Epson SCARA ROBOT User Manual
Rev.12 EM208R4475F
SCARA ROBOT
T series
MANIPULATOR MANUAL
MANIPULATOR MANUAL
T series Rev.12
SCARA ROBOT
T series Manipulator Manual
Rev.12
Copyright 2017-2020 SEIKO EPSON CORPORATION. All rights reserved.
T3 / T6 Rev.12 i
1.
Damage or malfunction caused by improper use which is not described in the
manual, or careless use.
2.
Malfunctions caused by customers
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage caused by natural disasters such as earthquake, flood, etc.
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
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
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 contact the supplier of your region for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
Warnings, Cautions, Usage:
’ unauthorized disassembly.
is injury or death.
ii T3 / T6 Rev.12
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.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to Windows 8, and Windows 10.
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.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety and Installation Read this manual first
T3 / T6 Rev.12 iii
Regarding battery disposal
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:
T series manipulator manual Maintenance:
14.2 Replacing the Lithium Battery
iv T3 / T6 Rev.12
Controller Firmware
Before Ver.7.3.0
!!!
Ver.7.3.1 or later
OK
Controller Firmware
Before Ver.7.3.3
!!!
Ver.7.3.4 or later
OK
EPSON
RC+
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The T series Manipulators can be used with the following combinations of software.
T3-401S
EPSON RC+ 7.0
T6-602S
EPSON RC+ 7.0
OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are
!!!: Compatible Connection is OK. It is recommended to use the following versions
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.
Ver.7.3.51.1 or later
Ver.7.3.53.0 or later
available.
or later. Display or control may not be operated properly.
T3-401S: EPSON RC+7.0 Ver.7.3.1
T6-602S: EPSON RC+7.0 Ver.7.3.4
T3 / T6 Rev.12 v
vi T3 / T6 Rev.12
Setup & Operation
1. Safety 3
1.1 Conventions ......................................................................................... 3
1.2 Design and Installation Safety ............................................................. 3
1.3 Operation Safety.................................................................................. 5
1.4 Emergency Stop .................................................................................. 7
1.5 Emergency Movement Without Drive Power ...................................... 9
1.6 ACCELS Setting for CP Motions ....................................................... 10
1.7 Labels ................................................................................................ 11
2. Specifications 13
2.1 Features of T series Manipulators ..................................................... 13
2.2 Model Number ................................................................................... 14
2.3 Part Names ........................................................................................ 15
2.4 Outer Dimensions .............................................................................. 17
2.5 System Example................................................................................ 19
2.6 Specifications .................................................................................... 20
2.7 How to Set the Model ........................................................................ 23
TABLE OF CONTENTS
1.2.1 Strength of the Ball Screw Spline ............................................ 4
2.3.1 T3 ........................................................................................... 15
2.3.2 T6 ........................................................................................... 16
2.4.1 T3 ........................................................................................... 17
2.4.2 T6 ........................................................................................... 18
3. Environments and Installation 24
3.1 Environmental Conditions ................................................................. 24
3.2 Base Table ........................................................................................ 25
3.3 Mounting Dimensions ........................................................................ 26
3.4 Unpacking and Transportation .......................................................... 28
3.5 Installation Procedure ........................................................................ 29
3.6 Power Supply .................................................................................... 30
3.6.1 Specifications......................................................................... 30
3.6.2 AC Power Cable .................................................................... 30
3.6.3 Breaker .................................................................................. 31
3.6.4 Power Unit ............................................................................. 32
3.6.5 Grounding .............................................................................. 33
3.7 Connecting the Cables ...................................................................... 34
3.8 Pneumatic Tubes............................................................................... 37
3.9 Relocation and Storage ..................................................................... 39
3.9.1 Precautions for Relocation and Storage ............................... 39
3.9.2 Relocation .............................................................................. 40
T3 / T6 Rev.12 vii
TABLE OF CONTENTS
4. Setting of End Effectors 41
5. Motion Range 51
4.1 Attaching an End Effector .................................................................. 41
4.2 Attaching Cameras and Valves .......................................................... 42
4.3 Weight and Inertia Settings ................................................................ 43
