6-Axis Robots
VT series
MANIPULATOR MANUAL
Rev.9 EM208R4487F
MANIPULATOR MANUAL
VT series Rev.9
VT Rev.9 i
6-Axis Robots
VT series Manipulator Manual
Rev.9
Copyright 2018-2020 SEIKO EPSON CORPORATION. All rights reserved.
ii VT Rev.9
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):
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 d
ue 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 associated equipment is used outside of the usage conditions
and
product specifications described in the manuals, this warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
VT Rev.9 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.
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
iv VT Rev.9
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:
VT series manipulator manual
Maintenance: 18.4 Replacing the Lithium Battery
VT Rev.9 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.
Controller Firmware
VT6-A901S, VT6-A901C, VT6-A901P Ver.7.4.56.2 or later
VT6-A901S-DC
Ver.7.4.57.1 or later
EPSON RC+ 7.0
Before Ver.7.4.6
!!!
Ver.7.4.7 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 version
or later. Display or control may not be operated properly.
EPSON RC+ 7.0 Ver.7.4.7
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.9
TABLE OF CONTENTS
VT Rev.9 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 Electromagnetic 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 .............................................................................. 16
2.5 Standard Motion Range .................................................................... 18
2.6 System Example................................................................................ 20
2.7 Specifications .................................................................................... 21
2.8 How to Set the Model ........................................................................ 25
3. Environments and Installation 26
3.1 Environmental Conditions ................................................................. 26
3.2 Base Table ........................................................................................ 28
3.3 Mounting Dimensions ........................................................................ 30
3.4 Unpacking and Transportation .......................................................... 31
3.5 Installation Procedure ........................................................................ 32
3.6 Power Supply .................................................................................... 34
3.6.1 Specifications......................................................................... 34
3.6.2 Power Cable .......................................................................... 34
3.6.3 Breaker .................................................................................. 36
3.6.4 Grounding .............................................................................. 37
3.7 Connecting the Cables ...................................................................... 38
3.8 Relocation and Storage ..................................................................... 42
3.8.1 Precautions for Relocation and Storage ............................... 42
3.8.2 Relocation .............................................................................. 43
3.9 Checking the Basic Orientation ......................................................... 45
3.10 Origin Position Label ....................................................................... 45
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viii VT Rev.9
4. Setting of End Effectors 46
4.1 Attaching an End Effector .................................................................. 46
4.2 Attaching Cameras and Air Valves .................................................... 47
4.3 Weight and Inertia Settings ................................................................ 47
4.3.1 Weight Setting ........................................................................ 50
4.3.2 INERTIA Setting ..................................................................... 53
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 57
5. Motion Range 58
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 58
5.1.1 Max. Pulse Range of Joint #1 ................................................ 59
5.1.2 Max. Pulse Range of Joint #2 ................................................ 59
5.1.3 Max. Pulse Range of Joint #3 ................................................ 60
5.1.4 Max. Pulse Range of Joint #4 ................................................ 60
5.1.5 Max. Pulse Range of Joint #5 ................................................ 60
5.1.6 Max. Pulse Range of Joint #6 ................................................ 61
5.2 Motion Range Setting by Mechanical Stops ...................................... 62
5.2.1 Motion Range Setting of Joint #1 ........................................... 62
5.2.2 Motion Range Setting of Joint #2 ........................................... 63
5.2.3 Motion Range Setting of Joint #3 ........................................... 64
5.3 Restriction of Manipulator Operation by Joint Angle Combination .... 65
5.4 Coordinate System ............................................................................. 66
5.5 Changing the Robot ........................................................................... 67
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator ................................................................... 68
6. Operation Mode & LED 69
6.1 Overview ............................................................................................ 69
6.2 Switch Operation Mode ...................................................................... 69
6.3 Program Mode (AUTO) ...................................................................... 70
6.3.1 What is Program Mode (AUTO)? ........................................... 70
6.3.2 Setup from EPSON RC+ 7.0 .................................................. 70
6.4 Auto Mode (AUTO) ............................................................................ 71
6.4.1 What is Auto mode (AUTO)? ................................................. 71
6.4.2 Setup from EPSON RC+ 7.0 .................................................. 71
6.4.3 Setup from Control Device ..................................................... 72
6.5 LED ..................................................................................................... 73
7. Development PC Connection Port 74
7.1 What is Development PC Connection Port ........................................ 74
7.2 Precaution .......................................................................................... 75
7.3 Software Setup and Connection Check ............................................. 75
7.4 Disconnection of Development PC and Manipulator ......................... 76
TABLE OF CONTENTS
VT Rev.9 ix
8. Memory Port 77
8.1 What is Controller Status Storage Function? .................................... 77
8.2 Before Using Controller Status Storage Function ............................. 77
8.2.1 Precautions ............................................................................ 77
8.2.2 Adoptable USB Memory ........................................................ 78
8.3 Controller Status Storage Function ................................................... 78
8.3.1 Controller Status Storage ...................................................... 78
8.3.2 Load Data with EPSON RC+ 7.0 .......................................... 79
8.3.3 Transfer with E-mail ............................................................... 80
8.4 Details of Data ................................................................................... 81
9. LAN (Ethernet Communication) Port 82
9.1 What is the LAN (Ethernet Communication) Port ............................. 82
9.2 IP Address ......................................................................................... 83
9.3 Changing Manipulator IP Address .................................................... 83
9.4 Connection of Development PC and Manipulator with Ethernet ...... 84
9.5 Disconnection of Development PC and Manipulator with Ethernet .. 86
10. TP Port 87
10.1 What is the TP Port? ....................................................................... 87
10.2 Teach Pendant Connection ............................................................. 87
11. Options 88
11.1 Camera Plate Unit ........................................................................... 88
11.2 Tool Adapter (ISO flange) ............................................................... 90
11.3 Adjustable Mechanical Stops .......................................................... 91
11.4 External Wiring Kit ........................................................................... 91
12. EMERGENCY 98
12.1 Safeguard Switch and Latch Release Switch ................................. 98
12.1.1 Safeguard Switch ................................................................ 99
12.1.2 Latch Release Switch ........................................................ 100
12.1.3 Checking Latch Release Switch Operation ....................... 100
12.2 Emergency Stop Switch Connection ............................................. 101
12.2.1 Emergency Stop Switch .................................................... 101
12.2.2 Checking Emergency Stop Switch Operation ................... 101
12.2.3 Recovery from Emergency Stop ....................................... 101
12.3 Pin Assignments ............................................................................ 102
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x VT Rev.9
12.4 Circuit Diagrams ............................................................................. 103
12.4.1 Example 1: External emergency stop switch typical
application.......................................................................... 103
12.4.2 Example 2: External safety relay typical application .......... 104
12.4.3 Example 3: Connection example of mobile platform and
emergency stop ................................................................. 105
13. Standard I/O Connector 106
13.1 Standard, Cleanroom Model .......................................................... 106
13.1.1 Input Circuit (Standard, Cleanroom Model) ....................... 106
13.1.2 Output Circuit (Standard, Cleanroom Model) .................... 110
13.2 Protection Model ............................................................................ 113
13.2.1 Input Circuit (Protection Model) ......................................... 113
13.2.2 Output Circuit (Protection Model) ....................................... 116
13.2.3 Pin Assignments of Input and Output Circuit
(Protection Model) ............................................................. 118
13.3 I/O Cable Product Procedure ......................................................... 119
13.3.1 I/O Cable Connecting Method ............................................ 119
13.3.2 How to Fix the I/O Cable .................................................... 119
14. I/O Remote Settings 120
14.1 I/O Signal Description .................................................................... 121
14.1.1 Remote Input Signals ......................................................... 121
14.1.2 Remote Output Signals ...................................................... 125
14.2 Timing Specifications ..................................................................... 128
14.2.1 Precautions for Remote Input Signals ............................... 128
14.2.2 Timing Diagram for Operation Execution Sequence ......... 128
14.2.3 Timing Diagram for Program Execution Sequence ........... 128
14.2.4 Timing Diagram for Safety Door Input Sequence .............. 129
14.2.5 Timing Diagram for Emergency Stop Sequence ............... 129
15. SD Card Slot 130
16. RESET Switch 131
17. Fieldbus I/O 132
17.1 Standard, Cleanroom model .......................................................... 133
17.2 Protection Model ............................................................................ 134
TABLE OF CONTENTS
VT Rev.9 xi
Maintenance
1. Safety Maintenance 141
2. General Maintenance 142
2.1 Maintenance Inspection .................................................................. 142
2.1.1 Schedule for Maintenance Inspection ................................. 142
2.1.2 Inspection Point ................................................................... 143
2.2 Overhaul (Parts Replacement) ........................................................ 144
2.3 Tightening Hexagon Socket Head Cap Bolts.................................. 146
2.4 Matching Origins.............................................................................. 146
2.5 Layout of Maintenance Parts .......................................................... 147
3. Manipulator Structure 148
3.1 AC Specification Manipulator .......................................................... 148
3.2 DC Specification Manipulator .......................................................... 150
4. Alarm 151
4.1 Maintenance .................................................................................... 152
4.2 Maintenance Information ................................................................. 153
4.2.1 How to Check the Maintenance Information ....................... 153
4.2.2 How to Edit the Maintenance Information ........................... 154
4.2.3 Alarm Notifying Method ....................................................... 155
4.2.4 How to Cancel the Alarm ..................................................... 155
5. Backup and Restore 156
5.1 What is the Backup Controller Function .......................................... 156
5.2 Backup Data Types ......................................................................... 156
5.3 Backup ............................................................................................. 157
5.4 Restore ............................................................................................ 158
6. Firmware Update 161
6.1 Updating Firmware .......................................................................... 161
6.2 Firmware Upgrade Procedure ......................................................... 161
6.3 Manipulator Recovery ..................................................................... 163
6.4 Firmware Initialization Procedure .................................................... 164
6.5 Adding Confirmation Steps by Strengthening Security of
EtherNet Connection ........................................................................ 166
7. Covers 170
7.1 Arm #1 Cover .................................................................................. 171
7.2 Arm #2 Cover .................................................................................. 173
7.3 Arm #3 Cover .................................................................................. 174
TABLE OF CONTENTS
xii VT Rev.9
7.4 Arm #4 Cover 1 ................................................................................ 175
7.5 Arm #4 Cover 2 ................................................................................ 176
7.6 Power Cable Cover .......................................................................... 178
7.7 Connector Plate ............................................................................... 179
8. Cable 181
8.1 Replacing Cable Unit ....................................................................... 182
8.2 Insert or Pull out of Power Cable ..................................................... 199
9. Joint #1 200
9.1 Replacing Joint #1 Motor ................................................................. 201
9.2 Replacing Joint #1 Reduction Gear Unit .......................................... 205
9.3 Replacing Joint #1 Timing Belt ........................................................ 206
10. Joint #2 211
10.1 Replacing Joint #2 Motor ............................................................... 212
10.2 Replacing Joint #2 Reduction Gear Unit ........................................ 218
10.3 Replacing Joint #2 Timing Belt ...................................................... 219
11. Joint #3 220
11.1 Replacing Joint #3 Motor ............................................................... 221
11.2 Replacing Joint #3 Reduction Gear Unit ........................................ 227
11.3 Replacing Joint #3 Timing Belt ...................................................... 228
12. Joint #4 229
12.1 Replacing Joint #4 Motor ............................................................... 230
12.2 Replacing Joint #4 Reduction Gear Unit ........................................ 235
12.3 Replacing Joint #4 Timing Belt ...................................................... 236
13. Joint #5 240
13.1 Replacing Joint #5 Motor ............................................................... 241
13.2 Replacing Joint #5 Reduction Gear Unit ........................................ 245
13.3 Replacing Joint #5 Timing Belt ...................................................... 246
14. Joint #6 247
14.1 Replacing Joint #6 Motor ............................................................... 248
14.2 Replacing Joint #6 Reduction Gear Unit ........................................ 252
14.3 Replacing Joint #6 Timing Belt ...................................................... 253
TABLE OF CONTENTS
VT Rev.9 xiii
15. AMP Board 254
15.1 Replacing AMP Board on Joint #1, #2, and #3 ............................. 256
15.2 Replacing AMP Board on Joint #4 ................................................ 258
15.3 Replacing AMP Board on Joint #5 and #6 .................................... 259
16. LED Plate 260
16.1 Replacing LED Plate ..................................................................... 261
17. Felt Sheet 262
17.1 Replacing Joint #1 Felt Sheet ....................................................... 263
17.2 Replacing Joint #2 Felt Sheet ....................................................... 264
17.3 Replacing Joint #3 Felt Sheet ....................................................... 265
18. Controller Unit 266
18.1 Replacing Controller Unit .............................................................. 267
18.1.1 Standard, Cleanroom Model ............................................. 268
18.1.2 Protection Model ................................................................ 271
18.2 Replacing Power Board ................................................................. 275
18.3 Replacing CPU/DPB Board ........................................................... 276
18.4 Replacing Lithium Battery ............................................................. 279
18.5 Replacing Cooling Fan .................................................................. 279
18.6 Replacing SD Card ........................................................................ 280
18.6.1 Standard, Cleanroom Model ............................................. 280
18.6.2 Protection Model ................................................................ 281
19. Calibration 282
19.1 Overview ........................................................................................ 282
19.2 Calibration Procedures .................................................................. 285
20. Restrictions 289
20.1 Commands Cannot Use ................................................................ 289
20.2 Commands Cause Motion Error If Specifying RS-232C ............... 289
20.3 Commands Cause Error ................................................................ 290
20.3.1 Conveyor Tracking Commands ......................................... 290
20.3.2 PG Commands .................................................................. 291
20.3.3 R-I/O Commands ............................................................... 291
20.3.4 Force Sensing Commands ................................................ 291
20.3.5 Other (FineDist) ................................................................. 291
20.3.6 Other (HealthCalcPeriod) .................................................. 291
20.3.7 Other (ChDisk) ................................................................... 291
TABLE OF CONTENTS
xiv VT Rev.9
20.4 Restrictions of Functions ................................................................ 292
20.4.1 TP3 ..................................................................................... 292
20.4.2 Loop Processing ................................................................. 292
20.4.3 Camera Searching by CV1/CV2 ........................................ 293
20.4.4 Restore the Data of Backup Controller Function ............... 293
20.5 Command only available in DC specification Manipulator ............ 294
21. Error Code Table 295
22. Maintenance Parts List 296
23. Option Parts List 298
Appendix A: Open Source Software License 299
Setup & Operation
This volume contains information for setup and operation of the VT series Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.
Setup & Operation 1. Safety
VT Rev.9 3
1. Safety
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
This symbol indicates that a danger of possible serious injury or
death exists if the associated 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.9
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. Designi
ng
and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
sever
e 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 safety
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.9 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 stopped.
■
Before operating the robot system, make sure that no one is inside the
safeguarded area.
The robot system can be operated in the mode for teaching
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 system.
■
If mounting Manipulator on
the mobile platform and pressing Emergency Stop
switch to
stop Manipulator, be sure to design the system that the mobile platform
also stops. If the mobile platform does not stop and it keeps moving, it is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system, and may cause serious safety problems.
■
Do not operate Manipulator wh
en the mobile platform is moving. When using
Manipulator
, it must be surrounded by the safeguards. Operating Manipulator
while the mobile platform
is moving may result in serious bodily injury and/or
severe equipment damage t
o the robot system.
Setup & Operation 1. Safety
6 VT Rev.9
WARNING
■
To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO
NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the robot system and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
■
Do not 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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may move abnormally,
and also may result in electric shock
and/or malfunction of the robot system.
■
When using DC specification Manipulator, do not connect to AC power source.
Connecting to AC power source is extremely hazardous and may result in electric
shock and/or malf
unction of the robot system.
■
When using DC specification Manipulator and connecting to DC power source
such as battery, be careful for polarity.
If connecting Manipulator cable to wrong
polarity, it may result in malfunction of the robot system.
For details on
c
onnection, refer to Setup & Operation 3.6.2 Power Cable.
CAUTION
■
Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■
Each Joint:
If the joints are operated
repeatedly with the operating angle less than 5 degrees,
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 deg
rees for about five to ten 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 speed
Changing the teach points
Changing the end effector 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.
■
When mounting Manipulator on the mobile platform, be sure to stop Manipulator
while the mobile platform
is in operation. Manipulator stops when motors on all
axes
are turned OFF (servo free status). If you cannot turn OFF the motor, set
power mode to
“Low” and perform exclusive control of mobile platform and
Manipulator
so that they do not move simultaneously.
Setup & Operation 1. Safety
VT Rev.9 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 19.
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.
- When Emergency Stop switch is pressed, a great force is applied to the base table.
When mounting Manipulator on the mobile platform, be sure to design the system that
the system does not turnover and Manipulator does not fall over.
Setup & Operation 1. Safety
8 VT Rev.9
For details on 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
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 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 setting
Weight of workpiece Speed setting
Operating pose Accel setting
Conditions for measurement
VT series
ACCEL Setting
100
SPEED Setting
100
Load [kg]
6
WEIGHT Setting
6
VT6-A901**
Free
running
time
[sec.]
Arm #1
0.8
Arm #2
1.5
Arm #3
0.3
Arm #4
0.3
Arm #5
0.3
Arm #6
0.4
Free
running
angle
[°]
Arm #1
Table Top
Ceiling
35
Wall
30
Arm #2
50
Arm #3
10
Arm #4
10
Arm #5
10
Arm #6
15
Setup & Operation 1. Safety
VT Rev.9 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)
In an emergency situation such as you cannot /do not want to turn ON the power, you can
forcibly move the robot arm by pushing or pulling it with strong force.
A measure of force: 500N (near Arm #6)
However, if moving the robot forcibly, the joints may get damage. Be sure to do this only
in an emergency situation.
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 (Arms #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.
NOTE
Setup & Operation 1. Safety
10 VT Rev.9
1.5.2 Release the Brake by the Software
(When the software is available)
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. Releasing 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 t
he arms of the
Manipulator may move in unexpected directions.
■
Be careful of the arm falling when releasing the brake.
While the brake is being released, the Manipulator’s arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage or malfunction of the Manipulator.
■
Before releasing the brake, be sure to
keep the Emergency Stop switch handy so
that you can immediately press the Emergency Stop switch. Otherwise, you
cannot immediately stop the arm falling due to an erroneous operation. The arm
falling may cause equipment damage and/or malfunction of the Manipulator.
EPSON
RC+
After releasing the Emergency Stop switch,
execute the following command in
[Command Window]
.
>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.
Maximum Joint Torque in Low Power Status [Unit: N·m]
VT6-A901* (Table top mounting), VT6-A901SR (Ceiling mounting)
Joint
#1
#2
#3
#4
#5
#6
Joint Torque 100.57 274.29 94.22 31.83 31.53 31.92
VT6-A901SW (Wall mounting)
Joint
#1
#2
#3
#4
#5
#6
Joint Torque 210.29 274.29 94.22 31.83 31.53 31.92
CAUTION
■
Carefully operate the Manipulator in the low power status. A comparatively 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.9 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.
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.9
Location Warning Label NOTE
G
Signature label
S/N (Serial Number) label
Location of labels
C
C
C
B
C
C
C
C
C
F
D
A
E
C
G
Protection model
Standard model, Cleanroom model
Setup & Operation 2. Specifications
VT Rev.9 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.
- DC specification: battery-driven Manipulator. No fixed power supply is required
Easy to connect to the mobile platform*.
* Mobile platform indicates Cartesian coordinate robot, wheeled platform, AGV, etc.
In this manual, these terms are referred to as “mobile platform”.
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
2.2 Model Number
VT6-A90 1 □ □-□
Power supply
□
: AC specification Manipulator
DC : DC specification Manipulator
Mounting type
□
: Table Top mounting
R
: Ceiling mounting (AC specification, Standard model only)
W
: Wall mounting (AC specification, Standard model only)
Environment
S
: Standard model
C
: Cleanroom model (AC specification Manipulator only)
P
: Protection model (IP67) (AC specification Manipulator only)
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.9
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.)
When the LED lamp is lighting or the Controller power is ON, 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 maintenance work.
NOTE
Setup & Operation 2. Specifications
VT Rev.9 15
Standard model
TP Port
EMERGENCY
Connector
Power Supply Cover
(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)
Cleanroom model
TP Port
EMERGENCY Connector
Power Supply Cover
(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
)
Exhaust port
Fitting for ø12 mm pneumatic tube
Protection model
TP Port
I/O Connector
Power cord
EMERGENCY
Connector
LAN (Ethernet) Connector
Port of PC for
development
MEMORY Port
OPTION Cover
(OPTION connector inside)
Setup & Operation 2. Specifications
16 VT Rev.9
2.4 Outer Dimensions
Setup & Operation 2. Specifications
VT Rev.9 17
[Unit: mm]
Setup & Operation 2. Specifications
18 VT Rev.9
2.5 Standard Motion Range
[Unit: mm]
(deg.=°)
Setup & Operation 2. Specifications
VT Rev.9 19
* P point : Intersection of the rotation centers for Joints #4, #5, and #6
*1 : P point from top with Joint #3 declining −51° (Joint #2 center – P point center)
*2 : P point from top with Joint #3 tilting up +190° (Joint #2 center – P point center)
*3 : P point from lateral with Joint #3 declining +190° (Joint #1 center – P point center)
*4 : P point from lateral with Joint #3 tilting up –51° (Joint #1 center – P point center)
CAUTION
■
Pay attention to the arm pose of the basic arms (Arms #1, #2, and #3) when
operating the Manipulator. Arm #5 moves keeping a constant angle regardless
of the arm pose. Depending on the arm pose of the basic arms, the wrist may
collide with the Manipulator. The collision may cause equipment damage and/or
malfunction of the Mani
pulator.
Setup & Operation 2. Specifications
20 VT Rev.9
2.6 System Example
VT6
Standard
Standard I/O
Remote I/O
Ethernet
USB (for save)
USB (for development)
ModBus
Fieldbus
Slave
Option
TP2
TP3
*2
*3
Option: Teaching Pendant
Windows *1
EPSON RC+ 7.0
Software
USB 2.0
or Ethernet
Option
*1 EPSON RC+ 7.0 supports the following OS
Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later)
Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later)
*2 Either teaching pendant is available.
*3 When connecting to VT series Manipulators, specified convert cable is necessary.
Setup & Operation 2. Specifications
VT Rev.9 21
2.7 Specifications
Item
Specifications
Model Number
VT6-A901*
VT6-A901*R
VT6-A901*W
Model Name
VT6L
Mounting type *1
Table Top mounting
Ceiling mounting
Wall mounting
Weight
DC
Standard
40 kg: 89 lbs.
(not include the weight of cables)
AC
Standard
Cleanroom
Protection
42 kg: 92 lbs.
(include the weight of cables)
Driving method
All joints
AC servo motor
Max.
operating
speed *2
Joint #1
166.2°/s
Joint #2
122.5°/s
Joint #3
141.2°/s
Joint #4
AC
Standard
Cleanroom
268.7°/s
Protection
188.1°/s
DC
Standard
Joint #5
296.8°/s
Joint #6
AC
Standard
Cleanroom
293.2°/s
Protection
234.5°/s
DC
Standard
Maximum synthetic speed
4563 mm/s
Repeatability
Joints #1 to #6
± 0.1 mm
Max. motion range
Joint #1
± 170°
± 30°
Joint #2
− 160° to + 65°
Joint #3
− 51° to + 190°
Joint #4
± 200°
Joint #5
± 125°
Joint #6
± 360°
Max. pulse range
Joint #1
± 8488472
±1497966
Joint #2
− 9986438 ~ + 4056990
Joint #3
− 2366604 ~ + 8816759
Joint #4
± 8128764
Joint #5
± 4599018
Joint #6
± 13410735
Resolution
Joint #1
0.0000200°/pulse
Joint #2
0.0000160°/pulse
Joint #3
0.0000215°/pulse
Joint #4
0.0000246°/pulse
Joint #5
0.0000271°/pulse
Joint #6
0.0000268°/pulse
Motor rated capacity
Joint #1
300 W
Joint #2
300 W
Joint #3
200 W
Joint #4
100 W
Joint #5
100 W
Joint #6
100 W
Payload *3
Rated.
3 kg
Max.
6 kg
Allowable moment
Joint #4
12 N·m (1.22 kgf·m)
Joint #5
12 N·m (1.22 kgf·m)
Joint #6
7 N·m (0.71 kgf·m)
Setup & Operation 2. Specifications
22 VT Rev.9
Item
Specifications
Allowable moment of
inertia *4 (GD
2
/4)
Joint #4
0.3 kg·m
2
Joint #5
0.3 kg·m
2
Joint #6
0.1 kg·m
2
Environmental
requirements *5
Ambient Temperature
5 to 40 °C
Ambient relative
humidity
10 ~ 80 % RH (no condensation)
Vibration
4.9 m·s
2
(0.5 G) or less
Noise level *6
L
Aeq
= 70 dB (A) or under
Environment
Standard, Cleanroom *7, Protection (IP67) *8
Default values
(Max. setting
values)
Speed
(5) 100
Accel *9
(5, 5) 120, 120
SpeedS
(50) 2000
AccelS *10
(200) 10000
Fine
(10000, 10000, 10000, 10000, 10000, 10000)
65535, 65535, 65535, 65535, 65535, 65535
Weight
3 (6)
Inertia
0.03 (0.1)
Motion
Control
Development
Environment
EPSON RC+ 7.0
Programming
Language
SPEL+ (multi-tasking robot language)
Joint Control
Standard 6 joints simultaneous control
Digital AC servo control
Positioning Control
PTP (Point-To-Point control)
CP (Continuous Path control)
Speed Control
PTP motion : Programmable in the range of 1 to 100%
CP motion : Programmable
(Actual value to be manually entered.)
Acceleration/
Deceleration
Control
PTP motion : Programmable in the range of 1 to 100%
Auto acceleration/deceleration
CP motion : Programmable
(Actual value to be manually entered.)
External
Interface
EMERGENCY
EMERGENCY STOP:
Redundant (Category 3) Supported for internal/external power
supply
Safeguard System:
Redundant (Category 3) Supported for external power supply
I/O
Standard I/O
(Rear side of
Manipulator)
Input: 24 points
Output: 16 points
Non-polar, Supported for both Sink and Source
Remote I/O
(Remote
functions are
applied to
Standard I/O)
Input: 8 points
Program, 3 points
Start, Stop, Pause, Continue, Reset
Output: 8 points
Ready, Running, Paused, ErrorEStopOn, SafeguardOn,
SError, Warning
Field bus Slave
(Option)
Input: 256 points
Output: 256 points
Enable to add only one more module
TP Connection Port
Supported for teach pendant (Option: TP2, TP3)
PC Connection Port
USB B connector
Supported for USB 2.0 High Speed / Full Speed
USB Memory
Connection Port
USB A connector
Supported for USB 2.0 High Speed / Full Speed
Setup & Operation 2. Specifications
VT Rev.9 23
Item
Specifications
Ethernet Port
Supported for 10/100 Mbps
Available up to 8 ports
RESET Switch
Enable to use for reset of system
Display
Mode Display LED
TEACH, AUTO, PROGRAM, TestMode, Error, E-STOP
Controller Status Save
Save to USB memory
Save in RC+ (PC)
Safety standard
CE Marking:
EMC Directive, Machinery Directive, RoHS Directive
KC Marking / KCs Marking
(
VT6-A901S, VT6-A901C, VT6-A901P)
ANSI/RIA R15.06
NFPA 79
AC specification Manipulator
Item
Specifications
Model
VT6-A901S, VT6-A901C, VT6-A901P, VT6-A901SR, VT6-A901SW
Voltage
100 to 240 VAC
Phase
Single phase
Frequency
50 / 60 Hz
Momentary Power Interrupt
Less than 10 ms
Rated Capacity
1, 200 VA
Peak Current
(When AC power is turned ON)
Max. 60A (Less than 2 ms)
Leak Current
Max. 10 mA
Ground Resistance
Less than 100Ω
DC specification Manipulator
Item
Specifications
Model
VT6-A901S-DC
Voltage
48 VDC
Available voltage
43 to 60 VDC
(Be careful not to exceed the value when voltage rises.)
Absolute Maximum Ratings
72 VDC
Peak Current
(When DC power is turned ON)
Max. 40A (less than 10 ms)
Rated Capacity
1200 W
Grounding
Ground wire and DC power wire (−) are connected.
*1: Mounting types other than “Table Top mounting”, “Ceiling mounting”, and “Wall mounting” are out of
specification. Only Table Top mounting is available for DC specification Manipulator, Cleanroom
model, and Protection model.
*2: In case of PTP control
*3: Do not apply the load exceeding the maximum payload.
*4: If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm,
set the eccentric quantity using INERTIA command.
*5: For details of the environmental requirements, refer to the Setup & Operation 3.1 Environmental Conditions.
*6: Conditions of Manipulator at measurement are as follows:
Operating conditions: Under rated load, all arms simultaneous motion, maximum speed, maximum
acceleration/deceleration, VT6L: duty 50%
Measurement point: 1000 mm apart from the rear of Manipulator
Setup & Operation 2. Specifications
24 VT Rev.9
*7: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover
interior.
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 emission.
Cleanliness level
:
ISO Class 4 (ISO14644-1)
Exhaust system
:
Fitting for ø12 mm pneumatic tube
60 L/min vacuum
Exhaust tube
:
Polyurethane tube Outer diameter: ø12 mm (Inner diameter: ø8 mm)
*8 Protection level for the protection-model Manipulators is IP67 (IEC standard). The Manipulators can
be used in environments where the possibility of dust, water, and water-soluble cutting oil falling of the
Manipulator exists.
However, please be careful of the following:
- The Manipulator is not rust-proofed. Do not use the Manipulator in environment where corrosive
liquids exist.
- Fluids that deteriorate the sealing materials, such as organic solvents, acids, alkalis, and chlorine
cutting fluids, cannot be used
- The Manipulator cannot be used for underwater operations.
<Reference>
- IP67 of IEC standard
[Protection level against ingress of solid objects]
Totally protected against dust.
[Protection level against liquids]
Protection from ingress of water in harmful quantity when the Manipulator is immersed in
water for 30 minutes under the condition that the highest point of the Manipulator is located
0.15 m below the surface of the water and the lowest point is located 1 m below the surface
of the water. (Tested while the Manipulator is stopped.)
*9: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the Manipulator continuously with
the large Accel setting may shorten the product life remarkably.
*10: Maximum AccelS setting value varies depending on the load. Refer to the table below for details.
Setting the value which exceeds the maximum AccelS causes an error. In such a case, check the setting
value.
Maximum AccelS setting value
10000
8000
6000
4000
2000
0 1 2 3 4 5 6 (kg) End effector weight
8000
3000
10000
2000
6000
Setup & Operation 2. Specifications
VT Rev.9 25
2.8 How to Set the Model
The Manipulator model for your system has been set before shipment from the factory.
It is normally not required to change the model when you receive your system.
CAUTION
■
When you need to change the setting of the Manipulator model, be sure to set the
Man
ipulator model properly. Improper setting of the Manipulator model may
result in abnormal or no operation of the Manipulator and/or cause safety
problems.
If the custom specifications number (MT***) is described on MODEL of the signature label
(S/N label), the Manipulator has custom specifications.
The custom specifications may require a different configuration procedure; check the
custom specifications number (MT***) and contact the supplier of your region when
necessary.
The Manipulator model can be set from software.
Refer to the following manual.
Chapter Robot Configuration in the EPSON RC+ User’s Guide.
NOTE
Setup & Operation 3. Environments and Installation
26 VT Rev.9
3. Environments and Installation
3.1 Environmental Conditions
A suitable environment is necessary for the robot system to function properly and safely.
Be sure to install the robot system in an environment that meets the following conditions:
Item
Conditions
Ambient temperature
5 to 40°C (with minimum temperature variation)
Ambient relative humidity
10 to 80% (with no condensation)
Fast transient burst noise
2 kV or less (Power supply wire)
1 kV or less (Signal wire)
Electrostatic noise
4 kV or less
Environment - Install indoors.
- Keep away from direct sunlight.
- Keep away from dust, oily smoke, salinity, metal
powder or other contaminants.
- Keep away from flammable or corrosive solvents
and gases.
- Keep away from water.
- Keep away from shocks or vibrations.
- Keep away from sources of electric noise.
- Keep away from strong electric or magnetic fields.
Manipulators are not suitable for operation in harsh environments such as painting areas,
etc. When using Manipulators in inadequate environments that do not meet the above
conditions, please contact the supplier of your region.
For the Protection model Manipulator, be sure to install the robot system in an environment
that also meets the following conditions:
Item
Conditions
Environment - Install indoors.
- Keep away from direct sunlight.
- Keep away from salinity or other contaminants.
- Keep away from flammable or corrosive solvents
(including water) *
1
and gases.
- Keep away from
organic solvents, acids, alkalis, and
chlorine cutting fluids.
- Do not use in water.
- Keep away from shock or vibration.
- Keep away from sources of electric noise.
- Available under the environment with dust, oily smoke,
and metal *
2
.
NOTE
Setup & Operation 3. Environments and Installation
VT Rev.9 27
*1 The Manipulator is mainly made of iron and aluminum. It is not rust-proofed.
Do not use the Manipulator under conditions where it can be exposed to water or any
other corrosive liquid (including water).
*2 Any contaminants that can deteriorate sealing performance of nitrile rubber oil sealing,
O-rings, packing seals and liquid gasket should be avoided.
Special Environmental Conditions
The protective seals are attached on the Protection model Manipulator to prevent dust, water,
etc. from the outside. Follow the precautions in use environment described below.
Surface of the Manipulator has general oil resistance. However, if your requirements
specify that the Manipulator must withstand certain kinds of oil, please contact the supplier
of your region.
Rapid change in temperature and humidity can cause condensation inside the Manipulator.
If your requirements specify that the Manipulator handles food, please contact the supplier
of your region to check whether the Manipulator will damage the food or not.
The Manipulator cannot be used in corrosive environments where acid or alkaline is used.
In a salty environment where the rust is likely to gather, the Manipulator is susceptible to
rust.
When mounting Manipulator on the mobile platform, be sure to use mobile platform in low
acceleration. If using the mobile platform in high acceleration, it may cause Manipulator
to make a safety stop.
WARNING
■
Use an earth leakage breaker on the power cable of the
Manipulator to avoid
electric shock and circuit breakdown caused by
short circuit.
■
For DC specification Manipulator, use
a circuit protector to avoid electric shock
and/or malfunction of the
robot system.
CAUTION
■
When cleaning the Manipulator, do not rub it strongly with alcohol or
benzene.
It may lose luster on the coated face.
Setup & Operation 3. Environments and Installation
28 VT Rev.9
3.2 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.
Base table is necessary for support not only the weight of the Manipulator but also dynamic
motion when operating at the fastest speed. Provides enough beams to give sufficient
strength.
The torque and reaction force produced by the movement of the Manipulator are as follows:
VT6-A901*
Max. Reaction torque on the horizontal plate
500
N·m
Max. Horizontal reaction force
500
N
Max. Vertical reaction force
3100
N
The threaded holes required for mounting the Manipulator base are M8. Use mounting
bolts with specifications conforming to ISO898-1 property class: 10.9 or 12.9.
For dimensions, refer to Setup & Operation: 3.3 Mounting Dimensions.
The plate for the Manipulator mounting face should be 20 mm thick or more and made of
steel to reduce vibration. The surface roughness of the steel plate should be 25 μm or less.
The table must be secured on the floor or wall to prevent it from moving.
When mounting Manipulator on the mobile platform, be sure to use mobile platform in low
acceleration. If using the mobile platform in high acceleration, it may cause Manipulator
to make a safety stop.
Be sure to design the mounting position of Manipulator so that the center of gravity is always
within the mobile platform when Manipulator grasps a workpiece by using a tool. For
operation pose, create operation program so that the center of gravity of Manipulator is
always within the mobile platform. If the center of gravity is not within the mobile flatform,
Manipulator may fall over.
The Manipulator must be installed horizontally.
When using a leveler to adjust the height of the base table, use a screw with M16 diameter
or more.
Setup & Operation 3. Environments and Installation
VT Rev.9 29
If you are passing cables through the holes on the base table, see the figures below.
(Unit: mm)
Standard model, Cleanroom model
I/O(Input) Connector
11
54
37
13
11
24
I/O(Output) Connector
EMERGENCY Connector
9
34
AC Power Connector
28
9
DC Power Connector
Protection model
I/O Connector
15.35
53.05
67
12.55
EMERGENCY Connector
WARNING
■
To ensure safety, a safeguard must be installed
for the robot system.
For details on the
safeguard, refer to the EPSON RC+ User’s Guide.
