EPSON S5-A901S, S5-A701S User Manual
Rev.4 EM119R2226F
MANIPULATOR MANUAL
EPSON ProSix
S5 series
EPSON ProSix S5 series MANIPULATOR MANUAL Rev. 4
EPSON ProSix
S5 series Manipulator Manual
Rev. 4
Copyright © 2010-2011 SEIKO EPSON CORPORATION. All rights reserved.
S5 Rev.4 i
t
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 robot 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,
2. Malfunctions caused by customers’ unauthorized disassembly.
or careless use.
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 robot or associated equipment is used outside of the usage conditions and produc
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 S5 Rev.4
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
S5 Rev.4 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 : +81-(0)266-61-1802
FAX : +81-(0)266-61-1846
SUPPLIERS
Taiwan EPSON Taiwan Technology & Trading Ltd.
North & South
America
TEL : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : info@robots.epson.com
Europe EPSON DEUTSCHLAND GmbH
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
China EPSON China Co., Ltd
EPSON AMERICA, INC.
Factory Automation/Robotics
18300 Central Avenue
Carson, CA 90746
USA
Factory Automation Division
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
Factory Automation Division
7F, Jinbao Building No. 89 Jinbao Street
Dongcheng District, Beijing,
China, 100005
TEL : +86-(0)-10-8522-1199
FAX : +86-(0)-10-8522-1120
Factory Automation Division
14F, No.7, Song Ren Road, Taipei 110
Taiwan, ROC
TEL : +886-(0)-2-8786-6688
FAX : +886-(0)-2-8786-6677
iv S5 Rev.4
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)
S5 Rev.4 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
S5 series Manipulators can be used with the following combinations of Controllers and
software.
Controller
Type Composition (Hardware)
RC180 Controller EPSON RC+ 5.0
RC620
For details on commands, refer to “EPSON RC+ User’s Guide” or “Online Help”.
Control Unit
Drive Unit
Software
EPSON RC+ 6.0
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 hardware components, see the table
above.
Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on
when it was shipped or the specifications. The procedures themselves, however, are
accurate.
vi S5 Rev.4
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 How to Move Arms the Electromagnetic Brake is Applied to ...................7
1.6 Precaution for Operation in Low Power Status ......................................14
1.7 Manipulator Labels ................................................................................15
2. Specifications ············································································ 17
2.1 Features of Manipulators .......................................................................17
2.2 Model Number .......................................................................................18
2.3 Appearance ...........................................................................................19
2.4 Specifications .........................................................................................24
2.5 How to Set the Model ............................................................................26
3. Environment and Installation ····················································27
1.5.1 Moving the Arm Using the Brake Release Unit ...................................8
1.5.2 Moving the Arm Using the Software ..................................................13
2.4.1 Table ..................................................................................................24
2.4.2 Option Table ......................................................................................25
3.1 Environmental Conditions ......................................................................27
3.2 Unpacking, Transportation, and Relocation ...........................................29
3.2.1 Using a Crane ................................................................................... 30
3.2.2 Using a Forklift ..................................................................................31
3.2.3 Removing / Attaching the Shipping Bolts and Jigs ............................31
3.2.4 Relocating .........................................................................................32
3.3 Mounting Dimensions ............................................................................33
3.4 Installation .............................................................................................34
3.4.1 Base Table Mounting .........................................................................35
3.4.2 Floor Mounting .................................................................................. 36
3.4.3 Cleanroom-model .............................................................................37
3.4.4 Protection-model ................................................................................37
3.5 Connecting the Cables ..........................................................................38
3.5.1 Cable Connections ............................................................................39
3.5.2 Grounding ..........................................................................................40
3.6 Setting the Basic Pose for Calibration ...................................................41
3.7 User Wires and Pneumatic Tubes .........................................................43
S5 Rev.4 vii
Maintenance
4. End Effectors ············································································· 45
4.1 Attaching an End Effector ...................................................................... 45
4.2 Attaching Valves .................................................................................... 46
4.3 WEIGHT and INERTIA Settings ............................................................ 46
4.3.1 WEIGHT Setting ............................................................................... 49
4.3.2 INERTIA Setting ................................................................................ 53
4.4 Precautions for Auto Acceleration / Deceleration .................................. 57
5. Motion Range ············································································· 58
5.1 Motion Range Setting by Pulse Range (for All Arms) ............................ 59
5.1.1 Max. Pulse Range of Arm #1 ............................................................ 60
5.1.2 Max. Pulse Range of Arm #2 ............................................................ 61
5.1.3 Max. Pulse Range of Arm #3 ............................................................ 62
5.1.4 Max. Pulse Range of Arm #4 ............................................................ 63
5.1.5 Max. Pulse Range of Arm #5 ............................................................ 64
5.1.6 Max. Pulse Range of Arm #6 ............................................................ 65
