Epson VT Series, VT6-A901S, VT6-A901SR, VT6-A901SW, VT6L Manipulator Manual
6-Axis Robots
VT series
MANIPULATOR MANUAL
Rev.1 EM18YR3817F
MANIPULATOR MANUAL
VT series Rev.1
VT Rev.1 i
6-Axis ROBOT
VT series Manipulator Manual
Rev.1
Copyright 2018 SEIKO EP SON CORPORATION. All rights reserved.
ii VT Rev.1
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 qu ality controls, tests, and inspections to cer tify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the
manual, or careless use.
2.
Malfunctions caused by customers
’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage
caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the Manipulator or ass ociated equ ipment is us ed outside of the usage c onditions
and product specifications described in the manuals, this warranty is void.
2.
If you do not follow the W ARNINGS and CAUTIONS i n 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.
VT Rev.1 iii
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
iv VT Rev.1
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 co llection
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:
VT series manipulator manual
Maintenance: 18.4 Replacing the Lithium Battery
VT Rev.1 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The VT series Manipulators can be used with the following combinations of software.
VT6-A901S
Controller Firmware
Ver.7.4.53.0 or later
EPSON RC+ 7.0
Before Ver.7.3.2
!!!
Ver.7.4.3 or later
OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are
available.
!!!: Compatible Connection is OK. It is recommended to use the following
versions or later. Display or control may not be operated properly.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON
RC+
vi VT Rev.1
TABLE OF CONTENTS
VT Rev.1 vii
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 .................................................................................. 7
1.5 How to Move Arms with the Electro ma gnet ic Brake ........................... 9
1.5.1 Arm Motions ............................................................................. 9
1.5.2 Release the Brake by the Software ....................................... 10
1.6 Precaution for Operation in Low Power Status ................................. 10
1.7 Labels ................................................................................................ 11
2. Specifications 13
2.1 Features of VT series Manipulators .................................................. 13
2.2 Model Number ................................................................................... 13
2.3 Part Names ........................................................................................ 14
2.4 Outer Dimensions .............................................................................. 15
2.5 Standard Motion Range .................................................................... 17
2.6 System Example................................................................................ 19
2.7 Specifications .................................................................................... 20
2.8 How to Set the Model ........................................................................ 23
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 .......................................................... 27
3.5 Installation Procedure ........................................................................ 28
3.6 Power Supply .................................................................................... 29
3.6.1 Specifications......................................................................... 29
3.6.2 AC Power Cable .................................................................... 29
3.6.3 Breaker .................................................................................. 30
3.6.4 Grounding .............................................................................. 31
3.7 Connecting the Cables ...................................................................... 32
3.7.1 Connection Example ............................................................. 32
3.7.2 Noise Countermeasures ........................................................ 34
3.8 Relocation and Storage ..................................................................... 35
3.8.1 Precautions for Relocation a nd St orage ............................... 35
3.8.2 Relocation .............................................................................. 36
3.9 Checking the Basic Orientation ......................................................... 38
TABLE OF CONTENTS
viii VT Rev.1
4. Setting of End Effectors 39
4.1 Attaching an End Effector .................................................................. 39
4.2 Attaching Cameras and Air Valves .................................................... 40
4.3 Weight and Inertia Settings ................................................................ 41
4.3.1 Weight Setting ........................................................................ 44
4.3.2 INERTIA Setting ..................................................................... 47
4.4 Precautions for Auto Acceleration/Deceleration of Jo int #3 .............. 51
5. Motion Range 52
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 52
5.1.1 Max. Pulse Range of Joint #1 ................................................ 53
5.1.2 Max. Pulse Range of Joint #2 ................................................ 53
5.1.3 Max. Pulse Range of Joint #3 ................................................ 54
