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

...

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)

Robot System Safety and Installation

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Table of Contents

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

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

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

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

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

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

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

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

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

■

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

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

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

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

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.

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

+ 96 hidden pages

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

Specifications and Main Features

Frequently Asked Questions

User Manual

FOREWORD

WARRANTY

TRADEMARKS

TRADEMARK NOTATION IN THIS MANUAL

NOTICE

MANUFACTURER

SUPPLIERS (Country/Region)

Regarding battery disposal

For California customers only

Before Reading This Manual

Control System Configuration

China RoHS

Table of Contents

1. Safety 1

2. Installation 45

3. First Step 76

4. Second Step 93

5. General Maintenance 95

6. Manuals 106

7. Directives and Norms 108

1. Safety

1.1 Conventions

1.2 Design and Installation Safety

1.2.1 Relevant Manuals

1.2.2 Designing a Safe Robot System

Environmental Conditions

System Layout

Disabling Power to the System using lock out / tag out

End Effector Design

Peripheral Equipment Design

Remote Control

Emergency Stop

Safeguard System

Presence Sensing Device

Resetting the Safeguard

Robot Operation Panel

1.3 Operation Safety

1.3.1 Safety-related Requirements

1.3.2 Part Names / Arm Motion

RC90-B

LS20-B

LS10-B

LS3-B, LS6-B