4.3.1 Weight Setting ........................................................................ 43
4.3.2 Inertia Setting ......................................................................... 45
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 50
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 51
5.1.1 Max. Pulse Range of Joint #1 ................................................ 52
5.1.2 Max. Pulse Range of Joint #2 ................................................ 52
5.1.3 Max. Pulse Range of Joint #3 ................................................ 53
5.1.4 Max. Pulse Range of Joint #4 ................................................ 53
5.2 Motion Range Setting by Mechanical Stops ...................................... 54
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ................. 54
5.2.2 Setting the Mechanical Stop of Joint #3 ................................. 56
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ............................. 58
5.4 Standard Motion Range ..................................................................... 58
6. Operation Mode & LED 59
6.1 Overview ............................................................................................ 59
6.2 Switch Operation Mode ...................................................................... 59
6.3 Program Mode (AUTO) ...................................................................... 60
6.3.1 What is Program Mode (AUTO)? ........................................... 60
6.3.2 Setup from EPSON RC+ 7.0 .................................................. 60
6.4 Auto Mode (AUTO) ............................................................................ 61
6.4.1 What is Auto mode (AUTO)? ................................................. 61
6.4.2 Setup from EPSON RC+ 7.0 .................................................. 61
6.4.3 Setup from Control Device ..................................................... 62
6.5 LED ..................................................................................................... 63
7. Development PC Connection Port 64
7.1 What is Development PC Connection Port ........................................ 64
7.2 Precaution .......................................................................................... 65
7.3 Software Setup and Connection Check ............................................. 65
7.4 Disconnection of Development PC and Manipulator ......................... 66
8. Memory Port 67
8.1 What is Controller Status Storage Function? .................................... 67
8.2 Before Using Controller Status Storage Function .............................. 67
8.2.1 Precautions............................................................................. 67
viii T3 / T6 Rev.12
TABLE OF CONTENTS
8.2.2 Adoptable USB Memory ........................................................ 67
8.3 Controller Status Storage Function ................................................... 68
8.3.1 Controller Status Storage ...................................................... 68
8.3.2 Load Data with EPSON RC+ 7.0 .......................................... 69
8.3.3 Transfer with E-mail ............................................................... 70
8.4 Details of Data ................................................................................... 71
9. LAN (Ethernet Communication) Port 72
9.1 What is the LAN (Ethernet Communication) Port ............................. 72
9.2 IP Address ......................................................................................... 72
9.3 Changing Manipulator IP Address .................................................... 73
9.4 Connection of Development PC and Manipulator with Ethernet ...... 74
9.5 Disconnection of Development PC and Manipulator with Ethernet .. 75
10. TP Port 76
10.1 What is the TP Port? ....................................................................... 76
10.2 Teach Pendant Connection ............................................................. 76
11. EMERGENCY 77
11.1 Safeguard Switch and Latch Release Switch ................................. 77
11.1.1 Safeguard Switch ................................................................ 78
11.1.2 Latch Release Switch .......................................................... 78
11.1.3 Checking Latch Release Switch Operation ......................... 79
11.2 Emergency Stop Switch Connection ............................................... 79
11.2.1 Emergency Stop Switch ...................................................... 79
11.2.2 Checking Emergency Stop Switch Operation ..................... 80
11.2.3 Recovery from Emergency Stop ......................................... 80
11.3 Pin Assignments .............................................................................. 81
11.4 Circuit Diagrams .............................................................................. 82
11.4.1 Example 1: External emergency stop switch typical
application......................................................... 82
11.4.2 Example 2: External safety relay typical application ........... 83
12. Standard I/O Connector 84
12.1 Input Circuit ..................................................................................... 84
12.1.1 Typical Input Circuit Application 1 ....................................... 85
12.1.2 Typical Input Circuit Application 2 ....................................... 86
12.1.3 Pin Assignments of Input Circuit ......................................... 87
12.2 Output Circuit ................................................................................... 87
12.2.1 Typical Output Circuit Application 1: Sink Type (NPN) ....... 88
12.2.2 Typical Output Circuit Application 2: Source Type (PNP) ... 88
12.2.3 Pin Assignments of Output Circuit ...................................... 89
T3 / T6 Rev.12 ix
TABLE OF CONTENTS
13. Hand I/O Connector 91
14. I/O Remote Settings 96
12.3 I/O Cable Product Procedure ........................................................... 90
12.3.1 I/O Cable Connecting Method .............................................. 90