5.2 Restriction of Manipulator Operation by Joint Angle Combination ........ 66
5.3 Coordinate System ................................................................................ 68
5.4 Setting the Cartesian (Rectangular) Range in
the XY Coordinate System of the Manipulator ........................................ 68
1. Safety Maintenance ··································································· 71
2. Periodic Inspection ··································································· 73
2.1 Schedule for Maintenance Inspections ................................................. 73
2.2 Inspection Tasks .................................................................................... 74
2.3 Grease Replenishment ......................................................................... 76
2.3.1 Joint #1 Reduction Gear Unit ........................................................... 78
2.3.2 Joint #1 Gear .................................................................................... 79
2.3.3 Joint #2 Reduction Gear Unit ........................................................... 80
2.3.4 Joint #3 Reduction Gear Unit ........................................................... 81
2.3.4 Joint #4 Reduction Gear Unit ........................................................... 82
2.3.6 Joint #5 Reduction Gear Unit ........................................................... 83
2.3.7 Joint #6 Reduction Gear Unit ........................................................... 84
2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 85
2.5 Removing Condensation (Only protection-model) .................................. 86
3. Covers ························································································ 87
3.1 Arm #1 Cover.......................................................................................... 88
3.2 Arm #2 Cover ........................................................................................ 89
3.3 Arm #3 Cover ........................................................................................ 90
3.4 Arm #4 Cover ........................................................................................ 91
viii S5 Rev.4
4. Joint #1 ······················································································· 92
4.1 Replacing the Joint #1 Motor .................................................................92
4.2 Replacing the Joint #1 Reduction Gear Unit ..........................................98
4.2.1 Greasing the Reduction Gear Unit ....................................................99
4.2.2 Replacing the Reduction Gear Unit ................................................ 100
5. Joint #2 ····················································································· 106
5.1 Replacing the Joint #2 Motor ...............................................................106
5.2 Replacing the Joint #2 Reduction Gear Unit ........................................ 110
5.2.1 Greasing the Reduction Gear Unit .................................................. 112
5.2.2 Replacing the Reduction Gear Unit ................................................ 113
5.3 Replacing the Joint #2 Timing Belt .......................................................120
6. Joint #3 ····················································································· 122
6.1 Replacing the Joint #3 Motor ...............................................................122
6.2 Replacing the Joint #3 Reduction Gear Unit ........................................126
6.2.1 Greasing the Reduction Gear Unit ..................................................127
6.2.2 Replacing the Reduction Gear Unit ................................................ 129
6.3 Replacing the Joint #3 Timing Belt .......................................................136
7. Joint #4 ····················································································· 138
7.1 Replacing the Joint #4 Motor ...............................................................138
7.2 Replacing the Joint #4 Reduction Gear Unit ........................................141
7.2.1 Greasing the Reduction Gear Unit ..................................................142
7.2.2 Replacing the Reduction Gear Unit ................................................ 143
7.3 Replacing the Joint #4 Timing Belt .......................................................149
8. Joint #5 & Joint #6 ··································································· 151
8.1 Replacing the Joint #5 & Joint #6 Motor ..............................................151
8.2 Replacing the Joint #5 & Joint #6 Timing Belt ......................................156
9. Cable Unit ················································································· 158
9.1 Replacing the Cable Unit .....................................................................158
9.2 Wiring Diagrams ................................................................................170
9.2.1 Signal Cable ....................................................................................170
9.2.2 Power Cable ....................................................................................171
9.2.3 User Cable ......................................................................................172
10. Battery Unit (Lithium Battery) ··············································· 173
10.1 Precautions of the Data .....................................................................173
10.2 Replacing the Battery Unit ...............................................................174
10.3 Data Recovery .................................................................................176
11. Replacing the LED Lamp ······················································· 178
S5 Rev.4 ix
12. Calibration ·············································································· 180
12.1 Overview ......................................................................................... 180
12.2 Calibration Procedure ...................................................................... 182
12.3 Calibration Jig ................................................................................... 185
13. Maintenance Parts List ························································· 187
13.1 Standard ............................................................................................ 187
13.2 Option ............................................................................................... 189
x S5 Rev.4
Setup & Operation
This volume contains information for setup and operation of the
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 harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
This symbol indicates that a danger of possible harm to people
CAUTION
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.
