

- The Emergency Stop (E-STOP) switch should be used to stop the

Manipulator only in case of emergencies.

- To stop the Manipulator operating the program except in emergency, use

Pause (halt) or STOP (program stop) commands

Pause and STOP commands do not turn OFF the motors. Therefore, the

brake does not function.

- For the Safeguard system, do not use the circuit for E-S TOP.

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

EPSON RC+ User’s Guide

2. Safety - Installation and Design Precautions - Safeguard System

Safety and Installation

2.6 Connection to EMERGENCY Connector

To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance

2.1.2 Inspection Point - Inspection While the Power is ON

(Manipulator is operating)

Safety and Installation

5.1.1 Manipulator - Inspection While the Power is ON

(Manipulator is operating)

20 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 37

1. Safety

LS20-B**4*

Accel Setting

100

Speed Setting

100

Load [kg]

Weight setting

Joint #1

Stop point

Point where the

emergency stop signal is

input

Target point

Start point of operation

Joint #2

Controller

RC90-B

Manipulator

LS20-B804*

LS20-BA04*

Free

time

Joint #1 + Joint #2 [s]

0.60

0.65

Free

angle

Joint #1 [deg]

Joint #2 [deg]

Joint #1 + Joint #2 [deg]

120

125

Free

distance

Free running distance

The Manipulator in operation 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 Accel

Weight of work piece Speed Operating pose etc.

Approximate time and distance of the free running are as follow:

LS20-B

Conditions for Measurement

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 21

running

Joint #3 [s] 0.3

Joint #3 [mm] 50

Page 38

1. Safety

LS10-B****

Accel Setting

100

Speed Setting

100

Load [kg]

Weight setting

Joint #1

Stop point

Point where the

emergency stop signal is

input

Target point

Start point of operation

Joint #2

Controller

RC90-B

Manipulator

LS10-B60**

LS10-B70**

LS10-B80**

Free

time

Free

angle

Joint #1 [deg]

Joint #2 [deg]

115

105

Joint #1 + Joint #2 [deg]

120

135

Free

distance

LS10-B

Conditions for Measurement

running

Joint #1 + Joint #2 [s] 0.7 0.9 0.7

Joint #3 [s] 0.2

Joint #3 [mm] 50

22 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 39

LS3-B, LS6-B

Accel Setting

100

Speed Setting

100

Load [kg]

Weight setting

Joint #1

Stop point

Point where the

emergency stop signal is

input

Target point

Start point of

operation

Joint #2

Controller

RC90-B

Manipulator

LS6-B502*

LS6-B602*

LS6-B702*

LS3-B401*

Free

time

Joints #1+#2 [s]

0.4

0.7

0.4

Joint #1 [deg]

100

110

Joint #2 [deg]

Joints #1+#2 [deg]

130

135

130

Free

distance

Conditions for Measurement

LS6-B*02* LS3-B401*

1. Safety

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 23

running

Free running angle

running

Joint #3 [s]

Joint #3 [mm]

0.2 0.1

90 20

Page 40

1. Safety

1.5.2 How to Reset the Emergency Mode

Select EPSON RC+ [Tools] – [Robot Manager] – [Control Panel] tab, and then click <Reset>. The Control Panel page contains buttons for basic robot operations, such as turning motors on/off and homing the robot. It also shows status for Emergency Stop, Safeguard, Motors, and Power.

1.6 Labels

Labels are attached around the locations of the Controller and Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Robot System 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:

24 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 41

1.6.1 Controller

Location

Label

Note

Residual voltage exists. To avoid electric shock, do not open the cover while the Power is ON, or for 300

Disconnect and lockout main power

1. Safety

seconds after the Power is OFF.

before performing maintenance and repair.

TP port of RC90-B is for the Teach Pendant TP1 and TP2. Do not connect the followings to TP port of RC90. Connecting to the followings may result in malfunction of the device.

OPTIONAL DEVICE dummy plug, OP500, OP500RC, JP500, TP-3** series, and OP1

Refer to 4.3 Connection of Option Teaching Pendant.

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

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 25

Page 42

1. Safety

Location

Label

Note

osening the base mounting

screws, hold the arm and secure it

fingers from being caught in the

, follow the directions in this

the Manipulator is moving. The robot arm may collide against the operator. This is extremely hazardous and may result in serious

Hazardous voltage exists while the Manipulator is ON. To avoid electric

not touch any internal

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

this label for no danger of your hand

Only authorized personnel should

work and operate a

unauthorized personnel, it is

hazardous and may result

1.6.2 Manipulator

LS20-B

Before lo

tightly with a band to prevent hands or

Manipulator.

For installation and transportation of robots manual.

Do not enter the operation area while

safety problems.

shock, do electric parts.

parts.

Manipulators with bellows do not have

or fingers being caught

perform sling crane and a forklift.

26 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

When these operations are performed by extremely in serious bodily injury and/or severe equipment damage to the robot system.

Page 43

1. Safety

Be careful of the shaft falling and

the brake release

Location

Signature plate

Note

rotating while

switch is pressed because the shaft may be lowered by the weight of the end effector.

LS20-B

Manipulator’s serial No.

(Figure: LS20-B804S)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 27

Page 44

1. Safety

Location

Label

Note

osening the base mounting

with a band to prevent hands or fingers

, follow the directions in this

may collide against the operator. This is extremely hazardous and may result

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

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

with bellows do not have

Location

Signature plate

Note

LS10-B, LS6-B, LS3-B

Before lo screws, hold the arm and secure it tightly

from being caught in the Manipulator.

For installation and transportation of robots manual.

Do not enter the operation area while the Manipulator is moving. The robot arm

in serious safety problems.

parts.

Manipulators this label for no danger of your hand or fingers being caught

Manipulator’s serial No.

28 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 45

LS10-B

LS6-B

1. Safety

(Figure: LS10-B702S)

(Figure: LS6-B602S)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 29

Page 46

1. Safety

LS3-B

(Figure: LS3-B401S)

30 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 47

1.7 Safety Features

The robot control system supports safety features described below. However, the

user is recommended to strictly follow the proper usage of the robot system by

thoroughly reading the attached manuals before using the system. Failure to read

and understand the proper usage of the safety functions is highly dangerous.

Among the following safety features, the Emergency Stop Switch and Safety Door

Input are particularly important. Make sure that these and other features function

properly before operating the robot system.

1. Safety

For details, refer to the 2.6.1 Safety Door Switch and Latch Release Switch.

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop

input terminals used for connecting the Emergency Stop switches.

Pressing any Emergency Stop switch can shut off the motor power immediately

and the robot system will enter the Emergency Stop condition.

Stop category of Emergency Stop input: Category 0 (refer to Safety Standard

IEC60204-1)

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is

connected to the EMERGENCY connector at the Controller.

When the safety door is opened, normally the Manipulator immediately stops the

current operation, and the status of Manipulator power is operation-prohibited

until the safety door is closed and the latched condition is released. In order to

execute the Manipulator operation while the safety door is open, you must change

the mode selector key switch on the Teach Pendant to the “Teach” mode.

Manipulator operation is available only when the enable switch is on. In this

case, the Manipulator is operated in low power status.

