Epson E2C Series Manipulator Manual
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Epson E2C Series Manipulator Manual

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SCARA ROBOT
E2C series
MANIPULATOR MANUAL
Rev. 6
EM069R1409F

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  • Page 1 SCARA ROBOT E2C series MANIPULATOR MANUAL Rev. 6 EM069R1409F...
  • Page 3 SCARA ROBOT E2C series Manipulator Manual Rev. 6 Copyright © 2002-2006 SEIKO EPSON CORPORATION. All rights reserved. E2C Rev.6...
  • Page 4 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...
  • Page 5 TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
  • Page 6 Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAPAN : +81-(0)266-61-1802 : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC. Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746 : +1-562-290-5900 : +1-562-290-5999 E-MAIL : info@robots.epson.com Europe...

  • Page 7: Before Reading This Manual

    For SPEL CT, a coordinate point including the arm pose is defined as “pose”. The data SPEL CT is called “pose data”. For EPSON RC+, a coordinate point including the arm pose is defined as “point”. EPSON The data is called “point data”.
  • Page 8 E2C Rev.6...

  • Page 9: Table Of Contents

    TABLE OF CONTENTS Before Reading This Manual................v Setup & Operation 1. Safety 1.1 Conventions ....................3 1.2 Design and Installation Safety ..............3 1.3 For Operations ..................4 1.4 Emergency Stop ..................5 1.5 Emergency Movement Without Drive Power ..........7 1.6 Manipulator Labels ..................8 2.
  • Page 10 4. Setting of End Effectors 4.1 Attaching an End Effector ............... 43 4.2 Attaching Cameras and Valves ............... 44 4.3 WEIGHT and INERTIA Settings .............. 45 4.3.1 WEIGHT Setting................45 4.3.2 INERTIA Setting ................47 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3..... 52 5.
  • Page 11 3. Removing and Installing the Covers 3.1 Arm Top Cover..................82 3.2 Arm Bottom Cover ...................83 3.3 Joint #1 Cover ..................83 3.4 Base Connector Box................84 3.4.1 S, C Type Manipulators..............84 3.4.2 SM, CM Type Manipulators............84 4. Replacing the Cable Unit 4.1 Before Replacing the Cable Unit .............86 4.2 How to Replace the Cable Unit ...............86 4.2.1 S, C Type Manipulators..............87 4.2.2 SM, CM Type Manipulators............92...
  • Page 12 8. Replacing the Timing Belts 8.1 Types of Timing Belts................152 8.2 Location of Timing Belts ................ 152 8.3 Replacing the Z Belt................153 8.4 Replacing the U1 Belt ................156 8.5 Replacing the U2 Belt ................159 9. Replacing the Bellows (C, CM Types) 10.

  • Page 13: Setup & Operation

    Setup & Operation This volume contains information for setup and operation of the E2C series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.

  • Page 15: Safety

    ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide or the Safety part in the SPEL CT User’s Guide to understand the safety requirements before designing and/or constructing the robot system.

  • Page 16: For Operations

    The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User’s Guide or the Safety: 1.1 Safety-related Requirements in the SPEL CT User’s Guide before operating the robot system. Operating the...

  • Page 17: Emergency Stop

    Setup & Operation 1. Safety ■ To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. ■...
  • Page 18 Setup & Operation 1. Safety Conditions of Measurement ACCEL Setting SPEED Setting Load [kg] WEIGHT Setting Start point of operation Point that the emergency stop signal is input Target point Joint #1 Joint #2 Stop point E2C251* E2C351* RC420 RC420 RC170 RC170 RC520...

  • Page 19: Emergency Movement Without Drive Power

    Setup & Operation 1. Safety 1.5 Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below: Arm #1 ..... Push the arm by hand. Arm #2 .....

  • Page 20: Manipulator Labels

    Setup & Operation 1. Safety 1.6 Manipulator Labels The following labels are attached around the locations of the Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely. Do not tear, damage, or remove the labels.

  • Page 21: Specifications

    Setup & Operation 2. Specifications 2. Specifications 2.1 Features of E2 series Manipulators E2 series Manipulators are designed based on the “E series” and have high performance: high speed; high precision; space saving; and improvement of cost performance. The features of E2 series Manipulators are as follows: (1) Compatible with E series Manipulators - E2 series Manipulators are highly compatible with E series Manipulators;...

  • Page 22: Model Number And Model Differences

    “Arm length”, asterisks “*” are used in the model number. Example : E2C***S (This model number means that the Manipulator is E2C series Table Top Standard-model corresponding to all arm lengths.) The “-UL” is indicated in this manual only when the specifications of UL1740 conformance type are different from those of nonconformance type.
  • Page 23 Setup & Operation 2. Specifications Model Differences Applicable Mechanism Mounting Use Environment Name Series Standard E2C251 S type E2C351 Table top Cleanroom E2C251 - Available for clean rooms C type E2C351 * Countermeasure for Electrostatic Discharge (ESD) has been taken. Multiple Mountings Standard Side...

  • Page 24: Appearance

    Setup & Operation 2. Specifications 2.3 Appearance 2.3.1 Table Top Standard-model: S Type Part Names Joint #2 (rotating) Cable unit Shaft cover (only for -UL type) Arm #2 Joint #1 (rotating) MT label (only for custom specification) Signature label (Serial No. of Manipulator) Shaft Joint #3 (up and down)
  • Page 25 Setup & Operation 2. Specifications Outer Dimension E2C series S type [unit: mm] ±0.05 ø6 H7 +0.02 4- ø9 Shaft cover (only for -UL type) ø23 2-M3 Depth: 8 ø48 Power cable connector Signal cable connector (*) indicates the stroke margin by mechanical stop.
  • Page 26 Setup & Operation 2. Specifications 2.3.2 Table Top Cleanroom-model: C Type Part Names The following figure shows the additional parts and specifications for the Table Top Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Lower bellows Plate cover (For static electricity countermeasure) Signal cable connector...
  • Page 27 Setup & Operation 2. Specifications Outer Dimension E2C series C type [unit: mm] 2-M3 ±0.05 ø6 H7 Depth:13 +0.02 4- ø9 ø62 Power cable connector Signal cable connector (*) indicates the stroke margin by mechanical stop. 230 or more space for cables...

  • Page 28: Multiple Mounting Standard-Model: Sm Type

    Setup & Operation 2. Specifications 2.3.3 Multiple Mounting Standard-model: SM Type Part Names Joint #1 Joint #2 (rotating) (rotating) Cable unit Shaft cover (only for -UL type) Signature label (Serial No. of Manipulator) Arm #2 MT label Base (only for custom specification) Joint #3 (up and down) Arm #1...
  • Page 29 Setup & Operation 2. Specifications Outer Dimension E2C351SM [unit: mm] 4-M8 Depth: 16 (Both top and bottom of base) 220 ± 0.05 ø116 Shaft cover (only for -UL type) ø48 ø23 2-M3 Depth: 8 4- ø8.5 Depth: 10 ø6 H7 reference through hole (*) indicates the stroke margin by mechanical stop.

