Epson RC90 Safety And Installation

Text of Epson RC90 User Guide:

• Epson RC90, 1. Safety 32 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 Low Power Mode The motor power is reduced in this mode. Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. The restricted (low power) status ensures the safety of the operator and reduces the possibility of peripheral equipment destruction or damage caused by careless operation. Dynamic Brake The dynamic brake circuit includes relays that short the moto

• Epson RC90, 1. Safety Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 9 1.3.2 Part Names / Arm Motion (3) (19) (12) (13) (14) (15) (16) (17) (7) (4) (1) (11) (10) (9) (20) (20) (18) (5) (6) (Left side) (2) (8) (1) POWER switch (2) AC IN (3) LED (4) Fan Filter (5) Signature label (6) MT label (7) Controller Number label (8) Connection Check label (9) M/C POWER connector (10) M/C SIGNAL connector (11) EMERGENCY connector (12) TP port

• Epson RC90, 1. Safety 36 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 1.9 Manipulator Specifications LS3 / LS6 Item LS3-401* LS6-602* Arm length Arm #1, #2 400 mm 50 500 mm 60 600 mm 70 700 mm Arm #1 225 mm 50 225 mm 60 325 mm 70 425 mm Arm #2 175 mm 275 mm Max. operating speed *1 Joints #1, #2 6000 mm/s 50 6150 mm/s 60 6800 mm/s 70 7450 mm/s Joint #3 1100 mm/s Joint #4 2600 deg./s 2000 deg/s Repeatability Joints #1, #2 ± 0.01 mm ± 0.02 mm Joint #3 ± 0.01 mm Joint #4 ± 0.01 deg.

• Epson RC90, 3. First Step Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 77 (5) The dialog for selecting the options to be installed will be displayed. Check the options you want to install and click <Next>. (6) The dialog to review the settings will be displayed. If you are satisfied with the settings, click <Next>. (7) If required, install “Windows Installer” and “Microsoft .NET Framework 3.5” on your system. This may take several minutes. Adobe Reader needs to be ins

• Epson RC90, 1. Safety Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 33 CPU Irregularity Detection Irregularity of CPU that controls the motor is detected by the watchdog timer. The system CPU and the motor controlling CPU inside the Controller are also designed to constantly check each other for any discrepancies. If a discrepancy is detected, the dynamic brake circuit is activated. Memory Check-sum Error Detection The dynamic brake circuit is activated when a memory check-sum error is detected. Overheat Detection at the Motor Driver Module The dynamic brake circuit is a

• Epson RC90, 1. Safety 4 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 End Effector Design Provide wiring and piping that will prevent the robot end effector from releasing the object held (the work piece) when the robot system power is shut off. Design the robot end effector such that its weight and moment of inertia do not exceed the allowable limits. Use of values that exceed the allowable limits can subject the robot to excessive loads. This will not only shorten the service life of the robot but can lead to unexpectedly dangerous situations due to additional external forces applied to the end effector and the work piece. D

• Epson RC90, 1. Safety 26 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 1.6 Labels Labels are attached around the locations of the Controller and Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Robot System 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: 1.6.1 Controller Location Label Note A Residual voltage exists. To avoid electric shock, do not open the

• Epson RC90, 5. General Maintenance Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 101 5.3 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table. When it is necessary to refasten these bolts in some procedures in this manual (except special cases as noted), use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below. Bolt Tightening Torque

• Epson RC90, 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 70 M/C Power Cable Connection (1) Mount the M/C Power Cable as shown in the picture and form the cables. (2) Set the M/C Power Cable in the clamp for the M/C Power Cable. (3) Mount the cover for the M/C Power Connector. (4) Secure the cover with the screw.

• 3. First Step Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 88 4. Run the program (1) Press F5 to run the program. (F5 is the hot key for the [Run Window] selection of the [Run] Menu). You will see the Status window located at the bottom of the main window showing the build operation status. (2) During project build, your program is compiled and linked. Then co

• Epson RC90, 1. Safety Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 3 1.2.2 Designing a Safe Robot System It is important to operate robots safely. It is also important for robot users to give careful consideration to the safety of the overall robot system design. This section summarizes the minimum conditions that should be observed when using EPSON robots in your robot systems. Please design and manufacture robot systems in accordance with the principles described in this and the following sections. Environ

• Epson RC90, 6. Manuals Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 106 Controller ROBOT CONTROLLER RC90 (EPSON RC+ 7.0) This manual indicates descriptions of the Robot Controller RC90 and Robot system. - Safety - Specification, Installation, Operation, and Setup - Backup and Restore - Maintenance - Verifying Robot System Operation - Error Codes etc. Controller Options This manual indicates descriptions of the Controller option. - PG Motion System - Fieldbus I/O - Teach Pendant TP1 - Teach Pendant TP2 Manipulator EPSON SCARA ROBOT LS series (LS3 / LS6), LS20 series This manual indicates descriptions of

• Epson RC90, 1. Safety Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 1 1. Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables. Keep this manual handy for easy access at all times. 1.1 Conventions Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol. WARNING This symbol indicates that a danger of possible serious injury or deat

• 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 47 2.3 Transportation Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. 2.3.1 Transportation Precautions Transportation procedure : Using a cart or similar equipment, transport the Manipulator i