Setup & Operation 3. Environments and Installation
30 VT Rev.9
3.3 Mounting Dimensions
Mounting Area
Be sure to have the following space available in addition to the space for mounting the
Manipulator and peripheral equipment.
Space for teaching points
Space for maintenance and inspections
(Ensure a space to open the covers and plates for maintenance.)
Space for cables
The minimum bend radius of the power cable is 90 mm. When installing the cable, be sure
to maintain sufficient distance from obstacles. In addition, leave enough space for other
cables so that they are not bent forcibly.
Ensure distance to the safeguard from the maximum motion range is more than 100 mm.
[Unit: mm]
NOTE
Setup & Operation 3. Environments and Installation
VT Rev.9 31
3.4 Unpacking and Transportation
THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.
WARNING
■
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.
■
Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system as the fall of the Manipulator.
CAUTION
■
Using a cart or
similar equipment, transport the Manipulator in the same manner
as it was delivered.
■
When removing the anchor bolts, support the Manipulator to prevent falling
over
.
Removing the anchor bolts without supporting the Manipulator may get hands,
fingers, or feet caught as the Manipulator may fall
over.
■
To transport the Manipulator, secure it to the delivery equipment or have at least
2
people to hold it by hand. Also, do not hold the bottom of the base (the shaded
area
in the figure). Holding the area by hand is extremely hazardous and may
cause your hands and fingers caught.
DO NOT hold the bottom of the base by hand.
Manipulator weight
VT6-A901**
Standard, Cleanroom
Approx. 40 kg: 89 lbs.
Protection
Approx. 42 kg: 92 lbs.
■
When transporting the Manipulator, a
void excessive vibration or shock.
Excessive vibration or shock may cause equipment damage and/or
malfunction
of the Manipulator.
■
Stabilize the Manipulator with your hands when hoist
ing it. Unstable hoisting is
extremely hazardous and may result in fall of the Manipulator.
■
When transporting the Manipulator for a long distance, secure it to
the delivery
equipment directly so that the Manipulator never falls
over.
If necessary, pack the Manipulator in the same style as
it was delivered.
Setup & Operation 3. Environments and Installation
32 VT Rev.9
3.5 Installation Procedure
The installation shall be made by qualified installation personnel and should conform to all
national and local codes.
WARNING
■
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.
■
Install the Manipulator in a location with sufficient space so that a tool or a work
piece does not touch a wall or a safeguard when the Manipulator extends its arm
fully while holding a work piece. Installing the Manipulator at a locati
on with
insufficient space is extremely hazardous and may result in serious bodily injury
and/or severe equipment damage to the robot system as a tool or a work piece
may collide with a wall or a safeguard.
■
Anchor the Manipulator before turning ON the power or operating the Manipulator.
Turning ON the power or operating the Manipulator that is not anchored is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system as the Manipulator may fall down.
■
Before installing and operating the Manipulator, make sure that all parts of the
Manipulator are in place and have no external defects. Missing or defective parts
may cause improper operation of the
Manipulator. Improper operation of the
Manipulator is extremely hazardous and may result in serious bodily injury and/or
severe equipment damage to the robot system.
■
This Manipulator is not a collaborative robot.
Be sure to perform risk assessment
and take safety measures such as safeguard and emergency stop
switch.
Operating Manipulator without taking safety measures is extremely hazardous,
may result in serious bodily injury and/or severe equipment damage to the
robot
system, and may cause serious safety problems.
CAUTION
■
The
Manipulator must be installed to avoid interference with structures, utilities,
other machines and equipment that may create a trapping hazard or pinch points.
■
Vibration
(resonance) may occur during operation depending on rigidity of the
installation table.
If the
vibration occurs, improve rigidity of the table or change the speed or
acceleration and deceleration settings.
■
When mounting Manipulator on the mobile platform, there is a risk that
Manipulator fall
s over. Be careful for the following items and take measures to
prevent falls
.
Stiffness of the connection between mobile platform and Manipulator
Acceleration of mobile platform and Manipulator
Motion range of Manipulator
■
Be sure to design the mounting position of Manipulator so that the center of gravity
is always within the mobile platform when Manipulator grasps a workpiece by
using a tool.
For operation pose, create operation program so that the
center of gravity of
Manipulator is always within the mobile platform.
If the center of gravity is not within the mobile flatform, Manipulator may fall over.
Setup & Operation 3. Environments and Installation
VT Rev.9 33
CAUTION
■
Install the
Table To p Mounting Manipulator with two or more people.
The Manipulator
weight are as follows. Be careful not to get hands, fingers, or feet
caught and/or have equipment damage
d by a fall of the Manipulator.
VT6-A901**:
Standard, Cleanroom model: Approx. 40 kg: 89 lbs.
Protection model: Approx. 42 kg: 92 lbs.
Mounting bolt
For the dimensions, refer to Setup & Operation 3.3 Mounting Dimensions.
There are four threaded holes for the
Manipulator base
.
Use
M8 mounting bolts conforming to the
strength of
ISO898-1 property class 10.9 or
12.9.
Tightening torque:
32
.0 ± 1.6 N·m (314 ± 16 kgf·cm)
Screw Hole (depth 18 mm or more)
Plain
Washer
Spring
Washer
17 mm
4-M8×35
Cleanroom Model
When using the Manipulator in the cleanroom, follow the steps below before the installation.
(1) Unpack the Manipulator outside of the cleanroom.
(2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the
Manipulator does not fall over.
(3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-
free cloth.
(4) Transport the Manipulator into the cleanroom.
(5) Secure the Manipulator to the base table.
NOTE
Setup & Operation 3. Environments and Installation
34 VT Rev.9
3.6 Power Supply
WARNING
■
There is no power switch on the Manipulator. Right after inserting power plug
to power, the Robot System turns ON.
Be careful about electric shock when inserting power plug.
3.6.1 Specifications
AC specification Manipulator:
Ensure that the available power meets following specifications.
Item
Specification
Voltage
100 to 240 VAC
(Input voltage should be with in
±
10
%
of the rated voltage.)
Phase
Single phase
Frequency
50/60 Hz
Momentary Power Interrupt
Less than 10 msec.
Rated Capacity
1,200VA
Peak Current
(When AC power is turned ON)
Max. 60A (Less than 2 ms)
Leak Current
Max. 10 mA
Ground Resistance
100 Ω or less
DC specification Manipulator:
Ensure that the available power meets following specifications.
Item
Specifications
Voltage
48 VDC
Available voltage
43 to 60 VDC
Absolute Maximum Ratings
72 VDC
(Be careful not to exceed the above value when voltage
rises.)
Peak Current
(When DC power is turned ON)
Max. 40A (less than 10 ms)
Rated Capacity
1200 W
Grounding
Ground wire and DC power wire (−) are connected.
3.6.2 Power Cable
WARNING
■ Make sure that the operations are done by a qualified personal.
■ Be sure to connect the earth wire (green/yellow) of the AC power cable to the
earth terminal of the factory power supply.
Also, we recommend to ground directly via a hole on the base to ground the
Manipulator completely.
The equipment must be grounded properly at all times to avoid the risk of
electric shock.
■
Be sure to connect brown wire of DC power cable to “
+
” and blue wire to “
−
”
.
Connecting to wrong polarity will result in malfunction of Manipulator.
■ Always use a plug or a disconnecting device
for power connecting cable.
Never connect the Controller directly to the factory power supply.
■ Select a plug or a disconnecting device which conforms to safety standards of
each country.
Setup & Operation 3. Environments and Installation
VT Rev.9 35
When connecting the connecter of Power cable to the Manipulator, make sure to insert
completely.
AC specification Manipulator
Item
Specification
AC power wire (2 cables)
Black, White
Ground wire
Green/Yellow
Cable length
5 m
Terminal
M4 round solderless terminal
DC specification Manipulator
Item
Specifications
DC power wire (+)
Brown
DC power wire (−)
Blue
Cable length
2 m
Terminal
M4 round solderless terminal
Use cable clamp on rear side of the Manipulator to fix power cable.
(Only for Standard model, Cleanroom model)
Power Cable Clamp
Setup & Operation 3. Environments and Installation
36 VT Rev.9
3.6.3 Breaker
AC power line:
Install an earth leakage circuit breaker or a circuit breaker.
For the rated electric current of the circuit breaker, refer to the following set values.
VT6L
Power
Rated electric current
AC specification
100VAC
20A
200VAC
10A
DC power line:
Install a circuit protector.
For the rated electric current of the circuit protector, refer to the following set values.
VT6L
Power
Rated electric current
DC specification
48VDC
40A
If you install a circuit protector, please select one that can handle the “peak current”
described in the following section.
Setup & Operation 3.6.1 Specifications
The power receptacle shall be installed near the equipment and shall be easily accessible.
Setup & Operation 3. Environments and Installation
VT Rev.9 37
3.6.4 Grounding
WARNING
■
Ground resistance must be 100
Ω or less. Improper ground resistance may
result in fire and/or electric shock.
■
Do not use the ground line for the Manipulator in common with other ground lines
or grounding electrodes for other electric
power, motor power, welding devices,
etc. Using the ground line for the Manipulator in common with other ground lines
or grounding electrodes may result in electric shock and/or malfunction of the
robot system.
■
When using metal ducts, metallic conduits, or distributing racks for cable, ground
in accordance with national and local electric equipment technical standards.
Grounding that
does not meet the standards may result in electric shock and/or
malfunction of
the robot system.
Follow local regulations for grounding. It is recommended that the core size of the
grounding wire be 5.5 mm
2
or more.
Directly connect the ground line to the Manipulator using bolt hole in the figure below.
For DC specification Manipulator, connect the ground and DC power wire (−).
Bolt hole M4
(for grounding)
Setup & Operation 3. Environments and Installation
38 VT Rev.9
3.7 Connecting the Cables
WARNING
■
To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the
power cable to a power plug.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
■
Be sure to connect the cables properly.
Do not allow unnecessary strain on the
cables. (Do not
put heavy objects on the cables. Do not bend or pull the cables
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure.
Damaged cables, disconnection, or contact failure is extremely hazardous and
may result in electric shock and/or improper function of the robot system.
■
Grounding the
Manipulator is done by connecting with Power cable. Ensure that
the
Power cable and ground wire are correctly connected. If the ground wire is
improperly connected to ground, it may result in the fire or electric shock.
CAUTION
■
Make sure that the serial numbers on each equipment match. Improper
connection between the Manipulator and Controller may not only cause improper
function of the robot system but also serious safety problems.
■
Before connecting the connector, make sure that
the pins are not bent.
Connecting with the pins bent may damage the connector and result in
malfunction of the robot system.
3.7.1 Connection Example
Standard model, Cleanroom model
Detachable connector
Supplied cable
Not supplied cable (Prepare by yourself)
100-240VAC
(AC specification Manipulator)
48VDC
(DC specification Manipulator)
Output device
PC for
development
USB memory
Emergency stop, safety door
Manipulator
Teach
Pendant
Input device
Option
Fieldbus I/O
(1) TP connector
(2) EMERGENCY connector
(3) Memory port
(4) PC port for development
(5) LAN (Ethernet）
(6) I/O(Input) connector
(7) I/O(Output) connector
(8) Power connector
Setup & Operation 3. Environments and Installation
VT Rev.9 39
(1) TP connector
Connect the option Teach Pendant.
For details, refer to the Setup & Operation 10.TP Port.
(2) EMERGENCY
The EMERGENCY connector has inputs to connect the Emergency Stop switch and
the Safety Door switch. For safety reasons, connect proper switches for these input
devices.
For details, refer to the Setup & Operation 12. EMERGENCY.
(3) Memory port
Connect to USB memory.
For details, refer to the Setup & Operation 8. Memory port.
(4) PC for development
Connect the PC for development.
For details, refer to the Setup & Operation 7. Development PC Connection Port
(5) LAN (EtherNet Communication)
Connect the EtherNet cable.
For details, refer to the Setup & Operation 9. LAN (Ethernet Communication) Port.
(6) I/O (Input) connector
This input connector is for output device of the user.
When there is output device, use this connector.
For details, refer to the Setup & Operation 13. Standard I/O connector.
(7) I/O (Output) connector
This output connector is for input device of the user.
When there is input device, use this connector.
For details, refer to the Setup & Operation 13. Standard I/O connector.
(8) Power connector
Connector for supplying AC power source (AC specification Manipulator) or DC
power source (DC specification Manipulator) to the Manipulator.
When sharing the power source of DC specification Manipulator with equipment such
as mobile platform which generates regenerative power, connect overvoltage
protection circuit (e.g. regenerative absorption circuit) outside and make sure that
input voltage does not exceed absolute maximum ratings of Manipulator.
For the Cleanroom model Manipulator, an exhaust system is necessary. For details, refer
to Setup & Operation: 2.6 Specifications.
NOTE
Setup & Operation 3. Environments and Installation
40 VT Rev.9
Protection model
Detachable connector
Supplied cable
Not supplied cable (Prepare by yourself)
100-240VAC
(Connected)
Output device
PC for
development
USB memory
Emergency stop, safety door
Manipulator
Teach
Pendant
Input device
Option
Fieldbus I/O
(1) TP connector
(2) EMERGENCY connector
(3) Memory port
(4) PC port for development
(5) LAN (Ethernet）
(6) I/O connector
(7) AC power connector
(1) TP connector
Connect the option Teach Pendant.
For details, refer to the Setup & Operation 10.TP Port.
(2) EMERGENCY
The EMERGENCY connector has inputs to connect the Emergency Stop switch and
the Safety Door switch. For safety reasons, connect proper switches for these input
devices.
For details, refer to the Setup & Operation 12. EMERGENCY.
(3) Memory port
Connect to USB memory.
For details, refer to the Setup & Operation 8. Memory port.
(4) PC for development
Connect the PC for development.
For details, refer to the Setup & Operation 7. Development PC Connection Port
(5) LAN (EtherNet Communication)
Connect the EtherNet cable.
For details, refer to the Setup & Operation 9. LAN (Ethernet Communication) Port.
(6) I/O connector
This is a connector for connecting input and output devices of the user.
When there is input or output device, use this connector.
For details, refer to the Setup & Operation 13. Standard I/O connector.
(7) AC power connector
Connector for AC power supply to the Manipulator.
This is connected at shipment.
Setup & Operation 3. Environments and Installation
VT Rev.9 41
For the Protection model Manipulator, also make sure to follow the following precautions.
CAUTION
■
When operating the Manipulator under special environmental conditions (adverse
conditions with dust and oily smoke), do not place the Controller in the same
condition since
the Controller does not comply with IP67. Doing so may cause
equipment damage to and/or malfunction of the Controller.
3.7.2 Noise Countermeasures
To minimize electrical noise conditions, the following items must be observed in the
system’s cable wiring:
- The earth wire of the power supply should be grounded. (Ground resistance: 100 Ω or
less) It is important to ground the frame of Manipulator not only for prevention from
electric shock, but also for reducing the influence of electric noise around the
Manipulator. Therefore, be sure to connect the earth wire (yellow/green) of the
Manipulator’s power cable to the ground terminal of the factory power supply. For
details about the plug and AC power cable, refer to the Setup & Operation 3.6 Power
Supply.
- Do not tap power from a power line that connects to any equipment which may cause
noise.
- Do not run AC power lines and DC power lines in the same wiring duct, and separate
them as far as possible. For example, separate the AC motor power line and the
Manipulator power line as far as possible from the sensor or valve I/O lines; and do not
bundle both sets of wiring with the same cable tie. If more than one duct/cable must
cross each other, they should cross perpendicularly. The preferable example is shown
in the right figure.
AC Line duct
DC line duct
As far as possible
- Wire as short as possible to the I/O connector and EMERGENCY connector. Use a
shielded cable and clamp the shield to the attached connector interior. Make sure to
keep away from the peripheral noise source as far as possible.
- Make sure that the induction elements used to connect to the Manipulator’s I/O (such as
relays and solenoid valves) are noise suppression parts. If an induction element without
protection against noise is used, make sure to connect a noise suppression part such as a
diode located at the induction element in parallel with it. In selecting noise suppression
parts, make sure that they can handle the voltage and current incurred by the induction
load.
- As they are easily influenced by noise, keep cable such as USB, Ethernet, or fieldbus
away from peripheral noise sources.
Setup & Operation 3. Environments and Installation
42 VT Rev.9
3.8 Relocation and Storage
3.8.1 Precautions for Relocation and Storage
Observe the following when relocating, storing, and transporting the Manipulators.
THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.
WARNING
■
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.
■
Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system as the fall of the Manipulator.
CAUTION
■
When removing the anchor bolts, support the Manipulator to prevent falling over.
Removing the anchor bolts without supporting the Manipulator may get hands,
fingers, or feet caught as the Manipulator may fall
over.
■
To transport the Manipulator, secure it to the delivery equipment or have at least
2
people to hold it by hand. Also, do not hold the bottom of the base (the
screened parts in the figure). Holding these parts by hand is extremely
hazardous and may cause your hands and fingers caught.
DO NOT hold the bottom of the base by hand.
Manipulator weight
VT6-A901**
Standard, Cleanroom
Approx. 40 kg: 89 lbs.
Protection Approx. 42 kg: 92 lbs.
■
Make sure not to hold the
power unit when transporting the Manipulator.
Also, a
void excessive vibration or shock during Manipulator transporting.
Excessive vibration or shock may cause equipment damage and/or malfunction
of the Manipulator.
■
Stabilize the Manipulator with your hands
when hoisting it. Unstable hoisting is
extremely hazardous and may result in fall of the Manipulator.
■
When transporting the Manipulator for a long distance, secure it to the delivery
equipment so that the Manipulator
will not fall over. If necessary, pack the
Manipulator in the same way as it was delivered.
Setup & Operation 3. Environments and Installation
VT Rev.9 43
Be sure to transport and store the robot system in environments that meet the following
conditions:
Item
Conditions
Ambient temperature
0 to 45 °C
Ambient relative humidity
10 % to 80 % (no condensation)
During unpacking and relocation, avoid applying external force to the arms and motors of
the Manipulator.
When the Manipulator is used for a robot system again after long-term storage, perform a
test run to verify that it works properly, and then operate it thoroughly.
When condensation occurs on the Manipulator during transport or storage, turn ON the
power only after the condensation dries.
3.8.2 Relocation
CAUTION
■
Install
or relocate the Manipulator with two or more people. The Manipulator
weight
are as follows. Be careful not to get hands, fingers, or feet caught and/or
have
equipment damaged by a fall of the Manipulator.
Standard, Cleanroom: Approx. 40 kg :89 lbs.
Protection: Approx. 42 kg :92 lbs.
(1) Position the Manipulator as shown in the figure.
Do not hold the bottom of the base (the shaded area in the figure). Holding the area
by hand is extremely hazardous and may cause your hands and fingers to be caught.
DO NOT hold the bottom of the base by hand.
Recommend : Joint #2 +52°
Joint #3 −51°
Manipulator weight
VT6-A901**
Standard, Cleanroom
Approx. 40 kg: 89 lbs.
Protection
Approx. 42 kg: 92 lbs.
(2) Turn OFF the power on all devices.
Remove the mechanical stops if using them to limit the motion range. For details
on the motion range, refer to Setup & Operation: 5.2 Motion Range Setting by
Mechanical Stops.
(3) Unscrew the anchor bolts. Then, remove the Manipulator from the base table.
(4) Then, secure the Manipulator to the delivery equipment or have at least 2 people to
transport the Manipulator.
NOTE
Setup & Operation 3. Environments and Installation
44 VT Rev.9
Using Eyebolt
Check that the eyebolts are securely fastened before transporting the Manipulator.
After transporting the Manipulator, remove the eyebolts and keep them for future use.
The eyebolts and wire must be strong enough to withstand the weight (See the figures below).
If you use the eyebolts to lift up the Manipulator, make sure to put hands on it to keep the
balance. The Manipulator may fall if the balance is lost and this is extremely hazardous.
To prevent damage on the covers and arms, it is recommended to protect the contacting parts
of the wire and arm with a cloth.
Holes for eye bolt
2-M8 depth 15
Center of gravity
Center of gravity
Manipulator weight
VT6-A901**
Standard, Cleanroom
Approx. 40 kg: 89 lbs.
Protection
Approx. 42 kg: 92 lbs.
CAUTION
■
Remove the eyebolts from the Manipulator after transportation/relocation is
completed.
If the
Manipulator is operated with the eyebolts left on it, the arm may collide with
the eyebolts and it may
cause equipment damage and/or malfunction of the
Manipulator.
THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES
WARNING
■
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.
Setup & Operation 3. Environments and Installation
VT Rev.9 45
3.9 Checking the Basic Orientation
After parts have been replaced (motors, reduction gear units, belts, etc.), the Manipulator
cannot operate properly because a gap exists between the origin positions stored in each
motor and these stored in the Controller. The process to compensate the position gap is
called “Calibration”.
At the time of shipment, the basic orientation of the Manipulator shown below is set as the
origin position.
After installing the Manipulator and setup the operating environment, move the Manipulator
to the origin position and check if it moves to the basic orientation properly.
To make the Manipulator move to the origin position, select [Tools]-[Robot Manager] -
[Control Panel] and click <Home>.
If the gap still exists and the Manipulator cannot be in the basic orientation after the
calibration, please contact the supplier of your region.
3.10 Origin Position Label
12 origin position labels (6 labels + spare) are included in the robot at shipment See the
figures below and attach labels on each axis.
By attaching labels on the arms in basic orientation or any orientation, you can use them as
a mark when the original positions are misaligned.
If origin position is misaligned after replacing motors, reduction gear units, or belts due to
a malfunction, look the origin position labels to align positions roughly.
Arm #1
Arm #2
Arm #3, 4
Arm #5, 6*
* Arm #6: There is no space for attaching origin position labels.
Please attach the label on the end effector.
Setup & Operation 4. Setting of End Effectors
46 VT Rev.9
4. Setting of End Effectors
4.1 Attaching an End Effector
Create an end effector for your Manipulator.
Flange dimensions of the wrist attached to the end of Arm #6 is as below.
CAUTION
■
If you use an end effector equipped with a gripper or chuck, connect wires and/or
pneumatic
tubes properly so that the gripper does not release the work piece when
the
power to the robot system is turned OFF. Improper connection of the wires
and/or pneuma
tic tubes may damage the robot system and/or work piece as the
work piece is released when the Emergency Stop switch is pressed.
I/O
outputs are configured at the factory so that they are automatically shut off (0)
by power disconnection, the
Emergency Stop switch, or the safety features of the
robot system
.
Wrist Flange
Arm #6
Attach an end effector to the end of the Arm #6 using the M5 bolts.
Layouts
When you operate the Manipulator with an end effector, the end effector may interfere with
the Manipulator body depending on the outer diameter of the end effector, the size of the
work piece, or the position of the arms. When designing your system layout, pay close
attention to the interference area of the end effector.
Compatibility with ISO flange:
To install the end effector whose mounting dimensions are designed for the ISO flange, we
provide the optional “Tool Adapter (ISO flange)”. For details, refer to Setup &
Operation: 11. Options.
Setup & Operation 4. Setting of End Effectors
VT Rev.9 47
4.2 Attaching Cameras and Air Valves
Decks are equipped to Arms #4 and #5 to enable the easy installation of air valve.
To mount the camera, the camera plate unit is necessary.
We provide the optional “Camera Plate Unit”. For details, refer to Setup & Operation:
11. Options.
Arm #4
Deck
Arm #5
Deck
4.3 Weight and Inertia Settings
The WEIGHT and INERTIA (inertia moment and eccentricity) commands are for setting
the load parameters of the Manipulator. These settings optimize the Manipulator motion.
WEIGHT Setting
The WEIGHT command is for setting the load weight. The more the load weight increases,
the more the speed and acceleration/deceleration are reduced.
INERTIA Setting
The INERTIA command is for setting the inertia moment and the eccentricity of the load.
The more the inertia moment increases, the more the acceleration and deceleration of the
Arm #6 are reduced. The more the eccentricity increases, the more the acceleration and
deceleration for the Manipulator movement are reduced.
Setup & Operation 4. Setting of End Effectors
48 VT Rev.9
To ensure optimum Manipulator performance, make sure that the load (weight of the end
effector and work piece) and inertia moment of the load are within the maximum rating for
the Manipulator, and that Arm #6 does not become eccentric.
If the load or the inertia moment exceeds the ratings or if the load becomes eccentric, follow
the steps in the Setup & Operation 4.3.1 WEIGHT Setting and 4.3.2 INERTIA Setting, to set
parameters.
Setting parameters makes the operation of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads. In addition, it
reduces persistent vibration produced when the inertia moment of the end effector and work
piece is bigger.
The allowable load for VT series Manipulators is 6 kg at the maximum.
Due to the limitations of the moment and inertia moment shown in the table below, the load
(end effector weight + work piece weight) should also meet these conditions.
Allowable Load
Joint Allowable Moment GD2/4 Allowable Moment of Inertia
Joint #4 12.0 N·m (1.22 kgf·m) 0.3 kg·m
2
Joint #5 12.0 N·m (1.22 kgf·m) 0.3 kg·m
2
Joint #6 7.0 N·m (0.71 kgf·m) 0.1 kg·m
2
Moment
The moment indicates amount of torque applied on the joint in order to support the gravity
on the load (end effector + work piece).
The moment increases as weight of the load and amount of eccentricity increase. As this
also increases the load applied on the joint, make sure to keep the moment within the
allowable value.
Inertia moment
The inertia moment indicates how difficult the load (end effector + work piece) to rotate
when the Manipulator joint starts to rotate (amount of inertia). The inertia moment
increases as weight of the load and amount of eccentricity increase. As this also increase
the load applied on the joint, make sure to keep the inertia moment within the allowable
value.
The moment M (Nm) and inertia moment I (kgm
2
) when the volume of the load (end effector
+ work piece) is small can be obtained by the following formula.
M (N
·m) = m(kg) × L (m) × g (m/s
2
)
I (kgm
2
) = m(kg) × L
2
(m
2
)
m
: Weight of load (kg)
L
: Eccentric quantity of load (m)
g
: Gravitational acceleration (m/s
2
)
m
L
Joint Rotation
Center
Setup & Operation 4. Setting of End Effectors
VT Rev.9 49
The figure below shows distribution of the center of gravity when the volume of the load
(end effector + work piece) is small.
Design the end effector so that the center of gravity is within the allowable moment.
If the volume of the load is large, calculate the moment and inertia moment by referring to
Setup & Operation 4.3.2 INERTIA setting - Calculating the Inertia Moment.
Center of gravity of load from the Arm #5 rotation center [mm]
Center of gravity of load from
the Arm #6 rotation center [mm]
Max. Eccentric Quantity of Load
(Distance between the joint rotation center and the load’s center of gravity)
Joint
1 kg
2 kg
3 kg
4 kg
5 kg
6 kg
#4
548 mm
387 mm
316 mm
274 mm
245 mm
204 mm
#5
548 mm
387 mm
316 mm
274 mm
245 mm
204 mm
#6
300 mm
224 mm
183 mm
158 mm
141 mm
119mm
When calculating the critical dimension of the load using the allowable moment and inertia
moment, the calculated value represents a distance from the Arm #5 rotation center, not the
distance from the flange. To calculate the distance from the flange to the load’s center of
gravity, subtract the distance from the center of the Arm #5 rotation center to the flange (=80
mm) as shown in the example below.
Setup & Operation 4. Setting of End Effectors
50 VT Rev.9
Example: Calculation of the critical dimension of the load (a) when the load is 6 kg.
Center of gravity by the allowable moment control:
12.0 N·m/(6 kg×9.8 m/s
2
) = 0.204 m = 204 mm
Center of gravity by the allowable inertia moment control:
(0.3 kgm2/6 kg)1/2 = 0.223 m = 223 mm
Due to the allowable moment control, center of gravity for the load limit is 212 mm from
the Arm #5 rotation center.
Distance (a) from the flange to the center of gravity for the load limit
= 204 mm－80 mm = 124 mm
Critical Dimension of Load
Arm #J6
Rotation Center
Load’s Center of Gravity
Flange
Arm #J5
Rotation Center
[Unit: mm]
4.3.1 Weight Setting
CAUTION
■
Set the total weight of the end effector and the work piece smaller than the
maximum payload.
The
VT series Manipulators can operate without limitations on the condition unless
and until the load exceeds this
maximum payload. Always set the Weight
parameters of the WEIGHT command according to the load. Setting a value that
is smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle
of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) for VT series Manipulators is
as follows:
Rated
Maximum
3 kg
6 kg
Change the setting of the Weight parameter according to the load.
After changing the Weight parameter setting, the maximum acceleration/deceleration and
speed of the robot system corresponding to the load is set automatically.
Setting method of Weight parameters
EPSON
RC+
Select [Tools]
-[Robot Manager]-[Weight] panel and set the value in [Weight:].
You may also execute the Weight command from [Command Window].
Setup & Operation 4. Setting of End Effectors
VT Rev.9 51
Load on the Manipulator
Mounting location of the load
Arm #4
Deck
Arm #5
Deck
Load on the fore
end of Arm #6
When you attach the equipment to the decks on the upper arm, convert its weight into
equivalent weight assuming that the equipment is attached to the end of the Arm #6. Then,
this equivalent weight added to the load will be a Weight parameter.
Setup & Operation 4. Setting of End Effectors
52 VT Rev.9
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
Weight parameter =M
w
+ W
a
+ W
b
M
w
W
a
W
b
:
Load on the fore end of Arm #6 (kg)
:
Equivalent weight of the Arm #4 deck (kg)
:
Equivalent weight of the Arm #5 deck (kg)
W
a
=M
a
(L
a
)
2
/(L)
2
W
b
=M
b
(L
b
)
2
/(L)
2
M
a
M
b
L
L
a
L
b
:
Weight of the air valve on the Arm #4 deck
: Weight of the camera on the Arm #5 deck
: Length of the upper arm (
480 mm)
: Distance between the Joint #3 and the center of gravity of
the air valve on the Arm #4 deck (mm)
: Distance between the Joint #3 and the center of gravity
of the camera on the Arm #5 deck (mm)
<
Example>
The fore end of the Arm #6 is
480mm (L) away from the Joint #3
of
VT6-A901S* (VT6L).
Load on the fore
-end of Arm #6 is 5 kg (M
w
).
Load
on the Arm #4 deck is 1.5 kg (M
a
).
The deck is
150 mm (L
a
) away from Joint #3.
Load on the Arm #5 deck is
1.0 kg (M
b
).
The deck is 390 mm (L
b
) away from the Joint #3.
W
a
=1.5×150
2
/480
2
=0.15
→
0.2 (round up)
W
b
=1.0×390
2
/480
2
=0.66 → 0.7 (round up)
M
w
+W
a
+W
b
=5+0.2+0.7=5.9
Enter “5.9” for the Weight parameter.
Setup & Operation 4. Setting of End Effectors
VT Rev.9 53
Automatic speed setting by Weight
The percentages in the graphs are based on the speed at rated weight (3 kg) as 100%.
140
120
100
80
60
40
20
0 1 2 3 4 5 6 (kg)
Weight Parameter
(%)
130
100
100
80
60
Speed
Acceleration / Deceleration
130
120
40
100
100
100
100
80
Weight
parameter (kg)
Acceleration /
Deceleration
Speed
0
130
100
1
130
100
2
120
100
3
100
100
4
80
100
5
60
100
6
40
80
Maximum AccelS setting value varies depending on Weight setting value. For more
details, refer to “Setup & Operation 2.7 Specifications”.
4.3.2 INERTIA Setting
Moment of Inertia and the INERTIA Setting
The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its
resistance to motion”. This value is typically referred to as “the moment of inertia”,
“inertia”, or “GD
2
”. When the Manipulator operates with additional objects (such as an
end effector) attached to the shaft, the moment of inertia of load must be considered.
CAUTION
■
The
moment of inertia of the load (weight of the end effector and work piece) must
be
0.1 kg·m
2
or less. The VT series Manipulators are not designed to work with
a
moment of inertia exceeding 0.1 kg·m
2
. Always set the Weight parameters
according to the load.
Setting a value that is smaller than the actual load may
cause errors, excessive shock and insufficient function of the Manipulator.
Also,
the life cycle of parts is shortened and
positional gap due to belt tooth bumping
occurs
.
The acceptable inertia moment of load for VT series Manipulators is 0.03 kgm
2
nominal
rating and 0.1 kg·m
2
maximum. Change the setting of the inertia moment according to the
inertia moment of the load using the INERTIA command. After the setting has been
changed, the maximum acceleration/deceleration speed of Arm #6 responding to “inertia
moment” is set automatically.
NOTE
Setup & Operation 4. Setting of End Effectors
54 VT Rev.9
Inertia moment of load on Arm #6
The inertia moment of the load (weight of the end effector and work piece) on the Arm #6
can be set by the “inertia moment (INERTIA)” parameter of the INERTIA command.
EPSON
RC+
Select [Tools]
–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:].
You may also execute the Inertia command from [Command Window].
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of the load (weight of the end effector and work piece) must
be
300 mm or less. The VT series Manipulators are not designed to work with
eccentric quantity exceeding
300 mm.
Always set the eccentric quantity parameter according to the eccentric quantity.
Setting a value that is smaller than the actual eccentric quantity may cause errors,
excessive
shock, insufficient function of the Manipulator, and/or shorten the life
cycle of parts/mechanisms.
The acceptable eccentric quantity of the load for VT series Manipulators is 50 mm at
nominal rating and 300 mm at maximum.
When the eccentric quantity of the load exceeds the rating, change the setting of eccentric
quantity parameter using the INERTIA command. After changing the setting, the
maximum acceleration/deceleration speed of Manipulator corresponding to “eccentric
quantity” is set automatically.
Position of Load’s Center of Gravity
Rotation Center
a, b = Eccentric Quantity
(300 mm or less)
Flange
a
b
To set the parameter, enter
the larger value of “a” or “b”.
Eccentric Quantity
Eccentric quantity of load on Arm #6
The eccentric quantity of the load (weight of the end effector and work piece) on the Arm
#6 can be set by the “eccentric quantity” parameter of the INERTIA command.
Enter the larger value of either “a” or “b” in the figure above to [Eccentricity].
EPSON
RC+
Select
[Tools]–[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:].
You may also execute the Inertia
command from [Command Window].
Setup & Operation 4. Setting of End Effectors
VT Rev.9 55
Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)
The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity
(0.03 kg·m2) as 100%.
0 0.05 0.10 (kg·m
2
) Inertia moment
120
100
80
60
40
20
(%)
100
85
60
50
100
Moment of inertia
setting (kg·m
2
)
Automatic acceleration/deceleration
setting by Inertia (moment of inertia) (%)
0
100
0.03
100
0.05
85
0.08
60
0.1
50
Automatic setting by eccentricity setting
The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity
(50 mm) as 100%
120
100
80
60
40
20
0 50 100 150 200 250 300 350 (mm)
100
40
(%)
100
25
20
Eccentricity setting
Eccentric quantity
parameter (mm)
Automatic acceleration/deceleration
setting by Inertia (eccentric quantity) (%)
0
100
50
100
100
40
200
25
300
20
Setup & Operation 4. Setting of End Effectors
56 VT Rev.9
Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
Work Piece (b)
Work Piece (c)
End Effector (a)
Rotation Center
Moment of Inertia
of End Effector (a)
=
Moment of Inertia
of Work Piece (b)
+
Moment of Inertia
of Work Piece (c)
+
Whole Moment
of Inertia
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
(a) Inertia moment of a rectangular parallelepiped
h
b
L
m
Rectangular Parallelepiped’s Center of Gravity
Rotation Center
m
+ m × L
2
b
2
+ h
2
12
(b) Inertia moment of a cylinder
m
+ m × L
2
r
2
2
m
L
r
Cylinder’s Center of Gravity
Rotation Center
Setup & Operation 4. Setting of End Effectors
VT Rev.9 57
(c) Inertia moment of a sphere
m
r
2
+ m × L
2
2
5
Sphere’s Center of Gravity
r
m
L
Rotation Center
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3
The speed and acceleration/deceleration of the Manipulator motion are automatically
optimized according to the values of WEIGHT and INERTIA and the Manipulator’s
postures.
WEIGHT Setting
The speed and acceleration/deceleration of the Manipulator are controlled according to the
load weight set by the WEIGHT command.
The more the load weight increases, the more the speed and acceleration/deceleration are
reduced to prevent residual vibration.
INERTIA Setting
The acceleration/deceleration of Arm #6 are controlled according to the inertia moment set
by the INERTIA command. The acceleration/deceleration of the whole Manipulator are
controlled according to the eccentricity set by the INERTIA command. The more the
inertia moment and eccentricity of the load increase, the more the acceleration/
deceleration are reduced.