5.1.4 Max. Pulse Range of Joint #4 ................................................ 54
5.1.5 Max. Pulse Range of Joint #6 ................................................ 54
5.1.6 Max. Pulse Range of Joint #6 ................................................ 55
5.2 Motion Range Setting by Mechanical Stops ...................................... 56
5.2.1 Motion Range Setting of Joint #1 ........................................... 56
5.2.2 Motion Range Setting of Joint #2 ........................................... 57
5.2.3 Motion Range Setting of Joint #3 ........................................... 58
5.3 Restriction of Manipulator Operation by Joint Angle Comb ination .... 59
5.4 Coordinate System ............................................................................. 60
5.5 Changing the Robot ........................................................................... 61
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System o f the M anipulator .............................. 62
6. Operation Mode & LED 63
6.1 Overview ............................................................................................ 63
6.2 Switch Operation Mode ...................................................................... 63
6.3 Program Mode (AUTO) ...................................................................... 64
6.3.1 What is Program Mode (AUTO ) ? ........................................... 64
6.3.2 Setup from EPSON RC+ 7.0 .................................................. 64
6.4 Auto Mode (AUTO) ............................................................................ 65
6.4.1 What is Auto mode (AUTO)? ................................................. 65
6.4.2 Setup from EPSON RC+ 7.0 .................................................. 65
6.4.3 Setup from Control Device ..................................................... 66
6.5 LED ..................................................................................................... 67
7. Development PC Connection Port 68
7.1 What is Development PC Conn ec t io n Por t ........................................ 68
7.2 Precaution .......................................................................................... 69
7.3 Software Setup and Connection Check ............................................. 69
7.4 Disconnection of Develop me nt PC a nd M anipulator ......................... 70
TABLE OF CONTENTS
VT Rev.1 ix
8. Memory Port 71
8.1 What is Controller Status Storage Function? .................................... 71
8.2 Before Using Controller Status Storage Function ............................. 71
8.2.1 Precautions ............................................................................ 71
8.2.2 Adoptable USB Memory ........................................................ 72
8.3 Controller Status Storage Function ................................................... 72
8.3.1 Controller Status Storage ...................................................... 72
8.3.2 Load Data with EPSON RC+ 7.0 .......................................... 73
8.3.3 Transfer with E-mail ............................................................... 74
8.4 Details of Data ................................................................................... 75
9. LAN (Ethernet Communication) Port 76
9.1 What is the LAN (Ethernet Commu nic ation) Port ............................. 76
9.2 IP Address ......................................................................................... 76
9.3 Changing Manipulator IP Addres s .................................................... 77
9.4 Connection of Development P C a nd M anipulator with Ethernet ...... 78
9.5 Disconnection of Develop me nt PC and Manipulator with Ether net .. 80
10. TP Port 81
10.1 What is the TP Port? ....................................................................... 81
10.2 Teach Pendant Connection ............................................................. 81
11. Options 82
11.1 Camera Plate Unit ........................................................................... 82
11.2 Tool Adapter (ISO flange) ............................................................... 84
11.3 Adjustable Mechanical Stops .......................................................... 85
11.4 External Wiring Kit ........................................................................... 85
12. EMERGENCY 86
12.1 Safeguard Switch and Latch Re lease Switch ................................. 87
12.1.1 Safeguard Switch ................................................................ 87
12.1.2 Latch Release Switch .......................................................... 87
12.1.3 Checking Latch Release Switch Operation ......................... 88
12.2 Emergency Stop Switch Connection ............................................... 88
12.2.1 Emergency Stop Switch ...................................................... 88
12.2.2 Checking Emergency Stop Switch Operation ..................... 89
12.2.3 Recovery from Emergen cy Stop ......................................... 89
12.3 Pin Assignments .............................................................................. 90
12.4 Circuit Diagrams .............................................................................. 91
12.4.1 Example 1:
External emergency st op switch typical application ............. 91
12.4.2 Example 2: External safet y relay typical application ........... 92
TABLE OF CONTENTS
x VT Rev.1
13. Standard I/O Connector 93
13.1 Input Circuit ...................................................................................... 93
