EPSON RS3-351C, RS3-351S User Manual

Rev.5 EM105R2014F

SCARA ROBOT

RS series

MANIPULATOR MANUAL

MANIPULATOR MANUAL RS series Rev.5

SCARA ROBOT

RS series Manipulator Manual

Rev.5

Copyright © 2008-2010 SEIKO EPSON CORPORATION. All rights reserved.

RS Rev.5 i

d

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator.

Please carefully read this manual and other related manuals before installing the robot

system.

Keep this manual handy for easy access at all times.

WARRANTY

The Manipulator and its optional parts are shipped to our customers only after being

subjected to the strictest quality controls, tests, and inspections to certify its compliance

with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of

charge during the normal warranty period. (Please ask your Regional Sales Office for

warranty period information.)

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

during the warranty period):

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

or careless use.

2. Malfunctions caused by customers’ unauthorized disassembly.

3. Damage due to improper adjustments or unauthorized repair attempts.

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

Warnings, Cautions, Usage:

1. If the Manipulator or associated equipment is used outside of the usage conditions an

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.

ii RS Rev.5

TRADEMARKS

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

Microsoft Corporation in the United States and/or other countries. Other brand and

product names are trademarks or registered trademarks of the respective holders.

NOTICE

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

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

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

regarding its contents.

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier office for

your region.

Please prepare the following items before you contact us.

- Your controller model and its serial number

- Your manipulator model and its serial number

- Software and its version in your robot system

- A description of the problem

SERVICE CENTER

RS Rev.5 iii

MANUFACTURER & SUPPLIER

TEL : [phone]

FAX : [phone]

Japan & Others

SEIKO EPSON CORPORATION

Suwa Minami Plant

Factory Automation Systems Dept.

1010 Fujimi, Fujimi-machi,

Suwa-gun, Nagano, 399-0295

JAPAN

SUPPLIERS

Factory Automation/Robotics

TEL : [phone]

FAX : [phone]

E-MAIL : [e-mail]

Factory Automation Division

TEL : [phone]

FAX : [phone]

E-MAIL : [e-mail]

North & South America

Europe

EPSON AMERICA, INC.

18300 Central Avenue

Carson, CA 90746

USA

EPSON DEUTSCHLAND GmbH

Otto-Hahn-Str.4

D-40670 Meerbusch

Germany

iv RS Rev.5

For Customers in the European Union

The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household
waste stream. To prevent possible harm to the environment or human health please
separate this product and its batteries from other waste streams to ensure that it can be
recycled in an environmentally sound manner. For more details on available collection
facilities please contact your local government office or the retailer where you purchased
this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are used
in the battery.

This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.

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

RS Rev.5 v

Before Reading This Manual

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

Structure of Control System

The RS series Manipulators can be used with the following combinations of Controllers and

software.

The operating methods and descriptions are different depending on which software you are

using. The following icons are put beside appropriate text as necessary. Use the

descriptions that pertain to the software you are using.

Controller

Name Structure

RC180 Controller EPSON RC+ 5.0 Ver.5.3 or greater

RC620

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

Control Unit

Drive Unit

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to

turn ON/OFF all the hardware components. For the Controller composition, refer to the

table above.

Shape of Motors

The shape of the motors used for the Manipulator that you are using may be different from

the shape of the motors described in this manual because of the specifications.

Software

EPSON RC+ 6.0 Ver. 6.0 or greater

Setting by Using Software

This manual contains setting procedures by using software. They are marked with the

following icon.