Stop category of Safety door input: Category 1 (refer to Safety Standard

IEC60204-1)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 31

Page 48

1. Safety

Low Power Mode

The motor power is reduced in this mode.

Executing a power status change instruction will change to the restricted (low

power) status regardless of conditions of the safety door or operation mode. The

restricted (low power) status ensures the safety of the operator and reduces the

possibility of peripheral equipment destruction or damage caused by careless

operation.

Dynamic Brake

The dynamic brake circuit includes relays that short the motor armatures.

The dynamic brake circuit is activated when there is an Emergency Stop input or

when any of the following errors is detected: encoder cable disconnection, motor

overload, irregular motor torque, motor speed error, servo error (positioning or

speed overflow), irregular CPU, memory check-sum error and overheat condition

inside the Motor Driver Module.

Motor Overload Detection

The dynamic brake circuit is activated when the system detects that the load on the

motor has exceeded its capacity.

Irregular Motor Torque (out-of-control manipulator) Detection

The dynamic brake circuit is activated when irregularity with motor torque (motor

output) is detected (in which case the Manipulator is out of control).

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is

running at incorrect speed.

Positioning Overflow -Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference

between the Manipulator’s actual position and commanded position exceeds the

margin of error allowed.

Speed Overflow -Servo Error- Detection

The dynamic brake circuit is activated when the Manipulator’s actual speed is

detected to mark an overflow (the actual speed is outside the nominal range) error.

32 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 49

1. Safety

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer.

The system CPU and the motor controlling CPU inside the Controller are also

designed to constantly check each other for any discrepancies. If a discrepancy is

detected, the dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is

detected.

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device

inside the Motor Driver module is above the nominal limit.

Relay Deposition Detection

The dynamic brake circuit is activated when relay deposition is detected.

Over-Voltage Detection

The dynamic brake circuit is activated when the voltage of the Controller is above

the normal limit.

AC Power Supply Voltage Drop Detection

The dynamic brake circuit is activated when the drop of the power supply voltage

is detected.

Temperature Anomaly Detection

The temperature anomaly is detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 33

Page 50

1. Safety

Push the pin in the direction of arrows, and insert the pin in the holes.

POWER switch

Lockout Attachment

Hole

(2) Turn the lockout

attachment.

(3) Install the lockout

attachment on the switch.

(4) Slide the pin to

the lock position.

Lock position

1.8 Lockout / Tagout

Lockout / tagout is a method to prevent anyone from turning ON the robot system

by mistake while someone else is within the safeguarded area for maintenance or

repair.

When performing maintenance and repair, lockout and tagout using the following

procedure. Use the lockout attachment for RC90-B.

Installing the Lockout Attachment

(1) Turn OFF the POWER switch and place the lockout attachment on the

POWER switch.

Insert the pin in the holes under the retractable actuator.

34 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 51

1. Safety

Padlock Size and Weight

The padlock is not supplied with the lockout attachment and must be supplied by

the user.

The total weight of the padlock can be a maximum of 45 g.

Make sure the padlock weight does not exceed 45 g, otherwise the POWER switch

may be damaged.

Applicable Padlock

Safety Precautions

When using the padlock, do not use the controller where it is subject to vibration

or shock, otherwise failure or damage may result.

Do not apply force of more than 50N on the lockout attachment; otherwise the

lockout attachment will be damaged.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 35

Page 52

1. Safety

800 mm

1000 mm

350 mm

550 mm

Arm #2

450 mm

9940 mm/s

11250 mm/s

2020 mm/s

1400 deg/s

Joints #1, #2

± 0.025 mm

0.01 mm

0.01 deg.

Rated

10 kg

Max.

20 kg

Rated

0.05 kg·m2

Max.

1.00 kg·m2

Joint #1

0.000275 deg/pulse

Joint #2

0.000439 deg/pulse

Joint #3

0.00148 mm/pulse

Joint #4

0.001046 deg/pulse

Shaft diameter

ø 25 mm

200 × 200 mm

4 × ø16

48 kg : 105.8 lb.

51 kg : 112.5 lb.

Driving method

All joints

Joint #1

750 W

Joint #2

520 W

Joint #3

520 W

Joint #4

150 W

environment

Joint #3 down force

250 N

Equivalent to 8 pin (RJ45) Cat.5e

1.9 Manipulator Specifications

LS20-B

Item

Arm #1, #2

Arm length

Arm #1

LS20-B804* LS20-BA04*

Max.

operating speed

Repeatability

Payload (Load)

Joint #4 allowable

moment of inertia

Resolution

Hand

Mounting hole

Weight (cables not included)

Motor

rated capacity

Joints #1, #2

Joint #3

Joint #4

Joint #3

Joints #1, #2

Through hole ø 18 mm

AC servo motor

Option

Installed wire for customer use

Installation

Cleanroom *3

15 pin: D-sub, 9 pin: D-sub

36 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 53

Item

LS20-B804*

LS20-BA04*

tube for customer use

2 pneumatic tubes (ø8 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

2 pneumatic tube (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

Ambient Temp.

5 to 40 °C (with minimum temperature variation)

humidity

Noise level *4

Aeq

= 70 dB (A) or less

1 ~ (5) ~ 100

1 ~ (10) ~ 120

1 ~ (50) ~ 2000

1 ~ (200) ~ 10000

0 ~ (1250) ~ 65535

0,450 ~ (10,450) ~ 20,450

NF PA 7 9 (2007 Edition)

Item

LS20-B804S

LS20-BA04S

LS20-B804C

LS20-BA04C

Joint #1

132 deg.

152 deg.

420 mm

390 mm

Joint #4

360 deg.

Joint #1

152918 ~ 808278

345885

Joint #3

283853 ~ 0

263578~0

Joint #4

344064

Installed pneumatic

1. Safety

Environmental

requirements

Assignable Value

( ) Default values

Safety standard

Ambient

relative

Speed

Accel *5

SpeedS

AccelS

Fine

Wei gh t

Max. motion range

Max. pulse range

Joint #2

Joint #3

Joint #2

10 to 80 % (no condensation)

CE Mark

EMC Directive, Machinery Directive

KC Mark / KCs Mark

ANSI/RIA R15.06-2012

−

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 37

Page 54

1. Safety

Arm #1, #2

600 mm

700 mm

800 mm

Arm #1

225 mm

325 mm

425 mm

Arm #2

375 mm

Joints #1, #2

9100 mm/s

9800 mm/s

10500 mm/s

Joint #3

1100 mm/s

Joint #4

2500 deg/s

Joints #1, #2 ± 0.02 mm

± 0.025 mm

Joint #4

0.01 deg

Rated

5 kg

Max.

10 kg

Max.

Joint #1

0.000275 deg/pulse

Joint #2

0.000439 deg/pulse

Joint #4

Shaft diameter

ø 25 mm

150 × 150 mm

4-M8

Driving method

All joints

Joint #2

Joint #3

Joint #4

Joint #3 down force

Equivalent to 8 pin (RJ45) Cat.5e

tube for customer use

2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

1 pneumatic tube (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

Environmental

Ambient Temp.