12.3.2 How to Fix the I/O Cable ...................................................... 90
13.1 Power Supply Specifications ............................................................ 91
13.2 Input Circuit ...................................................................................... 92
13.2.1 Typical Input Circuit Application 1 ........................................ 92
13.2.2 Typical Input Circuit Application 2 ........................................ 92
13.3 Output Circuit ................................................................................... 93
13.3.1 Typical Output Circuit Application 1 ..................................... 93
13.3.2 Typical Output Circuit Application 2 ..................................... 93
13.4 Pin Assignments .............................................................................. 94
13.5 How to Control Hand I/O .................................................................. 94
14.1 I/O Signal Description ...................................................................... 97
14.1.1 Remote Input Signals ........................................................... 97
14.1.2 Remote Output Signals ...................................................... 101
14.2 Timing Specifications ..................................................................... 104
14.2.1 Precautions for Remote Input Signals ............................... 104
14.2.2 Timing Diagram for Operation Execution Sequence ......... 104
14.2.3 Timing Diagram for Program Execution Sequence ........... 104
14.2.4 Timing Diagram for Safety Door Input Sequence .............. 105
14.2.5 Timing Diagram for Emergency Stop Sequence ............... 105
Maintenance
15. SD Card Slots 106
16. RESET Switch 107
17. Fieldbus I/O 108
1. Safety Maintenance 113
2. General Maintenance 114
2.1 Maintenance Inspection ................................................................... 114
2.1.1 Schedule for Maintenance Inspection .................................. 114
2.1.2 Inspection Point .................................................................... 115
2.2 Overhaul (Parts Replacement) ........................................................ 116
2.3 Greasing ........................................................................................... 118
x T3 / T6 Rev.12
TABLE OF CONTENTS
2.4 Tightening Hexagon Socket Head Cap Bolts.................................. 119
2.5 Matching Origins.............................................................................. 119
2.6 Layout of Maintenance Parts .......................................................... 120
3. Manipulator Structure 121
4. Alarm 123
4.1 Maintenance .................................................................................... 124
4.2 Maintenance Information ................................................................. 125
4.2.1 How to View the Maintenance Information.......................... 125
4.2.2 How to Edit the Maintenance Information ........................... 126
4.2.3 Alarm Notifying Method ....................................................... 127
4.2.4 How to Cancel the Alarm ..................................................... 127
5. Backup and Restore 128
5.1 What is the Backup Controller Function .......................................... 128
5.2 Backup Data Types ......................................................................... 128
5.3 Backup ............................................................................................. 129
5.4 Restore ............................................................................................ 130
6. Firmware Update 133
6.1 Updating Firmware .......................................................................... 133
6.2 Firmware Upgrade Procedure ......................................................... 133
6.3 Manipulator Recovery ..................................................................... 136
6.4 Firmware Initialization Procedure .................................................... 137
6.5 Adding Confirmation Steps by Strengthening Security of
EtherNet Connection ....................................................................... 139
7. Covers 143
7.1 Arm Top Cover ................................................................................ 145
7.2 Arm Bottom Cover ........................................................................... 146
7.3 Power Cable Cover ......................................................................... 146
7.4 Connector Plate ............................................................................... 147
7.5 Power Unit Cover ............................................................................ 149
7.6 Base Side Cover.............................................................................. 150
7.7 User Plate ........................................................................................ 151
8. Cable 152
8.1 Replacing Cable Unit ....................................................................... 152
8.2 Insert or Pull out of Power Cable .................................................... 160
T3 / T6 Rev.12 xi
TABLE OF CONTENTS
9. Joint #1 161
10. Joint #2 175
11. Joint #3 183
12. Joint #4 193
9.1 Replacing Joint #1 Motor ................................................................. 162
9.2 Replacing Joint #1 Reduction Gear Unit .......................................... 172
10.1 Replacing Joint #2 Motor ............................................................... 176
10.2 Replacing Joint #2 Reduction Gear Unit ........................................ 180
11.1 Replacing Joint #3 Motor ............................................................... 184
11.2 Replacing the Timing Belt .............................................................. 190
11.3 Replacing the Brake ....................................................................... 191
11.4 Checking the Timing Belt Tension (Z Belt) .................................... 192
12.1 Replacing Joint #4 Motor ............................................................... 194