  • Page 30: Multiple Mounting Cleanroom-Model: Cm Type

    Setup & Operation 2. Specifications 2.3.4 Multiple Mounting Cleanroom-model: CM Type Part Names The following figure shows the additional parts and specifications for the Multiple Mounting Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Lower bellows Plate cover (For static electricity countermeasure) Exhaust port...
  • Page 31 Setup & Operation 2. Specifications Outer Dimension E2C351CM [unit: mm] 2-M3 4-M8 Depth: 16 220 ± 0.05 Depth: 13 (Both top and bottom of base) ø116 ø62 4- ø8.5 Depth: 10 ø6 H7 reference through hole (*) indicates the stroke margin by mechanical stop. Power cable connector Signal cable connector ø3, 90°...

  • Page 32: Specifications

    Setup & Operation 2. Specifications 2.4 Specifications Item E2C251* E2C351* Arm length Arm #1, #2 125 mm / 125 mm 225 mm / 125 mm Weight (not include the weight of cables) E2C**1S, C: 14 kg : 31lb. / E2C351SM, CM: 16 kg : 36lb. Driving method All joints AC servo motor...
  • Page 33 Setup & Operation 2. Specifications *1: In the case of PTP control. Maximum operating speed in CP control is 1120 mm/s on horizontal plane. *2: The motion range of some models is limited by the Cartesian (rectangular) range. For details, refer to Setup &...

  • Page 34: How To Set The Model

    The method for setting the Manipulator model depends on the software used. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide or the Setup & Operation 11.5 Setting Up the Robot Manipulator in the SPEL CT User’s Guide.

  • Page 35: Environments And Installation

    Setup & Operation 3. Environments and Installation 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 environments that meet the following conditions: Item Conditions Ambient temperature...

  • Page 36: Base Table

    Setup & Operation 3. Environments and Installation 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.

  • Page 37: Mounting Dimensions

    Setup & Operation 3. Environments and Installation 3.3 Mounting Dimensions NOTE The maximum space described in figures shows that the radius of end effector is 44 mm or less. If the radius of the end effector exceeds 44 mm, define the radius as a distance to the outer edge of maximum space.
  • Page 38 Setup & Operation 3. Environments and Installation 3.3.1 Table Top Center of Joint #3 Safeguard Maximum space Motion range Area limited by mechanical stop Standard Motion Range of Manipulator E2C251S/C E2C351S/C A (Length of Arm #1) 125 mm 225 mm B (Length of Arm #2) 125 mm 125 mm...

  • Page 39: Multiple Mountings

    Setup & Operation 3. Environments and Installation 3.3.2 Multiple Mountings Center of Joint #3 Safeguard Maximum space Motion range Area limited by mechanical stop Standard Motion Range of Manipulator E2C351SM/CM A (Length of Arm #1) 225 mm B (Length of Arm #2) 125 mm 136 mm D (Motion range of Joint #1)

  • Page 40: Unpacking And Transportation

    Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation 3.4.1 Precautions for Transportation THE INSTALLATION SHALL BE MADE BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.

  • Page 41: Transportation

    Setup & Operation 3. Environments and Installation 3.4.2 Transportation Transport the Manipulator following the instructions below: (1) Attach the eyebolts to the top of the Arm #1. (2) Pass the belts through the eyebolts. (3) Hoist the Manipulator slightly so that it does not fall. Then, remove the bolts securing the Manipulator to the delivery equipment or pallet.

  • Page 42: Installation

    Setup & Operation 3. Environments and Installation 3.5 Installation Procedure 3.5.1 Table Top * This section describes the installation procedure with the figures for the Standard-model. When the Manipulator is C type, unpack it outside of the clean room. Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth.

  • Page 43: Multiple Mountings

    Setup & Operation 3. Environments and Installation 3.5.2 Multiple Mountings ■ Install the Multiple Mounting Manipulator with two or more people. The Manipulator weighs approximately 16 kg. Be careful not to get hands, fingers, or feet caught and/or have equipment damage by the fall of the Manipulator.
  • Page 44 Setup & Operation 3. Environments and Installation Installation Procedure The following shows a recommended procedure for installing the Multiple Mounting Manipulators to a wall. When the Manipulator is CM type, unpack it outside of the clean room. Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth.

  • Page 45: Connecting The Cables

    Setup & Operation 3. Environments and Installation 3.6 Connecting the Cables ■ To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.
  • Page 46 Setup & Operation 3. Environments and Installation Cable Connections Connect an M/C power cable to the power cable connector. Connect an M/C signal cable to the signal cable connector. The connection method for the Controller side varies with the Controller used. For details, refer to the controller manual.

  • Page 47: User Wires And Pneumatic Tubes

    Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes ■ When adding wires and tubes along the outside of the duct, pay attention to following: - Be careful not to move or bend the duct. Moved or bent duct may result in damage to the duct and/or duct cables, disconnection, and/or contact failure.
  • Page 48 Setup & Operation 3. Environments and Installation Pneumatic Tubes Max. Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter × Inner Diameter ø6 mm × ø4 mm 0.59 MPa (6 kgf/cm : 86psi) ø4 mm × ø2.5 mm Fittings for ø6 mm and ø4 mm (outer diameter) pneumatic tubes are supplied on the both ends of the pneumatic tubes.
  • Page 49 Setup & Operation 3. Environments and Installation The pneumatic tubes for the Standard-model are the same type as the Cleanroom-model. The details on the fittings are shown in the following figure for the Standard-model. Table Top 15-pin D-sub connector Fitting (black) for ø6 mm pneumatic tube Spare Fitting (blue) for ø6 mm pneumatic tube Brake release...

  • Page 50: Relocation And Storage

    Setup & Operation 3. Environments and Installation 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 MADE BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.

  • Page 51: Relocating The Table Top Models

    Setup & Operation 3. Environments and Installation 3.8.2 Relocating the Table Top Models Follow the procedures described below when relocating the Manipulator. (1) Turn OFF the power on all devices and unplug the cables. NOTE Remove the mechanical stops if using them to limit the motion range of Joint #1 and #2.
  • Page 52 Setup & Operation 3. Environments and Installation (5) Tie the M4 screw and the main cable elbow fitting together with a wire tie as shown in the figure on the right. M4 screw Be careful not to tie them too tight. Otherwise, the shaft may bend.

  • Page 53: Relocating The Multiple Mounting Models

    Setup & Operation 3. Environments and Installation 3.8.3 Relocating the Multiple Mounting Models ■ Install the Multiple Mounting Manipulator with two or more people. The Manipulator weighs approximately 16 kg. Be careful not to get hands, fingers, or feet caught and/or have equipment damage by the fall of the Manipulator.
  • Page 54 Setup & Operation 3. Environments and Installation (5) Tie the M4 screw and the main cable elbow fitting together with a wire tie as shown in the figure on the right. Be careful not to tie them too tight. Otherwise, the shaft may bend. Wire tie (6) Hold the bottom of Arm #1 by hand to unscrew the anchor bolts.

  • Page 55: Setting Of End Effectors

    Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. ■ 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.

  • Page 56: Attaching Cameras And Valves

    Setup & Operation 4. Setting of End Effectors Layouts ♦ When you operate the manipulator with an end effector, the end effector may interfere with the Manipulator because of the outer diameter of the end effector, the size of the work piece, or the position of the arms.

  • Page 57: Weight And Inertia Settings

    Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable weight capacity (end effector and work piece) in E2C series is 1 kg at the rating and 3 kg at the maximum. When the load (weight of the end effector and work piece) exceeds the rating, change the setting of WEIGHT parameter.
  • Page 58 : distance from rotation center of Joint #2 to center of gravity of camera etc. <Example> A “0.5 kg” camera is attached to the end of the E2C series arm (225 mm away from the rotation center of Joint #2) with a load weight “1 kg”.