5 to 40 °C (with minimum temperature variation)

LS10-B

Arm length

Item LS10-B60** LS10-B70** LS10-B80**

Max.

operating speed

Repeatability

Joint #3

± 0.01 mm

Payload (Load)

Joint #4 allowable

moment of inertia

Resolution

Rated

Joint #3

0.02 kg·m

0.3 kg·m2

0.000740 mm/pulse

0.001674 deg/pulse

Hand

Through hole

ø 18 mm

Mounting hole

Weight (cables not included) 22 kg (48.5lb) 22 kg (48.5lb) 23 kg (50.7lb)

AC servo motor

Joint #1

Motor

rated capacity

520 W

200 W

150 W

Option

Installation

environment

Cleanroom *3

200 N

Installed wire for customer use

15 (15 pin: D-sub)

Installed pneumatic

38 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 55

Item LS10-B60** LS10-B70** LS10-B80**

humidity

Noise level *4

Aeq

= 70 dB (A) or less

Speed

Accel *5

1 ~ (10) ~ 120

SpeedS

AccelS

Fine

NF PA 7 9 (2007 Edition)

Item

LS10-B**2S

LS10-B**2C

LS10-B**3S

LS10-B**3C

Joint #1

132 deg

150 deg

200 mm

170 mm

300 mm

270 mm

Joint #4

360 deg

Joint #1

152918 ~ 808278

341334

Joint #3

270336 ~ 0

229786 ~ 0

405504 ~ 0

364954 ~ 0

Joint #4

215040

requirements Ambient relative

1. Safety

10 to 80 % (no condensation)

1 ~ (4) ~ 100

Assignable Value

( ) Default values

Weight

Safety standard

Max. motion range

Max. pulse range

Joint #2

Joint #3

Joint #2

−

1 ~ (50) ~ 2000

1 ~ (200) ~ 25000

0 ~ (1250) ~ 65535

0,375 ~ (5,375) ~ 10,375

CE Mark

EMC Directive, Machinery Directive

KC Mark / KCs Mark

ANSI/RIA R15.06-2012

−

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 39

Page 56

1. Safety

400 mm

500 mm

600 mm

700 mm

Arm #1

225 mm

325 mm

425 mm

175 mm

7200 mm/s

7120 mm/s

7850 mm/s

8590 mm/s

Joint #3

1100 mm/s

2600 deg/s

2000 deg/s

0.01 mm

0.01 deg

Rated

1 kg

2 kg

Max.

3 kg

6 kg

Rated

0.005 kg·m2 0.01 kg·m

(deg/pulse)

diameter

(Either is fine)

4-M8

(39.7lb.)

Joint #1

200 W

Joint #2

100 W

200 W

Joint #3

100 W

LS3-B, LS6-B

Arm length

Max.

operating speed

Repeatability

Payload (Load)

Joint #4 allowable

moment of inertia

Item

Arm #1, #2

Arm #2

Joints #1, #2

Joint #4

Joints #1, #2

Joint #3

Joint #4

Max. 0.05 kg·m2 0.12 kg·m2

Joint #1

LS3-B401*

LS6-B502* LS6-B602* LS6-B702*

± 0.01 mm ± 0.02 mm

0.000439 0.000275

275 mm

Resolution

Hand

Joint #2

Joint #3

(mm/pulse)

Joint #4

Shaft

0.000439 0.000439

0.000799 0.000814

0.001927 0.001465

ø 16 mm ø 20 mm

Through hole ø 11 mm ø 14 mm

120 × 120 mm

Mounting hole

Weight (cables not included)

Driving method All joints

135 × 120 mm

14 kg (31 lb.) 17 kg (37.5lb.)

AC servo motor

150 × 150 mm

Motor

rated capacity

Joint #4 100 W 100 W

40 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

18 kg

Page 57

Item

LS6-B502*

LS6-B602*

LS6-B702*

environment

Joint #3 down force

Equivalent to 8 pin (RJ45) Cat.5e

tube for customer use

2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

1 pneumatic tube (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

Ambient Temp.

5 to 40 °C (with minimum temperature variation)

humidity

Noise level *4

Aeq

= 70 dB (A) or less

1 ~ (4) ~ 100

1 ~ (10) ~ 120

1 ~ (50) ~ 2000

1 ~ (200) ~ 25000

0 ~ (1250) ~ 65535

0,175 ~ (1,175) ~ 3,175

NF PA 7 9 (2007 Edition)

Item

LS3-B401S

LS3-B401C

LS6-B*02S

LS6-B*02C

132 deg.

Joint #3

150 mm

120 mm

200 mm

170 mm

Joint #4 ± 360 deg.

360 deg.

− 95574 ~ 505174

− 152918 ~ 808278

Joint #2

± 320854

341334

Joint #3

−187734 ~ 0

−150187 ~ 0

245760 ~ 0

Joint #4

± 186778

± 245760

Option

Installed wire for customer use

Installed pneumatic

Installation

1. Safety

LS3-B401*

Cleanroom *3

100 N

15 (15 pin: D-sub)

Environmental

requirements

Assignable

Val u e

() Default values

Safety standard

Max.

motion range

Max.

pulse range

Ambient

relative

Speed

Accel *5

SpeedS

AccelS

Fine

Weight

CE Mark

EMC Directive, Machinery Directive

KC Mark / KCs Mark

ANSI/RIA R15.06-2012

Joint #1

Joint #2 ± 141 deg. ± 150 deg.

Joint #1

10 to 80 % (no condensation)

1 ~ (5) ~ 100

1 ~ (10) ~ 120

1 ~ (50) ~ 2000

1 ~ (200) ~ 25000

0 ~ (1250) ~ 65535

0,275 ~ (2,275) ~ 6,275

−

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 41

Page 58

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: 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 setting.

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

cover interior together. 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.

Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.

If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level : Class ISO 4 (ISO14644-1)

Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm

Exhaust tube : Polyurethane tube

Outer diameter: ø12 mm (Inner diameter: ø8 mm)

Recommended exhaust flow rate: approx. 1000 cm

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed,

maximum acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50

mm above the base-installed surface.

*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and

vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to

minimize the use of large values to necessary motions since operating the manipulator continuously

with the large Accel setting may shorten the product life remarkably.

/s (Normal)

42 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 59

1.10 Motion Range Setting by Mechanical Stops

Mechanical stop of Joint #2 (Fixed)

Mechanical stop of Joint #1 (Adjustable)

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

(Do not move the upper limit mechanical stop.)

Mechanical stop of Joint #1 (Fixed)

Mechanical stop of Joint #2 (Adjustable)

(Mechanical stop of Joint #2)*

Mechanical stop of Joint #1 (Adjustable)

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

(Do not move the upper limit mechanical stop.)

(Mechanical stop of

Joint #1)*

Mechanical stop of Joint #2 (Adjustable)

*: There are no mechanical stops (fixed) for LS20-B.

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

Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.

Joints #3 can be set to any length less than the maximum stroke.

LS3-B, LS6-B, LS10-B

LS20-B

1. Safety

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 43

Page 60

1. Safety

1.11 End User Training

Persons in charge of safety management should confirm that the operators who program, operate, and maintain the robot and robot system take proper training and have expertise to conduct the work safely. Training should include at least the following:

- Study of regulation safety procedures, and safety-related recommendations by

robot manufacturers and system designers.

