EPSON S5-A901S, S5-A701S User Manual

EPSON ProSix

S5 series

MANIPULATOR MANUAL

Rev.4

EM119R2226F

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

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, 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 robot 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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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 : [phone]

FAX : [phone]

SUPPLIERS

North & South	EPSON AMERICA, INC.
America	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]

China	EPSON China Co., Ltd
	Factory Automation Division
	7F, Jinbao Building No. 89 Jinbao Street
	Dongcheng District, Beijing,
	China, 100005
	TEL	: [phone]
	FAX	: [phone]

Taiwan	EPSON Taiwan Technology & Trading Ltd.
	Factory Automation Division
	14F, No.7, Song Ren Road, Taipei 110
	Taiwan, ROC
	TEL	: [phone]
	FAX	: [phone]

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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	Software
	Type	Composition (Hardware)
	RC180	Controller	EPSON RC+ 5.0
	RC620	Control Unit	EPSON RC+ 6.0
		Drive Unit

For details on commands, refer to “EPSON RC+ User’s Guide” or “Online 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 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.

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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
	1.5.1 Moving the Arm Using the Brake Release Unit ...................................	8
	1.5.2 Moving the Arm Using the Software ..................................................	13
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
	2.4.1	Table ..................................................................................................	24
	2.4.2	Option Table ......................................................................................	25
2.5	How to Set the Model ............................................................................		26

3.Environment and Installation ···················································· 27

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

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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

Maintenance

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

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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

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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

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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.

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.

1.1Conventions

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 followed
WARNING	properly.
	This symbol indicates that a danger of possible harm to people
	caused by electric shock exists if the associated instructions are
WARNING	not followed properly.
	This symbol indicates that a danger of possible harm to people
	or physical damage to equipment and facilities exists if the
CAUTION	associated instructions are not followed properly.

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3

Setup & Operation 1. Safety

1.2Design 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.

■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. Environment and Installation. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

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S5 Rev.4

Setup & Operation 1. Safety

1.3Operation 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 safeguarded area. The robot system can be operated in the mode for teaching

	WARNING	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.

■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

WARNING	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	people involved communicate with each other as to what they are doing and take
	all necessary safety precautions.
S5 Rev.4	5

Setup & Operation 1. Safety

1.4Emergency 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
			RC180 / RC620
			S5-A701**		S5-A901**
	Arm #1			0.4
	Arm #2			0.4
Free running time	Arm #3			0.4
[second]	Arm #4			0.4
	Arm #5			0.4
	Arm #6			0.1
	Arm #1		55		60
	Arm #2		35		40
Free running angle	Arm #3		30		35
[degree]	Arm #4			40
	Arm #5			50
	Arm #6			10

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Setup & Operation 1. Safety

1.5How 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.

1.5.1Moving 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.

1.5.2Moving the Arm Using the Software

Follow the method when you can use the software.

Arm Motion

			Joint #5
J3−					Arm #5
		J4+
				J5+
						J6+

Joint #6

Arm #3

Arm #6

							J6−
	J3+					J5−
	Joint #3			J4−	Arm #4
			Joint #4

Arm #2 (Lower Arm)

		J2−
J2+

Joint #2

Arm #1

J1+

Joint #1

J1−

Base

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7

Setup & Operation 1. Safety

1.5.1Moving 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 check the powers of the controller and break release unit are OFF.

WARNING

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.

CAUTION	■	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

A

View from A

Power switch
		Power cable		Power lamp		Arm switches

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Setup & Operation 1. Safety

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.

	CAUTION	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.

)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.

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.■NOTE When you purchased several S5 series Manipulators and use the brake release

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9

Setup & Operation 1. Safety

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.

(6)Disconnect the internal short connector.

Keep the short connector to the inside of base or somewhere not to lose.

(7)Connect the connection cable and internal cable SW1.

(2) 2-M4×8 Hiding plate

Connector plate

(3) 4-M4×8

Connection cable

Connector plate

Internal short connector

Connection

cable

Connector

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

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Setup & Operation 1. Safety

Mount the brake release unit

(1)Turn OFF the controller.

(2)Remove the external short connector.

External short connector

(3)Connect the brake release unit to the connector of the connection cable.

Connector of the connection cable

Remove the brake release unit

(1)Turn OFF the brake release unit.

(2)Remove the power cable of the brake release unit.

(3)Disconnect the brake release unit from the connector of connection cable.

(4)Connect the external short connector to the connector of connection cable.

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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		Power cable
				Power lamp
						Arm switches

(1)Mount the brake release unit on the manipulator.

For the mounting procedure, refer to Mount the brake release unit described in the previous page.

(2)Plug the power cable into the brake release unit.

(3)Plug the power cable into the power supply plug.

(4)Turn ON the brake release unit.

When the brake release unit is enabled, the power lamp lights up.

(5)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.

)and one moves the arm). The arm can be very heavy and needs the significant force to move.NOTE Move the arm the brake is released by two persons or more (one presses the switch

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 with IP65. Leaving the brake release unit in the special environmental

CAUTION	conditions may cause damage to and/or malfunction of the brake release unit.

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Setup & Operation 1. Safety

1.5.2Moving 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.

	While the brake is being released, the Manipulator’s arm falls by its own weight.
CAUTION	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]

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

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Setup & Operation 1. Safety

1.6Precaution 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
S5-A701**	121.80	135.82		56.59	12.72	19.21	8.01
S5-A901**	167.06	169.78		70.74	12.72	19.21	8.01

■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

	CAUTION	damage to or malfunction of the Manipulator as it may collide with peripheral
		equipment.

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S5 Rev.4

Setup & Operation 1. Safety

1.7Manipulator 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	Labels	Location	Labels
	of Labels		of Labels
	1		5
		NOTE:
		Hazardous voltage exists while
		the Manipulator is ON. To avoid
		electric shock, do not touch any
		internal electric parts.
	2
			6
	3
	4		(7)
			(8)

S5 Rev.4

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Setup & Operation 1. Safety

Location of Labels

(1)

(7) Lateral View (Left side)

(1)

(5)

(1)

Back View

(3)

(4)

(6)

Lateral View (Right side)

(2)

Front View

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S5 Rev.4

Setup & Operation 2. Specifications

2.Specifications

2.1Features 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.

(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

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Setup & Operation 2. Specifications

2.2Model Number

S5 - A 701 S R - UL

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

Environment

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
	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.
	Recommended exhaust flow rate : Approx. 1000 cm3/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.

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S5 Rev.4