13.1.1 Typical Input Circuit Application ........................................... 94
13.1.2 Typical Input Circuit Application 2 ........................................ 94
13.1.3 Pin Assignments of Input Circuit .......................................... 95
13.2 Output Circuit ................................................................................... 95
13.2.1 Typical Output Circuit Appl ication 1 ..................................... 96
13.2.2 Typical Output Circuit Appl ication 2 ..................................... 96
13.2.3 Pin Assignments of Output Circuit ....................................... 97
13.3 I/O Cable Product Procedure ........................................................... 98
13.3.1 I/O Cable Connecting Method .............................................. 98
13.3.2 How to Fix the I/O Cable ...................................................... 98
14. I/O Remote Settings 99
14.1 I/O Signal Description .................................................................... 100
14.1.1 Remote Input Signals ......................................................... 100
14.1.2 Remote Output Signals ...................................................... 104
14.2 Timing Specifications ..................................................................... 107
14.2.1 Precautions for Remote Input Signals ............................... 107
14.2.2 Timing Diagram for Operat io n Execution Sequence ......... 107
14.2.3 Timing Diagram for Progra m Execution Sequence ........... 107
14.2.4 Timing Diagram for Safety Door Input Sequence .............. 108
14.2.5 Timing Diagram for Emerge ncy Stop Sequence ............... 108
15. SD Card Slots 109
16. RESET Switch 110
17. Fieldbus I/O 111
TABLE OF CONTENTS
VT Rev.1 xi
Maintenance
1. Safety Maintenance 115
2. General Maintenance 116
2.1 Maintenance Inspection .................................................................. 116
2.1.1 Schedule for Maintenance Inspection ................................. 116
2.1.2 Inspection Point ................................................................... 117
2.2 Overhaul (Parts Replacement) ........................................................ 118
2.3 Tightening Hexagon Socket He ad C ap Bolts.................................. 120
2.4 Matching Origins.............................................................................. 120
2.5 Layout of Maintenance Parts .......................................................... 121
3. Manipulator Structure 122
4. Alarm 123
4.1 Maintenance .................................................................................... 124
4.2 Maintenance Information ................................................................. 125
4.2.1 How to Check 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 ..................................................................... 135
6.4 Firmware Initialization Proce dure .................................................... 136
7. Covers 138
7.1 Arm #1 Cover .................................................................................. 139
7.2 Arm #2 Cover .................................................................................. 140
7.3 Arm #3 Cover .................................................................................. 141
7.4 Arm #4 Cover 1 ............................................................................... 142
7.5 Arm #4 Cover 2 ............................................................................... 143
7.6 Power Cable Cover ......................................................................... 145
7.7 Connector Plate ............................................................................... 146
TABLE OF CONTENTS
xii VT Rev.1
8. Cable 147
8.1 Replacing Cable Unit ....................................................................... 148
8.2 Insert or Pull out of Power Cable ..................................................... 164
9. Joint #1 165
9.1 Replacing Joint #1 Motor ................................................................. 166
9.2 Replacing Joint #1 Reduction Gear Unit .......................................... 170
9.3 Replacing Joint #1 Timing Belt ........................................................ 171
10. Joint #2 176
10.1 Replacing Joint #2 Motor ............................................................... 177
10.2 Replacing Joint #2 Reduction G ear Unit ........................................ 183
10.3 Replacing Joint #2 Timing Belt ...................................................... 184
11. Joint #3 185
11.1 Replacing Joint #3 Motor ............................................................... 186
11.2 Replacing Joint #3 Reduction G ear Unit ........................................ 192
11.3 Replacing Joint #3 Timing Belt ...................................................... 193
12. Joint #4 194
12.1 Replacing Joint #4 Motor ............................................................... 195
12.2 Replacing Joint #4 Reduction G ear Unit ........................................ 200
12.3 Replacing Joint #4 Timing Belt ...................................................... 201
13. Joint #5 205
13.1 Replacing Joint #5 Motor ............................................................... 206
13.2 Replacing Joint #5 Reduction Gear Unit ........................................ 210
13.3 Replacing Joint #5 Timing Belt ...................................................... 211
14. Joint #6 212
14.1 Replacing Joint #6 Motor ............................................................... 213