- Clear explanation of the work involved.

- Description of all control equipment required for the work and their functions.

- Explanation of potential hazards involved in the work.

- Work safety procedures and specific methods of avoiding potential hazards.

- Safety device and interlock function testing and confirmation methods are

working properly.

44 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 61

2. Installation

This chapter contains precautions for safe and accurate installation of the robot system. The workflow for installing the robot system is described in 2.1 Outline from Unpacking to Operation of Robot System. For unpacking, transportation, and installation, refer to the respective section and the Manipulator and Controller manuals.

2. Installation

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 45

Page 62

2. Installation

*1 EPSON RC+ 7.0 supports the following OS

Windows 7 Professional Service Pack 1

Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later)

Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later)

Operation panel

Motion Controller

RC90-B

Expansion I/O Board

Fieldbus

PROFIBUS-DP

DeviceNet CC-Link EtherNet/IP PROFINET EtherCAT

RS-232C Board

Windows *1

EPSON RC+ 7.0

Software

Option

USB 2.0

Ethernet

TP2

(Option)

Standard I/O

Remote I/O Ethernet RS-232C

Requires preparation by users

LS-B series

PLC (Sequencer)

Option

Standard

TP1

(Option)

Analog I/O Board

PG Board

EUROMAP67 Board

System Example

46 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 63

2. Installation

Transportation

Unpacking

Error?

Installation

Power-on

Yes

Procedures to install EPSON RC+7.0 to the development PC and enable the

operation of the robot system

Manual information to connect or

setup the equipment and options

2. Installation

Procedures to install the Robot system and turn ON the power properly

4. Second Step

3. First Step

2.1 Outline from Unpacking to Operation of Robot System

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 47

Page 64

2. Installation

: Only authorized personnel should perform sling work and operate a crane or

by unauthorized personnel, it

hazardous and may result in serious bodily injury and/or severe

equipment damage to the robot system.

: Avoid excessive vibration or shock during Manipulator transporting.

Excessive vibration or shock may cause equipment damage to and/or malfunction of the Manipulator.

: When removing the anchor bolts, support the Manipulator to prevent falling.

Removing the anchor bolts without supporting the Manipulator may get hands, fingers, or feet caught as the Manipulator will fall.

: Do not remove the wire tie securing the arm until you finish the installation.

You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation.

2.2 Unpacking

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

Using a cart or similar equipment, transport the Manipulator in the same conditions as it was delivered. Observe the following when unpacking the Manipulator.

Transportation procedure

forklift. When these operations are performed is extremely

Vibration at transportation

Anchor bolt

Wire tie

48 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 65

2.3 Transportation

conditions as it was delivered. Observe the following when unpacking

by unauthorized

hazardous and may result in serious bodily

injury and/or severe equipment damage to the robot system.

Excessive vibration or shock may cause equipment damage to and/or

Anchor bolt

When removing the anchor bolts, support the Manipulator to prevent

hands, fingers, or feet caught as the Manipulator will fall.

Wire tie

finish the

You may get your hands caught in the Manipulator when the wire tie is

removed before completing the installation.

Hoisting procedure

hoisting is extremely hazardous and may results in serious bodily injury

e equipment damage to the robot system as the fall of the

Manipulator.

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

2.3.1 Transportation Precautions

Transportation procedure

: Using a cart or similar equipment, transport the Manipulator in the same

the Manipulator.

Only authorized personnel should perform sling work and operate a crane

or forklift. When these operations are performed

personnel, it is extremely

Vibration at transportation

: Avoid excessive vibration or shock during Manipulator transporting.

malfunction of the Manipulator.

2. Installation

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 49

falling.

Removing the anchor bolts without supporting the Manipulator may get

: Do not remove the wire tie securing the arm until you

installation.

: Stabilize the Manipulator with your hands when hoisting it. Unstable

and/or sever

Page 66

2. Installation

LS3

LS6

LS10

LS10 LS10-B80** : approx. 23 kg :50.7 lb.

Metal duct Resin duct

LS20

2.3.2 Manipulator Transportation

LS3-B, LS6-B, LS10-B

To transport the Manipulator, secure it to the delivery equipment or hold the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand and have at least 2 people. When holding the bottom of the base by hand, be very careful not to get your hands or fingers caught.

-B401*: approx. 14 kg : 31 lb.

-B502*: approx. 17 kg : 37.5 lb.

-B602*: approx. 17 kg : 37.5 lb.

-B702*: approx. 18 kg : 39.7 lb.

-B60** : approx. 22 kg :48.5 lb.

(Figure: LS6-B)

-B70** : approx. 22 kg :48.5 lb.

LS20-B

To transport the Manipulator, secure it to the delivery equipment or have at least 2 people to hold it by hand. Also, do not hold the bottom of the base (the shaded area in the figure). Holding the area by hand is extremely hazardous and may cause your hands and fingers caught.

Do not hold the metal duct and the resin duct when transporting the Manipulator. Doing so may damage them.

50 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

(Figure: LS20-B)

-B804* : approx. 48 kg: 105.8 lb.

-BA04* : approx. 51 kg: 112.5 lb.

Page 67

2.4 Manipulator Installation

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

Installation and Design

: Install the Manipulator at a location with sufficient space so that a tool or

its arm fully while holding a work piece.

space is

hazardous and may result in serious bodily injury and/or

Manipulator check before installation

result in serious bodily injury and/or severe equipment damage to the robot system.

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

Safeguard installation

Space between safeguard and Manipulator

2.4.1 Installation Precautions

For details on the safeguard, refer to the Precautions in the Safety chapter of the EPSON RC+ User’s Guide.

a work piece on the end effector does not reach a wall or a safeguard when the Manipulator extends Installing the Manipulator at a location with insufficient extremely severe equipment damage to the robot system as a tool or a work piece may collide with a wall and a safeguard.

2. Installation

: Before installing and operating the Manipulator, make sure that all parts

of the Manipulator are in place and have no external defects. Missing or defective parts may cause improper operation of the Manipulator Improper operation of the Manipulator is extremely hazardous and may

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 51

Page 68

2. Installation

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

4 kV or less

Environment

- Install indoors.

Keep away from dust, oily smoke, salinity,

Keep away from flammable or corrosive

- Keep away from sources of electric noise.

2.4.2 Environment

A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions:

- Keep away from direct sunlight.

metal powder or other contaminants.

solvents and gases.

- Keep away from water.

- Keep away from shocks or vibrations.

Manipulators are not suitable for operation in harsh environments such as painting areas, etc. When using Manipulators in inadequate environments that do not meet the above conditions, please contact us.

Special Environmental Conditions

The surface of the Manipulator has general oil resistance. However, if your requirements specify that the Manipulator must withstand certain kinds of oil, please consult your distributor.

Rapid change in temperature and humidity can cause condensation inside the Manipulator. If your requirements specify that the Manipulator handles food, please consult your distributor to check whether the Manipulator will damage the food or not.

The Manipulator cannot be used in corrosive environments where acid or alkaline is used. In a salty environment where the rust is likely to gather, the Manipulator is susceptible to rust.