Auto Acceleration/Deceleration According to Manipulator’s Posture
The acceleration/deceleration are controlled according to the Manipulator’s posture.
When the Manipulator extends its arms or when the movement of the Manipulator produces
vibration frequently, the acceleration/deceleration are reduced.
Set appropriate values for WEIGHT and INERTIA so that the Manipulator operation is
optimized.
Setup & Operation 5. Motion Range
58 VT Rev.9
5. Motion Range
CAUTION
■
When setting up the
motion range for safety, both the pulse range and mechanical
stops must always be set at the same time.
Failure to do so may cause serious
safety problems.
The motion range is preset at the factory as explained in Setup & Operation: 2.5 Standard
Motion Range. That is the maximum motion range of the Manipulator.
There are three methods for setting the motion range described as follows:
1. Setting by pulse range (for all joints)
2. Setting by mechanical stops
3. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the
Manipulator
Mechanical
stop
Rectangular range setting
Pulse range
Motion range
Mechanical
stop
When the motion range is changed due to layout efficiency or safety, follow the descriptions
in 5.1 to 5.3 to set the range.
5.1 Motion Range Setting by Pulse Range (for All Joints)
Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range (the lower limit and the upper limit) of each axis.
Pulse values are read from the encoder output of the servo motor.
The pulse range should be set within the mechanical stop range.
The Arms #4 and #6 do not have a mechanical stop.
Once the Manipulator receives an operating command, it checks whether the target position
specified by the command is within the pulse range before operating. If the target position
is out of the set pulse range, an error occurs and the Manipulator does not move.
EPSON
RC+
The pulse range can be set in [Tools]
-[Robot manager]-[Range] panel.
You may also execute the Range command from the [Command Window].
NOTE
NOTE
Setup & Operation 5. Motion Range
VT Rev.9 59
5.1.1 Max. Pulse Range of Joint #1
Pulse values in counterclockwise direction are positive ( ＋ ) and values in clockwise
direction are negative (－).
Arm #1
0 pulse position
5.1.2 Max. Pulse Range of Joint #2
Pulse values in clockwise direction are positive (＋ ) and values in counterclockwise
direction are negative (－).
Arm #2
0 pulse position
Setup & Operation 5. Motion Range
60 VT Rev.9
5.1.3 Max. Pulse Range of Joint #3
Pulse values in clockwise direction are positive ( ＋ ) and values in counterclockwise
direction are negative (－).
Arm #3
0 pulse position
+ 8816759 pulse
- 2366604 pulse
5.1.4 Max. Pulse Range of Joint #4
From the angle of arm end, clockwise pulse values are positive (＋) and counterclockwise
pulse values are negative (－).
Arm #4
0 pulse position
- 8128764 pulse
+ 8128764 pulse
5.1.5 Max. Pulse Range of Joint #5
Pulse values in clockwise direction are positive (＋ ) and values in counterclockwise
direction are negative (－).
Arm #5
0 pulse position
Setup & Operation 5. Motion Range
VT Rev.9 61
5.1.6 Max. Pulse Range of Joint #6
From the angle of arm end, clockwise pulse values are positive (＋) and counterclockwise
pulse values are negative (－).
Arm #6
0 pulse position
Setup & Operation 5. Motion Range
62 VT Rev.9
5.2 Motion Range Setting by Mechanical Stops
Using the adjustable mechanical stops (option) physically limits the absolute area that the
Manipulator can move.
Be sure to turn OFF the Manipulator in advance.
Use bolts conforming to the specified length and surface processing (ex:
nickel plating) with
high corrosion resistance.
Specify the pulse range again after changing the position of the mechanical stop.
For details on the pulse range setting, refer to the following section.
Setup & Operation 5.1 Motion Range Setting by Pulse Range (for All Arms).
Be sure to set the pulse range not to exceed the setting angles of the mechanical stop.
5.2.1 Motion Range Setting of Joint #1
Install the adjustable mechanical stop (J1) to the threaded hole corresponding to the angle
you want to set.)
Hexagon socket head cap bolt M4 × 28 (1 bolt)
Tightening torque 4.0 ± 0.2 N·m (41 ± 2 kgf·cm)
a
b
Angle (°) ±170
−170 to +84
or −84 to +170
Pulse (pulse)
±8488472
− 8488472 to +4194304,
or − 4194304 to +8488472
Adjustable mechanical stop
(J1)
Not applied
(standard)
Applied
Setup & Operation 5. Motion Range
VT Rev.9 63
5.2.2 Motion Range Setting of Joint #2
Install the adjustable mechanical stop (J2) to the threaded hole corresponding to the angle
you want to set.)
Hexagon socket head cap bolt M4 × 16 (1 bolt)
Tightening torque 4.0 ± 0.2 N·m (41 ± 2 kgf·cm)
c
d
Angle (°) −160, +65
−160 to +43,
or −148 to +65
Pulse (pulse)
−9986438
+4056990
−9986438 to +2683855,
or −9237455 to +4056990
Adjustable mechanical stop
(J2)
Not applied
(standard)
Applied
Setup & Operation 5. Motion Range
64 VT Rev.9
5.2.3 Motion Range Setting of Joint #3
Install the adjustable mechanical stop (J3) to the threaded hole corresponding to the angle
you want to set.)
Hexagon socket head cap bolt M4 × 16 (1 bolt)
Tightening torque 4.0 ± 0.2N·m (41 ± 2 kgf·cm)
e
f
Angle (°) −51, +190
−34 to +190,
or −51 to +173
Pulse (pulse)
−
2366604
+8816759
−1577736 to +8816759
or −2366604 to +8027891
Adjustable mechanical stop
(J3)
Not applied
(standard)
Applied
Setup & Operation 5. Motion Range
VT Rev.9 65
5.3 Restriction of Manipulator Operation by Joint Angle Combination
To prevent the arms of the Manipulator from interfering each other, the Manipulator
operation is restricted in the specified motion range according to the joint angle combination
of the Joints #1, #2, and #3.
The Manipulator operation is restricted and the Manipulator stops when the joint angles of
the Arm are within the colored areas in the following figures. In addition, the
determination whether inside and outside of the colored area may differ depending on a
position due to calculation error on the boundary line between the colored area and the white
area as shown below.
The restriction to Manipulator operation is enabled:
- During CP motion command execution
- When you attempt to execute the motion command for moving the Manipulator to a target
point (or pose) in the specified motion range.
The restriction to the Manipulator operation is disabled:
- The Arms of the Manipulator momentarily go through the specified motion range during
the PTP motion command execution even though the joint angles of the Arms are in the
colored area of the figures above.
Combination of Joint #2 and #3
Joint#1: −110 deg. to 110 deg.
Joint #2 Angle
Joint #3 Angle
Joint#1: −110 deg. to −170 deg. or 110 deg. to 170 deg.
Joint #2 Angle
Joint #3 Angle
(deg.= °)
Setup & Operation 5. Motion Range
66 VT Rev.9
5.4 Coordinate System
The origin point is where the Manipulator’s installation face intersects with the rotation axis
of Joint #1.
For details on the coordinate system, refer to the EPSON RC+ User’s Guide manual.
Table Top mounting
Ceiling mounting*
Wall mounting*
+Z
+X
+Y
+Z
+X
+Y
+X
+Y
+Z
+X
+X
+Y
+Y
*: Only for Standard model, AC specification Manipulator
Setup & Operation 5. Motion Range
VT Rev.9 67
5.5 Changing the Robot
This section describes how to change the Manipulator model on EPSON RC+.
CAUTION
■
Changing the Manipulator should be done with great caution. It initializes the
robot calibration parameters (Hofs, CalPls), additional axis information, and PG
parameter data.
Before changing the robot, make sure to save the calibration data by following
the procedure below.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration].
(2) Select [Robot]-[Robot**]-[Calibration] from the tree list. Then, click <Save>.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[System Configuration].
(2) Select [Robot]-[Robot**] from the tree list.
(3) Click the <Change…> button. The following dialog box will be displayed.
(4) Input the robot name and serial number printed on the name plate of the manipulator.
Any serial number can be entered. However, enter the number printed on the
manipulator.
(5) Select the robot type in the [Robot Type] box.
(6) Select the series name of the manipulator in the [Series] box.
Setup & Operation 5. Motion Range
68 VT Rev.9
(7) Select the robot model in the [Model] box. Available robots will be displayed
according to the format of the currently installed motor driver. When [Dry run] is used,
all the Manipulators of the series selected in Step 6 will be displayed.
(8) Click the <OK> button. The Controller will be restarted.
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator
The Cartesian (rectangular) range in the XY coordinate system of the Manipulator is
specified by the limited Manipulator operation area and the XYLIM setting.
The limited Manipulator operation area is defined so that the end effector does not interfere
with the rear side of the Manipulator. The XYLIM setting that you can determines the
upper and lower limits of the X and Y coordinates.
The limited Manipulator operation area and the XYLIM setting apply only to the software.
Therefore, these settings do not change the physical range. The maximum physical range
is based on the position of the mechanical stops.
These settings are disabled during a joint jogging operation. Therefore, be careful not to
allow the end effector to collide with the Manipulator or peripheral equipment.
EPSON
RC+
Set the XYLIM setting in [Tools]
-[Robot manager]-[XYZ Limits] panel.
You may also execute the XYLim co
mmand from the [Command Window].
Setup & Operation 6. Operation Mode & LED
VT Rev.9 69
6. Operation Mode & LED
6.1 Overview
The Robot system has three operation modes.
TEACH mode This mode enables point data teaching and checking close to the
Manipulator using the Teach Pendant.
In this mode the Manipulator operates in Low power status.
AUTO mode This mode enables automatic operation (program execution) of the
Robot system for the manufacturing operation, and also
programming, debug, adjustment, and maintenance of the Robot
system.
This mode cannot operate the Manipulators or run programs with the
Safety Door open.
TEST mode
This mode enables program verification while the
Enable Switch is
held down and the safeguard is open.
This is a low speed program verification function (T1: manual
deceleration mode) which is defined in Safety Standards.
This mode can operate the specified Function with multi-task / single-
task, multi-
Manipulator / single-Manipulator at low speed.
6.2 Switch Operation Mode
Change the operation mode using the mode selector key switch on the Teach Pendant.
TEACH mode Turn the mode selector key switch to “Teach” for TEACH mode.
Switching to TEACH mode pauses the program if it was running.
The operating Manipulator stops by Quick Pause.
AUTO mode Turn the mode selector key switch to “Auto” and turn ON the latch
release input signal for AUTO mode.
TEST mode Turn the mode selector key switch to “Teach” for “TEACH” mode.
Push <F1> key-[Test Mode] in [Jog & Teach] dialog box of TEACH
mode. The mode will be changed to TEST
Setup & Operation 6. Operation Mode & LED
70 VT Rev.9
6.3 Program Mode (AUTO)
6.3.1 What is Program Mode (AUTO)?
Program mode is for programming, debug, adjustment, and maintenance of the Robot
system.
Follow the procedures below to switch to the Program mode.
6.3.2 Setup from EPSON RC+ 7.0
Switch the mode to Program mode from the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog box.
(2)
(5)
(3)
(4)
(2) Select [Startup].
(3) Select [Start mode]-<Program> button.
(4) Click the <Apply> button.
(5) Click the <Close> button.
Setup & Operation 6. Operation Mode & LED
VT Rev.9 71
6.4 Auto Mode (AUTO)
6.4.1 What is Auto mode (AUTO)?
Auto mode (AUTO) is for automatic operation of the Robot system.
Procedures for switching to the Auto mode (AUTO) are the following.
A : Set the start mode of the EPSON RC+ 7.0 to “Auto” and start the EPSON RC+
7.0.
(Refer to Setup & Operation 6.3.2 Setup from EPSON RC+ 7.0.)
B : Offline the EPSON RC+ 7.0.
Execute and stop the program from the control device specified by the EPSON RC+ 7.0.
(Refer to Setup & Operation 6.4.3 Setup Control Device.)
6.4.2 Setup from EPSON RC+ 7.0
Switch the mode to Auto mode (AUTO) from the EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog box.
(2)
(5)
(3)
(4)
(2) Select [Startup].
(3) Select [Start Mode]-<Auto> button.
(4) Click the <Apply> button.
(5) Click the <Close> button.
NOTE
Setup & Operation 6. Operation Mode & LED
72 VT Rev.9
6.4.3 Setup from Control Device
Set the control device from EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Setup]-[System Configuration] to display the [System
Configuration] dialog box.
(2)
(5)
(3)
(4)
(2) Select [Controller]-[Configuration].
(3) Select [Control Device] to select the control device from the following two types.
- PC
- Remote (I/O)
(4) Click the <Apply> button.
(5) Click the <Close> button.
Setup & Operation 6. Operation Mode & LED
VT Rev.9 73
6.5 LED
Six LEDs are located on the front panel of the Manipulator.
LEDs (ERROR, E-STOP, TEACH, TEST, AUTO, PROGRAM) turn ON according to the
Controller status (error, Emergency Stop, TEACH mode, Auto mode, Program mode).
Standard, Cleanroom model Protection model
Controller status
LED display
Start up
(Required time is different
depending on the connection
status of the device.)
1. TEST, TEACH, AUTO, and PROGRAM blink
(for 15 seconds)
2. All turn OFF (10 seconds)
3. All turn ON (to 10 seconds )
4. All turn OFF (10 to 30 seconds )
5. Either of TEACH, AUTO, or PROGRAM turns ON
Execute Controller status
storage function to the
USB memory
TEACH, AUTO, PROGRAM blink.
Complete Controller status
storage to USB memory
TEACH, AUTO, PROGRAM turn ON
(for 2 seconds).
ERROR turns OFF even if an error occurs.
Failure of Controller status
storage to USB memory
ERROR, TEACH, AUTO, PROGRAM turn ON
(for 2 seconds).
Error ERROR turns ON
Warning ERROR blinks.
Emergency Stop
E-STOP turns ON.
TEACH mode TEACH blinks.
Auto mode (AUTO mode) AUTO blinks.
Program mode (AUTO mode) PROGRAM blinks.
Power supply drop TEACH, AUTO turn ON.
TEST mode TEST blinks.
Setup & Operation 7. Development PC Connection Port
74 VT Rev.9
7. Development PC Connection Port
Standard, Cleanroom model Protection model
- For other details of development PC and Manipulator connection, refer to the following
manual.
EPSON RC+ 7.0 User’s Guide
5.12.1 PC to Controller Communications Command.
- Be sure to install the EPSON RC+ 7.0 to the development PC first, then connect the
development PC and Manipulator with the USB cable.
If Manipulator and the development PC are connected without installing the EPSON
RC+ 7.0 to the development PC, [Add New Hardware Wizard] appears. If this wizard
appears, click the <Cancel> button.
7.1 What is Development PC Connection Port
The development PC connection port supports the following USB types.
- USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)
- USB1.1 FullSpeed
Interface Standard : USB specification Ver.2.0 compliant
(USB Ver.1.1 upward compatible)
Connect the Manipulator and development PC by a USB cable to develop the robot system
or set the Manipulator configuration with the EPSON RC+ 7.0 software installed in the
development PC.
Development PC connection port supports hot plug feature. Cables insert and remove
from the development PC and the Manipulator are available when the power is ON.
However, stop occurs when USB cable is removed from the Manipulator or the development
PC during connection.
NOTE
Setup & Operation 7. Development PC Connection Port
VT Rev.9 75
7.2 Precaution
When connecting the development PC and the Manipulator, make sure of the following:
- Connect the development PC and the Manipulator with a 5 m or less USB cable.
Do not use the USB hub or extension cable.
- Make sure that no other devices except the development PC are used for development
PC connection port.
- Use a PC and USB cable that supports USB2.0 HighSpeed mode to operate in USB2.0
HighSpeed mode.
- Do not pull or bend the cable strongly.
- Do not allow unnecessary strain on the cable.
- When the development PC and the Manipulator are connected, do not insert or remove
other USB devices from the development PC. Connection with the Manipulator may
be lost.
7.3 Software Setup and Connection Check
Connection of the development PC and the Manipulator is indicated.
(1) Make sure that software EPSON RC+ 7.0 is installed to the Manipulator connected to
the development PC.
(Install the software when it is not installed. Refer to Robot System Safety and
Installation or EPSON RC+ 7.0 User’s Guide.
(2) Connect the development PC and the Manipulator using a USB cable.
(3) Turn ON the Manipulator.
(4) Start EPSON RC+ 7.0.
(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to
display the [PC to Controller Communications] dialog box.
(6) Select “No.1 USB” and click the <Connect> button.
Setup & Operation 7. Development PC Connection Port
76 VT Rev.9
(7) After the development PC and the Manipulator connection has completed,
“Connected” is displayed at [Connection status]. Make sure that “Connected” is
displayed and click the <Close> button to close the [PC to Controller
Communications] dialog box.
The connection between the development PC and the Manipulator is completed. Now the
robot system can be used from EPSON RC+ 7.0.
7.4 Disconnection of Development PC and Manipulator
Disconnection of the development PC and the Manipulator communication.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to
display the [PC to Controller Communications] dialog box.
(2) Click the <Disconnect> button.
Communication between the Manipulator and the development PC is disconnected and
the USB cable can be removed.
If the USB cable is removed when the Manipulator and the development PC are connected,
the Manipulator will stop. Be sure to click the <Disconnect> button in the [PC to
Controller Communications] dialog box before USB cable is removed.
NOTE
Setup & Operation 8. Memory Port
VT Rev.9 77
8. Memory Port
Connect a commercial USB memory to the Manipulator memory port to use the Controller
status storage function to the USB memory.
Standard, Cleanroom model Protection model
8.1 What is Controller Status Storage Function?
This function saves various kinds of Manipulator data to the USB memory. Data saved in
USB memory is loaded to EPSON RC+ 7.0 to get the status of the Manipulator and the
program simply and accurately.
The saved data can also be used for restoring the Manipulator.
Unable to execute status storage to USB memory when operating the Manipulator.
8.2 Before Using Controller Status Storage Function
8.2.1 Precautions
CAUTION
■
Controller status storage function is available at any time and in any Manipulator
status after starting the Manipulator.
However, operations form the console including stop and pause are not available
while executing this f
unction.
Also,
this function influences the Manipulator cycle time and the communication
with EPSON RC+ 7.0. Other than only when it is necessary, do not execute this
function when operating the Manipulator.
- Make sure that the USB port is used only for USB memory even though the port on the
Controller is a universal USB port.
- Insert the USB memory directly into the Manipulator memory port. Connection with
cables or hubs between the Manipulator and the USB memory is not assured.
- Make sure that the USB memory is inserted or removed slowly.
- Do not edit the saved files with an editor. Operation of the robot system after data
restoration to the Manipulator is not assured.
Setup & Operation 8. Memory Port
78 VT Rev.9
8.2.2 Adoptable USB Memory
Use USB memory that meets following conditions.
- USB2.0 supported
- Without security function
USB memory with password input function cannot be used.
- No installation of a driver or software is necessary for Windows 8, or Windows 10,
Linux.
(For supported operating systems for the EPSON RC+ 7.0, refer to Setup & Operation
2.6 System Example.)
8.3 Controller Status Storage Function
8.3.1 Controller Status Storage
CAUTION
■
Controller status storage function is available at any time and in any Manipulator
status after starting the Manipulator
.
However, operations form the console including stop and pause are not available
while executing this function.
Also, this function influences the Manipulator cycle time and the communication
with EPSON RC+ 7.0. Other than only when it is necessary, do n
ot execute this
function when operating the Manipulator.
Use this procedure to save the status of the Manipulator to USB memory.
(1) Insert the USB memory into the memory port.
When the data transfer starts, the LED of TEACH, AUTO, and PROGRAM starts
blinking. Wait until the LED status changes.
(The data transfer time varies according to the data size such as of the projects.)
(2) When the Manipulator status storage is completed successfully, the LED of TEACH,
AUTO, and PROGRAM are turned ON for two seconds. Note that the LED of ERROR
turns OFF even in the error status.
If it ends in failure, the LED of ERROR, TEACH, AUTO, and PROGRAM are turned
ON for two seconds.
(3) Remove the USB memory from the Manipulator.
- USB memory with LED is recommended to check the status changes.
- When storage is executed during Motor ON status, it may fail to store the status. Use
another USB memory or execute the storage during Motor OFF status.
NOTE
Setup & Operation 8. Memory Port
VT Rev.9 79
8.3.2 Load Data with EPSON RC+ 7.0
The following shows the procedure to load the data stored in the USB memory by EPSON
RC+ 7.0 and display the Controller status.
(1) Insert the USB memory into the PC with EPSON RC+ 7.0.
(2) Make sure that the following folder is indicated in the USB memory.
B_VT_serial number_data status was saved
→ Example: B_VT_12345_2013-10-29_092951
(3) Copy the folder confirmed in procedure (2) to the “\EpsonRC70\Backup” folder.
(4) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools]
dialog box.
(5) Click the <View Controller Status…> button.
(6) [Browse For Folder] dialog box appears. Select the folder copied in procedure (3) and
click the <OK> button.
Setup & Operation 8. Memory Port
80 VT Rev.9
(7) [Controller Status Viewer] dialog box appears to confirm the Controller status.
For details, refer to View Controller Status in EPSON RC+ 7.0 User’s Guide 5.11.8
Controller Command (Tools Menu).
8.3.3 Transfer with E-mail
Follow this procedure to transfer the data by e-mail that was saved to the USB memory.
(1) Insert the USB memory to a PC that supports sending of e-mail.
(2) Make sure that the USB memory has following folders.
B_VT_serial number_data status was saved
→ Example: B_VT_12345_2013-10-29_092951
(3) Send all the folders by e-mail.
Delete files that do not relate to the project before transfer.
This function is used to send the data to the system director and EPSON from the end users
for problem analysis.
NOTE
Setup & Operation 8. Memory Port
VT Rev.9 81
8.4 Details of Data
The following data files are created by the Controller status storage function.
File Name
Outline
Backup.txt Information file
for restore
File with information for Manipulator restore.
CurrentMnp01.PRM Robot parameter Saves information such as ToolSet.
CurrentStatus.txt
Save status
Saves program and I/O status.
ErrorHistory.csv
Error history
InitFileSrc.txt
Initial setting
Saves various settings of the Controller.
MCSys01.MCD Robot setting Saves information of connected Manipulator.
SrcmcStat.txt Hardware
information
Saves installation information of hardware.
ProjectName.obj OBJ file Result of project build.
Prg file is not included.
GlobalPreserves.dat Global Preserve
variables
Saves values of Global Preserve variables.
WorkQueues.dat WorkQue
information
Saves information of Queues information of the WorkQue.
MCSRAM.bin
MCSYSTEMIO.bin
MCTABLE.bin
MDATA.bin
SERVOSRAM.bin
VXDWORK.bin
Inner information
of Manipulator
All files related to
project except
ProjectName.obj *1
Project When [Include project files when status exported] check box
is checked in EPSON RC+ 7.0 menu-[Setup]-
[System Configuration]-[Controller]-
[Preference], the project file is stored.
Includes program files.
*1 Storage of “All files related to project except ProjectName.obj” can be specified by a setting.
Setup & Operation 9. LAN (Ethernet Communication) Port
82 VT Rev.9
9. LAN (Ethernet Communication) Port
- Refer to EPSON RC+ 7.0 User’s Guide 5.12.1 [PC to Controller Communications]
Command (Setup Menu)
for other details for the development PC and Manipulator
connection.
- For Ethernet (TCP/IP) communication with robot application software, refer to EPSON
RC+ 7.0 Online Help or User’s Guide 14. TCP/IP Communications.
Standard, Cleanroom model Protection model
9.1 What is the LAN (Ethernet Communication) Port
Ethernet communication port supports 100BASE-TX / 10 BASE-T.
This port is used for two different purposes.
Connection with development PC
LAN (Ethernet communication) port is used for connection of the Manipulator and the
development PC.
Equivalent operation is available to connect between the Manipulator and the
development PC with the development PC connection port.
(Refer to Setup & Operation 7. Development PC Connection Port)
Connection with other Manipulator, Controller, or PC
The LAN (Ethernet communication) port can be used as an Ethernet (TCP/IP)
communication port to communicate between multiple Controllers from robot
application software.
NOTE
Setup & Operation 9. LAN (Ethernet Communication) Port
VT Rev.9 83
9.2 IP Address
From the following firmware version password authentication is required when connecting
Controllers and PCs to a global accessible network.
F/W : Ver. 7.4.58.x
Our robot system is provided on the assumption that customers use it in the closed local area
networks. We considered the setting of the global IP address is access to the Internet and
changed the specification to perform password authentication in order to secure the
connections.
Password authentication is not performed in case of USB connections.
Be sure to use the following private IP addresses.
Private Address List
10.0.0.1
to
10.255.255.254
172.16.0.1
to
172.31.255.254
192.168.0.1
to
192.168.255.254
The following is the configuration of the Controller Manipulator at delivery.
IP Address : 192.168.0.1
IP Mask : 255.255.255.0
IP Gateway : 0.0.0.0
9.3 Changing Manipulator IP Address
In this section, the procedure to change the Manipulator IP address when connecting
Manipulator development PC connection port and the development PC by the USB cable is
indicated.
(1) For connection between the development PC and the Manipulator.
Refer to Setup & Operation: 7. Development PC Connection Port.
(2) Select the EPSON RC+ 7.0 menu-[Setup]-[Controller] to display the following dialog
box.
Setup & Operation 9. LAN (Ethernet Communication) Port
84 VT Rev.9
(3) Select [Controller]-[Configuration].
(4) Enter the proper IP address and subnet mask and click the <Apply> button.
(5) Click the <Close> button. The Manipulator reboots automatically.
IP address configuration is completed and the Manipulator reboot dialog box
disappears.
When the Manipulator and the development PC are connected via the Ethernet, the
Manipulator IP address can also be changed. However, Manipulator and the development
PC do not connect automatically after rebooting the Manipulator at Ethernet connection.
9.4 Connection of Development PC and Manipulator with Ethernet
Connection between the development PC and the Manipulator is shown below.
(1) Connect the development PC and the Manipulator using the Ethernet cable.
(2) Turn ON the Manipulator.
(3) Start EPSON RC+ 7.0.
(4) Display the [PC to Controller Communication] dialog box from [Setup] in EPSON RC+
7.0 menu.
(5) Click the <Add> button.
NOTE
Setup & Operation 9. LAN (Ethernet Communication) Port
VT Rev.9 85
(6) Connection “No.2” is added. Set the following and click the <Apply> button.
Name : Valid value to identify the Manipulator to connect
IP Address : IP address for Manipulator to connect
(7) [Name] and [IP Address] specified in procedure (6) is displayed.
(8) Make sure that “No.2” is selected, and click the <Connect> button.
Setup & Operation 9. LAN (Ethernet Communication) Port
86 VT Rev.9
(9) After the development PC and Manipulator connection is completed, “Connected” is
displayed in the [Connection status:]. Make sure that “Connected” is displayed and
click the <Close> button to close the [PC to Controller Communications] dialog box.
Connection between the development PC and the Manipulator is complete. Now the robot
system can be used via an Ethernet connection from EPSON RC+ 7.0.
9.5 Disconnection of Development PC and Manipulator with Ethernet
Disconnection of the development PC and the Manipulator is shown below.
(1) Display [PC-Controller Connection] dialog box from [Setup] in EPSON RC+ 7.0 menu.
(2) Click the <Disconnect> button.
Communication between the Manipulator and the development PC is disconnected and
the Ethernet cable can be removed.
If the Ethernet cable is removed when the Manipulator and the development PC is connected,
Emergency Stop occurs and the Manipulator stops. Be sure to click the <Disconnect>
button in the [PC to Controller Communications] dialog box before the Ethernet cable is
removed.
NOTE
Setup & Operation 10. TP Port
VT Rev.9 87
10. TP Port
10.1 What is the TP Port?
Standard, Cleanroom model Protection model
The TP port connects the Teach Pendant (TP2, TP3) to the Manipulator.
Dedicated convert cable* is necessary if connecting TP2 to VT series Manipulator.
Contact the supplier of your region if only convert cable is necessary.
* TP Exchange Cable: R12NZ900L6
When nothing is connected to the TP port, Emergency Stop status occurs in the Manipulator.
When the Teach Pendant is not connected, connect the TP bypass plug.
Do not connect the devices except TP2, TP3 to the TP port. Connecting these devices may
result in malfunction of the device since the pin assignments are different.
10.2 Teach Pendant Connection
A dedicated cable is attached to the Teach Pendant. Connect this cable connector to the TP
port.
Communication is set automatically. Enable the Teach Pendant by one of the following
procedures.
- Insert the Teach Pendant connector to the Manipulator and turn ON the Manipulator.
- Insert the Teach Pendant connector while the Manipulator is turned ON.
Teach Pendant connection and disconnection from the Controller are allowed when the
Manipulator power is ON.
When the Teach Pendant connector is removed from the Manipulator with the mode selector
key switch of the Teach Pendant in the “Teach” position, the operation mode will remain in
the TEACH mode. The operation mode cannot be switched to AUTO mode. Be sure to
remove the Teach Pendant after switching the operation mode to “Auto” mode.
For details, refer to the following manuals:
Robot Contoroller RC700/RC90 Option Teach Pendant TP2.
Robot Contoroller RC700-A Option Teach Pendant TP3.
NOTE
NOTE
Setup & Operation 11. Options
88 VT Rev.9
11. Options
VT series Manipulator has the following options.
11.1 Camera Plate Unit
11.2 Tool Adapter (ISO flange)
11.3 Adjustable Mechanical Stops
11.4 External Wiring Kit
11.1 Camera Plate Unit
To mount a camera to the VT series Manipulator, the camera plate unit is requried.
Parts included
Qty.
A
Camera adapter plate
1
B
Camera mid plate
1
C
Camera base plate
2
D
Hexagon socket head screws M4×12
12
B: Camera mid plate
C: Camera base plate
A: Camera adapter plate
Installation
Appearance of arm end with camera
Camera Plate Unit
mounting hole 4-M4
Camera Plate Unit
Camera
For the installation steps, refer to the following manual:
EPSON RC+ Option Vision Guide 7.0 Hardware & Setup
Setup & Operation 11. Options
VT Rev.9 89
Dimensions after installing the Camera Plate Unit
*1: Available for fixing the cables
*2: Includes the opposite side
Dimensions X and Y will change depending on the position of camera mid plate and camera
size. Refer to the table below for the values.
Camera mid plate
The camera mid plate uses the mounting
holes A to D.
By using the different mounting holes, it can
be mounted to the camera base plate in the
different four positions.
Setup & Operation 11. Options
90 VT Rev.9
11.2 Tool Adapter (ISO flange)
Using the tool adapter, you can mount the end effector whose dimensions are designed for
the ISO flange to the VT series Manipulators.
Parts included
Qty.
ISO flange
1
Pin
2
Hexagon socket head screw M5×15
4
Dimensions of ISO flange
To mount the ISO flange
(1)
Press
-fit the pin to the Arm #6 end flange.
Pin projection : 4 mm from the flange
Pin
(2)
Align the pin and the pin hole on the
ISO flange, and
then mount the
ISO flange.
Hexagon socket head screw: 4-M5×15
ISO Flange
Hexagon socket head screws
4-M5×15
Setup & Operation 11. Options
VT Rev.9 91
11.3 Adjustable Mechanical Stops
This option is used to mechanically limit the motion range of the Manipulator.
For installation and angle restriction measures, refer to Setup & Operation 5.2 Motion Range
Setting by Mechanical Stops.
Adjustable mechanical stop (J1)
Parts included
Qty.
Adjustable mechanical stop (J1)
1
Hexagon socket head screw M4×28
1
Pin
2
Adjustable mechanical stop (J2)
Parts included
Qty.
Adjustable mechanical stop (J2)
1
Hexagon socket head screw M4×16
1
Pin
2
Adjustable mechanical stop (J3)
Parts included
Qty.
Adjustable mechanical stop (J3)
1
Hexagon socket head screw M4×16
1
Pin
2
11.4 External Wiring Kit
Using the external wiring kit, you can fix the wirings and air tubes for the hand along with
the Manipulator. The external wiring kit can be used to select the cable fixing plate,
according to your Manipulator’s operation condition.
Parts included
Qty.
Cable fixing plate
for Base
1
for Joint #2
1
for Joint #3 - 1
1
for Joint #3 - 2
1
for Joint #5
1
Wire tie
5
Cable protection sheet
5
Hexagon socket head cap bolts M4
×
10
16
Setup & Operation 11. Options
92 VT Rev.9
Cable fixing plate list
for Base
for Joint #2
for Joint #3 - 1
for Joint #3 - 2
for Joint #5
Setup & Operation 11. Options
VT Rev.9 93
Location for cable fixing plates
There are two mounting positions for Base on its both sides. Use each cable fixing plate
to select the location suitable for the cable routing according to your Manipulator’s operation
condition.
Mount for Base
(2×M4 depth 7)
Mount for Joint #3 - 2
(2×M4 depth 7)
Mount for Joint #5
(4×M4 depth 7)
Setup & Operation 11. Options
94 VT Rev.9
Mount for Base
(2×M4 depth 7)
Mount for Joint #2
(2×M4 depth 7)
Mount for Joint #2
(2×M4 depth 7)
Mount for Joint #3 - 1
(2×M4 depth 7)
Mount for Joint #3 - 1
(2×M4 depth 7)
Setup & Operation 11. Options
VT Rev.9 95
How to mount the cable fixing plates
Plate for Base
Mount
(1)
M
ount the cable fixing plate on your Manipulator.
Hexagon socket head cap bolt: 2-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Hexagon socket head cap bolt
2-M4×10
How to
bind the
cables
(2)
P
ut the wire tie through the cutout for fixing the cables
and
the slotted hole on the cable fixing plate.
Then,
bind the cables with the wire tie over the cable
protection sheet
.
Wire tie
Cable protection sheet
When binding
the cables, be sure to make extra length so
that the cables will
not be tight while each joint operates
and
the bending radius is within the specifications of the
cable.
Cable protection
sheet
Wire tie
Cable
NOTE
Setup & Operation 11. Options
96 VT Rev.9
Plate for Joint #2
Mount
(1)
M
ount the cable fixing plate on your Manipulator.
Hexagon socket head cap bolt: 4-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Hexagon socket
head cap bolt
4-M4×10
How to
bind the
cables
(2)
P
ut the wire tie through the two slotted holes for fixing
cable
s on the cable fixing plate. Then, bind the cables
with the wire tie over the cable protection sheet
.
Wire tie
Cable protection sheet
When binding
the cables, be sure to make extra length so
that the cables will not be tight while each joint operates
and the
bending radius is within the specifications of the
cable.
Cable
protection
sheet
Wire tie
Cable
Plate for Joint #3 - 1
Mount
(1)
M
ount the cable fixing plate on your Manipulator.
Hexagon socket head cap bolt: 4-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Hexagon socket
head cap bolt
4-M4×10
How to
bind the
cables
(2)
Put
the wire tie through the two slotted holes for fixing
cable
s on the cable fixing plate. Then, bind the cables
with the wire tie over the cable protection sheet
.
Wire tie
Cable protection sheet
When binding
the cables, be sure to make extra length so
that the cables will not be tight while each joint operates
and the
bending radius is within the specifications of the
cable.
Cable
protection
sheet
Wire tie
Cable
NOTE
NOTE
Setup & Operation 11. Options
VT Rev.9 97
Plate for Joint #3 - 2
Mount
(1)
M
ount the cable fixing plate on your Manipulator.
Hexagon socket head cap bolt: 2-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Hexagon socket
head cap bolt
2-M4×10
How to
bind the
cables
(2)
P
ut the wire tie through the two cutouts for
fixing
cable
s on the cable fixing plate. Then, bind the cables
with the wire tie over the cable protection sheet
.
Wire tie
Cable protection sheet
When binding
the cables, be sure to make extra length so
that the cables will not be tight while each joint operates
and the
bending radius is within the specifications of the
cable.
Cable
protection
sheet
Wire tie
Cable
Plate for Joint #5
Mount
(1)
M
ount the cable fixing plate on your Manipulator.
Hexagon socket head cap bolt: 4-M4×10
Tightening torque: 4.0 ± 0.2 N·m
Hexagon socket head cap bolt
4-M4×10
How to
bind the
cables
(2)
P
ut the wire tie through the two cutouts for fixing the
cable
s on the cable fixing plate. Then, bind the cables
with the wire tie over the cable protection sheet
.
Wire tie
Cable protection sheet
When binding
the cables, be sure to make extra length so
that the cables will not be tight while each joint operates
and the
bending radius is within the specifications of the
cable.
