Page 1 6-Axis Robots C series MANUAL Rev.2 EM221R5133F...
Page 4 Contact information is described in “SUPPLIERS” in the first pages of the following manual: Robot System Read this manual first Safety Manual DISPOSAL When disposing this product, dispose in accordance with the laws and regulations of each country. C series Rev.2...
Page 5 Please separate used 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. C series Rev.2...
Page 6 Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System C series Manipulators can be used with the following combinations of Controllers and software. C4 series Controller : RC700, RC700-A Software : EPSON RC+ 7.0...
Page 7 The manual is primarily intended for people who design robot systems or do programming. RC700 series Maintenance Manual (PDF) C series Maintenance Manual (PDF) This manual describes the details of maintenance etc. The manual is intended for people who perform maintenance.
Page 8 EPSON RC+ 7.0 User’s Guide (PDF) This manual describes general information about program development software. EPSON RC+ 7.0 SPEL+ Language Reference (PDF) This manual describes the robot programming language “SPEL+”. Other Manual (PDF) Manuals for each option are available. C series Rev.2...
Page 9: Table Of Contents
3.5 Connecting the Cables .................32 3.6 User Wires and Pneumatic Tubes............33 3.7 Checking the Basic orientation.............34 4. End Effectors 4.1 Attaching an End Effector..............35 4.2 Attaching Camera and Air Valves ............36 4.3 WEIGHT and INERTIA Settings ............38 4.3.1 WEIGHT setting ................40 C series Rev.2...
Page 10 6.3 PS Compatible Plate (Tool Adapter) ............ 70 6.4 Base Side Angled Fittings ..............72 6.5 Base Side Fittings ................74 6.6 PS Compatible Plate (Base Adapter) ........... 77 6.7 Adjustable Mechanical Stop (Joint #2: only C4-A901**) ..... 79 viii C series Rev.2...
Page 11 3.3.2 Cable Downward Model ............114 3.4 Installation ..................115 3.5 Connecting the Cables ............... 118 3.6 User Wires and Pneumatic Tubes............. 120 Electrical wires .................. 121 Pneumatic tubes ................122 3.7 Checking the Basic orientation............123 C series Rev.2...
Page 12 Remove the brake release unit ............155 How to use the brake release unit ............. 156 6.2 Camera Plate Unit ................157 6.3 Tool Adapter (ISO Flange) ..............160 6.4 Adjustable Mechanical Stops ............. 162 6.5 User Wires and Pneumatic Tubes ............. 163 C series Rev.2...
Page 13 Pneumatic tubes ................197 3.7 Checking the Basic orientation............198 4. End Effectors 4.1 Attaching an End Effector..............199 4.2 Attaching Camera and Air Valves ............200 4.3 WEIGHT and INERTIA Settings ............201 4.3.1 WEIGHT setting ..............203 C series Rev.2...
Page 14 Remove the brake release unit ............225 How to use the brake release unit ............. 226 6.2 Camera Plate Unit ................227 6.3 Tool Adapter (ISO Flange) ..............230 6.4 Adjustable Mechanical Stops ............. 231 6.5 User Wires and Pneumatic Tubes ............. 232 C series Rev.2...
Page 15 Appendix C: Time and Distance of Free Running When Safeguard Is Opened C4 Time and Distance of Free Running When Safeguard Is Opened275 C8 Time and Distance of Free Running When Safeguard Is Opened279 C12 Time and Distance of Free Running When Safeguard Is Opened291 C series Rev.2 xiii...
Page 16 Table of Contents C series Rev.2...
Page 17: C4 Manipulator
C4 Manipulator This volume contains information for setup and operation of the Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Page 19: Safety
WARNING not followed properly. This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the CAUTION associated instructions are not followed properly. C series Rev.2...
Page 20: Design And Installation Safety
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: ■...
Page 21: Operation Safety
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. C series Rev.2...
Page 22: Emergency Stop
To place the robot system in emergency mode during normal operation, press the Emergency Stop switch while the Manipulator is not moving. Refer to the Robot Controller manual for instructions on how to wire the Emergency Stop switch circuit. C series Rev.2...
Page 23 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 “C series Maintenance Manual 16. Calibration”. Before using the Emergency Stop switch, be aware of the followings.