14.2 Replacing Joint #6 Reduction G ear Unit ........................................ 217
14.3 Replacing Joint #6 Timing Belt ...................................................... 218
15. AMP Board 219
15.1 Replacing AMP Board on Joint #1, #2, and #3 .............................. 221
15.2 Replacing AMP Board on Joint #4 ................................................. 223
15.3 Replacing AMP Board on Joint #5 and #6 ..................................... 224
TABLE OF CONTENTS
VT Rev.1 xiii
16. LED Plate 225
16.1 Replacing LED Plate ..................................................................... 226
17. Felt Sheet 227
17.1 Replacing Joint #2 Felt Sheet ....................................................... 228
17.2 Replacing Joint #3 Felt Sheet ....................................................... 229
18. Controller Unit 230
18.1 Replacing Controller Unit .............................................................. 231
18.2 Replacing Power Board ................................................................. 235
18.3 Replacing CPU/DPB Board ........................................................... 236
18.4 Replacing Lithium Battery ............................................................. 238
18.5 Replacing Cooling Fan .................................................................. 239
18.6 Replacing SD Card ........................................................................ 240
19. Calibration 241
19.1 Overview ........................................................................................ 241
19.2 Calibration Procedures .................................................................. 244
20. Restrictions 248
20.1 Commands Cannot Use ................................................................ 248
20.2 Commands Cause Motion Error If Specifying RS-232C ............... 248
20.3 Commands Cause Error ................................................................ 249
20.3.1 Conveyor Tracking Com m ands ......................................... 249
20.3.2 PG Commands .................................................................. 250
20.3.3 R-I/O Commands ............................................................... 250
20.3.4 Force Sensing Commands ................................................ 250
20.3.5 Other (FineDist) ................................................................. 250
20.3.6 Other (HealthCalcPeriod) .................................................. 250
20.3.7 Other (ChDisk) ................................................................... 250
20.4 Restrictions of Functions ............................................................... 251
20.4.1 TP3 .................................................................................... 251
20.4.2 Loop Processing ................................................................ 251
20.4.3 Camera Searching by CV1/CV2........................................ 252
20.4.4 Restore the Data of Backup Cont r ol ler Function .............. 252
21. Error Code Table 253
22. Maintenance Parts List 254
Appendix A: Open Source Software License 257
TABLE OF CONTENTS
xiv VT Rev.1
Setup & Operation
This volume contains information for setup and operation of the
VT
series Manipulators.
Please read this volume
thoroughly before setti ng up and
operating the Manipulators.
Setup & Operation 1. Safety
VT Rev.1 3
1. Safety
Installation and transportation of manipulators and robotic equipment shall be performed
by qualified personnel and should conform to all n ational 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
This symbol indicates that a danger of possible serious injury or
death exists if the associa
ted instructions are not followed
properly.
WARNING
This symbol indicates that a danger of possible serious injury or
death caused by electric shock exists if the associated
instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.
Setup & Operation 1. Safety
4 VT Rev.1
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:
WARNING
■
Personnel who design and/or construct the robot system with this product must
read the
Safety chapter in the EPSON RC+ User’s Guide to understand the
safety requirements before designing and/or constructing the robot system.
Designing and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
se
vere
equipment damage to the robot system, and may cause serious safety
problems.
■
The robot
system 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 s afety
problems.
Further precautions for installation are mentioned in Setup & Operation: 3. Environments
and Installation. Please read this chapter carefully to understand safe installation
procedures before installing the robots and robotic equipment.
Setup & Operation 1. Safety
VT Rev.1 5
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
WARNING
■
Please carefully read the
1.3 Safety-related Requirements in the Safety chapter
of the
Safety and Installation manual
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
e
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 st opped.
■
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
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low
speed and low power)
status to secure the safety of an operator.
However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpect
edly.
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
Continuing the operation while
the Manipulator moves abnormally is extremely hazardous and may result in
serious bodily i
njury and/or severe equipment damage to the robot syst em.