EPSON

RC+

Figures in this Manual

The figures of manipulators indicated in this manual are basically Standard-model

Manipulator. Unless special instruction is provided, the specifications of Standard-model,

Cleanroom-model, and Protected-model (IP54 / IP65) are the same.

vi RS Rev.5

TABLE OF CONTENTS

Before Reading This Manual............................................................................v

Setup & Operation

1. Safety 3

1.1 Conventions.............................................................................................3

1.2 Design and Installation Safety .................................................................4

1.3 Operation Safety......................................................................................5

1.4 Emergency Stop ......................................................................................6

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

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

2. Specifications 10

2.1 Features of RS series Manipulators.......................................................10

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

2.3 Part Names and Outer Dimensions .......................................................11

2.4 Specifications.........................................................................................15

2.5 How to Set the Model ............................................................................17

3. Environments and Installation 18

TABLE OF CONTENTS

3.1 Environmental Conditions......................................................................18

3.2 Base Table .............................................................................................18

3.3 Mounting Dimensions ............................................................................21

3.4 Unpacking and Transportation...............................................................22

3.5 Installation Procedure ............................................................................23

3.6 Connecting the Cables ..........................................................................25

3.7 User Wires and Pneumatic Tubes .........................................................26

3.8 Relocation and Storage .........................................................................27

4. Setting of End Effectors 29

4.1 Attaching an End Effector ......................................................................29

4.2 Attaching Cameras and Air valves.........................................................30

4.3 Weight and Inertia Settings....................................................................30

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ..................35

5. Motion Range 36

5.1 Motion Range Setting by Pulse Range ..................................................36

5.1.1 Max. Pulse Range of Joint #1 ....................................................37

5.1.2 Max. Pulse Range of Joint #2 ....................................................37

5.1.3 Max. Pulse Range of Joint #3 ....................................................38

5.1.4 Max. Pulse Range of Joint #4 ....................................................38

5.2 Motion Range Setting by Joint #3 Mechanical stops .............................39

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate

System of the Manipulator (for Joints #1 and #2) ................................41