Cable
protection
sheet
Wire tie
Cable
NOTE
NOTE
Setup & Operation 12. EMERGENCY
98 VT Rev.9
12. EMERGENCY
The details of safety requirements for this section are described in EPSON RC+ 7.0 User’s
Guide 2. Safety. Please refer to them to keep the robot system safe.
WARNING
Make sure that emergency stop or safeguard operate properly before operating,
not only booting but also usage changed such as options added or parts
replaced as maintenance.
Before connecting the connector, make sure that the pins are not bent.
Connecting with the pins bent may damage the connector and result in
malfunction of the robot system.
Connect a safeguard switch or Emergency Stop switch to the EMERGENCY connector for
safety.
When nothing is connected to the EMERGENCY connector, the robot system does not
operate normally.
Standard, Cleanroom model Protection model
12.1 Safeguard Switch and Latch Release Switch
The EMERGENCY connector has input terminals for the Safeguard switch and the
Emergency Stop switch. Be sure to use these input terminals to keep the system safe.
Standard, Cleanroom model
Connector
Standard
EMERGENCY connector
(Manipulator side)
D-Sub 25 pin female (cable side)
D-Sub 25 pin male (board side)
* The E-STOP BOX, EMERGENCY connector cable, terminal block, and
EMERGENCY connector kit are offered as options.
NOTE
Setup & Operation 12. EMERGENCY
VT Rev.9 99
Protection model
Connector
Standard
EMERGENCY connector
(Manipulator side)
D-Sub 25 pin male
Screwlock #4 - 40
EMERGENCY connector kit
(Cable side)
D-Sub 25 pin female
Hood for D-Sub 25 pin
Mounting screws #4 - 40
* EMERGENCY connector kit (cable side) is included with shipment.
(Applicable diameter for cables is 8.0 to 12.0 mm)
12.1.1 Safeguard Switch
WARNING
The interlock of the Safeguard must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot
system when the switch is not functioning properly is extremely hazardous and
may cause serious safety problems as the Safeguard input cannot fulfill its
intended function.
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
zone. The Safeguard that is described in this manual is one of the safeguards and an
interlock of the Safeguard is called a Safeguard switch. Connect the Safeguard switch to
the Safeguard input terminal on the EMERGENCY connector.
The Safeguard switch has safety features such as temporary hold-up of the program or the
operation-prohibited status that are activated whenever the Safeguard is opened.
Observe the following in designing the Safeguard switch and the Safeguard.
- For the Safeguard switch, select a switch that opens as the Safeguard opens, and not by the
spring of the switch itself.
- The signal from the Safeguard (Safeguard input) is designed to input to two redundant
signals. If the signals at the two inputs differ by two seconds or more, the system
recognizes it to be a critical error. Therefore, make sure that the Safeguard switch has
two separate redundant circuits and that each connects to the specified pins at the
EMERGENCY connector on the Controller.
- Make sure to design the safeguard to prevent the door from closing accidentally.
Setup & Operation 12. EMERGENCY
100 VT Rev.9
12.1.2 Latch Release Switch
The controller software latches these conditions:
- The safeguard is open.
- The operation mode is set to “TEACH”.
The EMERGENCY connector has an input terminal for a latch release switch that cancels
the latched conditions.
Open : The latch release switch latches conditions that the safeguard is open or the
operation mode is “TEACH”.
Closed : The latch release switch releases the latched conditions.
When the latched TEACH mode is released while the safeguard is open, the status of
Manipulator power is operation-prohibited because the safeguard is open at that time.
To execute a Manipulator operation, close the safeguard again, and then close the latch
release input.
12.1.3 Checking Latch Release Switch Operation
After connecting the safeguard switch and latch release switch to the EMERGENCY
connector, be sure to check the switch operation for safety by following the procedures
described below before operating the Manipulator.
(1) Turn ON the Controller while the safeguard is open in order to boot the controller
software.
(2) Make sure that “Safety” is displayed on the main window status bar.
(3) Close the safeguard, and turn ON the switch connecting to the latch release input.
Make sure that the “Safety” is dimmed on the status bar.
Controller activation may fail when the safety door switch is input during the initialization
immediately after turning ON the controller. In this case, delay the input timing of the
safety door switch.
The information that the safeguard is open can be latched by software based on the latch
release input condition. To cancel the condition, close the safeguard, and then close the
safeguard latch release input.
Open : The latch release switch latches the condition that the safeguard is open.
Closed : The latch release switch does not latch the condition that the safeguard is open.
The latch release input also functions to acknowledge the change of to TEACH mode.
In order to change the latched condition of TEACH mode, turn the mode selector key switch
on the Teach Pendant to “Auto”. Then, close the latch release input.
NOTE
NOTE
NOTE
Setup & Operation 12. EMERGENCY
VT Rev.9 101
12.2 Emergency Stop Switch Connection
12.2.1 Emergency Stop Switch
If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency
Stop on the Teach Pendant and Operator Panel, be sure to connect such Emergency Stop
switch(es) to the Emergency Stop input terminal on the EMERGENCY connector.
The Emergency Stop switch connected must comply with the following and related safety
standard (IEC60947-5-5, etc.):
- It must be a push button switch that is “normally closed”.
- A button that does not automatically return or resume.
- The button must be mushroom-shaped and red.
- The button must have a double contact that is “normally closed”.
The signal from the Emergency Stop switch is designed to use two redundant circuits.
If the signals at the two circuits differ by two seconds or more, the system recognizes it as
a critical error. Therefore, make sure that the Emergency Stop switch has double contacts
and that each circuit connects to the specified pins on the EMERGENCY connector at the
Controller. Refer to the Setup & Operation 12.4 Circuit Diagrams.
12.2.2 Checking Emergency Stop Switch Operation
Once the Emergency Stop switch is connected to the EMERGENCY connector, continue
the following procedure to make sure that the switch functions properly. For the safety
of the operator, the Manipulator must not be powered ON until the following test is
completed.
(1) Turn ON the Manipulator to boot the controller software while pressing the Emergency
Stop switch.
(2) Make sure that E-STOP LED of the Manipulator is lighting.
(3) Make sure that “EStop” is displayed on the status bar on the main window.
(4) Release the Emergency Stop Switch.
(5) Execute the RESET command.
(6) Make sure that E-STOP LED is turned OFF and that “EStop” is dimmed on the main
window status bar.
12.2.3 Recovery from Emergency Stop
To recover from the emergency stop condition, follow the procedure of safety check as
required by the system.
After safety check, the operations below are required to recover from the emergency stop
condition.
- Release the Emergency Stop Switch
- Execute the RESET command
NOTE
Setup & Operation 12. EMERGENCY
102 VT Rev.9
12.3 Pin Assignments
The EMERGENCY connector pin assignments are as follows: (D-Sub 25 pin male)
Pin
No.
Signal
Function
Pin
No.
Signal Function
1 ESW11
Emergency Stop switch contact (1)
*3
14
ESW21
Emergency Stop switch contact (2)
*3
2 ESW12
Emergency Stop switch contact (1)
*3
15 ESW22
Emergency Stop switch contact (2)
*3
3
ESTOP1+
Emergency Stop circuit 1 (+)
*4
16
ESTOP2+
Emergency Stop circuit 2 (+)
*4
4
ESTOP1−
Emergency Stop circuit 1 (-)
*4
17
ESTOP2−
Emergency Stop circuit 2 (-)
*4
5
Not Used
*1
18
SDLATCH1
Safeguard Latch Release
6
Not Used
*1
19
SDLATCH2
Safeguard Latch Release
7
SD11
Safeguard input (1)
*2
20
SD21
Safeguard input (2)
*2
8
SD12
Safeguard input (1)
*2
21
SD22
Safeguard input (2)
*2
9
24V
+24V output
22
24V
+24V output
10
24V
+24V output
23
24V
+24V output
11
24VGND
+24V GND output
24
24VGND
+24V GND output
12
24VGND
+24V GND output
25
24VGND
+24V GND output
13
Not Used
*1
*1 Do not connect anything to these pins.
*2 A critical error occurs if the input values from the Safeguard 1 and Safeguard 2 are
different for two or more seconds. They must be connected to the same switch with
two sets of contacts.
*3 A critical error occurs if the input values from the Emergency Stop switch contact 1
and Emergency Stop switch contact 2 are different for two or more seconds. They
must be connected the same switch with two sets of contacts.
*4 Do not apply reverse voltage to the Emergency Stop circuit.
Emergency Stop switch output rated load
+30 V 0.3 A or under
1-2, 14-15 pin
Emergency Stop rated input voltage range
Emergency Stop rated input current
+24 V ±10%
37.5 mA ±10% /+24 V input
3-4, 16-17 pin
Safeguard rated input voltage range
Safeguard rated input current
+24 V ±10%
10 mA/+24 V input
7-8, 20-21 pin
Latch Release rated input voltage range
Latch Release rated input current
+24 V ±10%
10 mA/+24 V input
18-19 pin
The total electrical resistance of the Emergency Stop switches and their circuit should be 1
Ω or less.
CAUTION
■
The 24 V output is for emergency stop. Do not use it for other purposes. Doing
so may result in system malfunction.
■
Do not apply reverse voltage to the Emergency Stop circuit. Doing so
may result
in system malfunction.
NOTE
Setup & Operation 12. EMERGENCY
VT Rev.9 103
12.4 Circuit Diagrams
12.4.1 Example 1: External emergency stop switch typical application
+24V
+5V
Safety Door input
1
External
+24V
Safety Door input 2
Latch release input
Latch release input Close :Latch off
Open :Latch on
Main Circuit
Control
AC Input
Emergency
Stop switch of
an Operation
Unit (TP)
External +24V
GND
External Emergency
Stop switches
Motor Driver
+
−
Manipulator
9
10
22
23
1
2
14
15
3
16
4
17
11
12
24
25
7
8
20
21
18
19
+
Emergency
Stop detection
NOTE:+24V GND
+ 5V GND
ESTOP1+
ESTOP2+
ESTOP1−
ESTOP2−
Be careful of
the direction
of voltage
application
Setup & Operation 12. EMERGENCY
104 VT Rev.9
12.4.2 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 Release input
AC Input
Motor Driver
External +24V
Fuse
+ −
External
+24V
Manipulator
09
10
22
23
1
2
14
15
3
16
4
17
11
12
24
25
7
8
20
21
18
19
+
Main Circuit
Control
Emergency
Stop switch of
an Operation
Unit (TP)
Emergency
Stop detection
External
+24V
Latch release input Close :Latch off
Open :Latch on
External
+24V
GND
NOTE:+24V GND
+ 5V GND
External
+24V GND
Setup & Operation 12. EMERGENCY
VT Rev.9 105
12.4.3 Example 3:
Connection example of mobile platform and emergency stop
* 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
+24V
+5V
Safety Door input 1
Safety Door input 2
Latch Release input
AC Input
Motor Driver
External +24V
Fuse
+
−
Manipulator
09
10
22
23
1
2
14
15
3
16
4
17
11
12
24
25
7
8
20
21
18
19
+
Main Circuit
Control
Emergency
Stop switch of
an Operation
Unit (TP)
Emergency
Stop detection
External
+24V
Latch release input Close : Latch off
Open : Latch on
External
+24V
GND
External
+24V GND
Emergency stop
output
Emergency stop
input
Mobile platform
Setup & Operation 13. Standard I/O Connector
106 VT Rev.9
13. Standard I/O Connector
CAUTION
Be careful not to exceed rated current range or rated current which are defined
in manual.
If exceeding rated current, the Manipulator may now operate at worst.
Standard I/O Connector is a connector mounted on back side of the Manipulator for
connecting your input/output equipment to the system.
13.1 Standard, Cleanroom Model
Connector name
Pins
Bit number
I/O (Input) Connector
24
0-23
I/O (Output) Connector
16
0-15
For cable wiring, refer to the Setup & Operation 3.7.2 Noise Countermeasures in order to
prevent noise.
Remote function is initially assigned to both input and output from 0 to 7. For further
details, refer to Setup & Operation 14. I/O Remote Settings.
13.1.1 Input Circuit (Standard, Cleanroom Model)
Input Voltage Range : +12 to 24 V ±10%
ON Voltage : +10.8 V (min.)
OFF Voltage : +5 V (max.)
Input Current : 10 mA (TYP) at +24 V input
Two types of wiring are available for use with the two-way photo coupler in the input circuit.
Setup & Operation 13. Standard I/O Connector
VT Rev.9 107
Typical Input Circuit Application 1
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
5 Input No.0 to 7 common
1 Input No.0
15 Input No.1
2 Input No.2
16 Input No.3
3 Input No.4
17 Input No.5
4 Input No.6
18 Input No.7
Omit
GND +DC
19 Input No.8 to 15 common
6 Input No.8
20 Input No.9
Standard I/O
(Input) Connector
23 Input No.15
Omit
14 Input No.16 to 23 common
10 Input No.16
24 Input No.17
27 Input No.23
Setup & Operation 13. Standard I/O Connector
108 VT Rev.9
Typical Input Circuit Application 2
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
5 Input No.0 to 7 common
1 Input No.0
15 Input No.1
2 Input No.2
16 Input No.3
3 Input No.4
17 Input No.5
4 Input No.6
18 Input No.7
Omit
GND +DC
19 Input No.8 to 15 common
6
Input No.8
20 Input No.9
Standard I/O (Input) Connector
23 Input No.15
Omit
14 Input No.16 to 23 common
10 Input No.16
2
4
Input No.17
27 Input No.23
Setup & Operation 13. Standard I/O Connector
VT Rev.9 109
Pin Assignments of Input Circuit
Pin No.
Signal Name
Pin No.
Signal Name
1
Input No. 0 (Start)
15
Input No. 1 (SelProg1)
2
Input No. 2 (SelProg2)
16
Input No. 3 (SelProg4)
3
Input No. 4 (Stop)
17
Input No. 5 (Pause)
4
Input No. 6 (Continue)
18
Input No. 7 (Reset)
5
Input common No. 0 to 7
19
Input common No. 8 to 15
6
Input No. 8
20
Input No. 9
7
Input No. 10
21
Input No. 11
8
Input No. 12
22
Input No. 13
9
Input No. 14
23
Input No. 15
10
Input No. 16
24
Input No. 17
11
Input No. 18
25
Input No. 19
12
Input No. 20
26
Input No. 21
13
Input No. 22
27
Input No. 23
14
Input common No. 16 to 23
28
Not Used
Remote function inside ( ) in the table above is initially assigned to input from 0 to 7. For
further details, refer to Setup & Operation 14. I/O Remote Settings.
Connector
Connector model
I/O (Input) Connector
DMC 0,5/14-G1-2,54 P20THR R72 (Board side)
DFMC 0,5/14-ST-2,54 (Cable side)
(PHOENIX CONTACT)
* I/O connector is included with shipment.
I/O (Input) Connector pin assignment
14
1
28
15
Setup & Operation 13. Standard I/O Connector
110 VT Rev.9
13.1.2 Output Circuit (Standard, Cleanroom Model)
Rated Output Voltage : +12 V to +24 V ±10%
Maximum Output Current : TYP 100 mA/1 output
Output device : PhotoMOS relay
ON resistance : Less than 0.7 Ω
The following two wirings are available since non-polar PhotoMOS relay is used for output
circuit.
CAUTION
Be sure to wire
the output circuit properly because it has no protection circuitry
for short-circuit and reverse-
connection. Improper wiring may cause
malfunction of the parts on the board and then improper function of the robot
system.
Setup & Operation 13. Standard I/O Connector
VT Rev.9 111
Typical Output Circuit Application 1: Sink Type (NPN)
1 Output No.0
(Same)
Omit
+DC
6 Output No.8
15
Output No.9
10 Output No.1
2
Output No.2
11
Output No.3
3
Output No.4
12
Output No.5
4
Output No.6
13
Output No.7
5
Output No.0 to 7 Common (GND)
Load
L
GND
L
14 Output No.8 to 15 Common (GND)
Standard I/O (Output) Connector
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
Typical Output Circuit Application 2: Source Type (PNP)
1
Output No.0
(Same)
Omit
+DC
6
Output
No.8
15
Output
No.9
10
Output
No.1
2
Output
No.2
11
Output
No.3
3
Output
No.4
12
Output
No.5
4
Output
No.6
13
Output
No.7
5
Output
No.0 to 7
Common
(+DC)
Load
L
GND
L
14
Output
No.8 to15
Common
(+DC)
Standard I/O (Output) Connector
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
Setup & Operation 13. Standard I/O Connector
112 VT Rev.9
Pin Assignments of Output Circuit
Pin No.
Signal Name
Pin No.
Signal Name
1
Output No. 0 (Ready)
10
Output No.1 (Running)
2
Output No.2 (Paused)
11
Output No.3 (Error)
3
Output No.4 (EstopOn)
12
Output No.5 (SafeguardOn)
4
Output No.6 (SError)
13
Output No.7 (Warning)
5
Output common No. 0 to 7
14
Output common No. 8 to 15
6
Output No. 8
15
Output No. 9
7
Output No.10
16
Output No.11
8
Output No. 12
17
Output No. 13
9
Output No. 14
18
Output No. 15
Remote function inside ( ) in the table above is initially assigned to output from 0 to 7. For
further details, refer to Setup & Operation 14. I/O Remote Settings.
Connector
Connector model
I/O (Output) Connector
DMC 0,5/9-G1-2,54 P20THR R44 (Board side)
DFMC 0,5/ 9-ST-2,54 (Cable side)
(PHOENIX CONTACT)
* I/O connector is included with shipment.
I/O (Output) Connector pin assignment
9
1
18
10
Setup & Operation 13. Standard I/O Connector
VT Rev.9 113
13.2 Protection Model
CAUTION
Be careful not to exceed rated current range or rated current which are defined
in manual.
If exceeding rated current, the Manipulator may now operate at worst.
Standard I/O Connector is a connector mounted on back side of the Manipulator for
connecting your input/output equipment to the system.
Connector name
Pins
But number
I/O connector
Input
24
0-23
Output
16
0-15
For cable wiring, refer to the Setup & Operation 3.7.2 Noise Countermeasures in order to
prevent noise.
Remote function is initially assigned to both input and output from 0 to 7. For further
details, refer to Setup & Operation 14. I/O Remote Settings.
13.2.1 Input Circuit (Protection Model)
Input Voltage Range : +12 to 24 V ±10%
ON Voltage : +10.8 V (min.)
OFF Voltage : +5 V (max.)
Input Current : 10 mA (TYP) at +24 V input
Two types of wiring are available for use with the two-way photo coupler in the input circuit.
Setup & Operation 13. Standard I/O Connector
114 VT Rev.9
Typical Input Circuit Application 1
I/O-1
(Same)
Omit
GND +DC
34 Input No.16～23 common
Omit
26 Input No.15
42 Input No.23
35 Input No.16
36 Input No.17
1 Input No.0 to 7 common
2 Input No.0
3 Input No.1
4 Input No.2
5 Input No.3
6 Input No.4
7 Input No.5
8 Input No.6
9 Input No.7
18 Input No.8 to 15 common
19 Input No.8
20 Input No.9
(
Same
)
(Same)
(Same
)
(
Same
)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
Setup & Operation 13. Standard I/O Connector
VT Rev.9 115
Typical Input Circuit Application 2
I/O-1
(Same)
Omit
GND +DC
34 Input No.16～23 common
Omit
26 Input No.15
42 Input No.23
35 Input No.16
36 Input No.17
1 Input No.0 to 7 common
2 Input No.0
3 Input No.1
4 Input No.2
5 Input No.3
6 Input No.4
7 Input No.5
8 Input No.6
9 Input No.7
18 Input No.8 to 15 common
19 Input No.8
20 Input No.9
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
Setup & Operation 13. Standard I/O Connector
116 VT Rev.9
13.2.2 Output Circuit (Protection Model)
Rated Output Voltage : +12 V to +24 V ±10%
Maximum Output Current : TYP 100 mA/1 output
Output device : PhotoMOS relay
ON resistance : Less than 0.7 Ω
The following two wirings are available since non-polar PhotoMOS relay is used for
output circuit.
CAUTION
Be sure to wire the output circuit properly because it has no protection circuitry for
short-circuit and reverse-connection. Improper wiring may
cause malfunction of
the parts on the board and then improper function of the robot system.
Setup & Operation 13. Standard I/O Connector
VT Rev.9 117
Typical Output Circuit Application 1: Sink Type (NPN)
10 Output No.0
I/O-1
(Same)
Omit
+DC
29 Output No.8
30 Output No.9
11 Output No.1
12 Output No.2
13 Output No.3
14 Output No.4
15 Output No.5
27 Output No.6
28 Output No.7
17 Output No.0 to 7 common (GND)
Load
L
GND
L
33 Output No.8 to 15 common (GND)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
Typical Output Circuit Application 2: Source Type (PNP)
10 Output No.0
I/O-1
(Same)
Omit
+DC
29 Output No.8
30 Output No.9
11 Output No.1
12 Output No.2
13 Output No.3
14 Output No.4
15 Output No.5
27 Output No.6
28
Output No.7
17 Output No.0 to 7 common (+DC)
Load
L
GND
L
33 Output No.8 to 15 common (+DC)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same)
(Same
)
Setup & Operation 13. Standard I/O Connector
118 VT Rev.9
13.2.3 Pin Assignments of Input and Output Circuit
(Protection Model)
Pin
No.
Signal Name
Pin
No.
Signal Name
Pin
No.
Signal Name
1 Input common No.0 to 7 18
Input common
No.8 to 15
34
Input common
No.16 to 23
2 Input No.0 (Start) 19 Input No.8 35 Input No.16
3
Input No.1 (SelProg1)
20
Input No.9
36
Input No.17
4 Input No.2 (SelProg2) 21 Input No.10 37 Input No.18
5 Input No.3 (SelProg4) 22 Input No.11 38 Input No.19
6 Input No.4 (Stop) 23 Input No.12 39 Input No.20
7 Input No.5 (Pause) 24 Input No.13 40 Input No.21
8 Input No.6 (Continue) 25 Input No.14 41 Input No.22
9 Input No.7 (Reset) 26 Input No.15 42 Input No.23
10 Output No.0 (Ready) 27 Output No.6 (SError) 43 Output No.11
11 Output No.1 (Running) 28 Output No.7 (Warning) 44 Output No.12
12 Output No.2 (Paused) 29 Output No.8 45 Output No.13
13 Output No.3 (Error) 30 Output No.9 46 Output No.14
14 Output No.4 (EstopOn) 31 Output No.10 47 Output No.15
15 Output No.5(SafeguardOn) 32 Not Used 48 Not Used
16 Not Used 33
Output common
No.8 to 15
49
Not Used
17
Output common
No.0 to 7
50 Not Used
Remote function inside ( ) in the table above is initially assigned to input and output from 0 to 7. For
further details, refer to Setup & Operation 14. I/O Remote Settings.
Connector
Standard
I/O connector
(Manipulator side)
D-Sub 50 pin male
Screwlock #4 - 40
I/O connector kit
(Cable side)
D-Sub 50 pin female
Hood for D-Sub 50 pin
Mounting screws #4 - 40
* I/O connector kit (cable side) is included with shipment.
(Applicable diameter for cable is 9.0 to 14.0 mm)
Setup & Operation 13. Standard I/O Connector
VT Rev.9 119
13.3 I/O Cable Product Procedure
The following describes I/O cable product procedure for connecting user’s input/output
devices.
13.3.1 I/O Cable Connecting Method
(1) Prepare for I/O connector and cable which are included with shipment.
Adaption cable:
Electric wire capacity: 0.14 to 0.5mm
2
Wire type: single wire, stranded wire, stranded wire with rod terminal.
(2) Push the edge of cable into wire insertion slot.
For single wire and stranded wire,
peel off the covering of the cable.
- If using a twisted wire or finer single wire, insert it while pushing orange colored
open button.
- Orange push pins are easy to come off. Be careful during operation.
- There is a cable check hole above the open button. You can check cables using
tester.
13.3.2 How to Fix the I/O Cable
You can fix the I/O cables using cable clamp on the back of the Manipulator.
(Only for Standard model and Cleanroom model.)
I/O Cable Clamp
Fixing cables with I/O cable clamp, wiring of I/O cables is difficult to disconnect.
NOTE
NOTE
Setup & Operation 14. I/O Remote Settings
120 VT Rev.9
14. I/O Remote Settings
This section describes the functions and timings of input and output signals.
The remote functions may be assigned to your standard I/O board(s), or fieldbus I/O board(s)
to enhance robot system control - either from an operational unit of your choice or a
sequencer.
Remote function is initially assigned to both input and output from 0 to 7.
To accept external remote inputs, assign the remote function and the control device is remote.
For further details, refer to the section, Remote Control Software Configuration in EPSON
RC+ 7.0 User’s Guide - Remote Control.
The user defines the I/O number that a remote function is assigned to using software
configuration. For further details, refer to the section, Remote Control Software
Configuration in EPSON RC+ 7.0 User’s Guide - Remote Control.
For details about I/O cable connection, refer to sections on Setup & Operation 13: Standard
I/O Connector and 17. Fieldbus I/O.
For details about communication with external equipment, refer to EPSON RC+ 7.0 User’s
Guide -12. Remote Control.
CAUTION
When using remote I/O, always make sure of the following. Using the robot
system under unsatisfactory conditions may cause malfunction of the system
and/or safety problems.
- Assign remote functions to inputs/outputs correctly and wire correctly when
setting up remote I/O signals.
- Make sure that the functions correspond to the correct input/output signals
before turning ON the system.
- When verifying the robot system operation, prepare for failures with initial
settings or wiring. If the Manipulator functions unusually by the failures
with initial settings or wiring, press the Emergency Stop switch immediately
to stop the Manipulator.
- Remote function is available when virtual I/O is enabled.
- When you set up a remote I/O signal, please either keep a written record of the settings or
store the data in a file for later reference.
- When you set up a fieldbus I/O signal to the remote function, response depends on the
baud rate of the fieldbus. For details of fieldbus response, refer to the following manual.
Robot Controller RC700 / RC90 Option Fieldbus I/O.
NOTE
Setup & Operation 14. I/O Remote Settings
VT Rev.9 121
14.1 I/O Signal Description
Remote function is initially assigned to both input and output from 0 to 7.
To change the function assignment from the initial setting, use EPSON RC+ 7.0.
To use all signals, you will need to add Fieldbus I/O module.
14.1.1 Remote Input Signals
Remote inputs are used to control the Manipulators and start programs. Certain conditions
must be met before inputs are enabled, as shown in the table below.
To accept external remote inputs, assign the remote function and set remote to the control
device. When external remote input is available, “AutoMode output” turns ON.
Except “SelProg”, the signals execute each function when the signal starts in input
acceptance condition. The function executes automatically. Therefore, no special
programming is needed.
When an error occurs, you must execute a “Reset” to clear the error condition before any
other remote input commands can be executed. Use the “Error output” and “Reset input”
to monitor the error status and clear error conditions from the remote device.
Name Initial Description
Input Acceptance
Condition (*1)
Start 0
Execute function selected at SelProg.
(*2)
Ready output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
Pause input OFF
Stop input OFF
SelProg1
SelProg2
SelProg4
SelProg8
SelProg16
SelProg32
1
2
3
Not Set
Not Set
Not Set
Specify the executing Main function
number. (*2)
Stop
4
All tasks and commands are stopped.
Pause
5
All tasks are paused. (*3)
Running output ON
Continue 6
Continue the paused task.
Paused output ON
Pause input OFF
Stop input OFF
Reset
7
Reset emergency stop and error. (*4)
Ready output ON
Shutdown
Not set
Terminates the system
ForcePowerLow
(*6)
Not Set
Operates as the forced low power function.
The M
anipulator is operated in the low
power mode.
Power High control from the command is
not accepted.
Executes the following according to the
Manipulator preferences.
Stops or temporarily stops all the tasks and
commands. (*12)
Any time
This input is acceptable
even AutoMode output is
OFF.
SelRobot
Not Set
Changes the output condition of MotorsOn,
AtHome, PowerHigh, and MCalReqd.(*9)
NOTE
Setup & Operation 14. I/O Remote Settings
122 VT Rev.9
Name Initial Description
Input Acceptance
Condition (*1)
SelRobot1
SelRobot2
SelRobot4
SelRobot8
SelRobot16
Not set
Specify the number of Manipulator which
executes a command. (*5)
SetMotorsOn
Not set
Turn ON Manipulator motors. (*5) (*6)
Ready output ON
EStopOn output OFF
SafeguardOn output OFF
SetMotorOff input OFF
SetMotorsOff
Not set
Turn OFF Manipulator motors.
Ready output ON
SetPowerHigh
Not set
Set the Manipulator power mode to High
(*5)
Ready output ON
EStopOn output OFF
SafeguardOn output OFF
SetPowerLow input OFF
SetPowerLow
Not set
Set the Manipulator power mode to Low.
(*5)
Ready output ON
Home
Not set
Move the M
anipulator Arm to the home
position defined by the user.
Ready output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
MotorsOn output ON
Pause input OFF
Stop input OFF
MCal
Not set Execute MCal (*5) (*7)
Ready output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
MotorsOn output ON
Pause input OFF
Stop input OFF
Recover
Not set
After the safeguard is closed, recover to the
position where the safeguard is open.
Paused output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
RecoverReqd output ON
Pause input OFF
Stop input OFF
ResetAlarm
Not Set
Cancel the alarm (*11)
SelAlarm1
SelAlarm2
SelAlarm4
SelAlarm8
Not Set Specify the alarm number to cancel (*10)
ALIVE Not Set
Input signal for alive monitoring of the
Manipulator. Same signal as the input will
be output to ALIVE output. The master
equipment can perform alive monitoring of
the M
anipulator by switching the input
periodically and checking the output signal.
Setup & Operation 14. I/O Remote Settings
VT Rev.9 123
(*1) “AutoMode output” ON is omitted from the table. This is an input acceptance condition for all functions.
(*2)
“Start input” executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 32.
Function name
SelProg1
SelProg2
SelProg4
SelProg8
SelProg16
SelProg32
Main
0
0
0
0
0
0
Main1
1
0
0
0
0
0
Main2
0
1
0
0
0
0
Main3
1
1
0
0
0
0
.
.
.
Main60
0
0
1
1
1
1
Main61
1
0
1
1
1
1
Main62
0
1
1
1
1
1
Main63
1
1
1
1
1
1
0=OFF, 1=ON
(*3) “NoPause task” and “NoEmgAbort task” do not pause.
For details, refer to EPSON RC+ 7.0 Online Help or Pause in SPEL
+
Language Reference.
(*4) Turns OFF the I/O output and initializes the Manipulator parameter.
For details, refer to EPSON RC+ 7.0 Online Help or Reset in SPEL
+
Language Reference.
(*5) VT series is invalid.
(*6) Initializes the Manipulator parameter.
For details, refer to EPSON RC+ 7.0 Online Help or Motor in SPEL
+
Language Reference.
(*7) For details, refer to EPSON RC+ 7.0 Online Help or MCal in SPEL
+
Language Reference.
(*8) This is for experienced users only. Make sure that you fully understand the input specification before
using.
CmdRunning output and CmdError output will not change for this input.
“NoEmgAbort task” will not stop by this input.
When the input changes from ON to OFF, all tasks and commands will stop.
(*9) This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.
By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the
output condition.
Once you select the condition, it will be kept until you change it or turn OFF / restart the Controller.
All Manipulators are selected as default.
(*10) The values specified by “SelAlarm1, 2, 4, and 8” correspond to the alarm numbers.
Alarm #
Target
SelAlarm1
SelAlarm2
SelAlarm4
SelAlarm8
1
Controller battery
1
0
0
0
2
-
0
1
0
0
3
Manipulator grease
1
1
0
0
4
-
0
0
1
0
5
-
1
0
1
0
6
-
0
1
1
0
7
-
1
1
1
0
8
-
0
0
0
1
9
-
1
0
0
1
0=OFF, 1=ON
Setup & Operation 14. I/O Remote Settings
124 VT Rev.9
(*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting
this signal.
(*12) Operation of all tasks and commands, power mode of the Manipulator, and PowerHigh command by the
setting of the Manipulator preferences.
Preferences (1): “Motor power low when ForcePowerLow signal OFF”
Preferences (2): “ForcePowerLow signal change pauses all tasks”
For details of the Manipulator preferences, refer to EPSON RC+ 7.0 User’s Guide
[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System
Configuration] Command (Setup Menu).
Preferences (1) Preferences (2) ForcePowerLow
All tasks and
commands
Power mode PowerHigh
0
0
1→0
Stop
Low only
Accept
0
0
0→1
Stop
Low only
Not accept
0
1
1→0
Continue
High/Low
Accept
0
1
0→1
Temp. stop
Low only
Not accept
1
0
1→0
Stop
Low only
Not accept
1
0
0→1
Stop
Low only
Accept
1
1
1→0
Temp. stop
Low only
Not accept
1
1
0→1
Continue
High/Low
Accept
Setup & Operation 14. I/O Remote Settings
VT Rev.9 125
14.1.2 Remote Output Signals
Remote output is a function to output a status of the Manipulator or operation mode.
Remote outputs provide the assigned function using with any control device The outputs
execute automatically. Therefore, no special programming is needed.
Name
Initial
Description
Ready 0
Turns ON when the Manipulator startup completes and no
task is running.
Running 1
Turns ON when task is running.
However, turns OFF when “Paused output” is OFF.
Paused
2
Turns ON when pause task exists.
Error 3
Turns ON when an error occurs.
Use “Reset input” to recover from the error.
EStopOn
4
Turns ON at Emergency Stop.
SafeguardOn
5
Turns ON when the safeguard is open.
SError 6
Turns ON when critical error occurs.
When a critical error occurs, “Reset input” does not
function. Reboot the controller to recover.
Warning 7
Turns ON when warning occurs.
The task runs as normal with the warning. However, be
sure to eliminate the cause of the warning as soon as
possible.
MotorsOn
Not set
Turns ON when the Manipulator motor is ON. (*5)
AtHome
Not set
Turns ON when the Manipulator is in the home position.
(*5)
PowerHigh
Not set
Turns ON when the Manipulator’s power mode is High.
(*5)
MCalReqd
Not set
Turns ON when the Manipulator hasn’t executed MCal.
(*5)
RecoverReqd
Not set
Turns ON when at least one Manipulator is waiting for
Recover after the safeguard is closed.
RecoverInCycle
Not set
Turns ON when at least one Manipulator is executing
Recover.
CmdRunning
Not set
Turns ON when an input command is executing.
CmdError
Not set
Turns ON when an input command cannot be accepted.
CurrProg1
CurrProg2
CurrProg4
CurrProg8
CurrProg16
CurrProg32
Not set
Indicates the running or the last main function number
(*1)
AutoMode
Not set
Turns ON in remote input acceptable status. (*2)
TeachMode
Not set
Turns ON in TEACH mode.
TestMode
Not set
Turns ON in TEST mode.
EnableOn
Not set
Turns ON when the enable switch is ON.
ErrorCode1
.
.
.
ErrorCode8192
Not set
Indicates the error number.
InsideBox1
.
.
.
InsideBox15
Not set
Turns ON when the Manipulator is in the approach check
area. (*3)
Setup & Operation 14. I/O Remote Settings
126 VT Rev.9
Name
Initial
Description
InsidePlane1
.
.
.
InsidePlane15
Not set
Turns ON when the Manipulator is in the approach check
plane. (*4)
Alarm
Not set
Turns ON when any of the alarms is occurring. (*9)
Alarm1
Not set
Turns ON when a battery alarm of the Manipulator is
occurring.
Alarm2
Not set
Turns ON when a battery alarm of the Manipulator
connected to CU is occurring.
Alarm3
Not set
Turns ON when a grease alarm of the Manipulator
connected to CU is occurring.
Alarm4
Not set
Turns ON when a battery alarm of the Manipulator
connected to DU1 is occurring.
Alarm5
Not set
Turns ON when a grease alarm of the Manipulator
connected to DU1 is occurring.
Alarm6
Not set
Turns ON when a battery alarm of the Manipulator
connected to DU2 is occurring.
Alarm7
Not set
Turns ON when a grease alarm of the Manipulator
connected to DU2 is occurring.
Alarm8
Not set
Turns ON when a battery alarm of the Manipulator
connected to DU3 is occurring.
Alarm9
Not set
Turns ON when a grease alarm of the Manipulator
connected to DU3 is occurring.