52 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 69

WARNING

Use an earth leakage breaker on the AC power cable of the

to avoid electric shock and circuit breakdown caused by

Prepare the

using.

For details, refer to the

When cleaning the Manipulator, do not rub it strongly with alcohol or

benzene

It may lose luster on

2. Installation

■

earth leakage breaker that pertains the Controller you are

Controller manual.

Controller

short circuit.

CAUTION

2.4.3 Noise level

Noise level by movement of manipulator.

LS-B series manipulators: LAeq = 70 dB (A) or less

Operating conditions

Rated load, 4-joints simultaneous motion, maximum speed, maximum

acceleration, and duty 50%.

Measurement point

Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above

the base-installed surface.

the coated face.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 53

Page 70

2. Installation

LS20-B

LS10-B

LS6-B

LS3-B

on the horizontal plate

reaction force

force

2.4.4 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 it 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

Max. Horizontal

Max. Vertical reaction

The threaded holes required for mounting the Manipulator base are as follows:

LS3-B, LS6-B, LS10-B: M8 LS20-B: M12

Use mounting bolts with specifications conforming to ISO898-1 property class:

10.9 or 12.9.

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.

1000 N·m 550 N·m 350 N·m 250 N·m

7500 N 3200 N 1700 N 1000 N

2000 N 1500 N 1500 N 1000 N

54 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 71

CAUTION

Transport or i more people. The Manipulator weigh fingers, or feet caught and/or have equipment damage Manipulator.

(1)

Secure the base to the base table with

Use bolts conforming C

Tightening torque:

10 mm

Screw Hole (depth 20 mm)

4-M8×25

Spring Washer

Plane Washer

(2)

Using nippers, cut off the wire tie binding bracket

Wire tie

Bolt: M4

Bolt

: M4

(3)

Remove the bolts securing the wire ties removed in step (2).

Remove the transportation which is attached to the arm.

Make sure to remove the wire tie for protection of mechanical stop.

NOTE

2. Installation

2.4.5 Installation Procedure

When the Manipulator is Clean-model, 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, transport the Manipulator in the cleanroom. Connect an exhaust tube to the exhaust port after installation.

LS3-B, LS6-B, LS10-B

■

nstall LS3-B, LS6-B, LS10-B Manipulator with two or

ts are as follows. Be careful not to get hands,

d by a fall of the

LS3-B401*: approx. 14 kg : 31 lb. LS6-B502*: approx. 17 kg : 37.5 lb.

LS6-B602*: approx. 17 kg : 37.5 lb. LS6-B702*: approx. 18 kg : 39.7 lb.

LS10-B60** : approx. 22 kg : 48.5 lb. LS10-B70** : approx. 22 kg : 48.5 lb. LS10-B80** : approx. 23 kg : 50.7 lb.

four bolts.

with specifications

to ISO898-1 Property

lass: 10.9 or 12.9.

32.0 N·m (326 kgf·cm)

the shaft and arm retaining

on the base.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 55

protection sheet for

Page 72

2. Installation

Transport or i The Manipulator weigh fingers, or feet caught and/or have equipment damage Manipulator.

(1)

Secure the base to the base table with four bo

Use bolts conforming P

Tightening torque:

18.5 mm

Screw Hole (depth: 20 mm or more)

4-M12×40

Spring Washer

Plane Washer

(2)

Using nippers, cut off the wire tie binding bolt.

Wire tie

Bolt: M4

NOTE

CAUTION

LS20-B

■

nstall LS20-B Manipulator with two or more people.

ts are as follows. Be careful not to get hands,

LS20-B804* : approx. 48 kg: 105.8 lb. LS20-BA04* : approx. 51 kg: 112.5 lb.

lts.

with specifications

to ISO898-1

roperty Class: 10.9 or 12.9.

73.5 N·m (750 kgf·cm)

d by a fall of the

the arm. Remove the

56 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 73

(3)

Remove the screw for fixing the arm.

The removed screw will be when Keep it with supplied at shipment. Be careful not to lose

M10×65

Mechanical stop

NOTE

transporting the Manipulator.

the arm lock which is

not remove the mechanical stop.

2. Installation

necessary

the screw.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 57

Page 74

2. Installation

: The Controller must be used within the environmental conditions

serious safety problems.

: The Controller is not designed for clean-room specification. If it

proper enclosure with adequate ventilation and cooling.

: Before performing any installation procedure, turn OFF the

malfunction of the robot system.

Cable

: Be sure to connect the cables properly. Do not allow unnecessary

function of the system.

2.5 Controller Installation

2.5.1 Installation Precautions

Environment conditions

For Cleanroom installation

Installation procedure

described in their manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in the environment that exceeds the conditions may not only shorten the life cycle of the product but also cause

must be installed in a clean room, make sure to install it in the

Controller and related equipment, and then disconnect 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

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 a contact failure is extremely hazardous and may result in electric shock and/or improper

58 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 75

2. Installation

Item

Condition

Ambient temperature

5 to 40 °C (with minimal variation)

Ambient relative humidity

20% to 80% (with no condensation)

First transient burst noise

2 kV or less (Power supply wire) 1 kV or les (Signal wire)

Electrostatic noise

4 kV or less

Use a base table that is at least 100 mm off the

floor could allow dust penetration leading to malfunction.)

NOTE

2.5.2 Environment

In order to optimize the robot system’s performance for safety, the Controller must

be placed in an environment that satisfies the following conditions:

- The Controller is not designed for clean-room specification. If it must be installed in a clean room, be sure to install it in a proper enclosure with adequate ventilation and cooling.

- Install Controller in a location that allows easy connection / disconnection of cables.

Base table

If the Controller must be used in an environment that does not fulfill the conditions mentioned above, take adequate countermeasures. For example, the Controller may be enclosed in a cabinet with adequate ventilation and cooling.

- Install indoors only.

- Place in a well-ventilated area.

- Keep away from direct sunlight and radiation heat.

- Keep away from dust, oily mist, oil, salinity, metal powder or other contaminants.

- Keep away from water.

- Keep away from shocks or vibrations.

- Keep away from sources of electronic noise

- Keep away from strong electric or magnetic fields.

floor. (Placing the Controller directly on the

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 59

Page 76

2. Installation

* The rubber foot needs to be replaced.

* Rack-mount plate is required.

133.35 mm

463 mm

NOTE

2.5.3 Installation

Install the Controller on a flat surface such as wall, floor, and controller box in the direction shown in (A) to (C).

(A) Flat mounting

(B) Upright mounting (C) Rack mounting

For Controller installation to the Controller box or the base table, process screw hole

drilling as follows.

60 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 77

2. Installation

50 mm

100 mm

Excluding the installation side such as base table

Air flow of the Fan

100 mm

200 mm

Ensure the air flow around the supply and exhaust ports, and install the Controller

while leaving space from other equipment or walls as below.

Air with higher temperature than the ambient air (about 10 °C) is blown out from the exhaust port of the Controller. Do not place the heat sensitive devices near the exhaust port.

Route the cables to pull out from the front side of the Controller.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 61

Page 78

2. Installation

Not only when turning on the device, but also changing use

environment such as add options or

make sure that the emergency stop or safety door work properly.