5.4 Standard Motion Range .........................................................................41

RS Rev.5 vii

TABLE OF CONTENTS

Maintenance

1. Safety Maintenance 45

2. General Maintenance 46

2.1 Schedule for Maintenance Inspection ...................................................46

2.2 Inspection Point..................................................................................... 47

2.3 Greasing ............................................................................................... 48

2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 49

2.5 Matching Origins ................................................................................... 49

2.6 Layout of Maintenance Parts................................................................. 50

3. Covers 51

3.1 Arm #1 .................................................................................................. 52

3.2 Arm #2 .................................................................................................. 54

3.3 Connector Plate .................................................................................... 56

3.4 Base Cover ........................................................................................... 57

3.5 User Plate .............................................................................................58

2.2.1 Inspection While the Power is OFF ........................................... 47

2.2.2 Inspection While the Power is ON ........................................... 47

3.1.1 RS3-351S (Standard-model)..................................................... 53

3.1.2 RS3-351C (Cleanroom-model).................................................. 53

3.2.1 Arm #2 Cover ............................................................................ 54

3.2.2 Under Cover.............................................................................. 55

3.2.3 Arm #2 Maintenance Cover....................................................... 55

4. Cable Unit 59

4.1 Replacing Cable Unit ............................................................................ 60

4.2 Wiring Diagrams.................................................................................... 68

4.2.1 Signal Cable .............................................................................. 70

4.2.2 Power Cable.............................................................................. 70

4.2.3 User Cable ................................................................................ 72

5. Arm #1 73

5.1 Replacing Joint #1 Motor ...................................................................... 74

5.2 Replacing Joint #1 Reduction Gear Unit ............................................... 78

5.3 Replacing J1 belt................................................................................... 81

6. Arm #2 82

6.1 Replacing Joint #2 Motor ...................................................................... 83

6.2 Replacing Joint #2 Reduction Gear Unit ............................................... 87

6.3 Replacing J2 belt................................................................................... 92

7. Arm #3 93

7.1 Replacing Joint #3 Motor ...................................................................... 94

7.2 Replacing the Timing Belt ..................................................................... 98

7.3 Replacing the Brake.............................................................................. 99

viii RS Rev.5

TABLE OF CONTENTS

8. Arm #4 101

8.1 Replacing Joint #4 Motor .....................................................................102

8.2 Replacing the Timing Belt ....................................................................106

8.3 Replacing the Brake ............................................................................110

9. Bellows 111

10. Ball Screw Spline Unit 114

10.1 Greasing the Ball Screw Spline Unit ..................................................114

10.1.1 Standard-model......................................................................115

10.1.2 Cleanroom-model / Protected-model .....................................116

10.2 Replacing the Ball Screw Spline Unit................................................. 117

11. Lithium Battery 123

11.1 Replacing the Battery Unit (Lithium Battery) ......................................124

11.2 Replacing the Battery Board ..............................................................125

12. LED Lamp 126

13. Calibration 127

13.1 About Calibration ...............................................................................127

13.2 Calibration Procedure ........................................................................128

13.3 Accurate Calibration of Joint #2.........................................................138

13.4 Calibration Procedure without using Calibration Wizard ....................140

14. Maintenance Parts List 144

14.1 Common Parts...................................................................................144

14.2 Parts by Environment Model..............................................................145

RS Rev.5 ix

x RS Rev.5

Setup & Operation

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

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

1. Safety

Installation and transportation of robots and robotic equipment shall be performed by

qualified personnel and should conform to all national and local codes. Please read this

manual and other related manuals before installing the robot system or before connecting

cables.

Keep this manual handy for easy access at all times.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following

symbols. Be sure to read the descriptions shown with each symbol.

WARNING

WARNING

Setup & Operation 1. Safety

This symbol indicates that a danger of possible serious
injury or death exists if the associated instructions are not
followed properly.

This symbol indicates that a danger of possible serious
injury or death caused by electric shock exists if the
associated instructions are not followed properly.

This symbol indicates that a danger of possible harm to
people or physical damage to equipment and facilities

CAUTION

exists if the associated instructions are not followed
properly.

RS Rev.5 3

Setup & Operation 1. Safety

1.2 Design and Installation Safety

Only trained personnel should design and install the robot system. Trained
personnel are defined as those who have taken robot system training and
maintenance training classes held by the manufacturer, dealer, or local
representative company, or those who understand the manuals thoroughly and
have the same knowledge and skill level as those who have completed the training
courses.
To ensure safety, a safeguard must be installed for the robot system. For details
on the safeguard, refer to the Installation and Design Precautions in the Safety
chapter of the EPSON RC+ User’s Guide.

The following items are safety precautions for design personnel:

■

Personnel who design and/or construct the robot system with this product must
read the Safety chapter in the EPSON RC+ User’s Guide to understand the
safety requirements before designing and/or constructing the robot system.
Designing and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
severe equipment damage to the robot system, and may cause serious safety
problems.

WARNING

■

The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
designed and manufactured strictly for use in a normal indoor environment.
Using the product in an environment that exceeds the specified environmental
conditions may not only shorten the life cycle of the product but may also cause
serious safety problems.

■

The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation requirements
may not only shorten the life cycle of the product but also cause serious safety
problems.

Further precautions for installation are mentioned in the chapter Setup &
Operation: 3. Environments and Installation. Please read this chapter carefully to
understand safe installation procedures before installing the robots and robotic
equipment.

4 RS Rev.5

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■

Please carefully read the Safety-related Requirements in the Safety chapter of
the EPSON RC+ User’s Guide before operating the robot system. Operating
the robot system without understanding the safety requirements is extremely
hazardous and may result in serious bodily injury and/or severe equipment
damage to the robot system.

■

Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON. Entering the operating area with the power ON is
extremely hazardous and may cause serious safety problems as the Manipulator
may move even if it seems to be stopped.

■

WARNING

Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpectedly.

Setup & Operation 1. Safety

WARNING

CAUTION

■

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

■

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

■

Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then pull out the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.

■

Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out the motor connectors with the power ON is
extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnormally, and also may result in electric shock and/or malfunction of
the robot system.

■

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.

RS Rev.5 5

Setup & Operation 1. Safety

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency

Stop switch. Stops the power supply to the motor, and the arm stops in the shortest

distance with the dynamic brake and mechanical brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator

is running normally. Otherwise, the Manipulator may hit the peripheral equipment since

the operating trajectory while the robot system stops is different from that in normal

operation.

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

Stop switch when the Manipulator is not moving.

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

circuit.

Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop switch is

pressed.

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

remember that the values vary depending on following conditions.