PositionX Not set
Outputs current X coordinate in the World coordinate
system (*6) (*7)
PositionY Not set
Outputs current Y coordinate in the World coordinate
system (*6) (*7)
PositionZ Not set
Outputs current Z coordinate in the World coordinate
system
(*6) (*7)
PositionU Not set
Outputs current U coordinate in the World coordinate
system (*6) (*7)
PositionV Not set
Outputs current V coordinate in the World coordinate
system (*6) (*7)
PositionW Not set
Outputs current W coordinate in the World coordinate
system (*6) (*7)
Torque1
Not set
Outputs the current torque value of Joint #1 (*6) (*7)
Torque2
Not set
Outputs the current torque value of Joint #2 (*6) (*7)
Torque3
Not set
Outputs the current torque value of Joint #3 (*6) (*7)
Torque4
Not set
Outputs the current torque value of Joint #4 (*6) (*7)
Torque5
Not set
Outputs the current torque value of Joint #5 (*6) (*7)
Torque6
Not set
Outputs the current torque value of Joint #6 (*6) (*7)
CPU
Not set
Outputs the CPU load factor of the user program (*8)
ESTOP Not set
Outputs how many times emergency stops have been
executed.
ALIVE Not set
Output signal for alive monitoring of the Manipulator.
The signal input by ALIVE input will be output. The
master equipment can perform alive monitoring of the
M
anipulator by switching the input periodically and
checking the output signal.
Setup & Operation 14. I/O Remote Settings
VT Rev.9 127
(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.
Function name
CurrProg1
CurrProg2
CurrProg4
CurrProg8
CurrProg16
CurrProg32
Main
0
0
0
0
0
0
Main1
1
0
0
0
0
0
Main2
0
1
0
0
0
0
Main3
1
1
0
0
0
0
.
.
.
Main60
0
0
1
1
1
1
Main61
1
0
1
1
1
1
Main62
0
1
1
1
1
1
Main63
1
1
1
1
1
1
0=OFF, 1=ON
(*2) Remote function is available in the following conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
(*3) For details, refer to EPSON RC+ 7.0 Online Help or Box in SPEL
+
Language Reference.
(*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL
+
Language Reference.
(*5) Manipulator status is output as follows, according to the condition selected in SelRobot. Wait at least 40
ms before inputting the signal after changing the condition in SelRobot.
Name
(SelRobot1- SelRobot16) condition when inputting SelRobot
0: All robots are selected 1 - 16: Particular robot number is
selected
MotorsOn
Turns ON when at least one
Manipulator motor is ON.
Turns ON when the motor of the selected
Manipulator is ON.
AtHome
Turns ON when all Manipulators are
in the home position.
Turns ON when the selected Manipulator is
in the home position.
PowerHigh
Turns ON when at least one
Manipulator’s power mode is High.
Turns ON when the selected Manipulator’s
power mode is High.
MCalReqd
Turns ON when at least one
Manipulator hasn’t executed MCal.
Turns ON when the selected Manipulator
hasn’t executed MCal.
(*6) T, VT series is invalid.
(*7) Outputs information in Real format.
(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task
manager.
(*9) The signal turns ON when the alarm occurs in the Manipulator alarm information.
Setup & Operation 14. I/O Remote Settings
128 VT Rev.9
14.2 Timing Specifications
14.2.1 Precautions for Remote Input Signals
The following charts indicate the timing sequences for the primary operations of the
Controller.
The indicated time lapses (time durations) should be referred to only as reference values
since the actual timing values vary depending on the number of tasks running, as well as
CPU speed of the Manipulator. Check carefully and refer to the following charts for the
timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a time,
otherwise an error will occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.
[Unit: ms]
14.2.2 Timing Diagram for Operation Execution Sequence
940
1250
Depending on
HOME motion
MotorsOn
Output
AtHome
Output
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input
14.2.3 Timing Diagram for Program Execution Sequence
34
34
34
110
110
34
34
410
Ready
Output
CurrProg1
Output
Running
Output
* Paused
Output
SelProg1
Input
Start
Input
Pause
Input
Continue
Input
Stop
Input
410
* The duration varies depending on the Quick Pause (QP) setting and the program’s
operating status at the time of Pause input
Setup & Operation 14. I/O Remote Settings
VT Rev.9 129
14.2.4 Timing Diagram for Safety Door Input Sequence
12
1066
1066
600
9
17
17
940
Running
Output
Paused
Output
SafeguardOn
Output
MotorsOn
Output
Safety Input
Latch Input
Continue
Input
14.2.5 Timing Diagram for Emergency Stop Sequence
65
12
10
Running
Output
MotorsOn
Output
EStopOn
Output
Emergency Input
Reset
Input
8
Setup & Operation 15. SD Card Slot
130 VT Rev.9
15. SD Card Slot
CAUTION
Do not use any SD card other than accessories.
If using other SD card, system may not operate properly.
SD card is only available for robot system.
SD card is written only for robot system. Unable to use for reading/writing data.
If you write data on SD card, robot system may not operate properly.
Standard, Cleanroom model Protection model (inside the optional slot)
SD card slot is a slot for inserting SD card.
Firmware to operate the Manipulator is written on the SD card.
Reference: Maintenance 18.6 Replacing SD Card
Setup & Operation 16. RESET Switch
VT Rev.9 131
16. RESET Switch
Standard, Cleanroom model
RESET switch has following function.
Manipulator reboot
Push the RESET switch for three seconds when booting the Manipulator.
Manipulator reboots.
Shape of RESET switch is difficult to push. Use a sharp edged object when pushing the
RESET switch.
There is no RESET switch for Protection model.
Setup & Operation 17. Fieldbus I/O
132 VT Rev.9
17. Fieldbus I/O
Fieldbus I/O of the VT series supports the following model.
DeviceNet™ *
PROFIBUS-DP *
EtherNet/IP™
Modbus
CC-Link *
PROFINET
Ethe r C AT®
For details, refer to the following manuals.
Robot Controller RC700 / RC90 Option Fieldbus I/O
EPSON RC+ 7.0 User’s Guide 11.7 Fieldbus Slave I/O
*: VT6-A901P (Protection model) is not supported.
Please contact the supplier of your region for support timing.
WARNING
Do not connect or disconnect the connectors while the power to the robot system
is turned ON. Connecting or disconnecting the motor connectors
with the power
ON is extremely hazardous and may result
in serious bodily injury as the
Manipulator may move abnormally, and also may result in
electric shock and/or
malfunction of the robot system.
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
Be sure to perform installing procedure with turning OFF the robot system and
related equipment and disconnect the power plug. Performing any replacement
procedure with the power ON is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.
CAUTION
Check the clips of the fieldbus I/O module are securely hooked on the board
when installing fieldbus I/O module. If the clips do not be hooked securely,
connecter or fieldbus I/O module may get damages.
Setup & Operation 17. Fieldbus I/O
VT Rev.9 133
17.1 Standard, Cleanroom model
Fieldbus
I/O Module
Installation
(1)
Turn OFF the Manipulator.
(2)
Remove the optional slot cover on the back side of the Manipulator.
Standard,
Cleanroom model
Sems bolt: 2-M3×6
(3)
Inset the fieldbus I/O module to the optional slot.
CAUTION
Check
the tabs of the fieldbus I/O module are securely hooked on the board when
installing fieldbus I/O module. If tabs do not be hooked securely, connecter or
fieldbus I/O module may get damages.
(4)
Tighten screws by using special tool until fieldbus I/O
module is fixed completely.
Image of installation
Front
Back
Fieldbus
I/O Module
Removal
Standard,
Cleanroom model
(1)
Unscrew the screws by using special tool until fieldbus I/O module is loosened.
(2)
Remove the fieldbus I/O module.
You can remove the module by pulling loosened screws toward.
(3)
Mount the optional slot cover.
Setup & Operation 17. Fieldbus I/O
134 VT Rev.9
17.2 Protection Model
Fieldbus
I/O Module
Installation
Protection Model
(1)
Turn OFF the Manipulator.
(2)
Remove the following parts on
the rear side of the Manipulator.
Optional slot cover
Gaskets
Spacers
Hexagon socket head bolts
: 6-M3×8
Optional slot cover
Gasket + Spacers
Gasket, Spacers
Note that the spacers may fall out when removing the gasket.
Be careful not to damage the mounting surface of the gasket. If the surface is
damaged, water protection performance may not be ensured.
(3)
Insert the fieldbus I/O module into the
optional slot.
Make sure that the fieldbus I/O module is
completely inserted. Move the module up
and down lightly and check whether the
module is fixed in place.
If you touch the SD card while installing
the fieldbus I/O module, it may come out.
Manipulator (Controller part) will not
operate properly if the SD card is not
inserted.
SD card
NOTE
NOTE
NOTE
Setup & Operation 17. Fieldbus I/O
VT Rev.9 135
CAUTION
Check the clips of the fieldbus I/O module are securely hooked on the board
when installing fieldbus I/O module. If the clips do not be hooked securely,
connecter or fieldbus I/O module may get damages.
Installation image
Clips
Board
(4)
Tighten the screws by using the supplied hex
lobe wrench until the fieldbus module is fixed
completely.
Tightening torque: 0.25 N·m
Installation image
Front
Latches
Back
When tightening the screws of the fieldbus I/O module, two latches protrude to
lock the fieldbus I/O module to the board.
(5)
Connect the relay cable to the fieldbus I/O
module.
(The cable is supplied with the module.)
Relay Cable
Module
(6)
Install the spacers to the gasket.
(6 spacers: the gasket is supplied with the
module.)
Gasket +
Spacers
Gasket, Spacers
NOTE
Setup & Operation 17. Fieldbus I/O
136 VT Rev.9
(7)
Pass the relay cable through the gasket.
Relay Cable
Gasket
(8)
Mount the optional block on the connector plate.
Hexagon socket head bolts:
6-M3×30 (with seal washer. The bolts are supplied with the module.)
Tightening torque: 2.0 ± 0.1 N·m
Connect the relay cable as shown below. Be careful not to cross the cables.
Relay Cable
Correct
Wrong
When mounting the optional block, make sure that a groove of the connector
faces downward.
Optional Block
(Outside)
Groove
Optional Block
(Inside)
Optional
Block
Connector
Plate
Be sure to embed the seal washers (supplied with the module)
when tightening with hexagon socket head bolts.
If the seal washers are not embedded, water protection
performance may not be ensured.
Seal washers
Make sure that there is no scratches and/or dust on the gasket mounting surface.
If the gasket is damaged or dusty, water protection performance may not be
ensured.
Be sure to install the dust covers
(supplied with the module) on the
unused connectors.
If the dust covers are not installed on
connectors completely, water
protection performance may not be
ensured.
Duct Covers
Be sure to use the dedicated cable
(supplied with the module) for
communication.
If other cables are used, water protection
performance may not be ensured.
NOTE
NOTE
NOTE
NOTE
Setup & Operation 17. Fieldbus I/O
VT Rev.9 137
Fieldbus
I/O Module
Removal
Protection Model
(1)
Turn OFF the Manipulator.
(2)
Remove the optional block from the
connector plate.
Hexagon socket head bolts:
(supplied with the module.)
6-M3×30 (with seal washer)
Optional
Block
Connector
Plate
(3)
Remove the gasket and spacers.
Gasket +
Spacers
Gasket, Spacers
(4)
Disconnect the relay cable from the fieldbus
I/O module.
Relay Cable
Module
(5)
Loosen the screws by using the supplied hex
lobe wrench until the fieldbus module can be
removed.
(6)
Remove the fieldbus I/O module.
The module can be removed by pulling the
screws forward with the screws
loosened.
(7)
Install the optional slot cover, gasket, and spacers.
Hexagon socket head bolts: 6-M3×8 (with seal washer.)
Tightenning torque: 2.0 ± 0.1N·m
Be sure to embed the seal washers (supplied with the module) when tightening
with hexagon socket head bolts.
If the seal washers are not embedded, water protection performance may not be
ensured.
Make sure that there is no scratch and dust on the gasket mounting surface.
If the gasket is damaged or dusty, water protection performance may not be
ensured.
NOTE
Setup & Operation 17. Fieldbus I/O
138 VT Rev.9
Maintenance
This volume contains maintenance procedures with safety precautions for VT series Manipulators.
Maintenance 1. Safety Maintenance
VT Rev.9 141
1. Safety Maintenance
Please read this chapter, this manual, and other relevant manuals carefully to understand
safe maintenance procedures before performing any routine maintenance.
Only authorized personnel who have taken safety training should be allowed to
maintain the robot system.
Safety training is the program for industrial robot operators that follows the laws
and regulations of each nation.
The personnel who have taken safety training acquire knowledge of industrial
robots (operations, teaching, etc.), knowledge of inspections, and knowledge of
related rules/regulations.
The personnel who have completed the robot system-training and maintenance-
training classes held by the manufacturer, dealer, or locally-incorporated company
are allowed to maintain the robot system.
WARNING
■
Do not
remove any parts that are not covered in this manual. Follow the
maintenance procedure strictly as described in this manual. Improper removal
of parts or
improper maintenance may not only cause improper function of the
robot system but also serious safet
y problems.
■
Keep away from the Manipulator while
the power is ON if you have not taken the
training courses.
Do not enter the operating area while the power
is ON.
Entering the operating area with the power ON is extremely hazardous and may
cause ser
ious safety problems as the Manipulator may move even it seems to be
stopped
.
■
When you check the operation of the Manipulator a
fter replacing parts, be sure to
check it
while you are outside of the safeguarded area. Checking the operation
of the Manipulator while you are inside of the safeguarded area may cause serious
safety problems as the Manipulator may move unexpectedly.
■
Before
operating the robot system, make sure that both the Emergency Stop
switches and safeguard switch function properly.
Operating the robot system
when the switches do not function properly is extremely hazardous and may result
in serious bodily injury and/or serious damage
to the robot system as the switches
cannot fulfill
their intended functions in an emergency.
WARNING
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the
power cable to a power plug.
DO NOT connect it directly to a factory power
source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may
result in electric shock and/or malfunction of the robot system.
Maintenance 2. General Maintenance
142 VT Rev.9
WARNING
■
Be sure to connect the cables properly.
Do not allow unnecessary strain on the
cables. (Do not
put heavy objects on the cables. Do not bend or pull the cables
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
i
mproper function of the robot system.
CAUTION
■
Manipulator
may be warmed up due to motor heat or similar causes. Do not
touch the Manipulator
until temperature falls. Also, make sure the temperature
of the Manipulator falls and
is not hot when you touch it. Then perform teaching
or
maintenance.
2. General Maintenance
This chapter describes maintenance inspections and procedures. Performing maintenance
inspections and procedures properly is essential for preventing trouble and ensuring safety.
Be sure to perform the maintenance inspections in accordance with the schedule.
2.1 Maintenance Inspection
2.1.1 Schedule for Maintenance Inspection
Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual.
The inspection points are added every stage.
If the Manipulator is operated for 250 hours or longer per month, the inspection points must
be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.
Inspection Point
Daily
inspection
Monthly
inspection
Quarterly
inspection
Biannual
inspection
Annual
inspection
Overhaul
(replacement)
1 month (250 h)
Inspect every day
√
2 months (500 h)
√
3 months (750 h)
√
√
4 months (1000 h)
√
5 months (1250 h)
√
6 months (1500 h)
√
√
√
7 months (1750 h)
√
8 months (2000 h)
√
9 months (2250 h)
√
√
10 months (2500 h)
√
11 months (2750 h)
√
12 months (3000 h)
√
√
√
√
13 months (3250 h) √
…
…
…
…
…
…
…
20000 h
√
h = hour
Maintenance 2. General Maintenance
VT Rev.9 143
2.1.2 Inspection Point
Inspection While the Power is OFF (Manipulator is not 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
Maintenance: 2.3 Tightening
Hexagon Socket Head Cap Bolts.)
End effector mounting bolts
√
√
√
√
√
Manipulator mounting bolts
√
√
√
√
√
Each joint
√
√
√
√
√
Bolts, screws securing motors
,
reduction gear units, etc.
√
Check looseness of connectors.
If the connectors are loosen, push it
securely or tighten.
External connectors on
Manipulator (on the connector
plates etc.)
√ √ √ √ √
Manipulator cable unit
√
√
√
√
Visually check for external defects.
Clean up if necessary.
External appearance of
Manipulator
√ √ √ √ √
External cables
√
√
√
√
Check for bends or improper
location. Repair or place it properly
if necessary.
Safeguard etc. √ √ √ √ √
Check tension of timing belts.
Tighten it if necessary.
Inside of Arm #2 √ √
Lithium Battery
Refer to Maintenance: 18.4 Replacing Lithium Battery
Inspection While the Power is ON (Manipulator is operating)
Inspection Point
Inspection Place
Daily
Monthly
Quarterly
Biannual
Annual
Check motion range
Each joint
√
Move the cables back and forth
lightly to check whether the cables
are disconnected.
External cables
(including cable unit of the
Manipulator)
√ √
Push each arm in MOTOR ON
status to check whether backlash
exists.
Each joint √
Check whether unusual sound or
vibration occurs.
Whole √ √ √ √ √
Measure the accuracy repeatedly by
a dial gauge when positional gap
occurs.
Whole √
Execute Brake off command (brake
off, joint #) from the command
window of the EPSON RC+ while
the motors are OFF, and then check
the sound of the electromagnetic
brake. If there is no sound, replace
the brake.
Brake √ √ √ √ √
Maintenance 2. General Maintenance
144 VT Rev.9
2.2 Overhaul (Parts Replacement)
CAUTION
■
Overhaul timing is based on an assumption that all joints are operated for equal
distance. If a
particular joint has a high duty or high load, it is recommended to
overhaul all joints (as many as possible) before exceeding 20,000 operation hours
with the joint as a basis.
The parts for the Manipulator joints may cause accuracy decline or malfunction due to
deterioration of the Manipulator resulting from long term use. In order to use the
Manipulator for a long term, it is recommended to overhaul the parts (parts replacement).
The time between overhauls is 20,000 operation hours of the Manipulator as a rough
indication.
However, it may vary depending on usage condition and degree of the load (such as when
operated with the maximum motion speed and maximum acceleration / deceleration in
continuous operation) applied on the Manipulator.
For EPSON RC+ 7.0, the recommended replacement time for the parts subject to
maintenance (motors, reduction gear units, and timing belts) can be checked in the
[Maintenance] dialog box.
Refer to the Maintenance: 4. Alarm.
Note:
The recommended replacement time for the maintenance parts is when it reaches the L10
life (time until 10% failure probability). In the [Maintenance] dialog box, the L10 life is
displayed as 100%.
NOTE
Maintenance 2. General Maintenance
VT Rev.9 145
The Manipulator operation hours can be checked in [Controller Status Viewer] dialog box -
[Motor On Hours].
(1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog
box.
(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog
box.
(3) Select the folder where the information is stored.
(4) Click <OK> to view the [Controller Status Viewer] dialog box.
(5) Select [Robot] from the tree menu on the left side.
For the parts subject to overhaul, refer to Maintenance: 22. Maintenance Parts List.
For details of replacement of each part, refer to the Maintenance section.
Please contact the supplier of your region for further information.
Maintenance 2. General Maintenance
146 VT Rev.9
2.3 Tightening Hexagon Socket Head Cap Bolts
Hexagon socket head cap bolts (herein after referred to as bolt) are used in places where
mechanical strength is required. 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
Refer below for the set screw.
M3
2.0 ± 0.1 N⋅m
(21 ± 1 kgf⋅cm)
Set Screw
Tightening Torque
M4
4.0 ± 0.2 N⋅m
(41 ± 2 kgf⋅cm)
M4
2.4 ± 0.1 N⋅m
(26 ± 1 kgf⋅cm)
M5
8.0 ± 0.4 N⋅m
(82 ± 4 kgf⋅cm)
M5
4.0 ± 0.2 N⋅m
(41 ± 2 kgf⋅cm)
M6
13.0 ± 0.6 N⋅m
(133 ± 6 kgf⋅cm)
M8
32.0 ± 1.6 N⋅m
(326 ± 16 kgf⋅cm)
M10
58.0 ± 2.9 N⋅m
(590 ± 30 kgf⋅cm)
M12
100.0 ± 5.0 N⋅m
(1,020 ± 51 kgf⋅cm)
The bolts aligned on a circumference should be fastened in a crisscross pattern as shown in
the figure below.
1
5
3
7
2
6
4
8
Bolt hole
Do not fasten all bolts securely at one time.
Divide the number of times that the bolts are
fastened into two or three and
fasten the bolts
securely with a hexagonal wrench. Then, use a
torque wrench so that the bolts are fastened with
tightening torques shown in the table above.
2.4 Matching Origins
After parts have been replaced (e.g. motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
For calibration, the pulse values for a specific position must be recorded in advance.
Before replacing parts, select easy point (pose) data from the registered point data to check
the accuracy. Then, follow the steps below to display the pulse values and record them.
Execute the following command from the [Command Window].
>PULSE
PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value
]
pls [Joint #4 Pulse value] pls[Joint #5 Pulse value]pls [Joint #6 Pulse value]pls
EPSON
RC+
Maintenance 2. General Maintenance
VT Rev.9 147
2.5 Layout of Maintenance Parts
LED Plate
Joint #5 Motor
Joint #4 Motor
Joint #2
Reduction Gear Unit
Joint #6 Motor
Joint #3
Reduction Gear Unit
Joint #4
Reduction Gear Unit
Joint #4 Electromagnetic Brake
Joint #4 Timing Belt
Joint #1 Motor
Joint #1
Reduction Gear Unit
Joint #1 Timing Belt
Joint # 1 Electromagnetic Brake
CPU/DPB Unit
SD Card
Lithium Battery
Joint #6 Timing Belt
Joint #5 Timing Belt
Joint #6 Electromagnetic Brake
Joint #5 Electromagnetic Brake
Joint #3 Timing Belt
Joint #2 Timing Belt
Joint #3 Motor
Joint #3 Electromagnetic Brake
Joint #2 Motor
Joint #2 Electromagnetic Brake
Power Supply Board
AC specification: two boards
DC specification: one board
Maintenance 3. Manipulator Structure
148 VT Rev.9
3. Manipulator Structure
3.1 AC Specification Manipulator
Standard, Cleanroom model
Maintenance 3. Manipulator Structure
VT Rev.9 149
Protection model
Maintenance 3. Manipulator Structure
150 VT Rev.9
3.2 DC Specification Manipulator
Standard model
Maintenance 4. Alarm
VT Rev.9 151
4. Alarm
When the lithium batteries run out, a voltage reduction alarm warning occurs.
However, the warning does not guarantee that the battery lasts until you replace it.
Therefore, you need to replace the battery immediately. If the battery has run out, the
Manipulator parameters will be lost and recalibration of the Manipulator will be
required.
In addition, the parts of the Manipulator joints may cause accuracy decline or
malfunction due to deterioration of the parts resulting from long term use. If the
Manipulator breaks down due to deterioration of the parts, it will take significant time
and cost for repair.
The following sections describe the alarm function which announces the following
maintenance timings in order to perform maintenance well ahead of time before the
warning error.
- Battery replacement
- Grease up
- Replacement of the timing belt
- Replacement of the motor
- Replacement of the reduction gear unit
Maintenance 4. Alarm
152 VT Rev.9
4.1 Maintenance
The recommended replacement time can be configured for the batteries, timing belts, motors,
and reduction gear units.
CAUTION
■
Make sure that the date and time on the Manipulator are set correctly.
Maintenance cannot be performed properly with improper date and time setting.
■
If the CPU/DPB board or SD card is replaced, the Maintenance information may
be lost. When you replaced these parts, confirm the date and time of the
Manipulator and the Maintenance information.
Settings of the Maintenance are different depending on installation methods of the firmware.
Initial installation : Maintenance is enabled.
Upgrade : Maintenance inherits the previous data.
(Disables as default)
For details for enabling or disabling the Maintenance, refer to the EPSON RC+ 7.0 User’s
Guide 5.12.2 [System Configuration] Command (Setup Menu) - [Setup]-[System
Configuration]-[Controller]-[Preferences] Page.
Maintenance is enabled at shipment.
If enabled, the Maintenance information for the timing belts, motors, and reduction gear
units will be configured automatically when the robot is configured or changed.
When the Manipulator is deleted from the configuration, the Maintenance information will
also be automatically deleted.
For details on the Manipulator configuration, refer to the EPSON RC+ 7.0 User’s Guide
10.1 Setting the Robot Model.
CAUTION
■
Changing of the Manipulator should be done carefully. The alarm setting will
be reset when the Manipulator is changed.
If the Maintenance is enabled, the battery is automatically configured at the first connection.
NOTE
NOTE
Maintenance 4. Alarm
VT Rev.9 153
4.2 Maintenance Information
4.2.1 How to Check the Maintenance Information
The configured Maintenance information can be checked in the EPSON RC+.
(1) Select EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.
(2) To check the Controller Maintenance information, click the <Maintenance> button
and display the [Maintenance] dialog box.
(3) Select “General” or specify the axis from the tree to display information of the target
parts.
The recommended replacement time for the battery is calculated based on the battery
capacity and the Manipulator ON time. The battery may run out if it passes the
recommended replacement time.
NOTE
Maintenance 4. Alarm
154 VT Rev.9
The recommended replacement time for the parts (e.g. timing belts, motors, reduction gear
units) is when it reaches the L10 life (time until 10% failure probability). In the dialog box,
the L10 life is displayed as 100%.
4.2.2 How to Edit the Maintenance Information
The configured Maintenance information can be edited in the EPSON RC+.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Maintenance] to display the [Controller
Tools] dialog box.
(2) To edit the Maintenance information, display the [Maintenance] dialog box.
(3) Select “General” or specify the axis from the tree to display information of the target
parts.
(4) Select the alarm to be changed and click the <Change> button.
(5) Display the [Change Alarm] dialog box and enter any of the following.
Purchase or replacement date of the battery
Date of grease up
Purchase or replacement date of the timing belt
Purchase or replacement date of the motor
Purchase or replacement date of the reduction gear unit
(6) Click the <OK> button and change the specified alarm information.
The offset can be set for the consumption rate of already installed parts.
Follow the steps below to calculate a rough offset setting value.
1. Measure the usable months for the past operation by HealthRBAnalysis.
2. Confirm the past Motor ON time in the Controller status viewer.
3. Calculate a rough offset value with the following formula.
Offset=100×
Motor On time
24×30.4375× Usable months
For details, refer to the following manual.
EPSON RC+ 7.0 SPEL+ Language Reference.
NOTE
NOTE
Maintenance 4. Alarm
VT Rev.9 155
4.2.3 Alarm Notifying Method
The Manipulator status becomes warning and displays warning message if any parts
required to perform replacement or grease up.
For details, refer to the following manual.
SPEL+ Language Reference SPEL+ Error Message
The alarm notifying method can be configured by the output bit of the Remote I/O.
The Remote I/O can be configured in the EPSON RC+ 7.0- [Setup] - [System
Configuration] - [Controller] - [Remote Control].
For details, refer to the following manual.
EPSON RC+ 7.0 User’s Guide 12.1 Remote I/O.
The Controller enters the warning state if an alarm occurs.
4.2.4 How to Cancel the Alarm
An alarm occurs when the consumption rate of the parts reaches 100%.
The alarm cannot be canceled by executing the Reset command or restarting the Controller.
The alarm can be canceled by the following method.
Operation from [Maintenance] dialog box of the EPSON RC+ 7.0
HealthCtrlReset Command
HealthRBReset Command
Refer to the following section to change the alarm information in the same steps.
Maintenance 4.2.2 How to Edit the Maintenance Information
NOTE
NOTE
Maintenance 5. Backup and Restore
156 VT Rev.9
5. Backup and Restore
5.1 What is the Backup Controller Function
The Manipulator configuration set by EPSON RC+ 7.0 can be stored with the “Backup
Controller” function.
The Manipulator settings can be restored easily using the data previously stored with
“Backup Controller” after a configuration mistake or Manipulator problem.
Be sure to execute “Backup Controller” before changing the Manipulator setup, before
maintenance, or after teaching.
For some problems, backup may not be available before maintenance has to be performed.
Be sure to backup the data after making changes, before problems occur.
“Controller Status Storage” is one of the VT series Manipulator functions. It saves the
Controller setup data same as “Backup Controller.”
There data can be used as the backup data at restoring.
The methods for “Controller Status Storage” are as follows:
A : “Controller status storage to USB memory”
For details, refer to Setup & Operation 8. Memory Port.
B : “Export Controller Status function” in EPSON RC+ 7.0.
For details, refer to the following manual.
EPSON RC+ 7.0 User’s Guide 5.9.9 Import Command (Project Menu).
5.2 Backup Data Types
The table below shows the files created with “Backup Controller”.
File Name
Overview
Backup.txt
Information file for
restore
File including information for restoring the
Manipulator.
CurrentMnp01.PRM
Manipulator
parameters
Stores information such as ToolSet.
InitFileSrc.txt
Initial configuration
Stores various Manipulator parameters.
MCSys01.MCD
Manipulator
configuration
Stores connected Manipulator
information.
All the files related to
Project
Project related
All the project files transferred to the
Controller. Includes program files when
EPSON RC+ 7.0 is configured to transfer
source code to the Controller.
GlobalPreserves.dat
Global Preserve
variables
Saves values of Global Preserve variables.
WorkQueues.dat
WorkQue
information
Saves information of Queues information
of the WorkQue.
NOTE
Maintenance 5. Backup and Restore
VT Rev.9 157
5.3 Backup
Backup the Manipulator status from EPSON RC+ 7.0.
(1) Select EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools]
dialog box.
(2) Click the <Backup Controller…> button to display the [Browse For Folder] dialog box.
(3) Specify the folder to save the backup data. Create a new folder if desired.
(4) Click the <OK> button. A folder is created in the specified folder containing the
backup data with a name in the following format.
B_VT_ serial number_ date status was saved
→ Example: B_VT_12345_2016-04-03_092941
CAUTION
■
Do not edit the ba
ckup files. Otherwise, operation of the robot system after data
restoration to the Manipulator is not assured.
Maintenance 5. Backup and Restore
158 VT Rev.9
5.4 Restore
Restore the Manipulator status from EPSON RC+ 7.0.
CAUTION
■
Make sure that the data used for restore was saved previously for same
Manipulator.
■
Do not edit the backup files. Otherwise, operation of the robot system after
data restoration to the Manipulator is not assured.
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller Tools]
dialog box.
(2) Click the <Restore Controller…> button to display the [Browse For Folder] dialog box.
(3) Specify the folder that contains the backup data. Backup data folders are named using
the following format:
B_VT_ serial number_ date status was saved
→ Example: B_VT_12345_2016-04-03_092941
Controller status backup to USB memory function can also be specified for restore.
Specify the following folder.
NOTE
Maintenance 5. Backup and Restore
VT Rev.9 159
(4) Click the <OK> button to display the dialog box to select the restore data.
Robot name, serial #, calibration
This checkbox allows you to restore the robot (Manipulator) name, Manipulator
serial number, Hofs data, and CalPls data. Make sure that the correct Hofs data is
restored. If the wrong Hofs data is restored, the Manipulator may move to wrong
positions.
This is not selected by the default setting.
Robot maintenance configuration
This checkbox allows you to restore the robot alarm related files.
For details, refer to Maintenance 4. Alarm.
This is not selected by the default setting.
Project
This checkbox allows you to restore the files related to projects.
This is not selected by the default setting.
When a project is restored, the values of Global Preserve variables are loaded.
For details about Global Preserve variable backup, refer to the following manual.
EPSON RC+ 7.0 User’s Guide 5.10.10 Display Variables Command (Run Menu).
Vision hardware configuration
This checkbox allows you to restore the vision hardware configuration.
For details, refer to refer to the following manual.
EPSON RC+ 7.0 option Vision Guide 7.0.
This is not selected by the default setting.
Security configuration
This checkbox allows you to restore the security configuration.
For details, refer to refer to the following manual.
EPSON RC+ 7.0 User’s Guide 15. Security.
This is not selected by the default setting.
Force Sensing I/F configuration
This checkbox allows you to restore the Force Sensing I/F configuration.
This is not selected by the default setting.
This function is not supported for VT series Manipulator.
Password authentication setting
This checkbox allows you to restore the setting of authentication for PC connection.
The authentication password for PC connection and the setting to disable
connection authentication are restored.
This is not selected by the default setting.
Maintenance 5. Backup and Restore
160 VT Rev.9
(5) Click the <OK> button to restore the system information.
Restore the system configuration saved using Backup Controller only for the same system.
When different system information is restored, the following warning message appears.
Click the <No> button (do not restore data) except for special situations such a
Manipulator replacement.
When restoring the backup including the robot information other than VT series, an error
occurs.
You cannot restore the backup including T series robot created in the virtual Controller of
EPSON RC+ 7.0 to the VT series robot.
NOTE
NOTE
NOTE
Maintenance 6. Firmware Update
VT Rev.9 161
6. Firmware Update
This chapter describes the firmware upgrade procedure and data file initialization when
firmware or Manipulator configuration errors cause Manipulator startup or operation failure.
6.1 Updating Firmware
Firmware (software stored in non-volatile memory) and data files necessary to control the
Manipulator are preinstalled in the Manipulator. Controller configuration set from EPSON
RC+ 7.0 is always saved in the Manipulator.
Firmware is supplied by CD-ROM as needed. Please contact the supplier of your region
for information.
You must use a PC running EPSON RC+ 7.0 connected to a Manipulator with USB to update
the Manipulator firmware. Firmware cannot be updated with an Ethernet connection.
When installing the firmware Ver.7.5.0.x or later, be sure to use the PC which EPSON RC+
7.0 Ver.7.5.0 or later is installed.
6.2 Firmware Upgrade Procedure
The firmware upgrade procedure is described as follows:
CAUTION
■
DO NOT unplug the USB cable, or turn OFF the Manipulator or the
development PC during upgrade of the firmware. Doing so may result in
malfunction of the robot system.
(1) Connect the development PC and the Manipulator with a USB cable (the firmware
cannot be changed with an Ethernet connection).
(2) Turn ON the Manipulator. (Do not start the development software EPSON RC+ 7.0
until the firmware upgrade is completed.)
(3) Insert the “firmware CD-ROM” in the development PC CD-ROM drive
(4) Execute “CtrlsetupT.exe”. The following dialog box appears.
(5) Select the <Upgrade> option button and click the <Next> button.
NOTE
Maintenance 6. Firmware Update
162 VT Rev.9
(6) Make sure that the development PC is connected to the Manipulator with a USB cable
and Click the <Next> button.
(7) Check the current firmware version and the new firmware version and click the
<Install> button.
(8) The firmware upgrade starts. It takes several minutes to complete.
(9) Continuous data file transfer starts.
Maintenance 6. Firmware Update
VT Rev.9 163
(10) The following dialog box appears when transfer has completed. Click the <Next>
button to reboot the Manipulator.
(11) The following dialog box appears after the Controller reboot. Click the <Finish>
button.
The firmware upgrade is complete.
When you install the firmware (Ver.7.4.0.2 or later) on the Controller which the firmware
(before Ver.7.4.0.2) has been installed, the following message is displayed.
When the message is displayed, re-install the firmware.
6.3 Manipulator Recovery
If the Manipulator becomes inoperable, use the procedures described in this section to
recover.
Controller Backup is recommended for easy recovery of the Controller operation.
For details of Controller Backup, refer to refer to the following manual.
Maintenance 5. Backup and Restore.
NOTE
NOTE
Maintenance 6. Firmware Update
164 VT Rev.9
6.4 Firmware Initialization Procedure
The firmware initialization procedures are described in this section.
CAUTION
■
DO NOT unplug the USB cable, or turn OFF the Manipulator or the
development PC during upgrade of the firmware. Doing so may result in
malfunction of the robot system.
(1) Connect the development PC to the Manipulator with a USB cable (the firmware cannot
be changed with an Ethernet connection).
(2) Turn ON the Manipulator. Do not start the development software EPSON RC+ 7.0
until firmware initialization is complete.
(3) Insert the “Firmware CD-ROM” in the development PC CD-ROM drive.
(4) Execute “Ctrlsetup.exe”.
(5) Select the <Initialize> option button and click the <Next> button.
(6) Make sure that the development PC is connected to the Controller with a USB cable
and Click the <Next> button.
(7) Check the version information and click the <Install> button.
Maintenance 6. Firmware Update
VT Rev.9 165
(8) Firmware and data file transfer starts. It takes several minutes to complete.
(9) The following dialog box appears when transfer is completed. Click the <Next>
button to reboot the Manipulator.
(10) The following dialog box appears after the Manipulator reboot. Click the <Finish>
button.
The firmware upgrade is completed.
Start EPSON RC+ 7.0 and restore the Controller settings.
For details of restoring the operating system, refer to Maintenance 5. Backup and Restore.