Before connecting the connector, make sure

Connecting with

malfunction of

EMERGENCY connecter

Connector

Standard

EMERGENCY connector

(Controller side)

D-sub 25 Pin (male)

Mounting style #4-40

NOTE

2.6 Connection to EMERGENCY Connector (Controller)

The details of safety requirements for this section are described in the User’s Guide 2. Safety. Please refer to them to keep the robot system safe.

■

replace parts for maintenance,

that the pins are not bent.

CAUTION

Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY connector for safety.

When nothing is connected to the EMERGENCY connector, Controller does not operate normally.

■

the pins bent may damage the connector and result in

the robot system.

2.6.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the Safety Door switch and

the Emergency Stop switch. Be sure to use these input terminals to keep the

system safe.

62 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 79

The interlock of the Safety Door must be functioning when the

system

that the switch cannot be turned ON/OFF (e.g.

tape

properly

serious safety

problem

WARNING

2. Installation

2.6.2 Safety Door Switch

■

is operated. Do not operate the system under the condition

covering the switch with

In order to maintain a safe working zone, a safeguard must be set up around the Manipulator. The safeguard must have an interlock switch at the entrance to the working zoon. The Safety Door that is described in this manual is one of the safeguards and an interlock of the Safety Door is called a Safety Door switch. Connect the Safety Door switch to the Safety Door input terminal on the EMERGENCY connector.

The Safety Door switch has safety features such as temporary hold-up of the program or the operation-prohibited status that are activated whenever the Safety Door is opened.

Observe the following in designing the Safety Door switch and the Safety Door.

). Operating the robot system when the switch is not functioning

is extremely hazardous and may cause

s as the Safety Door input cannot fulfill its intended function.

- For the Safety Door switch, select a switch that opens as the Safety Door opens, and not by the spring of the switch itself.

robot

- The signal from the Safety Door (Safety Door input) is designed to input to two redundant signals. If the signals at the two inputs differ by two seconds or more, the system regards it as a critical error. Therefore, make sure that the Safety Door switch has two separate redundant circuits and that each connects to the specified pins at the EMERGENCY connector on the Controller.

- The Safety Door must be designed and installed so that it does not close accidentally.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 63

Page 80

2. Installation

2.6.3 Latch Release Switch

The controller software latches the following conditions:

- The safety door is open.

- The operation mode is “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that cancels the latched conditions.

Open : The latch release switch latches conditions that the safety door is

open or the operation mode is “TEACH”.

Closed : The latch release switch releases the latched conditions.

NOTE

When the latched TEACH mode is released while the safety door is open, the status of Manipulator power is operation-prohibited because the safety door is open at that time. To execute a Manipulator operation, close the safety door again, and then close the latch release input.

64 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 81

2.6.4 Checking Latch Release Switch Operation

NOTE

Refer to 3.2 Development PC and Controller Connection and connect the development PC and Controller before checking the function.

After connecting the safety door switch and latch release switch to the EMERGENCY connector, be sure to check the switch operation for safety by following the procedures described below before operating the Manipulator. (1) Turn ON the Controller while the safety door is open in order to boot the

controller software.

(2) Make sure that “Safety” is displayed on the EPSON RC+ 7.0 status bar. (3) Close the safety door, and turn ON the switch connecting to the latch release

input. Make sure that the “Safety” is dimmed on the status bar.

The information that the safety door is open can be latched by software based on the latch release input condition. To cancel the condition, close the safety door, and then close the safety door latch release input.

Open : The latch release switch latches condition that the safety door is open.

Closed : The latch release switch does not latch the condition that the safety

door is open.

The latch release input also functions to acknowledge the change of TEACH mode.

In order to change the latched condition of the TEACH mode, turn the mode selector key switch on the Teach Pendant to “Auto”. Then, close the latch release input.

2.6.5 Emergency Stop Switch

If it is desired to create an external Emergency Stop switch in addition to the Emergency Stop on the Teach Pendant and Operator Panel, make sure to connect such Emergency Stop switch to the Emergency Stop input terminal on the EMERGENCY connector.

The Emergency Stop switch connected must comply with the related safety standards (such as IEC60947-5-5) and the following:

- It must be a push button switch that is “normally closed”.

- A button that does not automatically return or resume.

- The button must be mushroom-shaped and red.

- The button must have a double contact that is “normally closed”.

2. Installation

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 65

Page 82

2. Installation

NOTE

The signal from the Emergency Stop switch is designed to use two redundant circuits. If the signals at the two circuits differ by two seconds or more, the system recognizes it as a critical error. Therefore, make sure that the Emergency Stop switch has double contacts and install the switch by referring to the Controller Manual RC90 Setup & Operation: Circuit Diagrams.

2.6.6 Checking Emergency Stop Switch Operation

Refer to 3.2 Development PC and Controller Connection and connect the development PC and Controller before checking the function.

Once the Emergency Stop switch is connected to the EMERGENCY connector, continue the following procedure to make sure that the switch functions properly. For the safety of the operator, the Manipulator must not be powered ON until the following test is completed.

(1) Turn ON the Controller to boot the controller software while pressing the

Emergency Stop switch.

(2) Make sure that E-STOP LED of the controller is lighting.

(3) Make sure that “EStop” is displayed on EPSON RC+ 7.0 status bar.

(4) Release the Emergency Stop Switch.

(5) Select EPSON RC+ 7.0-[ To ols]-[Robot Manager]-[Control Panel] and click

the <Reset> button to execute the RESET command.

(6) Make sure that E-STOP LED is turned OFF and that “EStop” is dimmed on

the main window status bar.

66 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 83

2.6.7 Pin Assignments

No.

Emergency Stop switch

Not used

SDLATCH1

Safety Door Latch Release

Not used

SDLATCH2

Safety Door Latch Release

SD11

Safety Door input (1) *2

SD21

Safety Door input (2) *2

SD12

Safety Door input (1) *2

SD22

Safety Door input (2) *2

24V

+24V output

24V

+24V output

24VGND

+24V GND output

24VGND

+24V GND output

24VGND

+24V GND output

24VGND

+24V GND output

Not used

Emergency Stop switch output rated load

+30 V 0.3 A or under

1-2, 14-15 pin

Emergency Stop rated input voltage range Emergency Stop rated input current

+24 V ±10%

37.5 mA ±10% / +24V input

Safety Door rated input voltage range Safety Door rated input current

+24 V ±10% 10 mA / +24 V input

Latch Release rated input voltage range Latch Release rated input current

+24 V ±10% 10 mA / +24 V input

NOTE

The EMERGENCY connector pin assignments are as follows:

2. Installation

Signal Function

1 ESW11

2 ESW12

3 ESTOP1+

ESTOP1−

10 24V +24V output 23 24V +24V output

contact (1) *3

Emergency Stop circuit 1

(+)

Emergency Stop circuit 1 (

)*4

Signal Function

14 ESW21

15 ESW22

16 ESTOP2+ Emergency Stop circuit 2 (+)

ESTOP2−

contact (2) *3

Emergency Stop circuit 2 (-)

*1 Do not connect anything to these pins.

*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2 are

different for two or more seconds. They must be connected to the same switch with two sets of contacts.