12.2 Replacing the Timing Belt .............................................................. 200
12.2.1 U2 Belt (T6) ........................................................................ 201
12.2.2 U1 Belt (T6) ........................................................................ 206
12.2.3 U Belt (T3) .......................................................................... 207
12.3 Checking the Timing Belt Tension ................................................. 208
13. Ball Screw Spline Unit 209
13.1 Greasing the Ball Screw Spline Unit .............................................. 210
13.2 Replacing the Ball Screw Spline Unit ............................................ 211
14. Lithium Battery, SD Card, Boards, and Filter 214
14.1 Replacing the CPU/DPB Boards.................................................... 216
14.2 Replacing the Lithium Battery ........................................................ 219
14.3 Replacing the SD Card .................................................................. 220
14.4 Replacing the Power Board ........................................................... 221
14.4.1 Replacing the Air Filter ....................................................... 221
14.4.2 Replacing the Power Board ............................................... 222
15. LED Lamp Unit 224
16. Calibration 226
16.1 About Calibration ............................................................................ 226
16.2 Calibration Procedure .................................................................... 227
16.3 Accurate Calibration of Joint #2 ..................................................... 237
16.4 Reference: Calibration Procedure Without Using Calibration Wizard
.................................................................................................................. 239
xii T3 / T6 Rev.12
TABLE OF CONTENTS
17. Restrictions 243
17.1 Commands Cannot Use ................................................................ 243
17.2 Commands Cause Motion Error If Specifying RS-232C ............... 243
17.3 Commands Cause Error ................................................................ 244
17.3.1 6-axis Robot Command ..................................................... 244
17.3.2 Conveyor Tracking Commands ......................................... 244
17.3.3 PG Commands .................................................................. 245
17.3.4 R-I/O Commands ............................................................... 245
17.3.5 Force Sensing Commands ................................................ 245
17.3.6 Other (FineDist) ................................................................. 245
17.3.7 Other (HealthCalcPeriod) .................................................. 245
17.3.8 Other (ChDisk) ................................................................... 245
17.4 Restrictions of Functions ............................................................... 246
17.4.1 TP3 .................................................................................... 246
17.4.2 Loop Processing ................................................................ 246
17.4.3 Camera Searching by CV1/CV2........................................ 247
17.4.4 Restore the Data of Backup Controller Function .............. 247
18. Error Code Table 248
19. Maintenance Parts List 248
19.1 T3 ................................................................................................... 249
19.2 T6 ................................................................................................... 250
Appendix A: Open Source Software License for T series 251
T3 / T6 Rev.12 xiii
TABLE OF CONTENTS
xiv T3 / T6 Rev.12
Setup & Operation
This volume contains information for setup and operation of the T series Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.
1. Safety
death exists if the associated instructions are not followed
shock exists if the associated
or physical damage to equipment and facilities exists if the
Personnel who design and/or construc
read the
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
sever
problems.
The robot
their respective manuals.
strictly for use in a normal indoor environment. Using the product in an
environment that exceeds the specified environ
shorten the life cycle of the product but may also cause serious safety problems.
Installation and transportation of manipulators 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
properly.
This symbol indicates that a danger of possible serious injury or
death caused by electric
instructions are not followed properly.
This symbol indicates that a danger of possible harm to people
CAUTION
associated instructions are not followed properly.
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:
■
Safety chapter in the EPSON RC+ User’s Guide to understand the safety
t the robot system with this product must
e equipment damage to the robot system, and may cause serious safety
WARNING
T3 / T6 Rev.12 3
■
system must be used within the environmental conditions described in
This product has been designed and manufactured
mental conditions may not only
Setup & Operation 1. Safety
The robot system must be used within the installation requirements described in
the manuals.
may not only shorten the life cycle of the product but also cause serious safety
problems.
[Allowable bending moment]
T3: M=13,000 N∙mm
T6: M=27,000 N∙mm
Example: If 100 N load is applied
at 200 mm from
the end of the spline nut
[Moment]
M=F∙L＝200∙100＝20,000 N∙mm
End of the
spline nut
F L
■
WARNING
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.
1.2.1 Strength of the Ball Screw Spline
If a load exceeding the allowable value is applied to the ball screw spline, it may not work
properly due to deformation or breakage of the shaft. If the ball screw spline is applied the
load exceeding the allowable value, it is necessary to replace the ball screw spline unit.
The allowable loads differ depending on distance where the load is applied to.
For calculating the allowable load, see the calculation formula below.
