EPSON RS4-551S, RS4-551C User Manual

MANIPULATOR MANUAL

RS3-55 series

SCARA ROBOT

Rev.2 EM110R2082F

MANIPULATOR MANUAL RS3-55 series Rev.2

RS3-55 Rev.2 i

SCARA ROBOT

RS3-55 series Manipulator Manual

Rev.2

Copyright © 2010 SEIKO EPSON CORPORATION. All rights reserved.

ii RS3-55 Rev.2

FOREWORD

Thank you for purchasing our robot products.

This is the attachment manual for RS3-551* series manipulator and contains the

information necessary for the correct use of RS3-55 series. For other information, refer

to RS series manipulator manual. Chapter number in this manual is the same as in RS

series manipulator manual.

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

d

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.

RS3-55 Rev.2 iii

TRADEMARKS

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

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

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

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

iv RS3-55 Rev.2

MANUFACTURER & SUPPLIER

SEIKO EPSON CORPORATION

Japan & Others

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]

RS3-55 Rev.2 v

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)

vi RS3-55 Rev.2

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

RC180 EPSON RC+ 5.0

RC620 EPSON RC+ 6.0

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

and Cleanroom-model are the same.

TABLE OF CONTENTS

RS3-55 Rev.2 vii

TABLE OF CONTENTS

Before Reading This Manual........................................................................... vi

Setup & Operation

1. Safety 1

1.4 Emergency Stop ......................................................................................1

1.5 Emergency Movement Without Drive Power ...........................................2

1.6 Manipulator Labels ..................................................................................3

2. Specifications 6

2.2 Model Number and Model Differences ....................................................6

2.3 Part Names and Outer Dimensions .........................................................7

2.4 Specifications.........................................................................................11

3. Environments and Installation 14

3.2 Base Table.............................................................................................14

3.3 Mounting Dimensions ............................................................................15

3.4 Unpacking and Transportation...............................................................16

3.7 User Wires and Pneumatic Tubes .........................................................17

4. Setting of End Effectors 18

4.2 Attaching Cameras and Air valves.........................................................18

4.3 Weight and Inertia Settings....................................................................19

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ..................20

5. Motion Range 21

5.1 Motion Range Setting by Pulse Range ..................................................21

5.1.1 Max. Pulse Range of Joint #1 ....................................................21

5.4 Standard Motion Range .........................................................................22

Maintenance

14. Maintenance Parts List 23

14.1 Common Parts ...................................................................................23

14.2 Parts by Environment Model ..............................................................24

14.2.1 S: Standard-model .................................................................24

14.2.2 C: Cleanroom-model ..............................................................24

TABLE OF CONTENTS

viii RS3-55 Rev.2

Setup & Operation 1. Safety

RS3-55 Rev.2 1

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.