*3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and

Emergency Stop switch contact 2 are different for two or more seconds. They must be connected the same switch with two sets of contacts.

*4 Do not apply reverse voltage to the Emergency Stop circuit.

The total electrical resistance of the Emergency Stop switches and their circuit should be 1 Ω or less.

 The 24 V output is for emergency stop. Do not use it for other

purposes. Doing so may result in system malfunction.

CAUTION

 Do not apply reverse voltage to the Emergency Stop circuit.

Doing so may result in system malfunction.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 67

3-4, 16-17 pin

7-8, 20-21 pin

18-19 pin

Page 84

2. Installation

+24V

+5V

Safety Door input 1

External +24V

Safety Door input

Latch release input

Latch release input Close :Latch off

Open :Latch on

Main Circuit

Control

AC Input

Emergency Stop switch of an Operation Unit (TP)

External +24V GND

External Emergency

Stop switches

Motor Driver

−

Controller

Emergency

Stop detection

NOTE:+24V GND

+ 5V GND

Be careful of the direction of voltage application

ESTOP1+

ESTOP2+

ESTOP1−

ESTOP2-

2.6.8 Circuit Diagrams

Example 1: External emergency stop switch typical application

68 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 85

* For the protection of the

emergency stop circuit,

the fuse’s capacity

should be as follows:

- Meets the capacity of the external safety

relay

- 0.4A or less

External safety relay

(The above diagram

is simplified for

representation.)

External +24V GND

+24V

+5V

Safety Door input 1

Safety Door input 2

Latch Release input

AC Input

Motor Driver

External +24V

Fuse

−

External +24V

Controller

Main Circuit

Control

Emergency Stop switch of an Operation Unit (TP)

Emergency

Stop detection

External +24V

Latch release input Close :Latch off

Open :Latch on

External +24V GND

NOTE:+24V GND

+ 5V GND

External +24V GND

2. Installation

Example 2: External safety relay typical application

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 69

Page 86

2. Installation

Item

Specification

Voltage

200 to 240 VAC

voltage.

Phase

Single phase

Frequency

50/60 Hz

Power Interrupt

Rated Capacity

Max. 2.5 kVA

Manipulator motor.

When motor is ON: approximately 50 A (2 ms)

Leakage Current

Max. 10 mA

Ground Resistance

100 Ω or less

2.7 Power Source

2.7.1 Power Supply

Ensure that the power meets the following specifications.

Input voltage should be with in ±10 % of the rated

Momentary

Peak Current When power is turned ON: approximately 70 A (2 ms)

Install an earth leakage circuit breaker or a circuit breaker in the AC power cable line at 15 A or less rated electric current. Both should be a two-pole disconnect type.

If you install an earth leakage circuit breaker, make sure to use an inverter type that does not operate by induction of a 10 kHz or more leakage current. If you install a circuit breaker, please select one that will handle the above mentioned “peak current”.

The power receptacle should be installed near the equipment and should be easily accessible.

10 ms Or less

Actual power consumption depends on the model, motion, and load of the Manipulator. For approximate power consumption of each model, refer to the following values.

LS20-B : 2.4 k VA LS10-B : 1.8 kVA LS6-B : 1.1 kVA LS3-B : 1.0 k VA

Refer to the Manipulator manual for rated capacity of the

70 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 87

Make sure that operations are done by a qualified personal.

cable to the earth terminal of the factory power supply. equipment must be grounded properly at all times to avoid the risk of electric shock.

Always use a power plug

disconnecting device for power connecting cable. Never connect the Controller directly to the factory power supply.

Select the plug

disconnecting device which conform safety

standards for nations.

Item

Specification

Black, Black or Black, White

Ground wire

Green / Yellow

Cable length

3 m

Terminal

M4 round solderless terminal

WARNING

2. Installation

2.7.2 AC Power Cable

■

■ Be sure to connect the earth wire (green/yellow) of the AC power

■

or a

The

■

AC power wire (2 cables)

or a

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 71

Page 88

2. Installation

(1)

Mount the M/C Power Cable as shown

picture and form the cables.

(2)

Set the M/C Power Cable in the

M/C Power Cable.

(3)

Mount the cover for the M/C Power Connector. (4)

Secure the cover with the screw.

2.7.3 M/C Power Cable Connection

in the

clamp for the

72 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Page 89

2.8 Connecting Manipulator and Controller

Before Connection

the pins are not bent.

connector and result in

malfunction of the robot system.

Connecting procedure

electric shock and/or malfunction of the robot

system.

Cable

Do not allow unnecessary strain on

in electric shock and/or improper function of the robot system.

Connection

numbers on each equipment match. Improper connection between the Manipulator and Controller may not only cause improper function of the robot

The serial number of supported Manipulator is labeled on the controller.

Wiring

personnel may result in bodily injury

and/or malfunction of the robot system.

For Cleanmodel

For details, refer to the Manipulator manual.

2. Installation

: Before connecting the connector, make sure that

Connecting with the pins bent may damage the

: Before performing any connecting procedure, turn OFF the Controller and

related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in

: Be sure to connect the cables properly.

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

: When connecting the Manipulator and the Controller, make sure that the serial

system but also safety problems.

: Only authorized or certified personnel should be allowed to perform wiring

Wiring by unauthorized or uncertified

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 73

: When the Manipulator is a Clean-model, use it with an exhaust system.

Page 90

2. Installation

Power connector

Signal connector

Manipulator check

. Improper operation of the

is extremely hazardous and may result in serious bodily injury

and/or severe equipment damage to the robot system.

Shipping bolts and jigs check before turning ON

Turning ON the power while the shipping bolts and jigs are attached may result in equipment damage to the Manipulator.

Power activation

the Manipulator before turning ON the power to or operating the

not anchored is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system as the Manipulator may fall down.

When supplying the power again

Connect the power cable and the signal connector of the M/C cable to the Controller as shown below.

2.9 Power-on

2.9.1 Power-on Precautions

74 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

: Before operating the Manipulator, make sure that all parts of the Manipulator

are in place and have no external defects. Missing or defective parts may cause improper operation of the Manipulator Manipulator

: Before turning ON the power after installation, be sure to remove the shipping

bolts and jigs from the Manipulator.

: Anchor

Manipulator. Turning ON the power to or operating the Manipulator that is

: When supplying the power to the controller again, turn OFF the controller and

wait for 5 seconds or more. Then, turn ON the controller again.

Page 91

2.9.2 Power ON Procedure

(7)

(6)

(1)

(2)

(3)

(4)

(5)

(1) Check the M/C power cable connection.

(2) Check the M/C signal cable connection.

(3) Check the EMERGENCY connector connection.

(4) Connect the TP bypass plug to the TP port of the RC90 Controller.

(5) Connect the AC power cable to the power supply socket.

(6) Turn ON the POWER switch of the RC90-B Controller.

(7) The PROGRAM LED blinks approximately 30 seconds after Controller

starts up normally.

If the ERROR LED is turned ON or blinking, check connection in step (1) to (5) and turn ON the power again. If the ERROR LED is still ON or blinking, contact the supplier in your region.