  • Page 59: Inertia Setting

    CAUTION cause errors, excessive shock, insufficient function of the Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable moment of inertia of load in E2C series is 0.005 kg m at the rating and 0.05 kg m at the maximum. When the moment of inertia of load exceeds the rating, change the setting of moment of inertia (INERTIA) parameter of load of INERTIA command.
  • Page 60 Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable eccentric quantity of load in E2C series is 0 mm at the rating and 100 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of INERTIA command.
  • Page 61 Enter the combined total eccentric quantity of the end effector and work piece into the [Eccentricity:] text box on the [INERTIA] panel ( [Project] – [Robot Parameters] ). You may also execute the INERTIA command from the [EPSON RC+ Monitor Window]. EPSON RC+ 5.0 or later（RC170）...
  • Page 62 Setup & Operation 4. Setting of End Effectors Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with work piece). The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and (c).
  • Page 63 Setup & Operation 4. Setting of End Effectors (a) Moment of inertia of a rectangular parallelepiped Rotation center Rectangular parallelepiped’s center of gravity Mass (m) + m × L (b) Moment of inertia of a cylinder Cylinder’s center of gravity Rotation center + m ×...

  • Page 64: Precautions For Auto Acceleration/Deceleration Of Joint #3

    Setup & Operation 4. Setting of End Effectors 4.4 Precautions in Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator horizontally with Joint #3 (Z) at a high position, the motion time will be faster. When Joint #3 gets below a certain point (-60 mm in figure below), then auto acceleration/deceleration is used to reduce acceleration/deceleration.

  • Page 65: Motion Range

    Setup & Operation 5. Motion Range 5. Motion Range ■ When setting up the motion range for safety, both the pulse range and mechanical stops* must be always set at the same time. * For the Cleanroom-model Manipulator, the motion range set with the Joint #3 CAUTION mechanical stop cannot be changed.

  • Page 66: Motion Range Setting By Pulse Range (For All Joints)

    The pulse range can be set on the [RANGE] panel shown by selecting the [Project]-[Robot Parameters]. You may also execute the RANGE command from the [EPSON RC+ Monitor Window]. EPSON RC+ 5.0 or later（RC170） The pulse range can be set on the [Range] panel shown by selecting the [Tools]-[Robot manager].

  • Page 67: Max. Pulse Range Of Joint #1

    Setup & Operation 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive (+) direction on the X-coordinate axis. When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).

  • Page 68: Max. Pulse Range Of Joint #3

    Setup & Operation 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

  • Page 69: Motion Range Setting By Mechanical Stops

    Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops (for Joints #1 to #3 of Standard-model / Joints #1 and #2 of Cleanroom-model) Mechanical stops physically limit the absolute area that the Manipulator can move. Mechanical stop of Joint #3 Multiple Mountings (Lower limit mechanical stop) Mechanical stop...

  • Page 70: Setting The Mechanical Stops Of Joints #1 And #2

    Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Tighten the bolts in holes corresponding to the angle that you want to set.
  • Page 71 Setup & Operation 5. Motion Range Joint #2 (º: degree) E2C251* Mechanical stop of Joint #2 +110° (62578 pulse) -110° (-62578 pulse) +135° (76800 pulse) (standard) -135° (-76800 pulse) (standard) E2C351* Mechanical stop of Joint #2 +120° (68267 pulse) -120° (-68267 pulse) +145°...
  • Page 72 “76800” for Joint #2. Execute the following commands. EPSON [Monitor Window] EPSON RC+ 4.* or before（RC520/RC420） [Command Window] EPSON RC+ 5.0 or later（RC170） Sets the pulse range of Joint #1 >JRANGE 1,0,81920 Sets the pulse range of Joint #2 >JRANGE 2,-62578,76800 Checks the setting using RANGE >RANGE...

  • Page 73: Setting The Mechanical Stop Of Joint #3

    Setup & Operation 5. Motion Range PULSE command (GO PULSE command) moves all joints to the specified positions at the same time. Specify safe positions after considering motion of not only the joints whose pulse range have been changed, but also other joints. In this example, Joint #1 is moved to the position near the center of its motion range (pulse value: 40960) when checking Joint #2.
  • Page 74 Select the [RANGE] panel, and set the lower limit value at “−30720” and the upper SPEL CT limit value at “0” for Joint #3. Execute the following command. EPSON [Monitor Window] EPSON RC+ 4.* or before（RC520/RC420） [Command Window] EPSON RC+ 5.0 or later（RC170） Sets the pulse range of Joint #3 >JRANGE 3,-30720,0 E2C Rev.6...
  • Page 75 Joint #3.) Execute the following commands. EPSON [Monitor Window] EPSON RC+ 4.* or before（RC520/RC420） [Command Window] EPSON RC+ 5.0 or later（RC170） Turns ON the motor >MOTOR ON Sets at low speeds >SPEED 5 Moves to the lower limit-pulse position of Joint #3. (In >PULSE 0,0,-30720,0...

  • Page 76: Setting The Cartesian (Rectangular) Range In The X, Y Coordinate System Of The Manipulator (For Joints #1 And #2)

    Set the XYLIM setting on the [XYLIM] panel shown by selecting the [Project]-[Robot Parameters]. You may also execute the XYLIM command from the [EPSON RC+ Monitor Window]. EPSON RC+ 5.0 or later(RC170) Set the XYLIM setting on the [XYZ Limits] panel shown by selecting the [Tools]-[Robot manager].

  • Page 77: Standard Motion Range

    Setup & Operation 5. Motion Range 5.4 Standard Motion Range The “motion range” shows the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the area shown in the figure. “Area limited by mechanical stop”...
  • Page 78 Setup & Operation 5. Motion Range 5.4.1 Table Top Motion Range of E2C251S/C [unit: mm] Center of Joint #3 Motion range Maximum space Setting value of Cartesian (rectangular) range at shipping X coordinate axis: -94 to 94 Area limited by Y coordinate axis: -250 to 0 mechanical stop Base mounting face...
  • Page 79 Setup & Operation 5. Motion Range Motion Range of E2C351S/C [unit: mm] Center of Joint #3 Motion range Maximum space Area limited by mechanical stop Base mounting face Type 120 mm 100 mm (Joint #3 stroke) 97 mm 93 mm (Height from the base mounting face) 7 mm 5 mm...

  • Page 80: Multiple Mountings

    Setup & Operation 5. Motion Range 5.4.2 Multiple Mountings Motion Range of E2C351SM/CM [unit: mm] Center of Joint #3 Motion range Maximum space Setting value of Cartesian Area limited by (rectangular) range at shipping mechanical stop X coordinate axis: - 160 to 160 Y coordinate axis: - 350 to - 50 Center of base reference hole Type...

  • Page 81: Maintenance

    Maintenance This volume contains maintenance procedures with safety precautions for E2C series Manipulators.

  • Page 83: Safety Maintenance

    Maintenance 1. Safety Maintenance 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 the safety training should be allowed to maintain the robot system.
  • Page 84 Maintenance 1. Safety Maintenance ■ 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 forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure.