Using the robot system outside of the installation requirements
4 T3 / T6 Rev.12
1.3 Operation Safety
Please carefully read the
of the
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 sever
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.
hazardous and may cause serious safety problems as the Manipulator may move
even if it seems to
■
Before operating the robot system, make sure that no one is inside the
safeguarded area.
even when someone is inside the safeguarded area.
The motion of the Manipulator is always i
status to secure the safety of an operator.
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulat
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
the Manipulator moves abnormally is extremely hazardous and may result in
serious bodily injury and/or
To shut off 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
related equipment,
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
■
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors
the power ON is extremely hazardous and may result
the Manipulator may mo
and/or malfunction of the robot system.
The following items are safety precautions for qualified Operator personnel:
Setup & Operation 1. Safety
WARNING
■
1.3 Safety-related Requirements in the Safety chapter
Safety and Installation manual
e
Entering the operating area with the power ON is extremely
be stopped.
The robot system can be operated in the mode for teaching
n restricted (low speed and low power)
However, operating the robot system
or moves unexpectedly.
Continuing the operation while
severe equipment damage to the robot system.
■
performing any replacement procedure, turn OFF the Controller and
WARNING
to the robot system, disconnect the power plug from the power
and then disconnect the power plug from the power source.
electric shock and/or malfunction of the robot system.
with
in serious bodily injury as
ve abnormally, and also may result in electric shock
T3 / T6 Rev.12 5
Setup & Operation 1. Safety
Whenever possible, only one person should operate the robot system.
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
Joint #1, #2, and #4:
If the joints are operated
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move the joints larger
than 50 degrees
Joint #3:
If the up
the maximum stroke for five to ten times a day.
Oscillation (resonance) may
(Speed:
effector load. Oscillation arises from natural oscillation frequency of the Arm and
can be controlled by following measures.
Manipulator
■
If it is
■
-and-down motion of the hand is less than 10 mm, move the joint a half of
CAUTION
■
approx. 5 to 20%) depending on combination of Arm orientation and end
Changing Manipulator speed
Changing the teach points
Changing the end effector load
■
until temperature falls. After confirming that the temperature of the Manipulator
falls and is not hot when you touch it. Then perform teaching or maintenance.
repeatedly with the operating angle less than 5 degrees,
for about five to ten times a day.
occur continuously in low speed Manipulator motion
may be heated due to motor heat etc. Do not touch the Manipulator
6 T3 / T6 Rev.12
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator
to deceleration motion and stops it at the maximum deceleration speed.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Pressing the Emergency Stop switch locks the brake and it may cause
wear on the friction plate of the brake, resulting in the short life of the brake.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving.
Refer to the Setup & Operation: 11. EMERGENCY for instructions on how to wire the
Emergency Stop switch circuit.
Do not turn OFF the power while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch.
If the Manipulator is stopped by turning OFF the power while it is operating, following
problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the manipulator was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the Maintenance 16.
Calibration in this manual. Also, the same troubles may occur if an error occurs and the
Manipulator stops in emergency during the operation. Check the Manipulator condition
and perform calibration if necessary.
Before using the Emergency Stop switch, be aware of the following.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STOP.
For details of the Safeguard system, refer to the following manuals.
Setup & Operation 1. Safety
EPSON RC+ User’s Guide
2. Safety - Installation and Design Precautions - Safeguard System
Safety and Installation
2.6 Connection to EMERGENCY Connector
T3 / T6 Rev.12 7
Setup & Operation 1. Safety
Conditions for
Measurement
T3-401S T6-602S
Accel Setting 100 100
Speed Setting 100 100
Load [kg] 3 6
Weight Setting 3 6
Joint #1
Stop point
Point where the
emergency stop
signal is input
Target point
Start point of
operation
Joint #2
T3-401S
T6-602S
Joint #1 + Joint #2 [sec.]
0.5
0.7
Joint #3 [sec.]
0.2
0.2
Joint #1 [°]
55
65
Joint #2 [°]
55
55
Joint #1 + Joint #2 [°]
110
120
Free running distance
Joint #3 [mm]
30
40
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
Safety and Installation
5.1.1 Manipulator
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.
(Manipulator is operating)
- Inspection While the Power is ON (Manipulator is operating)
Free running time
Free running angle
8 T3 / T6 Rev.12
1.5 Emergency Movement Without Drive Power
Joint #3
brake release switch
Joint #1
(rotating)
Joint #2
(rotating)
Joint #3
(up and down)
Joint #4
(rotating)
Arm #1
Arm #2
+
−
+
−
+
−
+
−
Shaft
NOTE
NOTE
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 solenoid brake
applied to the joint has been released. Move the joint up/down
while pressing the brake release switch.