S5 Rev.4 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 or the Safety 1.3 Design Precautions in
the SPEL CT 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 or the Safety part in the
SPEL CT 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, and 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. Environment and Installation. Please read this chapter carefully to understand
safe installation procedures before installing the robots and robotic equipment.
4 S5 Rev.4
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 or the Safety 1.1 Safety-related Requirements in
the SPEL CT 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 status (low speeds and low
power) 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
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated. Continuing the operating the
robot system while the Manipulator moves abnormally is extremely hazardous
and may result in serious bodily injury and/or severe equipment change to the
robot system.
■
Be sure to connect the AC power cable to a power receptacle. DO NOT
connect it directly to a factory power source. To shut off power to the robot
system, pull out the power plug from the power source. Performing any work
while connecting the AC power cable to a factory power source is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
■
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
CAUTION
S5 Rev.4 5
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
Setup & Operation 1. Safety
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. It 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 robot system in emergency mode during normal operation, press the
Emergency Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
However, remember that the values vary depending on conditions such as the weight of
the end effector and work piece, WEIGHT/SPEED/ACCEL settings, operating pose, etc.
The free running time/angle/distance of the Manipulator are shown below.
Conditions of Measurement
ACCEL Setting 100
SPEED Setting 100
Load [kg] 5
WEIGHT Setting 5
Free running time
[second]
Free running angle
[degree]
Arm #1
Arm #2
Arm #3
Arm #4
Arm #5
Arm #6
Arm #1
Arm #2
Arm #3
Arm #4
Arm #5
Arm #6
RC180 / RC620
S5-A701** S5-A901**
0.4
0.4
0.4
0.4
0.4
0.1
55 60
35 40
30 35
40
50
10
6 S5 Rev.4
Setup & Operation 1. Safety
−
−J3−
−
+
1.5 How to Move Arms the Electromagnetic Brake is Applied to
When the electromagnetic brake is applied to all arms (such as emergency mode), you
cannot move any arm by pushing it manually.
There are two methods to release the electromagnetic brake. Follow either method to
release the electromagnetic brake and move the arms manually.
1.5.1 Moving the Arm Using the Brake Release Unit
Follow the method when you just unpack the delivered boxes or when the
Controller does not start up yet.
1.5.2 Moving the Arm Using the Software
Follow the method when you can use the software.
Arm Motion
Arm #3
J4+
Joint #5
J5+
Arm #5
J6
Joint #6
Arm #6
J3+
Joint #3
Arm #2 (Lower Arm)
J2+
Arm #1
Joint #1
Bas e
J1
Joint #4
J1+
J2
Joint #2
J4
Arm #4
J5−
J6−
S5 Rev.4 7
Setup & Operation 1. Safety
1.5.1 Moving the Arm Using the Brake Release Unit
With the electromagnetic brake is ON (such as in Emergency Stop status), you cannot
move all arms by hand.
You can move Arms by hand using the brake release unit while the controller power is
OFF or right after unpacking.
■
Before connecting/disconnecting the connector of Brake release unit, be sure to
WARNING
CAUTION
check the powers of the controller and break release unit are OFF.
Otherwise, it leads to the electrical shock or breakdown.
■
Release a brake for each joint one by one. If you need to release some brakes
at a time, take a great care. Because when some joints are released at a time,
the arms may fall to unintended directions. This is extremely dangerous and
may break the manipulator or catch your hand, fingers.
■
Take care of the arm downward motion when the brake is released.
While you are pressing the brake release switch, the arm moves downward by its
own weight. This is extremely dangerous and may break the manipulator or
catch your hand, fingers.
Width 180 mm
Depth 150 mm
Height 87 mm
Weight (Cables are not included.) 1.7 kg
Cable to the Manipulator 2 m
Power cable length 2 m
Power cable (US, Japan) 100 V specification
Power cable (EU) 200 V specification
Power switch
A
Power cable
View from A
Power lamp
Arm switches
8 S5 Rev.4
Precautions for use
■
After the brake release unit is disconnected, be sure to connect the external short
connector. Otherwise, you cannot release the brakes.
■
Keep the external short connector.
Otherwise you cannot release the brakes.
■
If you turn ON the brake release unit while the brake release switch is being
pressed, an unintended arm may move downward.
Before turning ON the brake release unit, make sure that the brake release
switch is not pressed.
■
If you turn ON the brake release unit without the connector, it may lead to the
short for the male pin used in the connector.
Before turning ON the brake release unit, make sure that the connector is
connected.
■
When you purchased several S5 series Manipulators and use the brake release
unit in the manipulator without the connection cable, you need to change the
connection cable inside the manipulator.