  • Page 85: General Maintenance

    Maintenance 2. General Maintenance 2. General Maintenance Performing the inspection steps properly is essential to preventing trouble and maintaining safety. This section describes schedule for maintenance inspection and the procedures. Be sure to perform the maintenance inspection in accordance with the schedule. 2.1 Schedule for Maintenance Inspection Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual.

  • Page 86: Inspection Point

    Maintenance 2. General Maintenance 2.2 Inspection Point 2.2.1 Inspection while the Power Is OFF (Manipulator is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Check looseness or backlash of bolts/screws.

  • Page 87: Greasing

    Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gear units need greasing regularly. Only use the grease specified in the following table. ■ Keep enough grease in the Manipulator. Operating the Manipulator with insufficient grease will damage sliding parts and/or result in insufficient function of the Manipulator.

  • Page 88: Tightening Hexagon Socket Head Cap Bolts

    Maintenance 2. General Maintenance 2.4 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.

  • Page 89: Matching Origins

    Execute the following command. EPSON [Monitor Window] EPSON RC+ 4.* or before（RC520/RC420） [Command Window] EPSON RC+ 5.0 or later（RC170） >PULSE PULSE: [5Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls...

  • Page 90: Layout Of Maintenance Parts

    Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts 2.6.1 S Type Manipulator Layout Shaft cover LED lamp Cable unit (only for -UL type) Joint #4 counter shaft Joint #3 motor Joint #4 motor Ball screw spline unit Joint #2 motor Z belt U1 belt Joint #1 reduction...

  • Page 91: Sm Type Manipulator Layout

    Maintenance 2. General Maintenance 2.6.3 SM Type Manipulator Layout Cable unit LED lamp Shaft cover (only for -UL type) Joint #4 counter shaft Joint #3 motor Signal relay board Joint #4 motor Ball screw spline unit belt Z belt U2 belt Joint #1 motor Joint #2 motor Joint #2 reduction...
  • Page 92 Maintenance 2. General Maintenance E2C Rev.6...

  • Page 93: Removing And Installing The Covers

    Maintenance 3. Removing and Installing the Covers 3. Removing and Installing the Covers All procedures for removing/installing covers in maintenance are described in this chapter. ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON.

  • Page 94: Arm Top Cover

    Maintenance 3. Removing and Installing the Covers (Arm Top Cover) 3.1 Arm Top Cover ■ Do not remove the arm top 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.

  • Page 95: Arm Bottom Cover

    Maintenance 3. Removing and Installing the Covers (Arm Bottom Cover/Joint #1 Cover) 3.2 Arm Bottom Cover Unscrew the bolts from the arm bottom cover, and then pull the cover downward and remove The arm bottom cover may not be removed Arm bottom cover from the shaft because the end effector is installed.

  • Page 96: Base Connector Box

    Maintenance 3. Removing and Installing the Covers (Base connector Box) 3.4 Base Connector Box The procedure for removing/installing the base connector box varies with the Manipulator used. ■ Do not remove the base connector box forcibly. Removing the base connector box forcibly may result in damage to the cables, disconnection, and/or contact failure.

  • Page 97: Replacing The Cable Unit

    Maintenance 4. Replacing the Cable Unit 4. Replacing the Cable Unit ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 98: Before Replacing The Cable Unit

    When the data storage time of the super-capacitor is exceeded, the position data will be lost, and the error* will occur when the Controller is turned ON. * : In the case of SPEL CT, the “Error F-5016” occurs. In case of EPSON RC+, the error message that Encoder alarm has occurred is displayed.

  • Page 99: S, C Type Manipulators

    Maintenance 4. Replacing the Cable Unit 4.2.1 S, C Type Manipulators Removal (1) Turn OFF the Controller. (2) Disconnect all the connectors and tubes from the base connector box (outside). (3) Remove the base connector box. For details on the removal method, refer to Maintenance: 3.4 Base Connector Box. Remember the cable layout so that the cables can be reconnected correctly after NOTE replacement.
  • Page 100 Maintenance 4. Replacing the Cable Unit (9) Using a pair of water pump pliers, loosen Duct joint the duct joint. (10) Remove the arm top cover. For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover. NOTE Remember the cable layout so that the cables can be reconnected correctly after replacement.
  • Page 101 Maintenance 4. Replacing the Cable Unit (15) Remove the duct joint from the duct plate Duct joint and pull out the cables. Lock nut The lock nut securing the duct joint is prevented from rotating. (16) Pull the cable unit out of the arm top cover. E2C Rev.6...
  • Page 102 Maintenance 4. Replacing the Cable Unit Installation (1) Pass cables through the base connector box Duct joint and a nut. Secure the duct joint with the nut. (2) Connect pneumatic tubes, ground wire, and Connector connectors. Connector cover For details, refer to Maintenance: 4.3 Wiring Schematics/4.4 Block Diagrams.
  • Page 103 Maintenance 4. Replacing the Cable Unit (7) Loosely fasten the cables to the duct plate using a wire tie. Loosely fastening the cables will allow you to adjust the length of the cables when connecting pneumatic tubes, ground wires, Wire tie and connectors.

  • Page 104: Sm, Cm Type Manipulators

    Maintenance 4. Replacing the Cable Unit 4.2.2 SM, CM Type Manipulators Removal (1) Turn OFF the Controller. (2) Disconnect all the connectors and tubes from the base connector box (outside). (3) Remove the base connector box. For details on the removal method, refer to Maintenance: 3.4 Base Connector Box. NOTE Remember the cable layout so that the cables can be reconnected correctly after replacement.
  • Page 105 Maintenance 4. Replacing the Cable Unit (9) Loosen the duct joint. Duct joint To loosen it, use either a spanner wrench Base connector box (width across flats: 51 mm) or a pair of water pump pliers. (10) Detach the duct joint from the nut, and then pull out the cables of the duct support and base plate.
  • Page 106 Maintenance 4. Replacing the Cable Unit (16) Remove the duct joint from the duct plate Duct joint and pull out the cables. Lock nut The lock nut securing the duct joint is prevented from rotating. (17) Pull the cable unit out of the arm top cover. E2C Rev.6...
  • Page 107 Maintenance 4. Replacing the Cable Unit Installation (1) Pass cables through the base connector box Duct joint and a nut. Secure the duct joint and cable support Base connector box with the nut. (2) Connect the pneumatic tubes, ground wire, Pneumatic tube fittings and connectors.
  • Page 108 Maintenance 4. Replacing the Cable Unit (8) Mount the duct plate on Arm #2. Duct plate 3-M5×15 (9) Secure the duct joint to the duct plate. (10) Connect the pneumatic tubes, ground wire, and connectors. Pneumatic tube fitting For details, refer to Maintenance: 4.3 Wiring Schematics/4.4 Block Diagrams.

  • Page 109: Wiring Schematics

    Maintenance 4. Replacing the Cable Unit 4.3 Wiring Schematics 4.3.1 S, C Type Manipulators S and C types have the same wiring layout. Fitting for ø6 pneumatic tube (2 tubes) Fitting for ø4 pneumatic tube (1 tube) User connector Black fitting (1 tube): ø6 black tube (D-sub connector) Blue fitting (2 tubes): ø4 / ø6 blue tubes Cable unit...