Joint #4 Rotate the shaft by hand.
Setup & Operation 1. Safety
(Illustration: T3-401S)
The brake release switch affects only Joint #3. When the brake release switch is pressed
in emergency mode, the brake for Joint #3 is released.
Be careful of the shaft while the brake release switch is pressed because the shaft may be
lowered by the weight of an end effector.
When the following errors are occurred, the manipulator brake is not released even if
pressing the brake release switch.
Check the cable connections and remove the error causes. Then, apply the power again
and release the brake.
Errors: 1552, 2118, 4003, 4004, 4009, 4100, 4101, 4103, 4187, 4188, 4189, 4191, 4192,
4233, 4240, 4285-4292, 9633, 9640, 9691, 9685-9692
T3 / T6 Rev.12 9
Setup & Operation 1. Safety
Tip load
1kg or less
2kg or less
3kg or less
__- 0 > Z >= _- 50
_- 50 > Z >= - 100
- 100 > Z >= - 150
Tip load
1kg or less
2kg or less
3kg or less
_- 50 > Z >= - 100
- 100 > Z >= - 150
- 150 > Z >= - 200
Z
Z-axis height 0
(Origin position)
NOTE
1.6 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the tip load and the Z-axis height.
Improper setting may cause following problems.
- Decline in the life and damage of the ball screw spline
Set the ACCELS as follows depending on the Z axis height.
ACCELS setting values by Z-axis height and tip load
T3
Z axis height
(mm)
T6
Z axis height
(mm)
__- 0 > Z >= _- 50
10000 or less
10000 or less
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following points.
- Whether or not the ball screw spline shaft is deformed or bent
10 T3 / T6 Rev.12
1.7 Labels
Before loosening the base mounting screws, hold
hands or fingers from being caught in the
operation area while the
collide against the operator. This is extremely
hazardous and may result in serious safety
Setup & Operation 1. Safety
The Manipulator has the following warning labels.
The warning labels are attached around the locations 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 warning labels. Use meticulous care when handling
those parts or units to which the following warning labels are attached as well as the nearby
areas.
Location
A
B
C
D
Warning Label NOTE
the arm and secure it tightly with a band to prevent
Manipulator.
Do not enter the
Manipulator is moving. The robot arm may
problems.
Hazardous voltage exists while the Manipulator is
ON. To avoid electric shock, do not touch any
internal electric parts.
You can catch your hand or fingers between the
shaft and cover when bringing your hand close to
moving parts.
E
T3 / T6 Rev.12 11
Signature label
S/N (Serial Number) Label
Setup & Operation 1. Safety
D
B
C
C
C
C
C
A
E
D
B
C
C
C
C
A
E
T3
T6
12 T3 / T6 Rev.12
2. Specifications
2.1 Features of T series Manipulators
The T series Manipulators are controller integrated manipulators.
The features of the T series Manipulators are as follows:
For Device design and tooling
- There is no external controller
The controller is integrated with the robot.
No installation space required for an external controller.
No design is required for external controller installation or tooling.
- No robot to controller external cables
There are no external cables required between the robot and controller.
- Hand (end effector) can be controlled directly by Hand I/O and DC24V for hand
Wiring between controller and manipulator end effector is not necessary.
- Duct vibration reducing structure
Easy to route external cables.
Setup & Operation 2. Specifications
For Maintenance
- There are no motor unit batteries for the robot
No longer necessary to connect external devices for battery replacement.
- Easy to replace the manipulator
- Air Cooling Fan-less
No air cooling fan maintenance is required.
Others
- Power-saving
T3: Approx. 1/4 of LS3/RC90
T6: Approx. 1/3 of LS6/RC90
T3 / T6 Rev.12 13
Setup & Operation 2. Specifications
Environment
S
: Standard
Arm length
Payload
Joint #3 stroke
1
: 150 mm
2
: 200 mm
2.2 Model Number
T3-40 1 S
For details on the specifications, refer to Setup & Operation: 2.6 Specifications.
40 : 400 mm
60 : 600 mm
3 : 3 kg
6 : 6 kg
14 T3 / T6 Rev.12
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