Weight of the end effector Weight of work piece Operating pose

Weight Speed Accel etc.

Conditions for Measurement

Accel Setting 100

Speed Setting 100

Load [kg] 3

Weight Setting 3

Point where the
emergency stop
signal is input

Joint #1

Stop point

Joint #2

Start point of
operation

Target point

Controller RC180 / RC620

Manipulator RS3-351*

Free running time

Free running angle

Free running distance Joint #3 [mm] 55

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

Joint #3 [sec.] 0.2

Joint #1 [deg.] 50

Joint #2 [deg.] 30

Joint #1 + Joint #2 [deg.] 80

6 RS Rev.5

Setup & Operation 1. Safety

−

1.5 Emergency Movement Without Drive Power

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

Manipulator by hand as shown below:

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

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

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

electromagnetic brake applied to the joint has been released.

Move the joint up/down while pressing the brake release

button.

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

Joint #1

(rotating)

−

+

Joint #2

(rotating)

−

Base

+

Arm #1

Arm #2

Joint #3

brake release button

NOTE

)

Base

Arm #1

Arm #2

+

Joint #3

(up and down)

−

Joint #4

(rotating)

Shaft

+

Be careful of the shaft while the brake release button is pressed,

because the shaft may be lowered by the weight of an end effector.

RS Rev.5 7

Setup & Operation 1. Safety

1.6 Manipulator Labels

The following labels are attached near the locations of the Manipulator where specific

dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain

the Manipulator safely.

Do not tear, damage, or remove the labels. Use meticulous care when handling those

parts or units to which the following labels are attached as well as the nearby areas:

Label NOTE

A

B

C

D

E

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

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

You can catch your hand or fingers between
the shaft and Arm #1 when bringing your
hand close to moving parts.

玉掛け、クレーン作業、フォークリフトの運転作業な
どは、有資格作業者により、行ってください。無資
格作業者による作業は、非常に危険で重傷や重大
な損害の可能性があります。

F

ブレーキ解除スイッチを押している間は、ハンドの
自重による下降・回転に注意してください。

G

H

8 RS Rev.5

Setup & Operation 1. Safety

Location of Labels

C

C

D

H

Top

Side

Front

C

E

F

B (Both sides)

C

A

G

Bottom

RS Rev.5 9

Setup & Operation 2. Specifications

2. Specifications

2.1 Features of RS series Manipulators

The RS series Manipulators provides “Operation-oriented layout” with high-performance,

high speed, high accuracy, space saving, and flexible installation.

The features of the RS series Manipulators are as follows:

Space Saving

Compactness achieved by using a ductless design

Small body and wide motion range

Ceiling mounting realizes the cylindrical motion range.

- Operation area: approx. 160 % (compared with Scara robot of same arm length)

- Max. inscribed : approx. 250 % (compared with Scara robot of same arm length)

Great flexibility for peripheral equipments installation

Access to ALL directions

Operation efficiency improvement

The shortcut motion with inward movement

2.2 Model Number

RS3-35 1 S -UL

Environment

Cleanroom-model

This model has additional features that reduce dust emitted by the Manipulator to enable

use in clean room environments.

UL specification

UL : UL compliant

□

: Non UL compliant

Environment

S : Standard

C : Cleanroom & ESD (Anti-static)

Joint #3 stroke

: 130 mm

1

: 100 mm (with bellows)

Arm length

35 : 350 mm

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

10 RS Rev.5

−

2.3 Part Names and Outer Dimensions

Standard-model: RS3-351S

Setup & Operation 2. Specifications

Signal Cable

Fitting (white)

for ø 6 mm
pneumatic tube

Signal Cable

Fitting (white)

for ø4 mm
pneumatic tube

Base

Arm #1

Power Cable

User Connector

(15-pin D-sub Connector)

Fitting (white)

for ø4 mm

Joint #1

(rotating)

−

Joint #2

(rotating)

pneumatic tube

Power Cable

+

+

Arm #1

Arm #2

Fitting (black)

for ø 6 mm
pneumatic tube

Base

Arm #2

User Connector

CE label

MT label (only for custom specification)

Signature

(Serial No. of Manipulator)

UR label

Joint #3

(up and down)

+

−

−

Joint #4

(rotating)

(15-pin D-sub Connector)

Shaft

+

NOTE

- When the brake release button is pressed in emergency mode, the Joints #3 brake will be

Fitting (black)

for ø 6 mm
pneumatic tube

Fitting (white)

for ø 6 mm
pneumatic tube

Joint #3 and #4
brake release button

label

released.