  • Page 110: Sm, Cm Type Manipulators

    Maintenance 4. Replacing the Cable Unit 4.3.2 SM, CM Type Manipulators SM and CM types have the same wiring layout. Fitting for ø6 pneumatic tube (2 tubes) Fitting for ø4 pneumatic tube (1 tube) User connector Black fitting: Black tube (D-sub connector) Blue fitting: Blue tube Fitting for ø6 pneumatic tube...

  • Page 111: Block Diagrams

    Maintenance 4. Replacing the Cable Unit 4.4 Block Diagrams Joint #3 Joint #3 magnetic brake brake release switch Joint #1 Joint #2 Joint #3 Joint #4 motor motor motor motor POWER POWER POWER POWER SIGNAL SIGNAL SIGNAL SIGNAL X110 X100 Power X121 connector...

  • Page 112: Connector Pin Assignments

    Maintenance 4. Replacing the Cable Unit 4.5 Connector Pin Assignments X10 Signal Connector X11 Motor Signal Connector Line color Connect to Line color Connect to FGND Shield BLU/(WHT) N.C. WHT/(BLU) BLU/(WHT) X11-1 YLW/(WHT) WHT/(BLU) X11-2 WHT/(YLW) YLW/(WHT) X11-3 GRN/(WHT) WHT/(YLW) X11-4 WHT/(GRN) Joint #1 motor...
  • Page 113 Maintenance 4. Replacing the Cable Unit X20 Signal Connector X21 Motor Signal Connector Line color Connect to Line color Connect to FGND Shield BLU/(WHT) N.C. WHT/(BLU) BLU/(WHT) X21-1 YLW/(WHT) WHT/(BLU) X21-2 WHT/(YLW) YLW/(WHT) X21-3 GRN/(WHT) WHT/(YLW) X21-4 WHT/(GRN) Joint #2 motor GRN/(WHT) X21-5 N.C.
  • Page 114 Maintenance 4. Replacing the Cable Unit X30 Signal Connector X31 Motor Signal Connector Line color Connect to Line color Connect to FGND Shield BLU/(WHT) N.C. WHT/(BLU) BLU/(WHT) X31-1 YLW/(WHT) WHT/(BLU) X31-2 WHT/(YLW) YLW/(WHT) X31-3 GRN/(WHT) WHT/(YLW) X31-4 WHT/(GRN) Joint #3 motor GRN/(WHT) X31-5 N.C.
  • Page 115 Maintenance 4. Replacing the Cable Unit X40 Signal Connector X41 Motor Signal Connector Line color Connect to Line color Connect to N.C. YLW/(BRN) N.C. BRN/(YLW) YLW/(BRN) X41-1 GRN/(BRN) BRN/(YLW) X41-2 BRN/(GRN) GRN/(BRN) X41-3 RED/(BRN) BRN/(GRN) X41-4 BRN/(RED) Joint #4 motor RED/(BRN) X41-5 N.C.
  • Page 116 Maintenance 4. Replacing the Cable Unit X50 Signal Connector User connector (D-sub Connector) Line color Connect to Line color Connect to BLU/(WHT) X51-1 BLU/(WHT) X53-1 WHT/(BLU) X51-2 WHT/(BLU) X53-2 YLW/(WHT) X51-3 YLW/(WHT) X53-3 WHT/(YLW) X51-4 WHT/(YLW) X53-4 GRN/(WHT) X51-5 GRN/(WHT) X53-5 WHT/(GRN) X51-6...
  • Page 117 Maintenance 4. Replacing the Cable Unit X100 Receptacle X110 Motor Power Connector Line color Connect to Line color Connect to X110-1 X110-2 Joint #1 motor (POWER) X110-3 X121-1 FGND GRN/YLW X121-2 X121 Motor Power Connector X121-3 Line color Connect to X131-1 X131-2 X131-3...
  • Page 118 Maintenance 4. Replacing the Cable Unit E2C Rev.6...

  • Page 119: Replacing The Motors

    Maintenance 5. Replacing the Motors 5. Replacing the Motors ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 120: Types Of Motors

    Maintenance 5. Replacing the Motors 5.1 Types of Motors The motor types used in E2C series Manipulators are shown in the table below. When ordering a motor for replacement, check the series of Manipulator and the working joint. Then, specify the code from the table below.

  • Page 121: Replacing The Joint #1 Motor

    Maintenance 5. Replacing the Motors (Joint #1) 5.3 Replacing the Joint #1 Motor The procedure for replacing the Joint #1 motor varies with the Manipulator used. 5.3.1 S, C Type Manipulators Removal (1) Remove the base connector box. For details on the removal method, refer to Maintenance: 3.4 Base Connector Box. (2) Remove the maintenance plate.
  • Page 122 Maintenance 5. Replacing the Motors (Joint #1) Installation (1) Mount the motor flange on the Joint #1 motor. Flat (2) Mount the waveform generator on the Joint #1 motor. Motor flange Be sure to fit the end face of the waveform Waveform generator to the end face of the motor Bushing...

  • Page 123: Sm, Cm Type Manipulators

    Maintenance 5. Replacing the Motors (Joint #1) (6) Install the base connector box. For details on the installation method, refer to Maintenance: 3.4 Base Connector Box. (7) Perform the calibration of Joint #1. For details on the calibration method, refer to Maintenance: 14. Calibration. 5.3.2 SM, CM Type Manipulators Removal (1) Remove the base connector box.
  • Page 124 Maintenance 5. Replacing the Motors (Joint #1) Installation (1) Mount the motor flange on the Joint #1 motor. (2) Mount the waveform generator on the Joint Flat #1 motor. Motor flange Be sure to fit the end face of the waveform Waveform generator to the end face of the motor Bushing...

  • Page 125: Replacing The Joint #2 Motor

    Maintenance 5. Replacing the Motors (Joint #2) 5.4 Replacing the Joint #2 Motor Removal (1) Remove the arm top cover. For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover. (2) Cut off the wire tie binding the duct plate, motor, and cables together.
  • Page 126 Maintenance 5. Replacing the Motors (Joint #2) Installation (1) Mount the motor flange on the Joint #2 2-M4×10 motor. Motor cable The motor cable must be located on the position as shown in the figure on the right. Motor flange (2) Mount the waveform generator on the Joint End face of End face of...
  • Page 127 Maintenance 5. Replacing the Motors (Joint #2) (7) Install the arm top cover. For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover. (8) Perform the calibration of Joint #2. For details on the calibration method, refer to Maintenance: 14. Calibration. E2C Rev.6...

  • Page 128: Replacing The Joint #3 Motor

    Maintenance 5. Replacing the Motors (Joint #3) 5.5 Replacing the Joint #3 Motor ■ When removing the pulley from the brake, be sure to slide it out perpendicularly from the shaft. Removing the pulley horizontally from the shaft will damage the leaf spring and result in malfunction of the brake.
  • Page 129 Maintenance 5. Replacing the Motors (Joint #3) (6) Remove the Joint #3 motor unit from Arm To do so, unscrew the bolts from the Joint Z belt #3 motor plate. Then, remove the Z belt from the pulley and pull out the Joint #3 motor unit upward.
  • Page 130 Maintenance 5. Replacing the Motors (Joint #3) Installation (1) Remove the pulley from the brake. Pulley The rotor hub is held to the brake by its Remove this way magnet. When removing the pulley, slide NOTE it out perpendicularly from the shaft to Leaf spring prevent damage to the leaf spring on the rotor hub.
  • Page 131 Maintenance 5. Replacing the Motors (Joint #3) (7) Place the Joint #3 motor unit back on Arm (8) Place the Z belt around the Z1 and Z2 Z belt pulleys. Make sure that the gear teeth of the belt mesh with the pulleys completely. Pulley 4-M4×12 +Washer,...