• Epson RC90, 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 67 Example 2: External safety relay typical application * For the protection of the emergency stop circuit, the fuse’s capacity should be as follows: - Meets the capacity of the external safety relay - 0.4A or less External safety relay (The above diagram is simplified for representation.) External +24V GND +24V +5V Safety Door input 1 Safety Door input 2 Latch Rel

• Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 vii Before Reading This Manual TP port of RC90 is for the Teach Pendant TP1 and TP2. Do not connect the followings to TP port of RC90. Connecting to the followings may result in malfunction of the device since the pin assignments are different. OPTIONAL DEVICE dummy plug Operation Pendant OP500 Operator Pendant OP

• 5. General Maintenance Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 97 Inspection While the Power is ON (Manipulator is operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual Check looseness or backlash of bolts/screws. Tighten them if necessary. (For the tightening torque, refer to Tightening Hexagon Socket Head Cap

• Epson RC90, 7. Directives and Norms Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 108 Name Definition Directive 2006/42/EC Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC Directive 2004/108/EC Directive 2004/108/EC relating to electromagnetic compatibility and repealing Directive 89/336/EEC EN ISO 12100 (2010) Safety of machinery -- General principles for design -- Risk assessment and risk reduction EN ISO 10218-1 (2011) Robots and robotic devices -- Safety requirements for industria

• Epson RC90, 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 53 2.4.4 Base Table A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differs depending on the use of the robot system. For your reference, we list some Manipulator table requirements here. The torque and reaction force produced by the movement of the Manipulator are as follows: LS3 LS6 LS20 Max. Reaction torque on the horizontal plate 250 Nm 350 Nm 1000 Nm Max. Horizontal reaction force 1000 N 1700 N

• Epson RC90, 1. Safety 20 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 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. Point where the emergency stop signal is input Joint #1 Start point of operation Target point Stop point Joint #2 Conditions for Measurement LS3-401* LS6-602* Accel Setting 100 100 Speed Setting 100 100 Load [kg]

• Epson RC90, 3. First Step Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 76 (3) Enter your user name and company name and click <Next>. (4) Select the drive where you want to install EPSON RC+ 7.0 and click <Next>. The installation directory is called EpsonRC70. This cannot be changed.

• Epson RC90, 1. Safety 34 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 1.8 Lockout / Tagout Lockout / tagout is a method to prevent anyone from turning ON the robot system by mistake while someone else is within the safeguarded area for maintenance or repair. When performing maintenance and repair, lockout and tagout using the following procedure. Use the lockout attachment for RC90. Installing the Lockout Attachment (1) Turn OFF the POWER switch and place the lockout attachment on the POWER switch. Insert the pin in the holes under the retractable actuator. Push the pin in the dir

• 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 74 2.10 Saving Default Status The controller has been already setup with the purchased robot(s) at shipment. However, just in case, we recommend saving the default controller status. A USB memory is necessary to save the controller status. For the procedure of controller status storage, refer to Robot controller

• Epson RC90, 1. Safety 38 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 LS20 Item LS20-804* LS20-A04* Arm length Arm #1, #2 800 mm 1000 mm Arm #1 350 mm 550 mm Arm #2 450 mm 450 mm Max. operating speed *1 Joints #1, #2 9940 mm/s 11250 mm/s Joint #3 2020 mm/s Joint #4 1400 deg/s Repeatability Joints #1, #2 ± 0.025 mm Joint #3 ± 0.01 mm Joint #4 ± 0.01 deg Payload (Load) Rated 10 kg Max. 20 kg Joint #4 allowable moment of inertia *2 Rated 0.05 kg·m 2 Max. 0.45 kg·m 2 Resolution Joints #1 0.000275 deg/pulse Join

• Epson RC90, 6. Manuals Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.5 105 6. Manuals Descriptions of manual contents are indicated in this section. Manuals are supplied by Acrobat PDF to use the Robot system. Select EPSON RC+ 7.0-[Help]-[PDF Manual] to view the PDF manuals from a PC. (Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.) Software EPSON RC+ 7.0 User’s Guide This manual indicates descriptions of the Robot system and program development software. - Safety - Robot System Operation and Configuration - Operation of Program Develo

• Epson RC90, 1. Safety 40 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 *1: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal plane. *2: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command. *3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover interior together. A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust em

• Epson RC90, Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 ix LS3-401* RC90 controller firmware Ver.7.0.2.0 or later EPSON RC+ 7.0 Before Ver.7.0.1 !!! Ver.7.0.2 or later OK OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available. !!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2 or later. Manipulator serial No. : L6**00**** LS6-602* RC90 controller firmware Ver.7.0.2.0 or later EPSON RC+ 7.0 Before Ver.7.0.1 !!! Ver.7.0.2 or later OK OK: Compatibl

• Epson RC90, 2. Installation Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6 62 In order to maintain a safe working zone, a safeguard must be erected around the Manipulator. The safeguard must have an interlock switch at the entrance to the working zoon. The Safety Door that is described in this manual is one of the safeguards and an interlock of the Safety Door is called a Safety Door switch. Connect the Safety Door switch to the Safety Door input terminal on the EMERGENCY connector. The Safety Door switch has safety features such as temporary hold-up of the program or the operation-prohibited status that are activated whenever the

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