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

SCARA ROBOT

RS series

MANIPULATOR MANUAL

Rev.5

EM105R2014F

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

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system.

Keep this manual handy for easy access at all times.

WARRANTY

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

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

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

2.Malfunctions caused by customers’ unauthorized disassembly.

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

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

Warnings, Cautions, Usage:

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

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

3.We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.

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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

Japan & Others	SEIKO EPSON CORPORATION
	Suwa Minami Plant
	Factory Automation Systems Dept.
	1010 Fujimi, Fujimi-machi,
	Suwa-gun, Nagano, 399-0295
	JAPAN
	TEL	: [phone]
	FAX	: [phone]

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746

USA

TEL : [phone]

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

Europe	EPSON DEUTSCHLAND GmbH
	Factory Automation Division
	Otto-Hahn-Str.4
	D-40670 Meerbusch
	Germany
	TEL	: [phone]
	FAX	: [phone]
	E-MAIL	: [e-mail]

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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		Software
Name		Structure
RC180		Controller	EPSON RC+ 5.0 Ver.5.3 or greater
RC620		Control Unit	EPSON RC+ 6.0 Ver. 6.0 or greater
		Drive Unit

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

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn ON/OFF all the hardware components. For the Controller composition, refer to the table above.

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.

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.

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RS Rev.5

TABLE OF CONTENTS

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
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
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TABLE OF CONTENTS

Maintenance

	1.	Safety Maintenance			45
	2.	General Maintenance			46
		2.1	Schedule for Maintenance Inspection ...................................................		46
		2.2	Inspection Point.....................................................................................		47
			2.2.1 Inspection While the Power is OFF ...........................................		47
			2.2.2 Inspection While the Power is ON ...........................................		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
			3.1.1	RS3-351S (Standard-model) .....................................................	53
			3.1.2	RS3-351C (Cleanroom-model)..................................................	53
		3.2	Arm #2	..................................................................................................	54
			3.2.1	Arm #2 Cover ............................................................................	54
			3.2.2	Under Cover..............................................................................	55
			3.2.3 Arm #2 Maintenance Cover.......................................................		55
		3.3	Connector Plate ....................................................................................		56
		3.4	Base Cover ...........................................................................................		57
		3.5	User Plate .............................................................................................		58
	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
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			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

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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.

Setup & Operation 1. Safety

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.

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

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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.

■The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been

	WARNING	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.

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RS Rev.5

Setup & Operation 1. Safety

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.

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

WARNING	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.

■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

WARNING 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

CAUTION	people involved communicate with each other as to what they are doing and take
	all necessary safety precautions.

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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	Start point of
			operation
	Point where the	Joint #1	Target point
	emergency stop
	signal is input
			Stop point
		Joint #2

		Controller		RC180 / RC620
		Manipulator		RS3-351*
	Free running time	Joint #1 + Joint #2	[sec.]	0.4
		Joint #3	[sec.]	0.2
		Joint #1	[deg.]	50
	Free running angle
		Joint #2	[deg.]	30
		Joint #1 + Joint #2 [deg.]		80
	Free running distance	Joint #3	[mm]	55

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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

−

Base

+

Arm #1

	Arm #1				Arm #2
	Arm #2
		+
	Joint #3				Joint #3
	(up and down)		−	Shaft	brake release button
		−	+
			Joint #4
			(rotating)
NOTE	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.

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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
					Before loosening the base mounting screws,
A					hold the arm and secure it tightly with a band
					to prevent hands or fingers from being caught
					in the Manipulator.
B
					Hazardous voltage exists while the
C					Manipulator is ON. To avoid electric shock,
					do not touch any internal electric parts.
					You can catch your hand or fingers between
D					the shaft and Arm #1 when bringing your
					hand close to moving parts.
E
F
G
H

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RS Rev.5

Setup & Operation 1. Safety

Location of Labels

H

C

C

D

C E

F

Top

Side

B (Both sides)

C

Front

G

Bottom

A

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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

UL specification

UL : UL compliant

□: Non UL compliant

Environment

S	: Standard
C	: Cleanroom & ESD (Anti-static)

Joint #3 stroke

1

: 130 mm

: 100 mm (with bellows)

Arm length

35 : 350 mm

Environment

Cleanroom-model

This model has additional features that reduce dust emitted by the Manipulator to enable use in clean room environments.