  • Page 132: Replacing The Joint #4 Motor

    Maintenance 5. Replacing the Motors (Joint #4) 5.6 Replacing the Joint #4 Motor A brake is mounted on the motor of Joint #4 to prevent the shaft from moving down and NOTE rotating due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 133 Maintenance 5. Replacing the Motors (Joint #4) (6) Remove the Joint #4 motor unit from Arm To do so, unscrew the bolts from the Joint #4 motor plate. Then, remove the U1 belt U1 belt from the pulley and pull it out upward. U1 pulley 4-M4×12 +Washer,...
  • Page 134 Maintenance 5. Replacing the Motors (Joint #4) (4) Place the U1 belt around the large U2 pulley and the U1 pulley. Make sure that the gear teeth of the belt mesh with the pulleys completely. U1 belt U1 pulley 4-M4×12 +Washer, Motor plate Spring...

  • Page 135: Replacing The Reduction Gear Units

    Maintenance 6. Replacing the Reduction Gear Units 6. Replacing the Reduction Gear Units ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 136: Types Of Reduction Gear Units

    Maintenance 6. Replacing the Reduction Gear Units 6.1 Types of Reduction Gear Units The types of the reduction gear units used in E2C series Manipulators are shown in the table below. When ordering a reduction gear unit for replacement, check the series of Manipulator and the working joint.

  • Page 137: Structure Of Reduction Gear Unit

    Maintenance 6. Replacing the Reduction Gear Units 6.3 Structure of Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set.

  • Page 138: Greasing The Reduction Gear Units

    Maintenance 6. Replacing the Reduction Gear Units 6.4 Greasing the Reduction Gear Units Grease for the Joint #1 reduction gear unit is different from that for the Joint #2 reduction gear unit. Be sure to use the proper grease. While greasing the reduction gear units, be careful not to contain any foreign substances in the grease.

  • Page 139: Replacing The Joint #1 Reduction Gear Unit

    Maintenance 6. Replacing the Reduction Gear Units (Joint #1) 6.5 Replacing the Joint #1 Reduction Gear Unit The procedure for replacing the Joint #1 reduction gear unit varies with the Manipulator used. 6.5.1 S, C Type Manipulators Removal (1) Remove the power cable and signal cable from the base connector box (outside). (2) Remove the Joint #1 cover.
  • Page 140 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (6) Remove the Joint #1 reduction gear unit 8-M4×12 from the base. Reduction gear To do so, unscrew the bolts from the flange reduction gear flange. Then, pull the reduction gear unit upward to remove it. Base (7) Remove the Joint #1 motor unit from the Joint #1 reduction gear unit.
  • Page 141 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) Installation (1) A new reduction gear unit contains the Flexspline and Cross roller bearing unit parts shown in the picture on the right O-ring when it is unpacked. The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 142 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. (5) Secure the reduction gear flange to the circular spline.
  • Page 143 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (7) Mount the waveform generator on the Joint #1 motor. Be sure to fit the end face of the waveform Bushing M4×6 generator to the end face of the motor Flat (Round shaft.
  • Page 144 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (10) Apply grease (SK-1A: Yellow) inside the flexspline. For details on the grease quantity, refer to Maintenance: 6.4 Greasing the Reduction Gear Units. (The grease for the Joint #1 reduction gear unit is different from that for the Joint #2 reduction gear unit.) ■...

  • Page 145: Sm, Cm Type Manipulators

    Maintenance 6. Replacing the Reduction Gear Units (Joint #1) 6.5.2 SM, CM Type Manipulators Removal (1) Remove the power cable and signal cable from the base connector box (outside). ■ When removing or installing the arm, there must be two or more people to work on it so that at least one of them can support the arm while others are removing the bolts.
  • Page 146 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (5) Remove the Joint #1 reduction gear unit from the base. To do so, unscrew the bolts from the Base reduction gear flange. Then, pull the reduction gear unit downward to remove it. Reduction gear flange 8-M4×12...
  • Page 147 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) Installation (1) A new reduction gear unit contains the Flexspline and Cross roller bearing unit parts shown in the picture on the right when it is unpacked. O-ring The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 148 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. (5) Secure the reduction gear flange to the circular spline.
  • Page 149 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) (7) Mount the waveform generator to the Joint #1 motor. Be sure to fit the end face of the waveform Bushing generator to the end face of the motor Flat M4×6 (Round shaft.
  • Page 150 Maintenance 6. Replacing the Reduction Gear Units (Joint #1) ■ Never adjust (loosen or tighten) the mounting bolts between the flexspline and cross roller bearing unit. If the mounting bolts are adjusted, the flexspline and cross roller bearing unit must be aligned by the maker of the reduction gear unit. CAUTION (10) Apply grease (SK-1A: Yellow) inside the flexspline.

  • Page 151: Replacing The Joint #2 Reduction Gear Unit

    Maintenance 6. Replacing the Reduction Gear Units (Joint #2) 6.6 Replacing the Joint #2 Reduction Gear Unit Removal (1) Remove the power cable and signal cable from the base connector box (outside). (2) Remove the arm top cover. For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover. (3) Cut off the wire tie binding the duct plate, motor, and cables together.
  • Page 152 Maintenance 6. Replacing the Reduction Gear Units (Joint #2) (9) Remove the Joint #2 reduction gear unit Reduction gear unit from Arm #1. Arm #1 To do so, unscrew the mounting bolts for the reduction gear unit on the lower side of Arm #1.
  • Page 153 Maintenance 6. Replacing the Reduction Gear Units (Joint #2) Installation (1) A new reduction gear unit contains the Flexspline and Cross roller bearing unit parts shown in the picture on the right when it is unpacked. O-ring The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 154 Maintenance 6. Replacing the Reduction Gear Units (Joint #2) (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. (5) Secure the reduction gear flange to the Mounting bolt for reduction gear (circular splin) circular spline.
  • Page 155 Maintenance 6. Replacing the Reduction Gear Units (Joint #2) (7) Mount the waveform generator to the Joint End face of End face of motor shaft waveform generator #2 motor. Be sure to fit the end face of the waveform generator to the end face of the motor shaft. Tighten one of the setscrews on the flat M4×6 (Flat side)
  • Page 156 Maintenance 6. Replacing the Reduction Gear Units (Joint #2) (11) Mount the Joint #2 motor unit on Arm #1. Joint #2 motor unit Make sure that the motor cables face toward the direction as shown in the figure on the right. 3-M4×10 ■...