)

- When the LED lamp is lighting or the controller power is on, the current is being

applied to the manipulator. Performing any work with the power ON is extremely

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

system. Make sure to turn OFF the controller power before the maintenance work.

RS Rev.5 11

Setup & Operation 2. Specifications

g

90 or more
Space for cables

← Manipulator installation position

(*) indicates the stroke margin by mechanical stop.

1 mm flat cuｔ

Ø3,90°

Conical hole

Max.ø11 through hole
ø16h7 shaft diameter

ø30 mechanical stop diameter

Enlarged view from A

(Original orientation of Joint #3, #4)

Reference through hole

(View from the top of the base)

through hole

For manipulator mounting

ø11 spot facing

depth 6.5

throu

h hole

12 RS Rev.5

Setup & Operation 2. Specifications

Cleanroom-model: RS3-351C

The following figures show the special parts for Cleanroom-model (Table Top mounting).
These parts are different in appearance from Standard-model.

Bellows

Exhaust port

Exhaust port

Plate cover
(For Anti-static)

Bellows

RS Rev.5 13

Setup & Operation 2. Specifications

g

90 or more
Space for cables

← Manipulator installation position

(*) indicates the stroke margin by mechanical stop.

throu

h hole

1 mm flat cuｔ

Ø3,90°

Conical hole

Max.ø11 through hole
ø16h7 Shaft diameter

ø30 Mechanical stop diameter

Enlarged view from A

(Original orientation of Joint #3, #4)

(View from the top of the base)

Reference through hole

For Manipulator mounting

through hole

Ø11 spot facing

depth 6.5
（from back side）

14 RS Rev.5

Setup & Operation 2. Specifications

2.4 Specifications

Item RS series

Arm #1, #2 350 mm

Arm length

Max.
operating speed *1

Repeatability

Payload (Load)

Joint #4 allowable
moment of inertia *2

Max.
motion range

Max.
pulse range
(pulse)

Resolution

Hand diameter

Mounting hole

Weight (cables not included)

Driving method

Motor power
consumption

Option Environment Cleanroom *3 & ESD
Joint #3 down force 150 N
Installed wire for customer use 15 wires: D-sub / 15 pin connectors

Installed pneumatic tube for customer use

Environmental
requirements

Ambient temperature
Ambient relative

humidity
Noise level *4 LAeq = 70 dB (A)
Applicable Controller RC180, RC620

Arm #1 175 mm
Arm #2 175 mm
Joints #1, #2

6237 mm/s
Joints # 3 1100 mm/s
Joint #4 2600 deg/s
Joints #1, #2

± 0.01 mm
Joints # 3 ± 0.01 mm
Joint #4 ± 0.01 deg
Rated
Max.
Rated
Max.
Joint #1
Joint #2

Joint #3

Joint #4

Joint #1
Joint #2

Joint #3

Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Mounting
Hollow

1 kg

3 kg

0.005 kg⋅m

0.05 kg⋅m

± 225 deg

± 225 deg

RS3-351S: 130 mm

RS3-351C: 100 mm

± 720 deg

− 2560000 to + 5973334 pulse

± 4177920 pulse

RS3-351S: − 1479112 pulse to 0 pulse

RS3-351C: − 1137778 pulse to 0 pulse

± 3145728 pulse

0.0000527 deg/pulse

0.0000538 deg/pulse

0.0000879 mm/pulse

0.000229 deg/pulse
ø 16 mm
ø 11 mm
6-M6
17 kg: 38 lb
(Common to Standard & Cleanroom-model)
AC servo motor