To skip this switching work, purchase the cable set for the brake release unit.
CAUTION
NOTE
)
Setup & Operation 1. Safety
If you purchased the manipulator and connection cable together, the cable has
been installed to the manipulator before shipment.
For additional external short connector or connection cable, please contact us.
S5 Rev.4 9
Setup & Operation 1. Safety
(3)
How to connect the connection cable
If you purchased the manipulator and connection cable together, the cable has been
installed to the manipulator before shipment. This procedure is not necessary.
(1) Turn OFF the controller.
(2) Remove the hiding plate.
2-M4×10
(3) Open the connector plate.
4-M4×10
(4)
Pass the cable through the hole below
the hiding plate from the outside.
Connect the connection cable to the
connector plate.
2-M4×10
(5)
Take out the connector of internal cable
SW1.
(2) 2-M4×8
Hiding plate
Connector plate
4-M4×8
Connection cable
Connector plate
(6)
Disconnect the internal short connector.
Keep the short connector to the inside
of base or somewhere not to lose.
Internal short connector
(7)
Connect the connection cable and
internal cable SW1.
(8) Mount the connector plate. Be careful not to catch the cables.
4-M4×10
(9)
If the brake release unit is not used,
mount the external short connector.
To prevent the external short connector
from falling off, secure the two screws
included with the connector.
External short connector
Connection
cable
Connector
SW1
10 S5 Rev.4
Mount the brake release unit
Setup & Operation 1. Safety
(1)
(2)
(3)
Turn OFF the controller.
Remove the external short connector.
Connect the brake release unit to the
connector of the connection cable.
Remove the brake release unit
(1)
Turn OFF the brake release unit.
External short connector
Connector of the
connection cable
(2)
(3)
(4)
Remove the power cable of the brake release unit.
Disconnect the brake release unit from the connector of connection cable.
Connect the external short connector to the connector of connection cable.
S5 Rev.4 11
Setup & Operation 1. Safety
How to use the brake release unit
■
Be careful of the arm downward motion while you release the brakes.
The arm will move downward by its own weight while you are pressing a brake
release switch. This is extremely dangerous and may break the manipulator or
catch your hand, fingers.
■
CAUTION
If the arm you released the brake moves strange or slower than normal, stop the
motion promptly and contact us. The brake release unit is possibly broken and
if you keep operating the manipulator, it may lead to the brake of the
manipulator or you will be caught by the hand or fingers.
Power switch
(1)
(2)
(3)
(4)
(5)
NOTE
)
Mount the brake release unit on the manipulator.
For the mounting procedure, refer to Mount the brake release unit described in the
previous page.
Plug the power cable into the brake release unit.
Plug the power cable into the power supply plug.
Turn ON the brake release unit.
When the brake release unit is enabled, the power lamp lights up.
Press the arm switch J1 ~ J6 you want to move and then move the arm.
Press the switch again, then the brake will be released.
The brake will be enabled by pressing the switch once again.
Move the arm the brake is released by two persons or more (one presses the switch
and one moves the arm). The arm can be very heavy and needs the significant force
to move.
Power cable
Power lamp
Arm switches
When the Manipulator is a Protection-model, be aware of the followings.
■
Do not leave the brake release unit in special environmental conditions (adverse
conditions with dust and oily smoke). The brake release unit does not comply
CAUTION
12 S5 Rev.4
with IP65. Leaving the brake release unit in the special environmental
conditions may cause damage to and/or malfunction of the brake release unit.
1.5.2 Moving the Arm Using the Software
■
Normally, release the brake of a single joint at a time. Take extra care to release
the brakes of two or more joints simultaneously from necessity. Releasing the
brakes of two or more joints simultaneously may cause hands and fingers to be
caught and/or equipment damage to or malfunction of the Manipulator as the
arms of the Manipulator may move in unexpected directions.
■
Be careful of the arm falling when releasing the brake.
CAUTION
While the brake is being released, the Manipulator’s arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage to or malfunction of the Manipulator.
■
Before releasing the brake, be sure to keep the Emergency Stop switch handy so
that you can immediately press the Emergency Stop switch. If you cannot
immediately press the Emergency Stop switch, you have no means to stop the
arms urgently when a wrong operation causes the arm to fall. The arm falling
may cause equipment damage to and/or malfunction of the Manipulator.
After releasing the Emergency Stop switch, Execute the following commands.
[Command Window]
>Reset
>Brake Off,[the number (from 1 to 6) corresponding to the arm whose brake will be
turned off]
Setup & Operation 1. Safety
Execute the following command to turn on the brake again.
>Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be
turned on]
S5 Rev.4 13
Setup & Operation 1. Safety
1.6 Precaution for Operation in Low Power Status
When the power mode is low, the Manipulator will operate at low speed and low torque.
However, comparatively high torque is generated under some circumstances so that the
Manipulator can support its own weight. The maximum torque of each joint in the low
power status is shown in the following table “Max. Joint Torque in Low Power Status”.
Even though the Manipulator is in the low power status, carefully operate the Manipulator
since a comparatively high joint torque may be generated. Be careful not to get hands or
fingers caught during operations. The Manipulator may also collide with peripheral
equipment and it may cause equipment damage to or malfunction of the Manipulator.
Max. Joint Torque in Low Power Status [Unit: N·m]
Joint #1 #2 #3 #4 #5 #6
CAUTION
S5-A701**
S5-A901**
■
Carefully operate the Manipulator even though it is in the low power status. A
comparatively high joint torque may be generated. The comparatively high joint
torque may cause hands and fingers to be caught and/or may cause equipment
damage to or malfunction of the Manipulator as it may collide with peripheral
equipment.
121.80 135.82 56.59 12.72 19.21 8.01
167.06 169.78 70.74 12.72 19.21 8.01
14 S5 Rev.4
1.7 Manipulator Labels
The following labels are attached around 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:
Location
of Labels
（1）
NOTE:
Hazardous voltage exists while
the Manipulator is ON. To avoid
electric shock, do not touch any
internal electric parts.
Labels
Setup & Operation 1. Safety
Location
of Labels
（5）
Labels
（2）
（3）
（6）
(7) （4）
(8)
S5 Rev.4 15
Setup & Operation 1. Safety
Location of Labels
(1)
(3)
(4)
(7)
Lateral View (Left side) Lateral View (Right side)
(1)
(5)
(1)
Back V ie w
Front View
(6)
(2)
16 S5 Rev.4
2. Specifications
2.1 Features of Manipulators
(1) High-speed and high-accuracy control
S5 Manipulator is controlled at high speed and high accuracy by techniques we have
acquired while improving our SCARA robots.
- S5 Manipulator moves at high speed and stops at target points as you desire.
- High-speed and high-accuracy positioning shortens cycle time.
- Maximum operating speed has been improved at the highest level for the small
industrial robot industry.
- Residual vibration has been decreased.
- Improved rigidity of the arms reduces vibration and deflection of the Manipulator.
- S5 Manipulator holds position with great stability.
(2) High-accuracy trajectory control
The accuracy of CP trajectory control has been improved so that you can operate the
Manipulator with more flexibility while taking advantage of six degrees of freedom.
Setup & Operation 2. Specifications
(3) Available for large payloads
Large allowable moment of inertia has made it possible to support relatively large
payloads.
Optimal control for payload by using the WEIGHT and INERTIA commands make
handling large payloads more stable.
UL specification (UL1740 Conformance Type)
UL1740 is the Standard for Industrial Robots and Robotic Equipment established by
Underwriters Laboratories Inc. (UL). The UL1740 conformance product has a safety
mark which shows that Underwriters Laboratories Inc. (UL) has recognized it.
In the United States, the robot system is recommended to be used with the Manipulators
and Controller that conform to UL1740 in accordance with ANSI/RIA R15.06.
S5 Rev.4 17
Setup & Operation 2. Specifications
2.2 Model Number
S5 - A 701 S R - UL
Environment
UL specification
UL : UL compliant
□
: Non UL compliant
Type
□
: Table Top mounting
W : Wall mounting
R : Ceiling mounting
Environment
S : Standard model
C : Clean-room model
P : Protection-model
Arm length
7 : 706 mm
9 : 895 mm
Cleanroom-model
Cleanroom-model Manipulator includes additional features that reduce dust emitted by
the Manipulator to enable use in clean room environments.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria;
Clean Class: 10 or its equivalent. Amount of Dust (0.1 µm
3
diameter or larger) in 28317 cm
(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.
3
Recommended exhaust flow rate : Approx. 1000 cm
/s (Normal)
Protection-model (IP65)
The Protection-model Manipulators operate under adverse conditions with dust and oily
smoke.
IP (International Protection) for the Protection-model Manipulator indicates
International Standard of the protection level against dust and water.（IEC 60529, JIS
C0920）
Degree of protection
Dust : 6 No ingress of dust.
IP65
Water : 5
Water projected by a nozzle against enclosure from any direction
shall have no harmful effects.
For details on the specifications, refer to Setup & Operation: 2.4 Specifications.
18 S5 Rev.4
Loading...