  • Page 157: Replacing The Brake

    Maintenance 7. Replacing the Brake 7. Replacing the Brake ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
  • Page 158 Maintenance 7. Replacing the Brake Removal (1) Remove the arm top cover. For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover. (2) Cut off the wire tie binding the duct plate, motor, and cables together. (3) Remove the duct plate. Duct plate 3-M5×15 (4) Cut off the wire tie binding the motor cables to the Joint #3 motor.
  • Page 159 Maintenance 7. Replacing the Brake (9) Hold the motor plate and pulley, and then 2-M4×8 pull the Joint #3 motor upward to remove Motor plate (10) Remove the pulley from the brake. Pulley The rotor hub is held to the brake by its Remove this way magnet.
  • Page 160 Maintenance 7. Replacing the Brake Installation (1) Mount the rotor hub on the pulley. 3-M2×6 Rotor hub Pulley (2) Mount the brake to the brake plate. 4-M3×5 Brake Brake plate (3) Fasten the brake cables to the brake plate with a wire tie so that they do not touch the pulley.
  • Page 161 Maintenance 7. Replacing the Brake (6) Secure the pulley to the motor shaft of the M4×8 Joint #3 motor. Flat point setscrew M4×8 (Round chamfer To do so, tighten one of the setscrews to Flat point side) setscrew the flat face of the motor shaft until the (Flat side) screw just touches the surface.
  • Page 162 Maintenance 7. Replacing the Brake (13) Mount the duct plate on Arm #2. (14) Connect the connectors X131, X31 and X32. (15) Re-bundle the cables in their original positions with a wire tie. Do not allow unnecessary strain on the cables. (16) Install the arm top cover.

  • Page 163: Replacing The Timing Belts

    Maintenance 8. Replacing the Timing Belts 8. Replacing the Timing Belts ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 164: Types Of Timing Belts

    Maintenance 8. Replacing the Timing Belts 8.1 Types of Timing Belts The types of the timing belts used in the E2C series Manipulators are shown in the table below. One timing belt is used for Joint #3, and two timing belts are used for Joint #4.

  • Page 165: Replacing The Z Belt

    Maintenance 8. Replacing the Timing Belts (Z Belt) 8.3 Replacing the Z Belt A brake is mounted on the motor of Joint #3 to prevent the shaft from moving down due to NOTE the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 166 Maintenance 8. Replacing the Timing Belts (Z Belt) (6) Remove the Joint #3 motor unit from Arm To do so, unscrew the bolts from the Joint Z belt #3 motor plate. Then, remove the Z belt from the pulley and pull the Joint #3 motor unit upward to remove it.
  • Page 167 Maintenance 8. Replacing the Timing Belts (Z Belt) (3) Place the Joint #3 motor unit back on Arm (4) Place the Z belt around the Z1 and Z2 Z belt pulleys. Make sure that the gear teeth of the belt mesh with the pulleys completely.

  • Page 168: Replacing The U1 Belt

    Maintenance 8. Replacing the Timing Belts (U1 Belt) 8.4 Replacing the U1 Belt A brake is mounted on the motor of Joint #4 to prevent the shaft from moving down and NOTE rotating due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 169 Maintenance 8. Replacing the Timing Belts (U1 Belt) Installation (1) Place the Joint #4 counter shaft unit back on Arm #2. (2) Place a new U1 belt around the U1 and large U2 pulleys (upward). U1 belt Make sure that the gear teeth of the belt mesh with the pulleys completely.
  • Page 170 Maintenance 8. Replacing the Timing Belts (U1 Belt) (6) Apply the proper tension to the U1 belt, Tension of U1 belt: 39.2 N (4 kgf) and then secure the Joint #4 motor unit. Adjustable range: 29.4–49.0 N (3–5 kgf) To do so, pass a suitable cord or string 4-M4×12+Washer, Spring washer around the Joint #4 motor unit near its mounting plate.

  • Page 171: Replacing The U2 Belt

    Maintenance 8. Replacing the Timing Belts (U2 Belt) 8.5 Replacing the U2 Belt A brake is mounted on the motor of Joint #4 to prevent the shaft from moving down and NOTE rotating due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 172 Maintenance 8. Replacing the Timing Belts (U2 Belt) (7) Loosen the bolts securing the Joint #4 2-M4×12+Washer, Spring washer M5×8 double-sems screw motor unit. 4-M4×12 +Washer, If there is a wire tie securing cables to the Spring washer Joint #4 motor, cut off it. (8) Remove the Joint #4 counter shaft unit.
  • Page 173 Maintenance 8. Replacing the Timing Belts (U2 Belt) (5) Place the U1 belt around the U1 and large U2 pulleys. Make sure that the gear teeth of the belt U1 belt mesh with the pulleys completely. U1 pulley Large U2 pulley (6) Place the Joint #3 motor unit back on Arm Joint #3 motor unit (7) Place the Z belt around the Z1 and Z2...
  • Page 174 Maintenance 8. Replacing the Timing Belts (U2 Belt) (10) Apply the proper tension to the U1 belt, Tension of U1 belt: 39.2 N (4 kgf) and then secure the Joint #4 motor unit. Adjustable range: 29.4–49.0 N (3–5 kgf) To do so, pass a suitable cord or string 4-M4×12+Washer, Spring washer around the Joint #4 motor unit near its mounting plate.

  • Page 175: Replacing The Bellows (C, Cm Types)

    Maintenance 9. Replacing the Bellows 9. Replacing the Bellows (C, CM Types) Two bellows make a set as maintenance parts. There is no difference between the upper NOTE bellows and lower bellows. A large amount of dust is emitted when replacing the bellows. Take the Manipulator to an outer room such as the room in front of the clean room’s entrance, or take the necessary countermeasures to prevent dust emission before removing the bellows.
  • Page 176 Maintenance 9. Replacing the Bellows Installation (1) Attaching the bearing cases (blue) and Clamp band clamp bands to each new bellows. The bellows has two joints: The larger joint must be attached to the Bellows cover side. The smaller joint must be attached to the Clamp band end face side of the shaft.

  • Page 177: Greasing And Replacing The Ball Screw Spline Unit

    Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit 10. Greasing and Replacing the Ball Screw Spline Unit ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 178: Type Of Ball Screw Spline Unit

    Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit 10.1 Type of Ball Screw Spline Unit The type of the ball screw spline unit used in the E2C series Manipulators is shown in the table below. When ordering the ball screw spline unit for replacement, check the model name of the Manipulator and the Joint #3 stroke.

  • Page 179: Greasing The Ball Screw Spline Unit

    Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit 10.3 Greasing the Ball Screw Spline Unit The procedure for greasing the ball screw spline unit varies with the Manipulator used. The brake release button switch is applied to both Joints #3 and #4. When the brake NOTE release button switch is pressed, the respective brakes of the Joints #3 and #4 are released simultaneously.
  • Page 180 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit (10) Wipe off the old grease from the lower part of the shaft, and then apply new grease to When applying the new grease to the lower part of the shaft, directly fill the grooves on it by hand.

  • Page 181: C, Cm Type Manipulators

    Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit 10.3.2 C, CM Type Manipulators A large amount of dust is emitted during the greasing procedure because the bellows must NOTE be removed. Before greasing the ball screw spline unit of the C or CM type, take the unit to an outer room such as the room in front of the clean room’s entrance, or take the necessary countermeasures to prevent dust emission.
  • Page 182 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit Lower Part of the Shaft (8) Loosen the clamp band on the bellows, and then move the bellows downward. Clamp band (9) Turn ON the Controller. (10) Move the shaft to its lower limit manually while pushing the Joint #3 brake release button.