When you install the firmware (Ver.7.4.0.2 or later) on the Controller which the firmware
(before Ver.7.4.0.2) has been installed, the following message is displayed.
When the message is displayed, re-install the firmware.
NOTE
Maintenance 6. Firmware Update
166 VT Rev.9
6.5 Adding Confirmation Steps by Strengthening Security of
EtherNet Connection
From the following firmware version password authentication is required when connecting Controllers
and PCs to a global accessible network.
F/W : Ver.7.4.58.x
In the following cases, connections of EtherNet (PC) connector and Remote Ethernet are not available.
Controller IP address is set to global IP address
Firmware version is Ver.7.4.58 or later
EPSON RC+7.0 is Ver.7.4.7 or before
When the Controller firmware is updated under the following conditions, additional steps to confirm
whether to continue the firmware update may be execute depending on the configuration settings of
the Controller. (step 3 or later shown below)
Controller IP address is set to global IP address
Firmware version to be installed is 7.4.8.x or later
The following describes the steps to confirm whether to continue the firmware update.
(1) Insert “Firmware CD-ROM” to be installed into the CD-ROM driver of the
development PC.
(2) Execute “CtrlsetupT.exe”.
(3) Controller Setup window is displayed.
Select the <Upgrade> button and click the <Next> button.
Maintenance 6. Firmware Update
VT Rev.9 167
(4) Step 2 window is displayed.
Click the <Next> button.
(5) Step 3 window is displayed.
(5)-1 When the steps to confirm whether to continue the firmware update is not
executed:
Step 3 window is displayed.
Follow the instructions on the window and install the firmware.
(5)-2 When the steps to confirm whether to continue the firmware update is executed:
The following window is displayed.
When the <I understand the contents> button is selected, the <OK> button will
be enabled.
When the <OK> button is clicked, Step3 window is displayed. Go to the step (6).
When the <Cancel> button is clicked, Step3 window is displayed. The [Disable
connection password] checkbox and the <Install> button will be grayed out and
cannot be selected.
Maintenance 6. Firmware Update
168 VT Rev.9
(6) Step 3 window is displayed.
(6)-1 If the [Disable connection password] checkbox is selected, connection
authentication after updating the firmware is disabled.
(6)-2 If the <Install> button is clicked, the confirmation window is displayed.
When the [Disable connection password] checkbox is selected:
When the [Disable connection password] checkbox is not selected:
When the <OK> button is clicked, Step 4 window is displayed. Go to the step
(7).
When the <Cancel> button is clicked, the window is closed.
(7) Firmware installation starts.
When the firmware is installed, click the <Next> button. Reboot the Controller.
Maintenance 6. Firmware Update
VT Rev.9 169
(8) When the Controller is rebooted, the following window is displayed.
Confirm that the firmware is installed.
Click the <Finish> button.
Maintenance 7. Covers
170 VT Rev.9
7. Covers
All procedures for removing and installing covers in maintenance are described in this chapter.
WARNING
■
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 extremely hazardous and may result in serious bodily injury as the
Manipulator may move abnormally, and also may result in electric shock and/or
malfunction of the robot system.
■
To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power plug.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the Controller and related
equipment, and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in electric shock and/or malfunction of the robot system.
■
Be careful not to get any foreign substances in the Manipulator, connectors, and
pins during maintenance. Turning ON the power to the robot system when any
foreign substances exist in them is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.
Connector Plate
Arm #4 Cover 2
Arm #3 Cover
Arm #4 Cover 1
Arm #2 Cover
Arm #1 Cover
Power Cable Cover
Maintenance 7. Covers
VT Rev.9 171
7.1 Arm #1 Cover
CAUTION
■
Do not remove the
cover forcibly. Removing the cover forcibly may result in
damage to the cables, disconnection, and/or contact failure. Damaged
cables,
disconnection, or contact failure is extremely hazardous and may result in electric
shock and/or improper function of the robot system.
■
When
installing the cover, be careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cables, disconnection, or contact failure is
extremely hazardous and may result in e
lectric shock and/or improper function of
the robot system.
When
routing the cables, observe the cable locations
after removing the cover.
Be sure to
place the cables back to their original locations.
Arm #1 Cover
5-M4×12 Sems
Maintenance 7. Covers
172 VT Rev.9
Arm #1 Cover
Removal
Standard
, Cleanroom model:
Unscrew the mounting bolts, and then lift the Arm #1 Cover.
Protection
model:
Unscrew the mounting bolts, and then lift the
Arm #1 Cover and Arm #1 gasket together.
Be careful for
wires and tubes when removing the cover.
If the Arm #2 interferes with
the tools when unscrewing the mounting bolts, move the
Arm #2 to the position where it does not interfere with the tools before be performing
operations.
Arm #1 Cover
Installation
Standard
, Cleanroom model:
Put the Arm #1 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 5-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
Protection
model:
Mount Arm #1 gasket in the groove of Arm #1 Cover. (Replace the gasket if there are
flaws or deteriorations.)
Put the Arm #1 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 5-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
When installing the cover, b
e careful not to get the gaskets and cables caught between the
arm
and cover.
NOTE
NOTE
NOTE
Maintenance 7. Covers
VT Rev.9 173
7.2 Arm #2 Cover
CAUTION
■
Do not remove the cover
forcibly. Removing the cover forcibly may result in
damage to the cables, disconnection, and/or contact failure. Damaged cables,
disconnection, or contact failure is extremely hazardous and may result in electric
shock and/or improper function of the robot system.
■
When installing the cover, b
e careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cables, discon
nection, or contact failure is
extremely hazardous and may result in electric shock and/or improper function of
the robot system.
When
routing the cables, observe the cable locations
after removing the cover.
Be sure to
place the cables back to their original locations.
Arm #2 Cover
10-M4×12 Sems
Arm #2 Cover
Removal
Standard
, Cleanroom model:
Unscrew the mounting bolts, and then lift the Arm
#2 Cover.
P
rotection model:
Unscrew the mounting bolts, and then lift the Arm
#2 Cover and Arm #2 gasket together.
Be careful for
wires and tubes when removing the
cover.
Arm #2 Cover
Installation
Standard
, Cleanroom model:
Put the Arm #2 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 10-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
P
rotection model:
Mount Arm #2 gasket in the groove of Arm #2 Cover. (Replace the gasket if there are
flaws or deteriorations.)
Put the Arm #2 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 10-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
When installing the cover, b
e careful not to get the gaskets and cables caught between the
arm
and cover.
NOTE
NOTE
Maintenance 7. Covers
174 VT Rev.9
7.3 Arm #3 Cover
CAUTION
■
Do not remove the cover
forcibly. Removing the cover forcibly may result in
damage to the cables, disconnection, and/or contact failure. Damaged cables,
disconnection, or contact failure is extremely hazardous and may
result in electric
shock and/or improper function of the robot system.
■
When installing the cover, b
e careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cables, disconnection, or contact failure is
extremely hazardous and may result in electric shock and/or improper f
unction of
the robot system.
When
routing the cables, observe the cable locations
after removing the cover.
Be sure to
place the cables back to their original locations.
Arm #3 Cover
3-M4×12 Sems
Arm #3 Cover
Removal
Standard
, Cleanroom model:
Unscrew the mounting bolts, and then lift the
Arm #3 Cover.
P
rotection model:
Unscrew the mounting bolts, and then lift the
Arm #3 Cover and Arm #3 gasket together.
Be careful for
wires and tubes when removing the
cover.
Arm #3 Cover
Installation
Standard
, Cleanroom model:
Put the Arm #3 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 3-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
P
rotection model:
Mount Arm #3 gasket in the groove of Arm #3 Cover. (Replace the gasket if there are
flaws or deteriorations.)
Put the Arm #3 Cover to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 3-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
When installing the cover, b
e careful not to get the gaskets and cables caught between the
arm
and cover.
NOTE
NOTE
Maintenance 7. Covers
VT Rev.9 175
7.4 Arm #4 Cover 1
CAUTION
■
Do not remove the cover
forcibly. Removing the cover forcibly may result in
damage to the
cables, disconnection, and/or contact failure. Damaged cables,
disconnection, or contact failure is extremely hazardous and may result in electric
shock and/or improper function of the robot system.
■
When installing the cover, b
e careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cables, disconnection, or contact failure is
extremely hazardous and may result in electric shock and/or improper function of
the robot syste
m.
When
routing the cables, observe the cable locations
after removing the cover.
Be sure to
place the cables back to their original locations.
Arm #4 Cover 1
6-M4×12 Sems
Arm #4 Cover 1
Removal
Standard
, Cleanroom model:
Unscrew the mounting bolts, and then lift the Arm
#4 Cover 1.
P
rotection model:
Unscrew the mounting bolts, and then lift the Arm
#4 Cover 1 and Arm #4 gasket 1 together.
Be careful for
wires and tubes when removing the cover.
Arm #4 Cover 1
Installation
Standard
, Cleanroom model:
Put the Arm #4 Cover 1 to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 6-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
P
rotection model:
Mount Arm #4 gasket 1 in the groove of Arm #4 Cover 1. (Replace the gasket if there
are flaws or deteriorations.)
Put the Arm #4 Cover 1 to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 6-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
When installing the cover, b
e careful not to get the gaskets and cables caught between the
arm
and cover.
NOTE
NOTE
Maintenance 7. Covers
176 VT Rev.9
7.5 Arm #4 Cover 2
CAUTION
■
Do not remove the cover
forcibly. Removing the cover forcibly may result in
damage to the cables, disconnection, and/or contact failure. Damaged cables,
disconnection, or contact failure is extremely hazardous and may result in electric
shock and/or improper function of the robot system.
■
When installing the cover, b
e careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cabl
es, disconnection, or contact failure is
extremely hazardous and may result in electric shock and/or improper function of
the robot system.
When
routing the cables, observe the cable locations
after removing the cover.
Be sure to
place the cables back to their original locations.
Arm #4 Cover 2
6-M4×12 Sems
Arm #4 Cover 2
Removal
(1)
Unscrew the mounting bolts, and then lift the Arm #4 Cover 2.
Do not remove the cover forcibly when removing it.
(2)
Disconnect the connector from the board mounted on the rear side of the Arm #4
Cover 2.
(3)
Only for Protection model:
Remove Arm #4 gasket 2 from the Arm #4 Cover 2.
NOTE
Maintenance 7. Covers
VT Rev.9 177
Arm #4 Cover 2
Installation
(1)
Only for Protection model:
Mount Arm #4 gasket 2 in the groove of Arm #4
Cover 2. (Replace the gasket if there are flaws or
deteriorations.)
(2)
Connect the connector to the board on the rear side of the Arm #4 Cover 2.
Connect the connector to the board which supports each motor (J5, J6).
Be careful not to connect it to wrong board or forget to connect.
J5
J6
Board for Joint #6
Board for Joint #5
Joint #6 Motor
Joint #5 Motor
(3)
Put the Arm #4 Cover 2 to the Manipulator and secure with the mounting bolts.
Hexagon socket head cap bolts with captive washer: 6-M4×12 Sems
Tightening torque: 4 ± 0.2 Nm
When installing the cover, b
e careful not to get the gaskets and cables caught between the
arm and cover.
NOTE
NOTE
Maintenance 7. Covers
178 VT Rev.9
7.6 Power Cable Cover
Standard, Cleanroom model:
Power Cable Cover
2-M4×8 Sems
Power Cable
Cover
Removal
Unscrew the mounting bolts, and then lift the Power Cable Cover.
Power Cable
Cover
Installation
Put the Power Cable Cover to the connector plate and secure with the
mounting bolts.
Hexagon socket head cap bolts with captive washer: 2-M4×8 Sems
Tightening torque: 0.9 ± 0.1 Nm
When installing the cover, be careful not to get the cables caught between the
arm and cover
Protection model:
There is no Power Cable Cover.
NOTE
Maintenance 7. Covers
VT Rev.9 179
7.7 Connector Plate
CAUTION
■
Do not remove the connector plate
forcibly. Removing the connector plate
forcibly may result in damage to the cables, disconnection, and/or contact failure.
Damaged cables, disconnection, or contact f
ailure is extremely hazardous and
may result in electric shock and/or improper function of the robot system.
■
When installing the connector plate, b
e careful not to allow the cables to interfere
with the plate mounting and d
o not bend these cables forcibly to push them into
the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cables, disconnection, or contact failure is
extremely hazardous and may result in electric shock and/or improper
function of
the robot system.
When
routing the cables, observe the cable locations after removing the connector
plate
. Be sure to place the cables back to their original locations.
Connector Plate
10-M4×10
Connector
Plate
Removal
Standard
, Cleanroom model:
(1)
Remove the
Power Cable Cover.
Refer to Maintenance: 7.6 Power Cable Cover.
(2)
Remove the p
ower cable clamp and then remove Power Cable Connector.
When removing the Power cable connector, pull it out with pushing clips on
both side of the connector.
(3)
Unscrew the Connector Plate mounting bolts and then remove the Connector Plate.
Protection
model:
(
1)
Unscrew the Connector Plate
mounting bolts and then remove the Connector Plate.
(2)
R
emove the base gasket from the base.
NOTE
Maintenance 7. Covers
180 VT Rev.9
Connector
Plate
Installation
Standard, Cleanroom model:
(1)
Put the Connector Plate to the base and secure using the mounting bolts.
Hexagon socket head cap button bolt: 10-M4×10
Tightening torque: 4.0 ± 0.2 N·m
(2)
Connect the Power Cable Connector and install the power cable clamp.
(3)
Mount the Power Cable Cover.
Refer to Maintenance: 7.6 Power Cable Cover.
Protection model:
(1)
M
ount the base gasket in the groove of the base.
(
Replace the gasket if there are flaws or deteriorations.)
(2)
Put the Connector Plate to the base and secure using the mounting bolts.
Hexagon socket head cap button bolt: 10-M4×10
Tightening torque: 4.0 ± 0.2 N·m
When installing the
connector plate, be careful not to get the gaskets and cables caught
between the arm
and cover.
NOTE
Maintenance 8. Cable
VT Rev.9 181
8. Cable
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
■
Be careful not to get any foreign substances in
the Manipulator, connectors, and
pins during maintenance.
Turning ON the power to the robot system when any
foreign substances exist in them is extremely
hazardous and may result in electric
shock
and/or malfunction of the robot system.
CAUTION
■
Be sure to connect the cables properly.
Do not allow unnecessary strain on the
cables. (Do not
put heavy objects on the cables. Do not bend or pull the cables
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the
robot system.
Maintenance 8. Cable
182 VT Rev.9
8.1 Replacing Cable Unit
Name
Quantity
Note
Maintenance
part
Cable Unit 1 2191349
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3 hexagon socket head
cap bolts
width across flats: 3 mm 1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Material
Wire tie
-
Grease GPL-224 -
For purchasing grease, please
contact the supplier of your
region.
CAUTION
■
If the connectors have been disconnected during the replacement of the cable unit,
b
e sure to reconnect the connectors to their proper positions. Refer to the wiring
diagrams.
Improper connection of the connectors may result in improper
function of the robot
system.
For details on the connections, refer to the following manual.
Maintenance: 3. Manipulator Structure.
■
When installing the cover, b
e careful not to allow the cables to interfere with the
cover mounting and do
not bend these cables forcibly to push them into the cover.
Unnecessary strain on cables may result in damage to the cables, disconnection,
and/or contact failure. Damaged cabl
es, disconnection, or contact failure is
extremely hazardous and may result in electric shock and/or improper function of
the robot system.
When
routing the cables, observe the cable locations after removing the cover. Be
sure to
place the cables back to their original locations.
■
Be sure to connect the cables
completely. Do not allow unnecessary strain on the
cables. (Do not
put heavy objects on the cables. Do not bend or pull the cables
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection, or
contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.
Maintenance 8. Cable
VT Rev.9 183
CAUTION
■
Wear protective gear including a mask, protective goggles, and oil-resistant gloves
during grease up.
If grease gets into your eyes, mouth, or on your skin, follow the
instructions below.
If grease gets into your eyes
: Flush them thoroughly with clean water, and then see a doctor
immediately.
If grease gets into your mouth
: If swallowed, do not induce vomiting. See a doctor immediately.
: If grease just gets into your mouth, wash out your mouth with water
thoroughly.
If grease gets on your skin
: Wash the area thoroughly with soap and water.
When removing the Joint #2 motor unit, tilt the Arm #2 and press it against the Arm #1.
Reference: Maintenance: 10.1 Joint #2 - Replacing the Motor, Removal step (2)
When removing the Joint #3 motor unit, tilt the Arm #3 and press it against the Arm #2.
Reference: Maintenance: 11.1 Joint #3 - Replacing the Motor, Removal step (2)
Maintenance 8. Cable
184 VT Rev.9
Cable Unit
Removal
(1)
Move the
Manipulator to the origin posture (0 pulse position).
(2)
Turn
OFF the Manipulator.
(3)
Remove the
following covers and plate.
Arm #1 Cover Arm #2 Cover
Arm #3 Cover Arm #4 Cover 1
Arm #4 Cover 2 Connector Plate
Reference: Maintenance 7 Covers
(4)
Unscrew
the mounting screws of the
Controller Unit
.
Hexagon socket head cap bolts:
3-M4×10 (with plain washer)
(5)
Pull out the
Controller Unit from the
Manipulator base.
When pulling it out,
firstly
push the plate of the Controller
Unit
to the right (see the picture) gently,
then remove the thermal conductive
sheet
on the base and the Controller Unit.
Next, pull
the Controller Unit forward.
Gently push to the right
Pull it forward
NOTE
Maintenance 8. Cable
VT Rev.9 185
(6)
Disconnect
the following
connectors of the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
(
7)
Remove the ground wire terminal
s inside the base.
Cross recessed head screws: M4×6
(8)
Cut
off the wire tie bound to the plate inside the base.
Wire tie: AB150
(9)
Cut off the wire ties
bound inside the Arm #1.
Wire ties : AB150 × 2
AB100 × 1
(10)
Remove the ground wire terminals
of Arm #1.
Cross recessed head screws: 2-M4× 6
Maintenance 8. Cable
186 VT Rev.9
(11)
Disconnect the power cable connecter from
the AMP board of
Joint #1 motor.
(12)
Disconnect the signal cable connectors (for motor
× 2) of Joint
#1 motor.
(13)
Cut off
the wire ties bound to inside the Arm #2.
Wire ties : AB150 ×6
AB100 ×5
Be careful not to cut
the harness.
Wire ties
×
3
本
Wire ties × 3
本
(14)
Remove
the cable fixing plate of Arm #2.
Hexagon socket head cap bolts with captive
washer: 4-M4×12
NOTE
Maintenance 8. Cable
VT Rev.9 187
(15)
Remove the
ground wire terminals of Arm #2.
Cross recessed head screws: 2-M4×6
(16)
Remove the
Joint #2 motor.
Reference: Maintenance 10.1 Replacing Joint #2 Motor
(17)
Remove the Joint #3
motor.
Reference: Maintenance 11.1 Replacing Joint #3 Motor
(18)
Remove the light guide plate.
Cross recessed head screws: 2-M3×10
(19)
Unscrew the cross recessed head screws fixing
the LED
board.
Cross recessed head screws: 2-M3×6
Maintenance 8. Cable
188 VT Rev.9
(20)
Disconnect the connector which is connected
to
the LED board.
Connector: LED_CN1
(21)
Pass
the LED cable through the opening of
the
Arm #2 and pull the LED cable out.
Pass through the
opening
(22)
Cut off the wire tie bound to the plate inside the
Arm #3.
Wire ties: AB150 ×2
(23)
Cut off
the wire ties that bind the
power cable
and
the signal cable of Joint #4 motor.
Wire ties: AB100 × 2
Be careful not to cut
the harness.
(24)
Remove the ground
wire terminals of Arm #3.
Cross recessed head screws: 2-M4×6
NOTE
Maintenance 8. Cable
VT Rev.9 189
(25)
Disconnect the power cable connecter from
the
AMP board of
Joint #4 motor.
(26)
Disconnect the signal cable connectors (for motor
×
2) of Joint #4 motor.
(27)
Cut off the wire ties bound to the plate inside the
Arm
#4.
Wire tie: AB150
(28)
Cut off the wire tie that binds the following cables
and
ground wire.
Wire tie: AB100
Joint #5 motor cable
Signal cable (for motor)
Joint #6 motor cable
Ground wire
Be careful not to cut
the harness.
(29)
Remove the ground
wire terminals of Arm #4.
Cross recessed head screws: M4×6
(30)
Remove
the signal cable connectors (for motor ×
3) of the
the Joint #5 motor and Joint #6 motor.
NOTE
Maintenance 8. Cable
190 VT Rev.9
(31)
Pass
the ground wire and the following cables of each arm through the sleeve of each
joint and pull them out.
Ground wires × 4
Signal cables (for motor × 5)
LED cable × 1
(32)
Pass
the power cable through the sleeve of each joint and pull it out in the following
order.
Arm #4 → Arm #3 → Arm #2 → Arm #1 → Base
Maintenance 8. Cable
VT Rev.9 191
Cable Unit
Installation
(1)
Pass
the new power cable in the following order.
Base
→ Arm #1
→ Joint #1 Timing Belt
→ Arm #2
→ Arm #3
→ Joint #4 Timing Belt
→ Arm #4
Base side
When passing the
cables between arms, be sure to pass them through the sleeve of each
joint. The white connecter is the base side.
(2)
Pass
the new LED cables in the following order.
Base
→ Arm #1
→ Joint #1 Timing Belt
→ Arm #2
Base side
When passing
the
cables between arms, be sure to pass them through the sleeve of each
joint. The blue cable is the base side.
(3)
Connect the power cable connectors (
× 6) of the Jo
int #1, 2, 3, 4,
5, 6 AMP board.
(4)
Connect the
signal cable connector (for motor) of the
J
oint #1, 2, 3, 4, 5, 6 motor unit.
When passing the cables between arms, be sure to pass
them through the sleeve of each joint.
Confirm that the joint
marked on the wire marker of the
signal
cable and the joint of the motor unit to be
connected are the same.
Also,
the same colored connecter is connected to each
connector
. (For the Joint #6 motor, only black colored
connecter is connected.
)
(5)
Install
the Joint #2 motor.
Reference: Maintenance 10.1 Replacing Joint #2 Motor
(6)
Install
the Joint #3 motor.
Reference: Maintenance 11.1 Replacing Joint #3 Motor
NOTE
NOTE
NOTE
Maintenance 8. Cable
192 VT Rev.9
(7)
Fix
the ground wire between the base and the Arm #1.
Cross recessed head screws: 2-M4×6
Tightening torque: 2.0 ± 0.1 N·m
Base side:
Ground wire terminal marked “BASE” on the wire
marker.
Arm #1 side:
Ground wire terminal marked “ARM1” on the wire
marker.
(8)
Fix
the ground wire between the Arm #1 and the Arm #2.
Cross recessed head screws: 2-M4×6
Tightening torque: 2.0 ± 0.1 N·m
Arm #1 side:
Ground wire terminal marked “ARM1” on the wire
marker.
Arm #2 side:
Ground wire terminal marked “ARM2” on the
wire marker.
(9)
Fix
the ground wire between the Arm #2 and the Arm #3
Cross recessed head screws: 2-M4×6
Tightening torque: 2.0 ± 0.1 N·m
Arm #2 side:
Ground wire terminal marked “ARM2” on the
wire
marker.
Arm #3 side:
Ground wire terminal marked “ARM3” on the
wire
marker.
Maintenance 8. Cable
VT Rev.9 193
(10)
Fix
the ground wire between the Arm #3 and the Arm #4.
Cross recessed head screws: 2-M4×6
Tightening torque: 2.0 ± 0.1 N·m
Arm #3 side:
Ground wire terminal marked “ARM3” on the wire
marker.
Arm #4 side:
Ground wire terminal marked “ARM4” on the
wire
marker.
(11)
Connect
the LED cable connector to the
opening of the end of Arm #2.
You can pass the connector th
rough the
opening easily by using
the wire tie.
Pass through the opening
(12)
Connect
the LED cable connector to the LED
board.
Connectors: LED_CN1
(13)
Fix the
LED board.
Cross recessed head screws: 2-M3×6
Tightening torque: 0.45 ± 0.1 N·m
(14)
Fix
the light guide plate.
Cross recessed head screws: 2-M3×10
Tightening torque: 0.45 ± 0.1 N·m
NOTE
Maintenance 8. Cable
194 VT Rev.9
(15)
Pass the wire tie through
the hole inside the base.
Bind
the following cables and the ground wire with the
wire
tie.
Wire tie: AB150
Power cable
LED cable
Signal cable (for motor)
Ground wire
(16)
Pass the wire tie through
the hole on the
two plates of Arm
#1. Bind
the following cables and the ground wire
with
the
wire tie.
Wire tie: AB150
Power cable
LED cable
Signal cable (for motor)
Ground wire
(17)
Bind
the following cables between the Jo
int #1 motor and
the
Controller Unit with the wire tie.
Wire tie: AB100
Signal cable (for motor)
Signal cable (for AMP board)
(18)
Pass
the wire tie through the plate inside the Arm #2.
Bind
the following cables with the wire tie.
Wire tie : AB150 × 3
AB100 × 3
Power cable
LED cable (Joint #2 side only)
Signal cable (for motor)
Ground wire
Wire ties × 3
Wire ties × 3
Maintenance 8. Cable
VT Rev.9 195
(19)
Fold
the each brake cable for Joint #2 and Joint #3
motors into the length of 40mm. Bind it with
the
following cables with
the wire tie.
Wire tie : AB150 × 1
AB100 × 1
Power cable
Signal cable (for motor)
Brake cable
(20)
Pass the wire tie through the mount base A and B
inside
Arm #2.
Bind
the following cables with the wire tie.
Wire tie : AB150 × 1
AB100 × 1
Power cable
Signal cable (for motor)
Brake cable
LED cable (mount base A only)
A
B
(21)
Pass the LED cable through
the groove for LED
cable wiring of Arm #2.
Pass
the wire tie through the mount base C and bind
the
LED cable with the wire tie.
Wire tie : AB150 × 1
C
Pass through the groove
Maintenance 8. Cable
196 VT Rev.9
(22)
Pass the wire tie through
the
hole inside the Arm
#3.
Bind
the following cables with the wire tie.
Wire tie: AB150
Power cable
Signal cable (for motor)
Ground wire
(23)
Bind
the following cables between the Jo
int #4
motor and
the Joint #3 motor with the wire tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Motor cable
(24)
Bind
the following cables between the Jo
int #4
motor and
the Joint #3 motor with the wire tie.
Wire tie: AB100
Signal cable(for AMP board)
Signal cable (for motor)
Brake cable
(25)
Pass the wire tie through
the hole inside the
Arm
#4. Bind
the
following cables and the ground
wire with
the wire tie.
Wire tie: AB150
Power cable
Signal cable (for motor)
Ground wire
(26)
Bind
the
following cables and the ground wire with
the
wire tie.
Wire tie: AB100
Motor cable (Joint #5)
Signal cable
Motor cable (Joint #6)
Ground wire
Maintenance 8. Cable
VT Rev.9 197
(27)
Apply grease to
the cables inside the each
Joint sleeve.
Grease: GPL-224
Between Base-Arm #1 : 4.5±1g
Between Arm #1-Arm #2 : 4.5±1g
Between Arm #2-Arm #3 : 2.8±0.5g
Between Arm #3-Arm #4 : 2.8±0.5g
Spatula
Sleeve
Apply
grease evenly to the entire cable inside the sleeve and the end of the sleeve by
using a slim spatula
When applying
the grease, be careful not to attach the grease to the AMP board.
(28)
Connect the following connectors to
the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
(29)
Push
the Controller Unit into the base.
Insert the
Controller Unit while moving it to
the righ
t (see the picture).
Then, gently move the plate of the
Controller
Unit
to the left and let the thermal conductive
sheet
contacts with the wall inside the base.
Move it to the right to insert
Push to the left gently
NOTE
NOTE
Maintenance 8. Cable
198 VT Rev.9
(30)
Tighten
the mounting screws of the
Controller Unit
.
Hexagon socket head cap bolts: 3-M4×10
(with plain washer)
Tightening torque: 4.0 ± 0.2 N·m
(31)
Install
the following covers the plate.
Arm #1 Cover Arm #2 Cover
Arm #3 Cover Arm #4 Cover 1
Arm #4 Cover 2 Connector Plate
Reference: Maintenance 7 Covers
Maintenance 8. Cable
VT Rev.9 199
8.2 Insert or Pull out of Power Cable
Protection model Manipulator cannot insert or pull out power cable.
Name
Quantity
Note
Tool
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Power Cable
Pull out
S
tandard
C
leanroom
(1)
Turn OFF
the Manipulator.
(2)
Remove
the power cable cover.
Reference: Maintenance 7.6 Power Cable Cover
(3)
Remove the power cable clamp.
(4)
Disconnect
the power cable connector.
When removing the power cable connector, pull it out with pushing
clips on both sides
of
the connector.
Power Cable
Insertion
S
tandard
C
leanroom
(1)
Connect
the power cable connector.
(2)
Mount
the power cable clamp.
(3)
M
ount the power cable cover.
Reference: Maintenance 7.6 Power Cable Cover
NOTE
NOTE
Maintenance 9. Joint #1
200 VT Rev.9
9. Joint #1
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will ca
use a positional gap and cannot be used again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #1 Motor
Joint #1
Reduction Gear Unit
Joint #1 Timing Belt
Joint #1
Electromagnetic Brake
Maintenance 9. Joint #1
VT Rev.9 201
9.1 Replacing Joint #1 Motor
Name Quantity Note
Maintenance
parts
Joint #1 motor unit
1
2194596
Thermal conductive sheet
1
1755573
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3 hexagon socket head
cap bolts
width across flats: 3 mm 1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
Controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #1
Motor
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove the Arm #1 Cover.
Reference: Maintenance 7.1 Arm #1 Cover.
(3)
Cut off the wire tie that binds the following cables.
Signal cable and the signal cable for AMP board
between the Joint #1 motor and the Controller Unit
Be careful not to cut the harness.
(4)
Cut off
the wire tie on the plate (Arm #1 sleeve side) and
remove
the plate.
Hexagon socket head cap bolts: 2-M4×12 (with washer)
Be careful not to cut the harness.
(5)
Remove
the motor unit from the Arm #1.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
NOTE
NOTE
Maintenance 9. Joint #1
202 VT Rev.9
(6)
Disconnect
the following connectors from the AMP board.
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(7)
Disconnect the following connectors from
the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The c
ables will be necessary again.
Be careful not to
lose them.
A B
(8)
Remove the AMP board fixing plate (with AMP board) from
the
motor unit.
Hexagon socket head cap bolts: 2-M3×6
NOTE
Maintenance 9. Joint #1
VT Rev.9 203
J
oint #1 Motor
Installation
(1)
Fix
the AMP board fixing plate (with AMP board) to a new
motor unit.
Hexagon socket head cap bolts: 2-M3×6
Tightening torque: 2.0 ± 0.1 N·m
(2)
Connect the following connectors of
the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A B
(3)
Connect
the following connectors of the AMP board.
A: Power cable connector
B: Brake connector
C Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(4)
Attach
the thermal conductive sheet on the bottom of the
motor unit.
For the attaching position, refer to the picture
on
the right.
Match the corners
Make sure
that the entire surface of the thermal conductive
sheet
contacts with the rear side of the motor unit without
lifting up
the center of the sheet.
Wrong
Correct
(5)
Pass
the timing belt through the motor pulley and loosely
secure
to the Arm #1.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Make sure that the gear grooves of the timing belt are fit
into those
of the pulley completely.
When securing the motor unit loosely, make sure that the
motor unit
can be moved by hand and it does not tilt when
being pulled.
If the unit is secured too loose or too tight,
the belt will not have proper tension.
NOTE
NOTE
NOTE
Maintenance 9. Joint #1
204 VT Rev.9
(6)
Apply proper tension to the motor unit and fix it.
Joint #1 timing belt tension: 34∼70 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 9.0mm
Span: 60mm
Hexagon socket head cap bolts: 3-M4×22 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the
parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in the
initial stage.
Make sure to operate the robot two to three days and check the belt
tension again.
(7)
Mount the plate of the Arm #1 sleeve side.
Hexagon socket head cap bolts: 2-M4×12 (with a washer)
Tightening torque: 4.0 ± 0.2 N·m
Pass the wire tie through
the hole on the plate.
Bind
the following cables and the ground wire with the wire
tie.
Motor cable
Signal cable (for motor)
LED cable
Ground wire
(8)
Bind
the following cables between the Joint #1 motor and the
C
ontroller Unit with the wire tie.
Wire tie: AB100
Signal cable (for motor)
Signal cable (for AMP board)
(9)
Mount
the Arm #1 cover.
Reference: Maintenance 7.1 Arm #1 Cover
(10)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(11)
Calibrate the Joint #1.
Reference: Maintenance 19. Calibration
NOTE
NOTE
Maintenance 9. Joint #1
VT Rev.9 205
9.2 Replacing Joint #1 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 9. Joint #1
206 VT Rev.9
9.3 Replacing Joint #1 Timing Belt
Name Quantity Note
Maintenance
parts
Timing Belt 1 1751536
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the Controller
power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Maintenance 9. Joint #1
VT Rev.9 207
Joint #
1
Timing Belt
Removal
(1)
Turn OFF
the Manipulator.
(2)
Remove
the Arm #1 cover and the connector plate.
Reference: Maintenance 7. Covers
(3)
Unscrew
the
mounting screws of the
C
ontroller Unit.
Hexagon socket head cap bolts:
3-M4×10 (with a plain washer)
(4)
Pull out the Controller Unit
from the
Manipulator base.
When pulling it out,
firstly push the plate of
the Controller
Unit
to the right (see the picture) gently,
then remove the thermal conductive
sheet
on the base and the Controller
Unit
. Next, pull the Controller Unit
forward.
Gently push to the right
Pull it forward
(5)
Disconnect
the following connectors
of the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
NOTE
Maintenance 9. Joint #1
208 VT Rev.9
(6)
Remove the ground wire terminal
s inside the base.
Cross recessed head screws: M4×6
(7)
Cut off
the wire tie bound to the plate inside the base.
Wire tie: AB150
(8)
Remove the Joint #1 motor unit.
Reference: Maintenance 9.1 Replacing Joint #1 Motor
Joint #1 Motor Removal (3) through (7)
(9)
P
ull out the following cables from the Arm #1 side and remove the Joint #1 timing belt.
Power cable
Signal cable (for motor)
LED cable
Ground wire
Maintenance 9. Joint #1
VT Rev.9 209
Joint #
1
Timing Belt
Installation
(1)
Pass
the following cables through a new Joint #1 timing belt.
Power cable
Signal cable (for motor)
LED cable
Ground wire
(2)
Mount the Joint #1 motor unit.
Reference: Maintenance 9.1 Replacing Joint #1 Motor
Joint #1 Motor Installation (2) through (8)
(3)
Connect
the ground wire terminals inside the base.
Cross recessed head screws: M4×6
Tightening torque: 2.0 ± 0.1N m
(4)
Pass the wire tie through
the hole on the plate inside the
base.
Bind
the following cables with the wire tie.
Wire tie: AB150
Power cable
LED cable
Signal cable (for motor)
Ground wire
(5)
Connect
the
following connectors
to
the Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
Maintenance 9. Joint #1
210 VT Rev.9
(6)
Push
the Controller Unit into the base.
Insert the
Controller Unit while moving it
to the right (see the
picture).
Then, gently move the plate of the
Controller Unit
to the
left and let the
thermal conductive sheet
contacts with the
wall inside
the base.
Move it to the right to insert
Push to the left gently
(7)
Tighten
the mounting screws of the
Controller Unit
.
Hexagon socket head cap bolts
: 3-M4×10
(
with a plain washer)
Tightening torque
: 4.0 ± 0.2 N·m
(8)
M
ount the Arm #1 cover and the connector plate.
Reference: Maintenance 7. Covers
(9)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
(10)
Calibrate
the Joint #1.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 10. Joint #2
VT Rev.9 211
10. Joint #2
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #2
Reduction gear Unit
Joint #2 Timing Belt
Joint #2 Motor
Joint #2 Electromagnetic Brake
Maintenance 10. Joint #2
212 VT Rev.9
10.1 Replacing Joint #2 Motor
CAUTION
■
This procedure has possibility of damage
or malfunction to the Manipulator.
Be very careful when performing
maintenance.
■
D
O NOT loosen the bolts while the Arm #2 is not tilted.
It may cause the belt come off and the Arm #2 falls down, and it is extremely
hazardous.
Be sure to do the Removal steps (1) and (2) before removing the
motor.