Joint #1
Joint #2
Joint #3
Joint #4

400 W
200 W
150 W
100 W

2 pneumatic tubes (ø 6 mm): 0.59 Mpa (6 kgf/cm2 : 86 psi)
1 pneumatic tube (ø 4 mm): 0.59 Mpa (6 kgf/cm
5 to 40°C (with minimum temperature variation)

10 to 80% RH (no condensation)

2

2

2

: 86 psi)

RS Rev.5 15

Setup & Operation 2. Specifications

Item RS series

Assignable Value

( ) Default values

MTBF

SPEED
ACCEL *5
SPEEDS
ACCELS
FINE
WEIGHT

1 to (5) to100
1 to (10) to 120
1 to (50) to 2000
1 to (200) to 25000
0 to (10000) to 65000
0,175 to (1,175) to 3,175
3 years

UL1740 (Third Edition, Dated December 7, 2007)
ANSI/RIA R15.06-1999

Safety standard

NFPA 79 (2007 Edition)
CSA/CAN Z434-03 (February 2003)
CE Marking −
Machinery Directive, Low Voltage Directive, EMC Directive

*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 command.

*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.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level: Class ISO 3 (ISO14644-1)

In previous criteria; Clean Class: 10 or its equivalent

Amount of Dust (0.1 µm diameter or larger) in 28317 cm

3

(1cft)
sample-air around the center of the motion rang: 10 particles or
less.)

Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm / Outer diameter: ø16 mm

Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter: ø8 mm)
or Inner diameter ø16mm or larger
Recommended exhaust flow rate: approx. 1000 cm

3

/s (Normal)

*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 : In front 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.
However, you may require an operation with high acceleration to shorten the cycle time by decreasing the
vibration at positioning. In this case, set Accel to larger than 100.
If you specify a larger Accel value, the frequency of the overload error and over heat may rise during
continuous operation. The use of large Accel setting is recommended only for necessary motions.

16 RS Rev.5

2.5 How to Set the Model

The Manipulator model for your system has been set before shipment from the factory.

It is normally not required to change the model when you receive your system.

■

When you need to change the setting of the Manipulator model, be sure to set the
Manipulator model properly. Improper setting of the Manipulator model may

CAUTION

NOTE

)

result in abnormal or no operation of the Manipulator and/or cause safety
problems.

If an MT label is attached to the rear of a Manipulator, the Manipulator has custom

specifications. The custom specifications may require a different configuration

procedure; check the custom specifications number described on the MT label and contact

us when necessary.

The Manipulator model can be set from software.

Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.

Setup & Operation 2. Specifications

RS Rev.5 17

Setup & Operation 3. Environments and Installation

3. Environments and Installation

3.1 Environmental Conditions

A suitable environment is necessary for the robot system to function properly and safely.

Be sure to install the robot system in an environment that meets the following conditions:

Item Conditions

Ambient temperature *1 5 to 40°C (with minimum temperature variation)

Ambient relative humidity 10 to 80% (no condensation)

First transient burst noise 2 kV or less

Electrostatic noise 6 kV or less

· Install indoors

· Keep away from direct sunlight

· Keep away from dust, oily smoke, salinity,

metal powder or other contaminants

Environment

· Keep away from flammable or corrosive solvents

and gases

· Keep away from water

· Keep away from shocks or vibrations

· Keep away from sources of electric noise

NOTE

)

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.

*1 The ambient temperature conditions are for the Manipulators only. For the Controller

the Manipulators are connected to, refer to the Controller manual.

3.2 Base Table

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

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

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

requirements here.

The base table must not only be able to bear the weight of the Manipulator but also be able

to withstand the dynamic movement of the Manipulator when the Manipulator operates at

maximum acceleration. Ensure that there is enough strength on the base table by

attaching reinforcing materials such as crossbeams.

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

follows:

Max. Reaction torque on the horizontal plate : 500 Nm

Max. Horizontal reaction force : 1200 N

Max. Vertical reaction force : 1100 N

The threaded holes required for mounting the Manipulator base are M6. Use mounting

bolts with specifications conforming to ISO898-1 property class: 10.9 or 12.9.

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

18 RS Rev.5