  • Page 183: Replacing The Ball Screw Spline Unit

    Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit 10.4 Replacing the Ball Screw Spline Unit Removal (1) Detach the wires/tubes from the end effector, and remove the end effector and bellows. (2) Remove the arm top cover and arm bottom cover. For details on the removal method, refer to Maintenance: 3.
  • Page 184 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit (8) Loosen the bolts securing the Joint #4 2-M4×12+Washer, Spring washer M5×8 double-sems screw motor unit. 4-M4×12 +Washer, If there is a wire tie securing cables to the Spring washer Joint #4 motor, cut off it.
  • Page 185 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit Installation (1) Fit the U2 and Z belts onto the shaft, and then place the ball screw spline unit into the Arm #2. Z belt U2 belt (2) Tighten the screws for the ball screw spline shaft to the bottom of Arm #2.
  • Page 186 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit (4) Place the Joint #4 counter shaft unit back Joint #4 counter shaft unit on Arm #2. (5) Place the U2 belt around the U3 and small U2 pulleys (downward). U2 belt Make sure that the gear teeth of the belt mesh with the pulleys completely.
  • Page 187 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit (10) Apply the proper tension to the U2 belt, Tension of U2 belt: 98.0 N (10 kgf) and then secure the Joint #4 counter shaft Adjustable range: 88.2–107.8 N (9–11 kgf) unit.
  • Page 188 Maintenance 10. Greasing and Replacing the Ball Screw Spline Unit (18) Grease the shaft. For details on the greasing method, refer to Maintenance: 10.3. Greasing the Ball Screw Spline Unit. (19) Turn OFF the Controller and peripheral equipment. Install the end effector and bellows, and connect wires and tubes to the end effector.

  • Page 189: Replacing The Signal Relay Board

    When the data storage time of the super-capacitor is exceeded, the position data will be lost, and the error* will occur when the Controller is turned ON. * : In the case of SPEL CT, the “Error F-5016” occurs. In case of EPSON RC+, the error message that Encoder alarm has occurred is displayed.

  • Page 190: How To Replace The Signal Relay Board

    Maintenance 11. Replacing the Signal Relay Board 11.2 How to Replace the Signal Relay Board The replacement procedure for the signal relay board varies with the Manipulator used. 11.2.1 S, C Type Manipulators Removal (1) Disconnect all the connectors and tubes from the base connector box (outside). (2) Remove the base connector box.
  • Page 191 Maintenance 11. Replacing the Signal Relay Board Installation (1) Install a new signal relay board to the base connector box. Secure the board from the outside of the box. Signal relay board 4-M3×6 Base connector box (2) Connect the connectors (X10, X20, X30, X40, X50, and X4) to the signal relay board.

  • Page 192: Sm, Cm Type Manipulators

    Maintenance 11. Replacing the Signal Relay Board 11.2.2 SM, CM Type Manipulators Removal (1) Disconnect all the connectors and tubes from the base connector box (outside). (2) Remove the base connector box. For details on the removal method, refer to Maintenance: 3.4 Base Connector Box. (3) Disconnect the connectors (X10, X20, X30, X40, X50, and X4) from the signal relay board.
  • Page 193 Maintenance 11. Replacing the Signal Relay Board Installation (1) Install a new signal relay board to the base Base connector box connector box. Signal relay board Secure the board from the outside of the box. 4-M3×6 (2) Connect the connectors (X10, X20, X30, X40, X50, and X4) to the signal relay board.
  • Page 194 Maintenance 11. Replacing the Signal Relay Board E2C Rev.6...

  • Page 195: Replacing The Lithium Battery

    Maintenance 12. Replacing the Lithium Battery 12. Replacing the Lithium Battery ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 196: Before Replacing The Lithium Battery

    When the data storage time of the super-capacitor is exceeded, the position data will be lost, and the error* will occur when the Controller is turned ON. * : In the case of SPEL CT, the “Error F-5016” occurs. In case of EPSON RC+, the error message that Encoder alarm has occurred is displayed.

  • Page 197: How To Replace The Lithium Battery

    Maintenance 12. Replacing the Lithium Battery 12.2 How to Replace the Lithium Battery Removal (1) Disconnect all the connectors and tubes from the base connector box (outside). (2) Remove the battery box from the base connector box. Battery box 2-M3×6 sems screw (3) Disconnect the X60 connector from the Lithium battery...
  • Page 198 Maintenance 12. Replacing the Lithium Battery Installation NOTE Be sure to use the specified “battery unit for signal relay board (Code: R13ZA00600300)”. Observe polarity (positive/negative) when connecting the lithium battery. (1) Connect the X60 connector to the new Lithium battery lithium battery.

  • Page 199: Replacing The Led Lamp

    Maintenance 13. Replacing the LED Lamp 13. Replacing the LED Lamp ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
  • Page 200 Maintenance 13. Replacing the LED Lamp Removal (1) Remove the arm top cover. For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover. (2) Cut off the wire tie binding the duct plate, motor, and cables together. (3) Remove the duct plate.

  • Page 201: Calibration

    SPEL CT : Select menu-[Jog & Teach] to display the [Jog & Teach] panel. EPSON RC+ 4.* : Select [Tools]-[Jog & Teach] to display the [Jog & Teach] window. EPSON RC+ 5.* : Select menu-[Tools]-[Robot Manager] and select the [Jog &...

  • Page 202: Calibration Procedure

    : Error F-5016 [Absolute Encoder backup alarm] occurs EPSON RC+ : “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be restarted.” is displayed In this case, leave the power ON for 3 or more minutes to sufficiently charge the capacitor.
  • Page 203 Sensor monitor monitor. (9) SPEL CT : Reboot SPEL CT. EPSON RC+ 4.* : Right-click the <SPEL Runtime Drivers system tray> icon, and select [Restart SPEL Drivers]. EPSON RC+ 5.* : Select menu-[Tools]-[Controller], and click the [Restart Controller] button. (10) Open the [Robot Control] window and click on the Motor <ON> button.
  • Page 204 * You must also move Joint #1 and #2 to the position when calibrating Joint #4. For example, when the specified pose data (point data) is “P1”, “Motor On” is executed from [Robot Control Panel] ([Control Panel] for EPSON RC+ 5.* and after), and “Go P1” is executed from [Jog & Teach].

  • Page 205: Accurate Calibration Of Joint #2

    Maintenance 14. Calibration 14.3 Accurate Calibration of Joint #2 When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately. If the accuracy of Joint #2 is not obtained through the steps in the section 14.2 Calibration Procedure, follow the steps below “Calibration Using Right / Left Arm Orientations”...
  • Page 206 · Teaching the working point by entering the coordinate values (MDI teaching) · Switching the arm orientation between right and left at a given point · Using the PALET command (SPEL CT), or PALLET command (EPSON RC+) · Executing CP control (such as liner or circular interpolation) ·...

  • Page 207: Maintenance Parts List

    Maintenance 15. Maintenance Parts List 15. Maintenance Parts List Specify the code when ordering maintenance parts. 15.1 Common Parts for All Manipulator Types Part Name Code Note Joint #1 R13A000600500 SGM-150 W See “NOTE” below. AC servo motor Joint #2, 3, 4 R13A000600300 SGM-150 W See “NOTE”...

  • Page 208: S, Sm Type Manipulators

    Maintenance 15. Maintenance Parts List 15.2 S, SM Type Manipulators Part Name Code Note BNS1616AE-315LC5 Ball screw spline unit R13ZA00121000 for 120 mm stroke ♦ E2C*51S-UL Arm cover with shaft cover R13A030400400 for 120 mm stroke (Only for -UL type) E2C351SM-UL : common to E series ♦...

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