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

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RS Rev.5

Setup & Operation 2. Specifications

2.3 Part Names and Outer Dimensions

Standard-model: RS3-351S

		Power Cable			Signal Cable
		User Connector
	(15-pin D-sub Connector)
	Fitting (white)				Fitting (white)
			Fitting (black)
					for ø6 mm
		for ø4 mm	for ø6 mm		pneumatic tube
Joint #1		pneumatic tube	pneumatic tube
(rotating)
−	Joint #2	Power Cable			Signal Cable
+	(rotating)	Base
	−
Base	+

Arm #1

Arm #1

Arm #2

Fitting (white)

for ø4 mm

pneumatic tube

Arm #2

Fitting (black)

for ø6 mm

+

User Connector

pneumatic tube

Joint #3

(15-pin D-sub Connector)

Fitting (white)

−

(up and down)

Shaft

for ø6 mm

−

+

pneumatic tube

Joint #3 and #4

Joint #4

brake release button

(rotating)

CE label

MT label (only for custom specification)

Signature label

(Serial No. of Manipulator)

UR label

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

)- 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.NOTE

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11

Setup & Operation 2. Specifications

90 or more Space for cables

← Manipulator installation position

(*) indicates the stroke margin by mechanical stop.

	1 mm flat cu		through hole
	Ø3,90°
	Conical hole
	Max.ø11 through hole		For manipulator mounting
	ø16h7 shaft diameter
			through hole
	ø30 mechanical stop diameter
			ø11 spot facing
	Enlarged view from A	Reference through hole
			depth 6.5
	(Original orientation of Joint #3, #4)	(View from the top of the base)

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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.

Exhaust port

Exhaust port

Plate cover (For Anti-static)

Bellows	Bellows

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13

Setup & Operation 2. Specifications

90 or more Space for cables

← Manipulator installation position

(*) indicates the stroke margin by mechanical stop.

			through hole
	1 mm flat cu
	Ø3,90°
	Conical hole
	Max.ø11 through hole		For Manipulator mounting
			through hole
	ø16h7 Shaft diameter
	ø30 Mechanical stop diameter		Ø11 spot facing
	Enlarged view from A	Reference through hole	depth 6.5
	(Original orientation of Joint #3, #4)	(View from the top of the base)	from back side

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RS Rev.5

					Setup & Operation 2. Specifications
	2.4 Specifications
			Item		RS series
	Arm length			Arm #1, #2	350 mm
				Arm #1	175 mm
				Arm #2	175 mm
	Max.			Joints #1, #2	6237 mm/s
				Joints # 3	1100 mm/s
	operating speed *1
				Joint #4	2600 deg/s
	Repeatability			Joints #1, #2	± 0.01 mm
				Joints # 3	± 0.01 mm
				Joint #4	± 0.01 deg
	Payload (Load)			Rated	1 kg
				Max.	3 kg
	Joint #4 allowable			Rated	0.005 kg m2
	moment of inertia *2			Max.	0.05 kg m2
				Joint #1	± 225 deg
	Max.			Joint #2	± 225 deg
					RS3-351S: 130 mm
	motion range			Joint #3
					RS3-351C: 100 mm
				Joint #4	± 720 deg
				Joint #1	− 2560000 to + 5973334 pulse
	Max.			Joint #2	± 4177920 pulse
	pulse range			Joint #3	RS3-351S: − 1479112 pulse to 0 pulse
	(pulse)				RS3-351C: − 1137778 pulse to 0 pulse
				Joint #4
					± 3145728 pulse
				Joint #1	0.0000527 deg/pulse
	Resolution			Joint #2	0.0000538 deg/pulse
				Joint #3	0.0000879 mm/pulse
				Joint #4	0.000229 deg/pulse
	Hand diameter			Mounting	ø 16 mm
				Hollow	ø 11 mm
	Mounting hole				6-M6
	Weight (cables not included)				17 kg: 38 lb
					(Common to Standard & Cleanroom-model)
	Driving method				AC servo motor
				Joint #1	400 W
	Motor power			Joint #2	200 W
	consumption			Joint #3	150 W
				Joint #4	100 W
	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				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/cm2 : 86 psi)
	Environmental		Ambient temperature		5 to 40°C (with minimum temperature variation)
			Ambient relative
	requirements				10 to 80% RH (no condensation)
			humidity
	Noise level *4				LAeq = 70 dB (A)
	Applicable Controller				RC180, RC620

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15

Setup & Operation 2. Specifications

	Item		RS series
		SPEED	1 to (5) to100
		ACCEL *5	1 to (10) to 120
Assignable Value		SPEEDS	1 to (50) to 2000
( ) Default values		ACCELS	1 to (200) to 25000
		FINE	0 to (10000) to 65000
		WEIGHT	0,175 to (1,175) to 3,175
MTBF			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 cm3 (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 cm3/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.

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RS Rev.5

Setup & Operation 2. Specifications

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

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

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

RS Rev.5

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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

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

*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.

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RS Rev.5