2.10 Saving Default Status

2. Installation

The Controller is already setup with the purchased robot(s) at shipment. However,

just in case, we recommend saving the default controller status. A USB memory is

necessary to save the controller status.

For the procedure of controller status storage, refer to Robot controller manual

RC90/RC90-B (EPSON RC+ 7.0): Setup & Operation 6.1 What is Controller Status

Storage Function?.

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3. First Step

This section indicates the procedure to install the development PC EPSON RC+, and execute simple program after connecting the development PC and Controller with a USB.

Make sure that the Robot system is installed safely by following the description in

1. Safety and 2. Installation. Then, operate the Robot system in the following procedures.

3.1 Installing EPSON RC+ 7.0 Software

The EPSON RC+ 7.0 software needs to be installed on your development PC.

(1) Insert the EPSON RC+ 7.0 Setup DVD in the DVD drive. (2) The following dialog will be displayed. Click <Next>.

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(3) Enter your user name and company name and click <Next>.



3. First Step

(4) Select the drive where you want to install EPSON RC+ 7.0 and click

NOTE

<Next>.

The installation directory is called EpsonRC70. This cannot be changed.

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3. First Step



(5) The dialog for selecting the options to be installed will be displayed. Check

the options you want to install and click <Next>.

(6) The dialog to review the settings will be displayed. If you are satisfied with

the settings, click <Next>.

(7) If required, install “Windows Installer” and “Microsoft .NET Framework 3.5”

on your system. This may take several minutes.

NOTE

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Adobe Reader needs to be installed on your PC in order to view the EPSON RC+ 7.0 manuals. If the installer cannot find Adobe Reader on your system, it will be installed at this time. Follow the instructions in the Adobe installer. Do not restart the system after the Adobe Reader installation has completed.

(8) After the installation has completed, restart your computer.

The EPSON RC+ 7.0 software installation is now completed.

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3.2 Development PC and Controller Connection

Development PC connection Port

NOTE

Connect the development PC and the USB port for connection (USB B series connector).

- For other details of development PC and Controller connection, refer to

EPSON RC+ 7.0 User’s Guide: PC to Controller Communications Command.

- For RC90-B, be sure to install the EPSON RC+7.0 to the development PC first,

then connect the development PC and RC90-B with the USB cable. If RC90-B and the development PC are connected without installing the EPSON RC+7.0 to the development PC, [Add New Hardware Wizard] appears. If this wizard appears, click the <Cancel> button.

3.2.1 About Development PC Connection Port

Development PC connection port supports following USB.

- USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)

- USB1.1 FullSpeed

Interface Standard: USB specification Ver.2.0 compliant (USB Ver.1.1 upward compatible)

Connect the Controller and development PC by a USB cable to develop the robot system or set the Controller configuration with the EPSON RC+ 7.0 software installed in the development PC.

Development PC connection port supports hot plugging. Insertion and removal of the cables while the power of the development PC and the Controller are ON is available. However, the manipulator stops when the USB cable is removed while the Controller and the development PC are connected.

3. First Step

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3. First Step

3.2.2 Precaution

When connecting the development PC and the Controller, make sure of the following.

- Connect the development PC and the Controller with 5 m or shorter USB

cable. Do not use the USB hub or extension cable.

- Make sure that no other devices except development PC is used for

development PC connection port.

- Use PC or USB cable that supports USB2.0 HighSpeed mode to operate in

USB2.0 HighSpeed mode.

- Do not pull or bend the cable strongly.

- Do not allow unnecessary strain on the cable.

- When development PC and the Controller is connected, do not insert or

remove other USB devices from the development PC. Connection with the Controller may disconnect.

3.2.3 Software Setup and Connection Check

The following is the steps of connecting the development PC and the Controller.

(1) Make sure that the EPSON RC+ 7.0 is installed on the Controller connected to

the development PC. (Install the software when it is not installed.)

(2) Connect the development PC and the Controller by the USB cable.

(3) Turn ON the Controller.

(4) Start the software EPSON RC+ 7.0.

(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications]

to display the [PC to Controller Communications] dialog.

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3. First Step

(6) Select the “No.1 USB” and click the <Connect> button.

(7) After development PC and the Controller connection is completed, “Connected”

is displayed in the [Connection status:]. Make sure that “Connected” is displayed and click the <Close> button to close the [PC to Controller Communications] dialog.

Connection of the development PC and the Controller is completed. Now robot system can be used from EPSON RC+ 7.0.

3.2.4 Backup the initial condition of the Controller

the Controller data configured before shipment.

Backup

Project and system configuration backup procedure:

(1) From the [Project] menu, select [Copy]. (2) Change the [Destination Drive] to an arbitrary drive. (3) Click <OK>. The project will be copied to the external media. (4) From the [Too l s ] menu, select [Controller]. (5) Click on the <Backup Controller> button. (6) Select the arbitrary drive. (7) Click <OK>. The system configuration will be backed up on the external

media.

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3. First Step

NOTE

3.2.5 Disconnection of Development PC and Controller

Disconnection of the development PC and the Controller is indicated.

(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications]

to display the [PC to Controller Communications] dialog.

(2) Click the <Disconnect> button.

Controller and the development PC is disconnected and USB cable can be removed.

If the USB cable is removed while the Controller and the development PC are connected, the Manipulator stops. Be sure to click the <Disconnect> button in the [PC to Controller Communications] dialog before removing the USB cable.

3.2.6 Moving the Robot to Initial Position

Robot can be operated by the following methods other than creating and executing the program.

Manual operation

Jog motion by the Teach Pendant

Command execution from the EPSON RC+

Jog motion from the EPSON RC+

This section explains about following methods.

A: Manual operation

B: Command execution from the EPSON RC+

C: Jog motion from the EPSON RC+

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3. First Step

A: Manual operation

Move the non-excited robot manually.

Joints with no electromagnetic brake can be moved manually.

Joints with the brakes (Joint #3 only, or Joints #3 and #4) can be moved manually

while the break release switch on the manipulator is being pressed with the

controller ON.

B: Command execution from the EPSON RC+

Move the robot by exciting the robot motors and executing the command.

Following explains the example of moving all joints to the 0 pulse positions by specifying the pulse for each joint.

(1) Start the EPSON RC+ 7.0.

Double click the <EPSON RC+ 7.0> icon on the desktop.

(2) Open the command window.

EPSON RC+ 7.0 menu-[ To o ls]-[Command Window]

(3) Execute the following command in [Command Window].

>Motor On

>Go Pulse (0,0,0,0)

For position and posture of Manipulator at 0 pulse position, refer to Motion Range in the Manipulator manuals.

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3. First Step

C: Jog motion from the EPSON RC+

Move the robot by exciting the motors and operating from the Jog & Teach window of the EPSON RC+.

(1) Start the EPSON RC+ 7.0.

Double click the <EPSON RC+ 7.0> icon on the desktop.

(2) Create a new project.

1. Select [New] from the [Project] Menu. The [New Project] dialog box

will be displayed.

2. Type a project name in the [New Project Name] box.

(e.g. FirstApp)

3. Click the <OK> button and create the new project.

(3) Open the robot manager.

EPSON RC+ 7.0 menu-[ To o ls]-[Robot Manager].

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