Name Quantity Note
Maintenance
parts
Joint #2 motor unit
1
2194597
Thermal conductive sheet
1
1755573
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3 hexagon socket head cap
bolts
width across flats: 3 mm 1
For M4
hexagon socket head cap
bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
When removing the Joint #2 motor, tilt the Arm #2 and press it against the Arm #1.
Reference: Maintenance: 10.1 Joint #2 - Replacing the Motor, Removal step (2)
Maintenance 10. Joint #2
VT Rev.9 213
Joint #2 Motor
Removal
(1)
Turn ON the Manipulator.
(2)
Release the Joint #2 brake.
Tilt the Arm #2 and push it against the Arm #1.
The Arm #2 falls by its weight when the Joint #2
motor unit is removed.
Therefore,
release the brake and tilt the Arm #2 in
advance.
EPSON
RC+
Command
>
brake off, 2
When pushing the arm, push the Arm #
2 slowly to the Arm #1.
If a strong impact is applied to the
joint, the Manipulator may get damage.
(
3)
Turn OFF the Manipulator.
(
4)
Remove the Arm #2
Cover.
For details, refer to Maintenance: 7.2 Arm #2 Cover.
(5)
Cut off the wire tie bound inside the Arm #2.
Wire tie : AB150 × 3
AB100 × 2
Be
careful not to cut the harness.
Wire ties × 3
(6)
Remove the cable fixing plate on
the Arm #2.
(
Joint #2 side)
Hexagon socket head cap bolts with captive
washer: 2-M4×12
(7)
Loosen the mounting screws of the Joint #2 motor
unit and remove
the Joint #2 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(8)
Remove
the motor unit from the Arm #2.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(9)
Disconnect the following connectors from
the AMP board.
A: Power cable connector
B: Brake connector
C: Signal connector (for AMP board)
D: Motor connector
A
B
D
C
NOTE
NOTE
Maintenance 10. Joint #2
214 VT Rev.9
(10)
Disconnect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The cables will be necessary again.
Be careful not to lose them.
A B
(11)
Remove the AMP board fixing plate (with AMP board) from
the
motor unit.
Hexagon socket head cap bolts: 2-M3×6
NOTE
Maintenance 10. Joint #2
VT Rev.9 215
Joint #
2 Motor
Installation
(1)
Fix the AMP board fixing plate
(with AMP board) to a new
motor unit.
Hexagon socket head cap bolts: 2-M3×6
Tightening torque: 2.0 ± 0.1 N·m
(2)
Connect the following connectors of
the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A B
(3)
Connect
the connectors of the AMP board.
A: Power cable connector
B: Brake connector
C Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(4)
Attach
the thermal conductive sheet on the bottom of the
motor unit. For the attaching position, refer to
the picture
on
the right.
Match the corners
Make sure
that the entire surface of the thermal conductive
sheet
contacts with the rear side of the motor unit without
lifting up
the center of the sheet.
Wrong
Correct
NOTE
NOTE
Maintenance 10. Joint #2
216 VT Rev.9
(5)
Pass
the timing belt through the motor pulley and
l
oosely secure to the Arm #2.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Make sure that the gear grooves of the timing belt are fit into those
of the pulley
completely.
When securing the motor unit loosely, make sure that the motor unit
can be moved
by hand and it does not tilt when being
pulled. If the unit is secured too loose or
too tight, the belt will not have
proper tension.
As shown on the picture, pass the cable through
the
rear side of
the Arm #2 motor unit fixing part.
Before fixing
the motor unit, make sure that the cables
are not
caught in the gap between the motor unit and
Arm #2.
Press
the thermal conductive sheet on the rear side of
the
motor unit to the round convex part at the end of
the
Arm #2.
(6)
Apply proper tension to the motor unit and fix it.
Joint #2 timing belt tension: 34 - 58 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 9.0mm
Span: 172mm
Hexagon socket head cap bolts: 3-M4×22 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in
the initial stage.
Make sure to operate the robot two to three days and check the belt
tension again
NOTE
NOTE
NOTE
NOTE
Maintenance 10. Joint #2
VT Rev.9 217
(7)
Mount the cable fixing plate on
the Arm #2.
(Joint #2 side)
Hexagon socket head cap bolts: 2-M4×12
(with a washer)
Tightening torque: 4.0 ± 0.2 N·m
Pass the wire ties (
×3) to the plate.
Fix
the following cables and the ground wire with the
wire tie.
Wire tie: AB150
Motor cable
Signal cable (for motor)
LED cable
Ground wire
Fix by three wire ties
(8)
Fold
the brake cable of Joint #2 motor into the length of
40mm. Bind it with
the following cables with the wire tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Brake cable
(9)
Pass the wire tie to
the mount base inside the Arm #2.
Bind
the following cables with the wire tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Brake cable
LED cable (mount base A only)
(10)
M
ount the Arm #2 cover.
Reference: Maintenance 7.2 Arm #2 Cover
(11)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor
unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it
starts.
(12)
Calibrate the Joint #2.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 10. Joint #2
218 VT Rev.9
10.2 Replacing Joint #2 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 10. Joint #2
VT Rev.9 219
10.3 Replacing Joint #2 Timing Belt
CAUTION
■
This procedure has possibility of damage
or malfunction to the Manipulator.
Be very careful when
performing maintenance.
■
D
O NOT loosen the bolts while the Arm #2 is not tilted.
It may cause the belt come off and the Arm #2 falls down, and it is extremely
hazardous.
Be sure to do the Removal steps (1) and (2) before removing the
motor.
Name Quantity Note
Maintenance
parts
Timing Belt 1 1753920
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the controller
power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
When removing the Joint #2 motor, tilt the Arm #2 and press it against the Arm #1.
Reference: Maintenance: 10.1 Joint #2 - Replacing the Motor, Removal step (2)
Joint #2
Timing Belt
Removal
(1)
Remove the Joint #2 timing belt.
Reference: Maintenance 10.1 Replacing Joint #2 Motor
Joint #2 Motor Removal Step (1) through (7)
Joint #2
Timing Belt
Installation
(1)
Install
the Joint #2 timing belt.
Reference: Maintenance 10.1 Replacing Joint #2 Motor
Joint #2 Motor Removal Step (5) through (11)
Maintenance 11. Joint #3
220 VT Rev.9
11. Joint #3
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #3 Reduction Gear Unit
Joint #3 Timing Belt
Joint #3 Motor
Joint #3
Electromagnetic Brake
Maintenance 11. Joint #3
VT Rev.9 221
11.1 Replacing Joint #3 Motor
CAUTION
■
This procedure has possibility of damage
or malfunction to the Manipulator.
Be very
careful when performing maintenance.
■
D
O NOT loosen the bolts while the Arm #3 is not tilted.
It may cause the belt come off and the Arm #
3 falls down, and it is extremely
hazardous.
Be sure to do the Removal steps (1) and (2) before removing the
motor.
Name Quantity Note
Maintenance
parts
Joint #3 motor unit
1
2194598
Thermal conductive sheet
1
1755573
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3 hexagon socket head
cap bolts
width across flats: 3 mm 1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
When removing the Joint #3 motor, tilt the Arm #3 and press it against the Arm #2.
Reference: Maintenance: 11.1 Joint #3 - Replacing the Motor, Removal step (2)
Maintenance 11. Joint #3
222 VT Rev.9
Joint #3 Motor
Removal
(1)
Turn ON the Manipulator.
(2)
Release the Joint #
3 brake. Tilt the Arm #3 and push it against the Arm #2.
The Arm #
3 falls by its weight when the Joint #3 motor unit is removed.
Therefore,
release the brake and tilt the Arm #
3 in advance.
EPSON
RC+
C
ommand
>brake off, 3
When pushing
the arm, push the Arm #3 slowly to the Arm #2.
If a strong impact is applied to
the joint, the Manipulator may get damage.
(3)
Turn OFF the Manipulator.
(4)
Remove
the Arm #2 cover.
Reference: Maintenance 7.2 Arm #2 Cover
(5)
Cut off the wire tie bound inside the Arm #2.
Wire tie : AB150 × 3
AB100 × 2
Be careful not to cut the harness.
Wire ties × 3
(6)
Remove the cable fixing plate on
the Arm #2.
(Joint #3 side)
Hexagon socket head cap bolts with captive
washer: 4-M4×12
(7)
Loosen the mounting screws of the Joint #3 motor
unit and remove
the Joint #3 timing belt.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(8)
Remove the Arm #2 from
the motor unit.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
(9)
Disconnect
the following connectors from the AMP board.
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
NOTE
NOTE
Maintenance 11. Joint #3
VT Rev.9 223
(
10)
Disconnect the following connectors of
the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The cables will be necessary again.
Be careful not to lose them.
A
B
(
11)
Remove
the AMP board fixing plate (with AMP board) from the
motor
unit.
Hexagon socket head cap bolts: 2-M3×6
NOTE
Maintenance 11. Joint #3
224 VT Rev.9
Joint #3
Motor
Installation
(1)
Fix the AMP board fixing plate (with AMP board)
to a new
motor unit.
Hexagon socket head cap bolts: 2-M3×6
Tightening torque: 2.0 ± 0.1 N·m
(2)
Connect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A B
(3)
Connect
the connectors of the AMP board.
A: Power cable connector
B: Brake connector
C Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(4)
Attach
the thermal conductive sheet on the bottom of the
motor unit. For the attaching position, refer to
the picture
on
the right.
Match the corners
Make sure
that the entire surface of the thermal conductive
sheet
contacts with the rear side of the motor unit without
lifting up
the center of the sheet.
Wrong
Correct
NOTE
NOTE
Maintenance 11. Joint #3
VT Rev.9 225
(5)
Pass
the timing belt through the motor pulley and
l
oosely secure to the Arm #2.
Hexagon socket head cap bolts: 3-M4×22
(with slotted hole washer)
Make sure that the gear grooves of the timing belt are fit into those
of the pulley
completely.
When securing the motor unit loosely, make sure that the motor unit
can be moved
by hand and it does not tilt when being pulled.
If the unit is secured too loose or
too tight, the belt will not have
proper tension.
As shown on the picture, pass the cable through
the rear
side of
the Arm #2 motor unit fixing part.
Before fixing
the motor unit, make sure that the cables are
not caught in
the gap between the motor unit and Arm #2.
Press
the thermal conductive sheet on the rear side of the
motor unit to
the round convex part at the end of the Arm
#2.
(6)
Apply proper tension to the motor unit and
fix it.
Joint #3 timing belt tension: 34 - 58 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 9.0mm
Span: 169mm
Hexagon socket head cap bolts: 3-M4×22 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in
the initial stage.
Make sure to operate the robot two to three days and check the belt
tension again
NOTE
NOTE
NOTE
NOTE
Maintenance 11. Joint #3
226 VT Rev.9
(7)
Mount the cable fixing plate on
the Arm #2.
(Joint #3 side)
Hexagon socket head cap bolts: 2-M4×12
(with a washer)
Tightening torque: 4.0 ± 0.2 N·m
Pass the wire ties (
×3) to the plate.
Bind
the following cables and the ground wire with
the
wire tie.
Wire tie: AB150
Motor cable
Signal cable (for motor)
LED cable
Ground wire
Fix with three wire ties
(8)
Fold
the brake cable of Joint #3 motor into the
length of 40mm. Bind it with
the following
cables with
the wire tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Brake cable
(9)
Pass the wire tie to
the mount base inside the Arm
#2.
Bind
the following cables with the wire tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Brake cable
(
10)
M
ount the Arm #2 cover.
Reference: Maintenance 7.2 Arm #2 Cover
(
11)
Turn
ON the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is
automatically updated. DO NOT turn OFF the Manipulator
until it starts.
(1
2)
Calibrate the Joint #
3.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 11. Joint #3
VT Rev.9 227
11.2 Replacing Joint #3 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 11. Joint #3
228 VT Rev.9
11.3 Replacing Joint #3 Timing Belt
CAUTION
■
This procedure has possibility of damage
or malfunction to the Manipulator.
Be very careful when performing
maintenance.
■
D
O NOT loosen the bolts while the Arm #3 is not tilted.
It may cause the belt come off and the Arm #
3 falls down, and it is extremely
hazardous.
Be sure to do the Removal steps (1) and (2) before removing the
motor.
Name Quantity Note
Maintenance
parts
Timing Belt 1 1751537
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
When removing the Joint #3 motor, tilt the Arm #3 and press it against the Arm #2.
Reference: Maintenance: 11.1 Joint #3- Replacing the Motor, Removal step (2)
Joint #3
Timing Belt
Removal
(1)
Remove the Joint #3 timing belt.
Reference: Maintenance 11.1 Replacing Joint #2 Motor
Joint #3 Motor Removal Step (1) through (7)
Joint #3
Timing Belt
Installation
(1)
Install
the Joint #3 timing belt.
Reference: Maintenance 11.1 Replacing Joint #2 Motor
Joint #3 Motor Removal Step (5) through (11)
Maintenance 12. Joint #4
VT Rev.9 229
12. Joint #4
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #4 Motor
Joint #4 Reduction Gear Unit
Joint #4 Electromagnetic Brake
Joint #4 Timing Belt
Maintenance 12. Joint #4
230 VT Rev.9
12.1 Replacing Joint #4 Motor
Name Quantity Note
Maintenance
parts
Joint #4 motor unit 1 2194599
Tools
Hexagonal wrench
(width across flats: 3 mm)
1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
Controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #
4 Motor
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove the Arm #3
Cover.
For details, refer to Maintenance: 7.3 Arm #3 Cover.
(3)
Cut off
the wire tie bound inside the Arm #3
Wire tie: AB150 × 2
Be careful not to cut the harness.
(4)
Cut off
the wire tie that binds the following
cables of
the Joint #4 motor.
Wire tie: AB100 × 2
Power cable
Signal cable
Be careful not to cut the harness.
(5)
Remove
the plate (with AMP board) inside the Arm #3.
Hexagon socket head cap bolts with captive washer:
2-M4×12
NOTE
NOTE
Maintenance 12. Joint #4
VT Rev.9 231
(6)
Remove
the Joint #4 motor unit.
Hexagon socket head cap bolts: 3-M4×18
(with slotted hole washer)
(7)
Disconnect
the following connectors from the AMP board.
A: Power cable connector
B: Brake connector
C: Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(8)
Disconnect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The cables will be necessary again.
Be careful not to lose them.
A B
NOTE
Maintenance 12. Joint #4
232 VT Rev.9
Joint #4 Motor
Installation
(1)
Pass
the timing belt through the motor pulley and
l
oosely secure to the Arm #3.
Hexagon socket head cap bolts: 3-M4×18
(with slotted hole washer)
Make sure that the gear grooves of the
timing belt are fit into those of the pulley
completely.
When securing the motor unit loosely, make sure that the motor unit
can be moved
by hand and it does not tilt when being pulled.
If the unit is secured too loose or
too tight, the belt will not have
proper tension.
The direction to install the motor is the
direction in which the connector of the
motor faces downward
.
Be careful for the
installation direction
(2)
Apply proper tension to the motor unit and fix it.
Joint #4 timing belt tension: 23 - 36 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 6.0mm
Span: 45mm
Hexagon socket head cap bolts: 3-M4×18 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in the
initial stage.
Make sure to operate the robot two to three days and check the belt
tension again
(3)
Mount the plate on the Arm #3.
Hexagon socket head cap bolts with
captive washer: 2-M4×12
Tightening torque: 4.0 ± 0.2 N·m
NOTE
NOTE
NOTE
Maintenance 12. Joint #4
VT Rev.9 233
(4)
Connect the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is
the same
color.
A
B
(5)
Connect
the connectors of the AMP board.
A: Power cable connector
B: Brake connector
C Signal cable connector (for AMP board)
D: Motor connector
A
B
D
C
(6)
Pass the wire tie through the hole on the
plate
inside the Arm #3.
Bind the following cables with the wire tie.
Wire tie: AB150
Power cable
Signal cable (for motor)
Ground wire
(7)
Bind
the following cables between the Jo
int
#4 motor and
the Jo
int #3 motor with the wire
tie.
Wire tie: AB100
Power cable
Signal cable (for motor)
Motor cable
(8)
Bind
the following cables between the Jo
int
#4 motor and
the Jo
int #3 motor with the wire
tie.
Wire tie: AB100
Signal cable (for AMP board)
Signal cable (for motor)
Brake cable
(9)
Mount
the Arm #3 cover.
Reference: Maintenance 7.3 Arm #3 Cover
Maintenance 12. Joint #4
234 VT Rev.9
(10)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(11)
Calibrate the Joint #4.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 12. Joint #4
VT Rev.9 235
12.2 Replacing Joint #4 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 12. Joint #4
236 VT Rev.9
12.3 Replacing Joint #4 Timing Belt
Name Quantity Note
Maintenance
parts
Timing Belt 1 1751538
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
Controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #4
Timing Belt
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove the following covers.
Arm #3 Cover
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7 Covers
(3)
Remove
the Joint #4 motor.
Reference: Maintenance 12.1 Replacing Joint #4 Motor
Joint #4 Motor Removal step (3) through (7)
(4)
Cut off the wire tie bound inside the Arm #4.
Wire tie: AB150
(5)
Cut off the wire tie that binds the following cables and
the
ground wire.
Wire tie: AB100
Joint #5 motor cable
Signal cable (for motor)
Joint #6 motor cable
Ground wire
Be careful not to cut the harness.
NOTE
Maintenance 12. Joint #4
VT Rev.9 237
(6
)
Remove
the ground wire terminals of the Arm #4.
Cross-recessed screw: M4×6
(7
)
Disconnect
the Joint #5 signal cable connector (for
motor: black).
(8
)
Pass
the Joint #4 sleeve and the Joint #4 timing belt so that the following cables and
the
ground wire will be Arm #3 side.
Cables disconnected connectors in the step (2) through (7)
Power cable (Joint #5, 6 connector parts)
Joint #5 signal cable (for motor)
Ground wire
(9
)
Remove the
Joint #4 timing belt.
Maintenance 12. Joint #4
238 VT Rev.9
J
oint #4
Timing belt
Installation
(1)
Pass
the following cables through a new Joint #4 timing belt.
Power cable (Joint #5, 6 connector part)
Joint #5 signal cable (for motor)
Ground wire
(2)
Install
the Joint #4 motor unit.
Reference: Maintenance 12.1 Replacing Joint #4 Motor
Joint #4 Motor Installation step (1) through (8)
(3)
Connect
the Jo
int #5 signal cable connector (for
motor: black).
(4)
Install
the ground wire terminals of the Arm #4.
Cross-recessed screw: M4×6
Tightening torque: 2.0 ± 0.1 N·m
(
5)
Pass the wire tie through the hole on the plate
inside
the Arm #4.
Bind the following cables with the wire tie.
Wire tie: AB150
Power cable
Signal cable (for motor)
Ground wire
(
6)
Bind
the following cables with the wire tie.
Wire tie: AB100
Motor cable(Joint #5)
Signal cable (Joint #5)
Motor cable (Joint #6)
Ground wire
(
7)
M
ount the following covers.
Arm #3 Cover
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7 Covers
Maintenance 12. Joint #4
VT Rev.9 239
(8)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(9)
Calibrate the Joint #4.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 13. Joint #5
240 VT Rev.9
13. Joint #5
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts.), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #5 Motor
Joint #5 Timing Belt
Joint #5
Electromagnetic Brake
Maintenance 13. Joint #5
VT Rev.9 241
13.1 Replacing Joint #5 Motor
Name Quantity Note
Maintenance
parts
Joint #5 motor unit 1 2194600
Tools
Hexagonal wrench
(width across flats: 3 mm)
1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Maintenance 13. Joint #5
242 VT Rev.9
Joint #5 Motor
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the following covers.
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(3)
Cut off
the wire tie that binds the
following cables and
the
ground wire.
Wire tie: AB100
Joint #5 motor cable
Signal cable (for motor)
Joint #6 motor cable
Ground wire
Be
careful not to cut the harness.
(4)
Remove
the Joint #5 motor unit.
Hexagon socket head cap bolts: 3-M4×20
(with slotted hole washer)
(5)
Disconnect the following connectors
of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The cables will be necessary again.
Be careful not to lose them.
A B
NOTE
NOTE
Maintenance 13. Joint #5
VT Rev.9 243
Joint #5 Motor
Installation
(1)
Pass
the timing belt through the motor pulley and loosely
secure
to the Arm #4.
Hexagon socket head cap bolts: 3-M4×20
(with slotted hole washer)
Make sure
that the gear grooves of the timing belt are fit
into those
of the pulley completely.
When securing the motor unit loosely, make sure that the
motor unit
can be moved by hand and it does not tilt when
being pulled.
If the unit is secured too loose or too tight,
the belt will not have
proper tension.
The direction to install the motor is the direction
in which the connector of the motor faces
Joint
#5 side.
Be careful for the
installation direction
(2)
Apply proper tension to the motor unit and
fix it.
Joint #5 timing belt tension: 23 - 36 N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 6.0mm
Span: 184mm
Hexagon socket head cap bolts: 3-M4×20 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the
value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in the
initial stage.
Make sure t
o operate the robot two to three days and check the belt
tension again
(3)
Connect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A B
NOTE
NOTE
NOTE
Maintenance 13. Joint #5
244 VT Rev.9
(4)
Bind the following cables and the ground wire with
the
wire tie.
Wire tie: AB100
Motor cable (Joint #5)
Signal cable (Joint #5)
Motor cable (Joint #6)
Ground wire
(
5)
Mount
the following covers.
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(6)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(7)
Calibrate the Joint #5 and the J
oint #6.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 13. Joint #5
VT Rev.9 245
13.2 Replacing Joint #5 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 13. Joint #5
246 VT Rev.9
13.3 Replacing Joint #5 Timing Belt
Name Quantity Note
Maintenance
parts
Timing Belt 1 1762243
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #5
Timing Belt
Removal
(1)
Remove the Joint #6 timing belt.
Reference: Maintenance 14.3 Replacing Joint #6 Timing Belt
Joint #6 Timing Belt Removal
(2)
Remove the Joint #5 motor and the Joint #5 timing belt.
Reference: Maintenance 13.1 Replacing Joint #5 Motor
Joint #5 Motor Removal step (1) through (4)
Joint #5
Timing Belt
Installation
(1)
Remove the Joint #5 timing belt and the Joint #5 motor.
Reference: Maintenance 13.1 Replacing Joint #5 Motor
Joint #5 Motor Installation step (1) through (5)
(2)
Install the Joint #6 timing belt.
Reference: Maintenance 14.1 Replacing Joint #6 Motor
Joint #6 Motor Installation step (1) through (5)
(
3)
Mount
the following covers.
Arm #3 Cover
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(4)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(5)
Calibrate the Joint #5 and
the Joint #6.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 14. Joint #6
VT Rev.9 247
14. Joint #6
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
Joint #6 Motor
Joint #6 Timing Belt
Joint #6
Electromagnetic Brake
Maintenance 14. Joint #6
248 VT Rev.9
14.1 Replacing Joint #6 Motor
Name Quantity Note
Maintenance
parts
Joint #6 motor unit 1 2194601
Tools
Hexagonal
wrench
width across flats: 3 mm 1
For M4
hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Maintenance 14. Joint #6
VT Rev.9 249
Joint #6 Motor
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the following covers.
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(3)
Cut off
the wire tie that binds the
following cables and
the
ground wire.
Wire tie: AB100
Joint #5 motor cable
Signal cable (for motor)
Joint #6 motor cable
Ground wire
Be careful not to cut the harness.
(4)
Remove the Joint #6 motor unit.
Hexagon socket head cap bolts: 3-M4×20
(with slotted hole washer)
(5)
Disconnect the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
The cables will be necessary again.
Be careful not to lose them.
A B
NOTE
NOTE
Maintenance 14. Joint #6
250 VT Rev.9
Joint #6 Motor
Installation
(1)
Confirm that
the terminating resistor switch of the
J
oint #6 motor is turned ON.
When the switch is OFF, push
the tab to turn it ON.
ON status
OFF status
(2)
Pass
the timing belt through the motor pulley and
l
oosely secure to the Arm #4
Hexagon socket head cap bolts: 3-M4×20
(with slotted hole washer)
Make sure that the gear grooves of the timing belt are
fit into those
of the pulley completely.
When securing the motor unit loosely, make sure that
the motor unit
can be moved by hand and it does not
tilt when being pulled.
If the unit is secured too loose
or too tight, the belt will not have
proper tension.
The direction to install the motor is the direction in
which the connector of the motor faces
Joint #5
side
Be careful for the
installation direction
NOTE
NOTE
Maintenance 14. Joint #6
VT Rev.9 251
(3)
Apply proper tension to the motor unit and
fix it.
Joint #5 timing belt tension: 23 - 36N
Belt tension meter setting values
Weight: 2.5g/mm width×m span
Width: 6.0mm
Span: 184mm
Hexagon socket head cap bolts: 3-M4×20 (with slotted hole washer)
Tightening torque: 4.0 ± 0.2 N·m
Regarding belt tension:
Jumping (position gap) may occur if the
value is below the lower limit.
Vibration (abnormal noise) or reduction in life of the parts may occur if the value
exceeds the upper
limit.
When you replace with a new belt, belt extends and the belt tension may decrease in the
initial stage.
Make sure t
o operate the robot two to three days and check the belt
tension again
(4)
Connect
the following connectors of the motor.
A: Signal cable connectors (for motor × 2)
B: Signal cable connector (for AMP board)
Connector for
the signal cable connector (for motor) is the
same
color.
A B
(5)
Bind the following cables and the ground wire
with
the wire tie.
Wire tie: AB100
Motor cable (Joint #5)
Signal cable (Joint #5)
Motor cable (Joint #6)
Ground wire
(6)
Mount
the following covers.
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(7)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(8)
Calibrate the Joint #6.
Reference: Maintenance 19. Calibration
NOTE
NOTE
Maintenance 14. Joint #6
252 VT Rev.9
14.2 Replacing Joint #6 Reduction Gear Unit
Reduction gear unit is replaced by
serviceman.
For replacement of the
reduction gear unit, please contact the supplier of your region.
Maintenance 14. Joint #6
VT Rev.9 253
14.3 Replacing Joint #6 Timing Belt
Name Quantity Note
Maintenance
parts
Timing Belt 1 1762243
Tools
Hexagonal wrench (width across flats: 3 mm) 1
For M4 hexagon socket head
cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Joint #6
Timing Belt
Removal
(1)
Remove the Joint #6 motor and the Joint #6 timing belt.
Reference: Maintenance 14.1 Replacing Joint #6 Motor
Joint #6 Motor Removal step (1) through (4)
Joint #6
Timing Belt
Installation
(1)
Install the Joint #6 timing belt and the Joint # motor.
Reference: Maintenance 14.1 Replacing Joint #6 Motor
Joint #6 Motor Installation step (1) through (5)
(2)
Mount
the following covers.
Arm #3 Cover
Arm #4 Cover 1
Arm #4 Cover 2
Reference: Maintenance 7. Covers
(3)
Turn ON
the Manipulator.
Reference: Setup & Operation 6.5 LED
When starting the
Manipulator for the first time after replacing the motor unit, the
motor unit firmware is automatically updated.
DO NOT turn OFF the Manipulator
until it starts.
(4)
Calibrate the Joint #5 and the J
oint #6.
Reference: Maintenance 19. Calibration
NOTE
Maintenance 15. AMP Board
254 VT Rev.9
15. AMP Board
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
motor
s. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
Maintenance 15. AMP Board
VT Rev.9 255
Joint #4 AMP Board
Joint #3 AMP Board
Joint #1 AMP Board
Joint #5 AMP Board
Joint #6 AMP Board
Joint #2 AMP Board
Maintenance 15. AMP Board
256 VT Rev.9
15.1 Replacing AMP Board on Joint #1, #2, and #3
Name Quantity Note
Maintenance
parts
AMP Board 1 2189027
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3
hexagon socket head cap
bolts
width across flats: 3 mm 1
For M4
hexagon socket head cap
bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the
Controller power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
AMP
Board
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove the
plate (with AMP board) from the motor unit.
Reference: Maintenance 9.1 Joint #1 Motor Removal
Maintenance 10.1 Joint #2 Motor Removal
Maintenance 11.1 Joint #3 Motor Removal
(3)
Remove the
AMP board from the plate.
Cross-recessed screws with a washer: 3-M3×6
If the
thermal conductive sheet is attached on the rear side of the AMP
board, remove it.
The thermal conductive sheet will be necessary
again. Be careful not to lose it.
NOTE
Maintenance 15. AMP Board
VT Rev.9 257
AMP
Board
Installation
(1)
If
the thermal conductive sheet is removed in the Removal step
(3), a
ttach the sheet on the plate.
Attach
the thermal conductive sheet in the direction that the longer
sides of the
thermal conductive sheet and the plate are parallel.
As shown in
the picture, the attachment position is inside the range
surrounded by three spacers of the AMP board fixing part.
(2)
Mount
the AMP board on the plate.
Cross-recessed screws with a washer: 3-M3×6
Tightening torque: 0.45 ± 0.1 N·m
(3)
Fix
the plate (with AMP board) to the motor unit and mount the motor unit.
Reference: Maintenance 9.1 Joint #1 Motor Installation
Maintenance 10.1 Joint #2 Motor Installation
Maintenance 11.1 Joint #3 Motor Installation
NOTE
Maintenance 15. AMP Board
258 VT Rev.9
15.2 Replacing AMP Board on Joint #4
Name Quantity Note
Maintenance
parts
AMP Board 1 2189027
Tools
Hexagonal
wrench
width across flats: 3 mm 1
For M4
hexagon socket head cap
bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Material
Wire tie
-
AMP
Board
Removal
(1)
Turn OFF the
Manipulator.
(2)
Remove the plate (with AMP board) from
the Arm #3.
Reference: Maintenance 12.1 Joint #4 Motor Removal
(3)
Remove
the AMP board from the plate.
Cross
-recessed screws with a washer: 3-M3×6
If the
thermal conductive sheet is attached on the
rear side of the
AMP board, remove it.
The thermal conductive sheet
will be
necessary again. Be careful not to lose it.
AMP
Board
Installation
(1)
If
the thermal conductive sheet is removed in the Removal step
(3), attach
the sheet on the plate..
Attach
the thermal conductive sheet in the direction that the
longer sides of the
thermal conductive sheet and plate are
vertical. As shown in
the picture, the attachment position is
in
side the range surrounded by three spacers of the AMP board
fixing part.
(2)
Mount
the AMP board on the plate.
Cross-recessed screws with a washer: 3-M3×6
Tightening torque: 0.45 ± 0.1 N·m
(3)
Mount
the plate (with AMP board) on the Arm #3.
Reference: Maintenance 12.1 Joint #4 Motor Installation
NOTE
NOTE
Maintenance 15. AMP Board
VT Rev.9 259
15.3 Replacing AMP Board on Joint #5 and #6
Name Quantity Note
Maintenance
parts
AMP Board 1 2189027
Tools
Hexagonal
wrench
width across flats: 3 mm 1
For M4
hexagon socket head cap
bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
AMP Board
Removal
(1)
Turn OFF the
Manipulator.
(2)
Remove
the Arm #4 Cover 2.
Reference: Maintenance 7.5 Arm #4 Cover 2
(3)
Remove
the AMP board from the
Arm #4
Cover 2
.
Cross-recessed screws with a washer: 3-
M3×6
Joint #5
Joint #6
AMP Board
Installation
(1)
Fix
the AMP board on the Arm #4 Cover 2.
Cross-recessed screws with a washer: 3-
M3×6
Tightening torque: 0.45 ± 0.1 N·m
(2)
Mount
the Arm #4 Cover 2.
Reference: Maintenance 7.5 Arm #4 Cover 2
Maintenance 16. LED Plate
260 VT Rev.9
16. LED Plate
WARNING
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
LED Plate
Maintenance 16. LED Plate
VT Rev.9 261
16.1 Replacing LED Plate
Name Quantity Note
Maintenance
parts
LED Plate 1 1749496
Tools
Hexagonal
wrench
width across flats: 2.5 mm 1
For M3
hexagon socket head cap
bolts
width across flats: 3 mm 1
For M4
hexagon socket head cap
bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Nippers
1
For cutting wire tie
Belt tension meter
1
Refer: Unitta U-505
Material
Wire tie
-
LED
Plate
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
(3)
Remove
the LED plate.
Cross-recessed screws: 2-M3×10
(4)
O
nly for Protection model:
Remove the
LED gasket.
LED Plate
Installation
(1)
O
nly for Protection model:
M
ount the LED gasket in the groove of the Arm #2.
(2)
Install
the LED plate.
Cross-recessed screws: 2-M3×10
Tightening torque: 0.45 ± 0.1 N·m
(3)
M
ount the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
Maintenance 17. Felt Sheet
262 VT Rev.9
17. Felt Sheet
WARNING
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
Joint #1 Felt Sheet
(Back of Arm #1 cover)
Joint #1 Felt Sheet
(Inside of Arm)
Joint #2 Felt Sheet
Joint #3 Felt Sheet
Maintenance 17. Felt Sheet
VT Rev.9 263
17.1 Replacing Joint #1 Felt Sheet
Name Quantity Note
Maintenance
part
Felt Sheet 2 1840429
Joint #
1
Felt Sheet
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the Arm #1 Cover.
Reference: Maintenance 7.1 Arm #1 Cover
(3)
Remove J
oint #1 felt sheet from the Arm #1.
Joint #1 felt sheet
(
4)
Remove J
oint #1 felt sheet from the Arm #1 Cover.
Joint #1 felt sheet
Joint #
1
Felt Sheet
Installation
(1)
Attach
the felt sheet on the Arm #1.
One side of
the felt sheet is a seal. See the position
specified in the figure and a
ttach the felt sheet on Arm
#1.
Joint #1 felt sheet
(2)
A
ttach the felt sheet on Arm #1 Cover.
One side of
the felt sheet is a seal. See the position
specified in the figure and a
ttach the felt sheet on Arm #1
C
over.
Joint #1 felt sheet
(
3)
M
ount the Arm #1 Cover.
Reference: Maintenance 7.1 Arm #1 Cover
Maintenance 17. Felt Sheet
264 VT Rev.9
17.2 Replacing Joint #2 Felt Sheet
Name Quantity Note
Maintenance
part
Felt Sheet 1 1755083
Joint #2
Felt Sheet
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
(
3)
Remove J
oint #2 felt sheet from the Arm #2.
Hold a slit on
the one side of felt sheet to remove the
sheet
from
the outside of the Joint #2.
Joint #2
Felt Sheet
Joint #2
Felt Sheet
Installation
(1)
Hold a slit on the one side of felt sheet to remove
the sheet from the outside of the
Joint #2.
One side of
the felt sheet is a seal. Attach the felt sheet at the position where the Joint
2 screw holes and
the holes of the Joint #2 felt sheet matches.
(2)
M
ount the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
Maintenance 17. Felt Sheet
VT Rev.9 265
17.3 Replacing Joint #3 Felt Sheet
Name Quantity Note
Maintenance
parts
Felt Sheet 1 1755084
Joint #3
Felt Sheet
Removal
(1)
Turn OFF the Manipulator.
(2)
Remove
the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
(3
)
Remove J
oint #3 felt sheet from the Arm #2.
Hold a slit on the one side of felt sheet to remove
the
sheet
from
the outside of the Joint #3.
Joint #3
Felt Sheet
Joint #3
Felt Sheet
Installation
(1)
Hold a slit on the one side of
the Joint #3 felt sheet to remove the sheet from the
outside
of
the Joint #3.
One side of
the felt sheet is a seal. Attach the felt sheet so that it fits in the
groove of
the Joint #3 of Arm #2.
(2)
M
ount the Arm #2 Cover.
Reference: Maintenance 7.2 Arm #2 Cover
Maintenance 18. Controller Unit
266 VT Rev.9
18. Controller Unit
WARNING
■
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 extremely hazardous and may result
in serious bodily injury as
the Manipulator may mo
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power
plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
WARNING
■
Take
meticulous care when handling the lithium battery. Improper handling of
the lithium battery as mentioned below is extremely hazardous and may result in
heat generation, leakage, explosion, or inflammation.
It also may cause serious safety problems.
<Improper Handling>
Attempting to charge
Disassembling
Connecting batteries improperly
Exposing to fire
Forcing discharge
Deforming by pressure
Short-circuit (Polarity; Positive/Negative)
Heating (85 °C or more)
Soldering the terminal of the lithium battery
directly
■
When disposing the battery, consult with the professional disposal services or
comply with the local regulation.
Make sure that the battery terminal is insulated,
even for a used buttery. If the terminal contacts with the other
metals, it may short
and result in heat generation, leakage, explosion, or inflammation.