WARNING
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle.
DO NOT connect it directly to a
factory power source.
■
Before
performing any replacement procedure, tur n OFF the robot syst em and
related equipment,
and then disconnect t he 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 connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors
with
the power ON is extremel
y 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 s ystem.
Setup & Operation 1. Safety
6 VT Rev.1
CAUTION
■
Whenever possible, only one person should operate the robot system.
If it is
necessary to operate t he r obot sy ste m with mor e tha n one per s on, en sure th at al l
people involved commu ni cate with each other as to w hat they are doing and ta ke
all necessary safety precautions.
■
Each
Joint:
If the joints are operated
repeatedly with the op erat ing ang le less t han 5 degr ees,
the
Manipulator may get damaged early due to the bearings are not being
covered with grease during movement.
To prevent early breakdown, move the
joints larger than
30 degrees for about five to t en times a day.
■
Vibration
(resonance) may occur continuously depending on the combination of
robot motion
speed, Arm orientation, and end effector load. Vibration arises
from natural
vibration frequency of the Arm and can be controlled by following
measures.
Changing Manipulator spe ed
Changing the teach points
Changing the end effe ct or load
■
Manipulator
may be heated due to motor heat etc. Do not touch the Manipulator
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.
Setup & Operation 1. Safety
VT Rev.1 7
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: 12. 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.
EPSON RC+ User’s Guide
2. Safety - Installation and Design Precautions - Safeguard System
Safety and Installation
2.5 Connection to EMERGENCY Connector
Setup & Operation 1. Safety
8 VT Rev.1
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
5.1.1 Manipulator
- Inspection While the Power is ON (Manipulator is operating)
Free running distance in emer gency
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 setting
Weight of workpiece Speed setting
Operating pose Accel setting
Conditions for measurement
VT series
ACCEL Set tin g
100
SPEED Setting
100
Load [kg]
6
WEIGHT Setting
6
VT6-A901**
Free
running
time
[sec.]
Arm #1
0.2
Arm #2
0.3
Arm #3
0.2
Arm #4
0.2
Arm #5
0.2
Arm #6
0.2
Free
running
angle
[deg.]
Arm #1
Table Top
Ceiling
50
Wall
30
Arm #2
70
Arm #3
20
Arm #4
20
Arm #5
20
Arm #6
30
Setup & Operation 1. Safety
VT Rev.1 9
1.5 How to Move Arms with the Electromagnetic Brake
When the electromagnetic brake is operating such as an emergency status, all arms cannot
be moved.
For procedures to release the electromagnetic brake, refer to the following section.
When the electromagnetic brake is released, the arms can be moved by hand.
1.5.2 Release the Brake by the Software
(When the software is available)
1.5.1 Arm Motions
Joint #1
Base
Arm #1
(Lower Arm)
Arm #2
Arm #4
Joint #6
Joint #3
Joint #4
Joint #5
Arm #6
Joint #2
Arm #5
Arm #3
Upper Arm (Arm #3 to 6)
Joint Motion
Joint #1 : The whole Manipulator revolves.
Joint #2 : The lower arm swings.
Joint #3 : The upper arm swings.
Joint #4 : The wrist revolves.
Joint #5 : The wrist swings.
Joint #6 : The hand rotates.
Setup & Operation 1. Safety
10 VT Rev.1
1.5.2 Release the Brake by the Software
CAUTION
■
Normally, release the brake of joints one by one. Take extra care if you need to
release the brakes of two or more
joints simultaneously. Rel easing the brakes
of two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage or malfunction of the Manipulator as the arms of the
Manipulator may move in unex pec t ed directions.
■
Be
careful of the arm falling when r el easing the brake.
While the brake is being releas ed, t he M anipulator’s arm falls by its own w eig ht.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage or malfun ct ion of the Manipulator.
■
Before releasing the brake, be sure t o keep the Em ergency Stop sw it ch hand y so
that you can immediately press the Emergency Stop switch. Otherwise, you
cannot immediately stop t he arm falli ng due to an er roneous op eration. The arm
falling may
cause equipment damag e and/or malfunction of the Man ipulator.