The life span of the lithium battery varies depending on the energizing hours and
installation environment of the Manipulator. It is about 7 years as a rough guide (when
the Manipulator is connected to power for 8 hours a day). When the Manipulator is not
connected to power, the battery consumption will significantly increase compared to when
the Controller is energized. If warnings of voltage reduction occur, replace the lithium
metal battery even if it has not reached the above product life.
For EPSON RC+ 7.0, the recommended replacement time for the battery can be checked in
the [Maintenance] dialog box.
Reference: Maintenance 4. Alarm
The battery may run out if it passes the recommended replacement time.
If no warnings of voltage reduction occur, the calibration for all joints is not necessary.
You need to perform calibration if the position moves from the originals after replaced the
battery.
Be sure to use the designated parts for the lithium battery.
Reference: Maintenance 22. Maintenance Parts List
Be careful of the battery polarity to connect it correctly.
NOTE
Maintenance 18. Controller Unit
VT Rev.9 267
18.1 Replacing Controller Unit
WARNING
■
Make sure that orange colored charge confirmation LED on the DPB turns off
when eject
ing the Controller Unit. If operating without tuning off the LED, electric
shock or other serious problems for safety may occur.
Charge
confirmation
LED
DPB Board
Name
Quantity
Note
Maintenance
parts
Controller Unit
AC specification 1
Standard, Cleanroom model: 2194603
Protection model: 2208039
DC specification
1
2207771 (Standard model only)
Tools
Hexagonal wrench
(width across flats: 3 mm)
1
For M4 hexagon socket head cap bolts
Torque wrench
1
For tightening torque control
Cross-point screwdriver (No. 2)
1
The brake is mounted on each joint to prevent the arm from lowering due to its own weight while the Controller
power is OFF or the motor is OFF status. The brake does not work during replacement.
Be careful when performing maintenance work.
Maintenance 18. Controller Unit
268 VT Rev.9
18.1.1 Standard, Cleanroom Model
Controller Unit
Removal
(1)
Turn O
FF the Manipulator.
(2)
Remove
the connector plate.
Reference: Maintenance 7.7 Connector Plate
S
tandard
C
leanroom
(3)
Disconnect
the TP connector which is connected (inside) the connector plate.
(4)
Unscrew
the
mounting screws of the
Controller Unit.
Hexagon socket head cap bolts:
3-M4×10 (with a plain washer)
(
5)
Pull out the
Controller Unit from the
Manipulator base.
When pulling it out,
firstly push the plate of
the Controller
Unit
to the right (see the picture) gently,
then remove the thermal conductive
sheet
on the base and the Controller
Unit
.
Next, pull
the Controller Unit forward.
Gently push to the right
Pull it forward
(
6)
Disconnect
the following
connectors of the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
NOTE
Maintenance 18. Controller Unit
VT Rev.9 269
Controller Unit
Installation
S
tandard
C
leanroom
(1)
Connect
the following connectors to
the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
(2)
Push
the Controller Unit into the base.
Insert the
Controller Unit while moving it
to the right (see the
picture).
Then, gently move the plate of the
Controller Unit
to the
left and let the
thermal conductive sheet
contacts with the
wall inside
the base.
Move it to the right to insert
Push to the left gently
Push
the Controller Unit while fixing the
cables from
the Joint #1 motor at the base
opening. Be careful not to push
the
cables
to the back of the base.
NOTE
NOTE
Maintenance 18. Controller Unit
270 VT Rev.9
(
3)
Fix the
Controller Unit to the base.
Hexagon socket head cap bolts: 3-
M4×10 (with a plain washer)
Tightening torque: 4.0 ± 0.2 N·m
(4)
Connect
the TP connector inside the connector plate.
(
5)
M
ount the connector plate.
Reference: Maintenance 7.7 Connector Plate
Maintenance 18. Controller Unit
VT Rev.9 271
18.1.2 Protection Model
Controller Unit
Removal
(1)
Turn OFF
the Manipulator.
(2)
Remove
the connector plate.
Reference: Maintenance 7.7 Connector Plate
P
rotection
(
3)
Unscrew
the
mounting screws of the
Controller Unit.
Hexagon socket head cap bolts:
3-M4×10 (with a plain washer)
(
4)
Pull out the Controller Unit from
the
Manipulator base.
When pulling it out,
firstly push the plate of
the Controller
Unit to the right (see the picture) gently,
then remove the thermal conductive
sheet
on the base and the Controller
Unit
.
Next, pull
the Controller Unit forward.
Gently push to the right
Pull it forward
(
5)
Disconnect
the
TP connector which is
connected (inside)
the connector plate.
NOTE
Maintenance 18. Controller Unit
272 VT Rev.9
(
6)
D
isconnect the following connectors.
USB type A connector
USB type B connector
LAN connector
(
7)
Disconnect the
EMERGENCY
connector.
(
8)
Disconnect the
two I/O connectors.
(
9)
D
isconnect the power connector.
(
10)
Disconnect
the following
connectors of the Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
C
A
B
C
D: USB type A connector
E: USB type B connector
F: LAN connector
D
E
F
Maintenance 18. Controller Unit
VT Rev.9 273
Controller Unit
Installation
P
rotection
(
1)
M
ount the base rear gasket in the groove on the back of the base.
(
2)
Connect
the following connectors to
the
Controller Unit.
A: Power cable connector
B: Signal cable connector
C: LED connectors × 2
G: TP connector
C
A
B
C
(
3)
Push
the Controller Unit into the base.
Insert the Controller Unit while moving it
to the right (see the
picture).
Then, gently move the plate of the
Controller Unit to
the left and let the
thermal conductive sheet contacts with the
wall inside
the base.
Move it to the right to insert
Push to the left gently
Push
the Controller Unit while fixing the
cables from
the Joint #1 motor at the base
opening. Be careful not to push
the
cables to
the back of the base.
NOTE
NOTE
Maintenance 18. Controller Unit
274 VT Rev.9
(
4)
Fix the Controller Unit to
the base.
Hexagon socket head cap bolts: 3-
M4×10 (with a plain washer)
Tightening torque: 4.0 ± 0.2 N·m
(
5)
Connect the power connector on the
Controller Unit.
(
6)
C
onnect I/O
connector on the Controller
Unit.
(
7)
C
onnect EMERGENCY connector on the
Controller Unit.
(
8)
Connect the following connectors on the
Controller Unit.
D: USB (type A) connector
E: USB (type B) connector
F: LAN connector
D
E
F
(
9)
M
ount the connector plate.
Reference: Maintenance 7.7 Connector Plate
Maintenance 18. Controller Unit
VT Rev.9 275
18.2 Replacing Power Board
CAUTION
■
Heat sink has sharp
part. Be sure to wear protective gloves when removing the
power board or disconnecting cables.
Name
Quantity
Note
Maintenance
parts
Power Board
AC specification
2
2188638
DC specifications
1
2207410
Tools
Cross-point screwdriver (No. 2)
1
P
ower Board
Removal
(
1)
Remove
the Controller Unit.
Reference: Maintenance 18.1 Replacing Controller Unit
(2)
Disconnect
the connectors of the power board.
Power connectors
AC specification: (IN/OUT ×2 for each)
DC specification : (IN/OUT ×1)
OUT
IN
AC specification
OUT
IN
DC specification
(3)
Remove
the power board.
Pan head screws:
AC specification: 10-M3×8 Sems
DC specification: 6-M3×8 Sems
P
ower Board
Installation
(
1)
Mount a new power board.
Pan head screws:
AC specification: 10-M3×8 Sems
DC specification: 6-M3×8 Sems
Tightening torque: 0.45 ± 0.1N·m
(2)
Connect the
connectors of the power board.
Power connectors:
AC specification: (IN/OUT ×2 for each)
DC specification: (IN/OUT ×1 for each)
(
3)
M
ount the Controller Unit.
Reference: Maintenance 18.1 Replacing Controller Unit
Maintenance 18. Controller Unit
276 VT Rev.9
18.3 Replacing CPU/DPB Board
Name
Quantity
Note
Maintenance
parts
CPU/DPB Board
AC specification
1
2193553
DC specification
1
2207409
Tools
Cross-point screwdriver (No. 2)
1
CPU/DPB
Board
Removal
(
1)
Remove
the power board.
Reference: Maintenance 18.2 Replacing Power Board
(2)
Disconnect
the CPU/DPB board connectors.
E: Power connector (IN/OUT ×1 for each)
F: Cooling fan connector
G: Regenerative resistor connector 1
H: Regenerative resistor connector 2
Remember the cable layout for
reconnecting after replacement.
AC
specification
F
G
H
E-OUT
E-IN
DC
specification
(3)
Remove
the CPU/DPB board.
Binding head screws: 5-M3×6
Firstly, unscrew
the mounting screws.
Next, pull the
CPU/DPB board to the
arrow direction.
NOTE
NOTE
Maintenance 18. Controller Unit
VT Rev.9 277
(
4)
Remove the
heat release sheet attached on the CPU
board.
The
heat release sheet will be necessary again.
Be careful not to lose them.
Be careful not to break the
heat release sheet.
Heat release sheet
NOTE
Maintenance 18. Controller Unit
278 VT Rev.9
CPU/DPB
Board
Installation
(1)
Attach
the heat release sheet on the surface (the side
with no connectors) of
the new CPU/DPB board.
Make sure not to attach
the sheet on the wrong surface.
Heat release sheet
(
2)
Mount
the CPU/DPB board and fix it by the mounting screws.
Binding head screws: 5-M3×6
Tightening torque: 0.45 ± 0.1N·m
Mounting position
of CPU/DPB board differs between Standard, C
leanroom model and
Protection model.
(3)
Connect
the CPU/DPB board connectors.
E: Power connector (IN/OUT ×1 for each)
F: Cooling fan connector
G: Regenerative resistor connector 1
H: Regenerative resistor connector 2
Be careful not to connect the wrong connectors or forget to connect it.
A
C specification
F
G
H
E-OUT
E-IN
DC
specification
(
4)
M
ount the power board.
Reference: Maintenance 18.2 Replacing Power Board
NOTE
NOTE
NOTE
Maintenance 18. Controller Unit
VT Rev.9 279
18.4 Replacing Lithium Battery
Name
Quantity
Note
Maintenance
parts
Lithium Battery 1 2113554 (R13B060003)
Replace the battery within 30 minutes after turning OFF.
If more than 30 minutes pass after removing the battery, voltage of the capacitor lower and
time may be reset.
Lithium Battery
Removal
(1)
Remove
the CPU/DPB board from the base.
Reference: Maintenance 18.3 Replacing CPU/DPB Board
(2)
Remove
the battery from the battery connector.
Lithium Battery
Installation
(1)
Connect a new battery to
the battery connector.
(2)
M
ount the CPU/DPB board to the base.
Reference: Maintenance 18.3 Replacing CPU/DPB Board
18.5 Replacing Cooling Fan
Name
Quantity
Note
Maintenance
parts
Cooling Fan 1 2191301
Tools
Cross-point screwdriver (No. 2)
1
Cooling Fan
Removal
(1)
Remove
the Controller Unit.
Reference: Maintenance 18.1 Replacing Controller Unit
(2)
Remove
the cooling fan.
Binding head screws: 4-M4×30
Cooling Fan
Cooling Fan
Installation
(
1)
M
ount a new cooling fan.
Binding head screws: 4-M4×30
Tightening torque: 0.45 ± 0.1N·m
(
2)
M
ount the Controller Unit.
Reference: Maintenance 18.1 Replacing Controller Unit
NOTE
Maintenance 18. Controller Unit
280 VT Rev.9
18.6 Replacing SD Card
Name
Quantity
Note
Maintenance
parts
SD Card 1 2182748
Tools
Cross-point screwdriver (No. 2)
1
Remove the SD card after removing the fieldbus I/O module if fieldbus I/O module is
inserted to the optional slot. Also, install fieldbus I/O module after installing the SD
card.
For more details about fieldbus I/O module, refer to the following.
Setup & Operation 17: Fieldbus I/O.
18.6.1 Standard, Cleanroom Model
SD
Card
R
emoval
Standard,
Cleanroom
(1)
Turn OFF the Manipulator
.
(2)
Remove the power plug.
(3)
Remove
the optional slot cover.
Pan head screws: 2-M3×6 Sems
Optional slot cover
(4)
Push the SD card which is inserted near the
option
al slot to eject.
SD
Card
Installation
Standard,
Cleanroom
(1)
Push the SD card and inset to the SD card slot near the option
al slot.
(2)
M
ount the optional slot cover.
Pan head screws: 2-M3×6 Sems
Tightening torque: 0.45 ± 0.1 N·m
NOTE
Maintenance 18. Controller Unit
VT Rev.9 281
18.6.2 Protection Model
SD
Card
Removal
Protection
(1)
Turn OFF the Manipulator
.
(2)
Remove the power plug.
(3)
Remove
the connector plate.
Reference: Maintenance 7.7 Connector Plate
(4)
Push the SD card which is inserted near the option
al slot to eject.
SD
Card
Installation
Protection
(1)
Push the SD card and inset to the SD card slot near the option
al slot.
(
2)
M
ount the connector plate.
Reference: Maintenance 7.7 Connector Plate
ｓ
19. Calibration
282 VT Rev.9
19. Calibration
19.1 Overview
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot perform positioning properly because a gap exists between the origin
stored in each motor encoder and its corresponding origin stored in the Controller.
Therefore, it is necessary to match these origins after replacing the parts.
The process of aligning the two origins is called “Calibration”. Note that calibration is not
the same as teaching*.
* “Teaching” means to teach the Controller coordinate points (including poses) anywhere
in the operating area of the Manipulator.
WARNING
■
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.
■
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 speeds 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 unexpectedly.
In EPSON RC+, a coordinate point including the arm pose is defined as “point” and its data
is called “point data”.
There are two methods to move the Manipulator during calibration.
- Releasing the electromagnetic brake and moving the arms manually.
For details, refer to the Setup & Operation 1.5 How to Move Arms with the Electromagnetic
Brake.
- Moving the Manipulator using Jog & Teach.
Moving the Manipulator while releasing the electromagnetic brake involves risk as
described below.
It is recommended to move the Manipulator using Jog & Teach.
19. Calibration
VT Rev.9 283
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.
Releasing 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 unexpected directions.
■
Be careful of the arm
falling when releasing the brake.
While the brake is being released, the Manipulator’s arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage
or malfunction of the Manipulator.
Also, pay attention to the following points at the encoder initialization.
CAUTION
■
Joint #4 have no mechanical stops and they may be rotated more than 360
degrees. If the encoder initialization is performed with
improper posture, the
Manipulator moves outside the operation range. If the Manipulator was moved
outside the operation range
, the internal wiring may be damaged by being twisted
or pinched and it may result in Manipulator malfunction.
When the origin position of
the
Joint #4 is uncertain, check torsion of the internal cables.
The origin position is where the Manipulator has the internal cables not twisted at the basic
orientation
described in Setup & Operation 3.9 Checking the Basic orientation.
Torsion of the
internal cables can be checked by removing the following cover.
Joint #4 : Arm #3 Cover
Arm #3 Cover
3-M4×12 Sems
For details on Jog & Teach, refer to the following manual.
EPSON RC+ User’s Guide
5.11.1 [Tools]-[Robot Manager]-[Jog and Teach] Page
- For details about the basic orientation, refer to Setup & Operation 3.9 Checking the Basic
orientation.
- Calibrate one joint at a time. (Also, replace parts of one joint at a time.) If you calibrate
the origins for multiple joints simultaneously, it will be more difficult to verify their
origins and obtain the origin correct positions.
NOTE
NOTE
19. Calibration
284 VT Rev.9
Calibration Flowchart
5. Calibration
4. Calibration
Yes
Start
1. Basic Orientation
Confirmation
2. Part Replacement
3. Encoder
Initialization
6. Accuracy Testing
Re-calibrate?
End
No
····························
More accurate positioning
Perform these
steps if necessary
19. Calibration
VT Rev.9 285
19.2 Calibration Procedures
Command Input
Command execution is required in some calibration procedures.
Select the EPSON RC+ menu-[Tools]-[Command Window].
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedures.
Follow steps 1 to 6 to calibrate the Manipulator.
1.
Basic
Orientation Confirmation
Calibration is performed with the basic orientation of the Manipulator.
For details about the basic orientation, refer to Setup & Operation 3.
9
Checking the
Basic Orientation.
When the Manipulator cannot have the basic orientation, define the reference
orientation in advance, and record the point data. Also, put the “match marks” to
indicate the orientation.
The coordinate points including the Arm orientation are referred to as “points”, and the
data of the points are called “point data” in EPSON RC+.
2.
Part Replacement
Replace the parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement
3.
Encoder Initialization
Follow the procedures below to initialize
the encoder.
EPSON
RC+
Execute the following command in
the [Command Window].
>Encreset
[The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+
menu-[Tools]-[Controller], then click <Reset Controller>.
19. Calibration
286 VT Rev.9
4.
Calibration
EPSON
RC+
4
-1 Visually move the calibrating Joint of the
Manipulator to the basic
orientation
Set the jog mode to “Joint” in the [Jog & Teach] panel from EPSON RC+ menu -
[Tools] -
[Robot Manager], and then move the Manipulator in Jog motion so that
the target joint matches the basic orientation as much as possible.
When the Manipulator cannot have the basic orientation, move the
Manipulator so
that the “marks” depending on the predetermined reference orientation are aligned.
EPSON
RC+
4
-2 Initialize the Encoder
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
Joint #1 >Encreset 1
Joint #2 >Encreset 2
Joint #3 >Encreset 3
Joint #4 >Encreset 4
Joint #5 >Encreset 5, 6
Joint #6
>Encreset 6
EPSON
RC+
4
-3 Reboot the Controller
Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>.
EPSON
RC+
4
-4 Specify a pulse value set as an origin point
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
>calpls J1 pulse, J2 pulse, J3 pulse, J4 pulse, J5 pulse, J6 pulse
* Manipulator will not move.
Specify the pulse values “0” when the Manipulator is aligned to the basic
orientation, or the values recorded at the predetermined reference orientation
(where the match marks are aligned) to the command parameters (pulse values).
If the point data for the
reference orientation is “P1”, the command parameters can
be specified as follows
>calpls ppls(P1,1), ppls(P1,2), ppls(P1,3),
ppls(P1,4), ppls(P1,5), ppls(P1,6)
19. Calibration
VT Rev.9 287
EPSON
RC+
4
-5 Set the specified pulse value to the encoder
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 4
Joint #5 >calib 5,6
Joint #6 >calib 6
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position.
(Due to the structure of the Manipulator, any offset in the position of the Joint #5
affects the Joint #6.) Calibrate the origin of the Joint #6 togethe
r when calibrating
the Joint #5.
Move the arm to several points to check if the arm moves to the original
positions
properly.
Teach points if fine adjustment is necessary.
NOTE
19. Calibration
288 VT Rev.9
5.
Calibration (More accurate positioning)
EPSON
RC+
Move the Manipulator to the selected point data by jogging in [Jog & Teach].
Move the joint* which is not calibrated to the specified point by motion command.
*When the Joint #5 is calibrated,
adjust the Joints #1 - #4.
For example, when the selected point data is “P1”, execute “Motor On” in [Control
Panel] and execute “Go P1” in [Jog & Teach].
Adjust the calibrated joints accurately by jog command so that the e
nd effector is
aligned
to the selected point data position.
*When the Joint #5 is calibrated, adjust the Joint #5 and #6.
Select the “Joint” jog mode from [Jog & Teach] to change and adjust the angle of the
calibrated
joint.
Set the pulse values again at t
he adjusted point.
Execute the following command
in the [Command Window] from EPSON RC+ menu
-
[Tools] to specify the pulse values to set.
>calpls J1 pulse, J2 pulse, J3 pulse, J4 pulse, J5 pulse, J6 pulse
* Manipulator will not move.
Specify the pulse values of the selected point data to the command parameters.
If the point data for the reference orientation is “P1”, the command parameters can
be specified as follows
>calpls ppls(P1,1), ppls(P1,2), ppls(P1,3), ppls(P1,4)
,
ppls(P1,5), ppls(P1,6)
* Manipulator will not move.
Then, execute the following command in the [Command Window] to set the specified
pulse values to the encoder according to the joint to set the origin point.
Joint #1 : >Calib 1
Joint #2 : >Calib 2
Joint #3 : >Calib 3
Joint #4 : >Calib 4
Joint #5 : >Calib 5,6
Joint #6 : >Calib 6
6.
Accuracy Testing
Move the Manipulator to a different pose (point) to verify whether it moves back to
the
original position. If accuracy is inadequate, it is necessary to re
-calibrate the
origin using
a different pose (point). You must set the pose (point) again if the
Manipulator does not
move back to the original position after re
-calibration.
20. Restrictions
VT Rev.9 289
20. Restrictions
For VT series Manipulator, there are commands with restrictions or may cause an error if
executing. However, error does not occur when building a program.
Also, some functions have restrictions.
20.1 Commands Cannot Use
The following commands/ functions are not available.
AbortMotion Aborts a motion command and puts the running task in error status.
Toff Turns off execution line display on the LCD.
Ton Specifies a task which shows an execution line on the LCD.
ShutDown Shuts down EPSON RC+ and optionally shuts down or restarts Windows.
WindowsStatus Returns the Windows startup status.
20.2 Commands Cause Motion Error If Specifying RS-232C
If specifying RS-232C port of the Controller, the following commands/ functions cause
motion error.
Input # Allows string or numeric data to be received from a file,
communications port, or database and stored in one or more variables.
Print # Outputs data to the specified file, communications port, database, or
device.
Line Input # Reads data of one line from a file, communication port, database, or the
device.
Lof Checks whether the specified RS-232 or TCP/IP port has any lines of data
in its buffer.
Read Reads characters from a file or communications port.
ReadBin Reads binary data from a file or communications port.
Write Writes characters to a file or communication port without end of line
terminator.
WriteBin Writes binary data to a file or communications port.
20. Restrictions
290 VT Rev.9
20.3 Commands Cause Error
20.3.1 Conveyor Tracking Commands
If executing conveyor tracking commands/functions, motion error occurs.
Cnv_AbortTrack Aborts tracking motion to a conveyor queue point.
Cnv_Accel Function Returns acceleration and deceleration for the conveyor
Cnv_Accel Sets acceleration and deceleration for the conveyor
Cnv_Downstream Function Returns the downstream limit for the specified conveyor.
Cnv_Downstream Sets the downstream limit for the specified conveyor.
Cnv_Fine Function Returns the current Cnv_Fine setting.
Cnv_Fine Sets the value of Cnv_Fine for one conveyor.
Cnv_Flag Function Returns the tracking state of the robot
Cnv_Mode Function Returns the setting mode value of the conveyor
Cnv_Mode Sets the setting mode value of the conveyor
Cnv_Name$ Function Returns the name of the specified conveyor.
Cnv_Number Returns the number of a conveyor specified by name.
Cnv_OffsetAngle Sets the offset value for the conveyor queue data.
Cnv_OffsetAngle Function Returns the offset value of the conveyor queue data.
Cnv_Point Function Returns a robot point in the specified conveyor's coordinate
system derived from sensor coordinates.
Cnv_PosErr Function Returns deviation in current tracking position compared to
tracking target.
Cnv_Pulse Function Returns the current position of a conveyor in pulses.
Cnv_QueAdd Adds a robot point to a conveyor queue.
Cnv_QueGet Function Returns a point from the specified conveyor's queue.
Cnv_QueLen Function Returns the number of items in the specified conveyor's
queue.
Cnv_QueList Displays a list of items in the specified conveyor's queue.
Cnv_QueMove Moves data from upstream conveyor queue to downstream
conveyor queue.
Cnv_QueReject Sets and displays the queue reject distance for a conveyor.
Cnv_QueReject Function Returns the current part reject distance for a conveyor.
Cnv_QueRemove Removes items from a conveyor queue.
Cnv_QueUserData Sets and displays user data associated with a queue entry.
Cnv_QueUserData Function Returns the user data value associated with an item in a
conveyor queue.
Cnv_RobotConveyor Function Returns the conveyor being tracked by a robot.
Cnv_Speed Function Returns the current speed of a conveyor.
Cnv_Trigger Latches current conveyor position for the next
Cnv_QueAdd statement.
Cnv_Upstream Function Returns the upstream limit for the specified conveyor.
Cnv_Upstream Sets the upstream limit for the specified conveyor.
20. Restrictions
VT Rev.9 291
20.3.2 PG Commands
If executing PG commands, motion error occurs.
PG_FastStop Stops the PG axes immediately.
PG_LSpeed Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
PG_Scan Starts the continuous spinning motion of the PG robot axes.
PG_SlowStop Stops slowly the PG axis spinning continuously.
20.3.3 R-I/O Commands
If executing R-I/O commands/functions, motion error occurs.
LatchEnable Enable/Disable the latch function for the robot position by the
R-I/O input.
LatchState Function Returns the latch state of robot position using the R-I/O.
LatchPos Function Returns the robot position latched using the R-I/O input signal.
SetLatch Sets the latch function of the robot position using the R-I/O
input
20.3.4 Force Sensing Commands
If executing force sensing commands/functions, motion error occurs.
Force_Calibrate Sets zero offsets for all axes for the current force sensor.
Force_ClearTrigger Clears all trigger conditions for the current force sensor.
Force_GetForces Returns the forces and torques for all force sensor axes in an
array.
Force_GetForce Function Returns the force for a specified axis.
Force_Sensor Sets the current force sensor for the current task.
Force_Sensor Function Returns the current force sensor for the current task.
Force_SetTrigger Sets the force trigger for the Till command.
20.3.5 Other (FineDist)
You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine Specifies and displays the positioning error limits.
(Unit: pulse)
FineDist Specifies and displays the positioning error limits (Unit: mm)
20.3.6 Other (HealthCalcPeriod)
You cannot use the command: HealthCalcPeriod
A period of parts consumption commands information to calculate “remaining months” is
one day and unable to change.
HealthCalcPeriod Set the calculation period of parts consumption commands.
HealthCalcPeriod Function Returns the calculation period of parts consumption commands.
20.3.7 Other (ChDisk)
You cannot specify USB option to the command: ChDisk
20. Restrictions
292 VT Rev.9
20.4 Restrictions of Functions
Some of the following functions are not available.
20.4.1 TP3
You cannot use build of the program. An error occurs to finish the program if executing it.
Other functions are available.
20.4.2 Loop Processing
If the created robot control program is consisted of the multi-tasking and also there are some
task with infinite loop, the system may become unstable and the connection with EPSON
RC+ is disconnected.
The Controller detects infinite loop tasks. If the possibilities to affect the system are
detected, the following error occurs and stops the program.
If the error occurs, modify the program and make sure not to set infinite loop.
Error code : 2556
Error message : An excessive loop was detected.
Please reduce the number of looped tasks or set Wait
Do not perform any processing such as infinite loop or any other similar processing as much
as possible.
Execute Wait command or similar command in the loop processing and avoid occupying the
CPU if performing calculation which required loop or waiting for I/O signals.
There is no problem if executing commands with Wait in the loop such as Wait command,
robot operating command, Print command, and NetWait command.
NOTE: I
nfinite loop is performed in the following case:
When commands are created only with command without Wait in the loop such as
operation instruction, assignment command, and I/O check command.
Example 1: Turns ON output port “2” when Input port “0” turned ON
Example of program that may cause errors
Do
If Sw(0) = On Then
On(2)
Exit Do
EndIf
Loop
Correction example
Wait Sw(0) = On
On(2)
20. Restrictions
VT Rev.9 293
Example 2: When performing the large amount of calculation with a loop structure.
Example of program that may cause errors
For i = 0 To 10000
For j = 0 To 10000
a = a + 1
Next
Next
Correction example
For i = 0 To 10000
For j = 0 To 10000
a = a + 1
Next
Wait 0.01 ' Execute Wait to avoid occupying the CPU
Next
20.4.3 Camera Searching by CV1/CV2
You may not be able to use Camera searching by VT series Manipulator if CV1/CV2 is used
and the following two conditions are fulfilled.
- When connecting PC and VT series Manipulator by USB connection
- When the configuration of default gateway of VT series Manipulator is
None, or “0.0.0.0”.
Type IP address for CV1/ CV2 manually when you cannot use Camera researching.
For more details of Camera researching, refer to the following.
Vision Guide 7.0 Hardware & Setup
Setup: 2.3.2 CV1/CV2 Camera Configuration
20.4.4 Restore the Data of Backup Controller Function
Backup Controller function that acquired by virtual Controller cannot be restored to VT
series Manipulator.
NOTE : Backup Controller function that acquired by actual equipment can be restored to
VT series Manipulator.
20. Restrictions
294 VT Rev.9
20.5 Command only available in DC specification Manipulator
The following command is only available in DC specification Manipulator. If using it in
AC specification Manipulator, an error occurs.
CtrlInfo(15)
Acquire DC power source voltage (100 times greater than input voltage)
Example
Do
Voltage = CtrlInfo(15) / 100.0 ' Acquire voltage value
if Voltage < 43 then
print “Voltage became under 43V”
endif
Wait 1
Loop
When using the command, be sure to operate Manipulator within proper voltage range while
monitoring the voltage.
NOTE
21. Error Code Table
VT Rev.9 295
21. Error Code Table
For error code, refer to the following manual.
EPSON RC+7.0 SPEL+ Language Reference SPEL+ Error Messages
22. Maintenance Parts List
296 VT Rev.9
22. Maintenance Parts List
Part Name Code Note
Reference:
Maintenance
Overhaul
*1
Cover
Arm #1
1774549
7.1
Arm #2
1774548
7.2
Arm #3
1774547
7.3
Arm #4
1
1774546
7.4
2
1774550
7.5
Cable unit
2191349
8.1, 8.2
AC servo motor
Joint #1
2194596
300 W unit
9.1
Joint #2
2194597
10.1
Joint #3
2194598
200 W unit
11.1
Joint #4
2194599
100W unit
12.1
Joint #5
2194600
13.1
Joint #6
2194601
14.1
Timing belt
Joint #1
1751536
Width 9 mm
255mm
9.1, 9.3
Joint #2
1753920
501mm
10.1, 10.3
Joint #3
1751537
480 mm
11.1, 11.3
Joint #4
1751538
Width 6 mm
210 mm
12.1, 12.3
Joint #5, #6 1762243 495 mm
13.1, 13.3
14.1, 14.3
Thermal conductive sheet
1755573
For motor
9.1, 10.1, 11.1
AMP board
2189027
For motor
15.1, 15.2, 15.3
LED plate
1749496 Arm #2
16
Felt sheet
Joint #1
1840429
Arm #1
17.1
Joint #2
1755083
Arm #2
17.2
Joint #3
1755084
17.3
Controller Unit
Standard
Cleanroom
2194603
CPU board,
DPB board,
Cooling fan unit
18.1
Protection
2208039
Controller Unit
AC specification
2194603
Standard
Cleanroom
CPU board,
DPB board,
Cooling fan
unit
18.1
2208039
Protection
DC specification
2207771
Standard
Power board
AC specification
2188638
18.2
DC specification
2207410
CPU/DPB board
AC specification 2193553
With: battery
Without:
SD, Heat release sheet
18.3
DC specification 2207409
Lithium battery
2113554 (Code 2: R13B060003)
18.4
Cooling fan
2191301
18.5
SD card
2182748
18.6
22. Maintenance Parts List
VT Rev.9 297
Part Name Code Note
Reference:
Maintenance
Overhaul
*1
Gasket
Base
Rear gasket
1804004
1825359
Protection model
Subplate gasket
1822684
LED gasket
1804010
Arm #1 Cover gasket
1804011
1825378
Arm #2
Cover gasket
1804013
LED gasket
1804014
Arm #3
Cover gasket
1804016
Arm #4
Cover gasket (Left)
1804018
Cover gasket (Right)
1804019
Seal washer
M3
1803975
M4
1665882
M22
1666016
Part Name Code Note
Reference:
Maintenance
Grease *2
SK-1A
Joint #1, #2, #3, #4
-
For purchasing grease, and
adhesive, please
the
supplier of your region
9.2, 10.2, 11.2, 12.2
SK-2
Joint #5, #6,
Bevel gear
-
13.2, 14.2
GPL-224
Cable
-
8.1, 8.2
Adhesive *2
LOCTITE641 -
9.2, 10.2, 11.2, 12.2,
13.2
14.2
Wire tie
AB100
1675753
1 bag (100 pcs: white)
8.1, 8.2
AB150
1675754
1 bag (100 pcs: white)
*1 Overhaul:
As a rough indication, perform the overhaul (parts replacement) before reaching 20,000 operation hours of the
Manipulator. The operation hours can be checked in [Controller Status Viewer] dialog box - [Motor On Hours].
For details, refer to Maintenance 2.2 Overhaul.
*2 Regarding purchase of grease and adhesive:
Due to the chemicals regulations of individual countries (the UN GHS), we are requesting our customers to
purchase grease and other materials required for maintenance from the manufacturers listed in the table below
as of April 2015.
Regarding purchase of grease and other materials, please contact the following manufacturers. If there is
anything unclear, please contact the suppliers of your region.
Product name
Manufacturer
URL
Harmonic Grease SK-1A
Harmonic Grease SK-2
Harmonic Drive Systems Inc. http://www.harmonicdrive.net/
Krytox®GPL-224 DuPont
http://www2.dupont.com/Our_Company/en_
US/worldwide/us_country.html
LOCTITE641
LOCTITE243
LOCTITE http://loctite.com/
23. Option Parts List
298 VT Rev.9
23. Option Parts List
Part Name Code Note
Reference
Setup & Operation
Camera plate unit
R12NZ900ZZ
11.1
Tool Adapter (ISO flange)
R12NZ900ZX
11.2
Adjustable Mechanical Stops
J1
R12NZ90101
11.3
J2
R12NZ90102
J3
R12NZ90103
External Wiring Kit
R12NZ900ZW
11.4
Appendix A: Open Source Software License
VT Rev.9 299
Appendix A: Open Source Software License
(VT series Manipulator)
(1) The VT series product includes open source software programs listed in Section (6) according to
the license terms of each open source software program.
(2) We provide the source code of the Open Source Programs (each is defined in Section (6)) until five
(5) years after the discontinuation of same model of this option product. If you desire to receive
the source code above, please contact the "SUPPLIER" in the first pages of the Robot System Safety
and Installation manual. You shall comply with the license terms of each open source software
program.
(3) The open source software programs are WITHOUT ANY WARRANTY; without even the implied
warranty of MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. See the
license agreements of each open source software program for more details, which are described on
Section (7).
(4) OpenSSL toolkit
The VT series product includes software developed by the OpenSSL project for use in the
OpenSSL Toolkit (http://www.openssl.org/
).
This product includes cryptographic software written by Eric Young (eay@cryptsoft.com).
(5) The license terms of each open source software program are described on Section (7).
(6) The list of open source software programs which the VT series product includes are as follows.
bash dash libc-bin libc6
libcomerr2 libdevmapper 1.02.1 libgcc1 libstdc++6
libudev1 login Logrotate makedev
mount mountall net-tools netbase
rsyslog ssh sudo tzdata
ubuntu-minimal udev Linux Xenomai
Appendix A: Open Source Software License
300 VT Rev.9
(7) For the each open source license, please refer to the URLs as follows.
bash http://tiswww.case.edu/php/chet/bash/bashtop.html
dash http://packages.ubuntu.com/ja/precise/dash
libc-bin http://www.eglibc.org/home
libc6 http://www.eglibc.org/home
libcomerr2 http://packages.ubuntu.com/ja/precise/libcomerr2
libdevmapper1.02.1 ftp://sources.redhat.com/pub/lvm2/
libgcc1 ftp://gcc.gnu.org/pub/gcc/releases/
libstdc++6 ftp://gcc.gnu.org/pub/gcc/releases/
libudev0 http://packages.ubuntu.com/ja/precise/libudev0
login http://packages.ubuntu.com/ja/precise/login
logrotate https://fedorahosted.org/logrotate/
makedev ftp.redhat.com
mount ftp://ftp.us.kernel.org/pub/linux/utils/util-linux-ng/
mountall http://packages.ubuntu.com/ja/precise/mountall
net-tools https://developer.berlios.de/projects/net-tools/
netbase http://packages.ubuntu.com/ja/precise/netbase
rsyslog http://www.rsyslog.com
ssh http://www.openssh.com/ftp.html
sudo http://www.sudo.ws/
tzdata http://www.iana.org/time-zones
ubuntu-minimal http://packages.ubuntu.com/ja/precise/ubuntu-minimal
udev http://packages.ubuntu.com/ja/precise/udev
Linux http://www.kernel.org/
Xenomai http://www.xenomai.org/