EPSON
RC+
After releasing the Emergency Stop switch,
execute the following command in
[Command W indow ]
.
>Reset
>Brake Off,
[the arm (#1 to #6) whose brake will be turned off]
Execute the following command to turn on the brake again.
>Brake On,
[the arm (#1 to #6) whose brake will be turned on]
1.6 Precaution for Operation in Low Power Status
In the low power status, the Manipulator operates at low speed and low torque.
If in close proximity to the Manipulator, operate the Manipulator carefully. Otherwise,
your hands or fingers may get caught during operation. The Manipulator may also
collide with peripheral equipment and cause equipment damage or malfunction of the
Manipulator.
CAUTION
■
Carefully operate the Manipulator in the low power status. A comparativ ely high
joint torque may be generated. It may cause your hands and fingers caught
and/or cause equipment damage or malfunction of the Manipulator as it may
collide with peripheral equipment.
Setup & Operation 1. Safety
VT Rev.1 11
1.7 Labels
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 Warning Label NOTE
A
Before loosening the base mounting screws, hold the arm
and secure it tightly with a band to prevent hands or
fingers from being caught in the Manipulator.
For transport and install procedures, follow the steps
described in this manual.
B
Do not enter the operation area while the Manipulator is
moving. The robot arm may collide against the
operator. This is extremely hazardous and may result in
serious safety problems.
C
Hazardous voltage exists while the Manipulator is ON.
To avoid electric shock, do not touch any internal
electric parts.
D
When releasing the brakes, be careful of the arm falling
due to its own weight.
This warning label is attached on the Manipulator and
optional brake release box.
E
Only authorized personnel should
perform sling work
and operate a crane and a forklift. When these
operations are performed by unauthorized personnel, it is
extremely hazardous and may result in serious bodily
injury and/or severe equipment
damage to the robot
system.
F
You may get your hand or fingers caught when bringing
your hand close to moving parts.
Setup & Operation 1. Safety
12 VT Rev.1
Location Warning Label NOTE
G
Signature label
S/N (Serial Number) label
Location of labels
B
C
C
C
C
C
F
D
A
E
C
G
Setup & Operation 2. Specifications
VT Rev.1 13
2. Specifications
2.1 Features of VT series Manipulators
The VT series Manipulators are controller integrated manipulators.
The features of the VT series Manipulators are as follows:
For Device design and tooling
- There is no external controller
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.
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
Others
- Power-saving
VT6L: Approx. 1/5 compared to C4L/RC700-A
2.2 Model Number
VT6-A90 1 S □
Mounting type
□
: Table Top mounting
R
: Ceiling mounting
W
: Wall mounting
Environment
S
: Standard model
Arm length
90 : 920 mm
Payload
6
: 6 kg
For details on the specifications, refer to Setup & Operation: 2.7 Specifications.
Brake equipment
1
: Brakes on all joints
Setup & Operation 2. Specifications
14 VT Rev.1
2.3 Part Names
Joint #1
Base
Arm #1
(Lower Arm)
Arm #2
Arm #4
Joint #6
Joint #3
Joint #4
Joint #5
Arm #6
Joint #2
Arm #5
Arm #3
LED Lamp
(This lamp lights up
while the motors are ON.)
TP Port
EMERGENCY Connector
Power Supply Cover
(AC power connector inside)
I/O (Input) Connector
I/O (Output) Connector
LAN (Ethernet) Connector
Port of PC for development
RESET switch
MEMORY Port
OPTION Cover
(OPTION connector inside)
When the LED lamp is lighting or the controller power is ON, the current is being applied
to the manipulator. (The LED lamp may not be seen depending on the Manipulator’s
posture. Be very careful.)
Performing any work with the power ON is extremely hazardous and it may result in
electric shock and/or improper function of the robot system. Make sure to turn OFF the
controller power before the mai ntenance work.
NOTE
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