Page 24: Safeguard
Hand weight WEIGHT Setting ACCEL Setting Workpiece weight SPEED Setting Posture etc. For time and distance of the Manipulator free running, refer to “Appendix C: Time and Distance of Free Running When the Safeguard is Opened”. C series Rev.2...
Page 25: How To Move Arms With The Electromagnetic Brake
While the electromagnetic brake is ON (such as in emergency mode), you cannot move any arm by pushing manually. Arm Motion Joint #4 Arm #4 Joint #4 Arm #3 Arm #6 Joint #6 Joint #3 Joint #5 Arm #5 Arm #2 Joint #2 Arm #1 (Lower Arm) Joint #1 Base C series Rev.2...
Page 26: Moving The Arm Using The Brake Release Unit
■ 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 to or malfunction of the Manipulator as it may CAUTION collide with peripheral equipment. C series Rev.2...
Page 27: Warning Labels
Do not enter the work space when the Manipulator is operating. It is extremely hazardous since the Arm may collide and cause serious safety problems, Do not touch the current-carrying parts inside the Manipulator while the power is ON. It may cause electrical shock. C series Rev.2...
Page 28 NOTE The product name, model name, serial number, information which laws and regulations are supported, product specifications, manufacturer, importer, date of manufacture, country of manufacture, etc. are listed. For details, see the label affixed to the product. C series Rev.2...
Page 29 C4 Manipulator 1. Safety Location of Labels C series Rev.2...
Page 30: Response For Emergency Or Malfunction
How to release a brake When using a brake release unit For details, refer to “6.1 Brake Release Unit”. When using software For details, refer to “1.6.2 Moving the Arm using the software”. C series Rev.2...
Page 31: Specifications
*1 Manipulators are set to “Table Top mounting” at shipment. To use the Manipulators as “Ceiling mounting”, you need to change the model settings. For details on how to change the model settings, refer to “5.5 Changing the Robot”, and “EPSON RC+ User’s Guide Robot Configuration”. C series Rev.2...
Page 32: Part Names And Motion Range Of Each Arm
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. C series Rev.2...
Page 33: Outer Dimensions
C4 Manipulator 2. Specifications 2.3 Outer Dimensions 2.3.1 C4-A601** [Unit: mm] Space for cables (Applicable tolerance is ø6H7) *1: Applicable area: ø60 h7 *2: Same for the other side C series Rev.2...
Page 34: C4-A901
C4 Manipulator 2. Specifications 2.3.2 C4-A901** [Unit: mm] Space for cables (Applicable tolerance is ø6H7) *1: Applicable area: ø60 h7 *2: Same for the other side C series Rev.2...
Page 35: Standard Motion Range
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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 36: C4-A901
0 pulse position Motion range of P point* Front View Lateral view Joint #2 0 pulse position Joints #4, #6 0 pulse position P point* Joints #3, #5 0 pulse position Motion range of P point* (deg. = °) C series Rev.2...
Page 37 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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 38: Specifications
The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and please contact the supplier of your region if necessary. The Manipulator model can be set from software. Refer to the chapter “Robot Configuration” in “EPSON RC+ User’s Guide”. C series Rev.2...
Page 39: Environment And Installation
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. C series Rev.2...
Page 40: Unpacking, Transportation, And Relocation
■ Avoid excessive vibration or shock during Manipulator transporting. Excessive vibration or shock may cause equipment damage to and/or malfunction of the Manipulator. C series Rev.2...
Page 41 Ambient relative humidity 10 to 90 % (no condensation) When using the Manipulator for the robot system again after long-term storage, perform a test run to verify that the Manipulator works properly. Then, operate the Manipulator thoroughly. C series Rev.2...
Page 42 Do not hold the bottom of the base (the DO NOT hold the bottom of the screened parts in the figure). Holding these base by hand. parts by hand is extremely hazardous and may cause your hands and fingers to be caught. C series Rev.2...
Page 43 C4-A901** Lifting load: 8deg. 29 kg (63.9 lbs.) or lower 35deg. Holes for eye bolt 2-M6 depth 12.5 Center of Center of gravity gravity Use the wire of 1000 mm or longer to avoid contact with Manipulator. C series Rev.2...
Page 44: Mounting Dimensions
NOTE  to maintain sufficient distance from obstacles. In addition, leave enough space for other cables so that they are not bent forcibly. Mounting Dimensions (C4 series) [Unit: mm] Space for cable (Mounting hole) (Reference through hole) C series Rev.2...
Page 45: Installation
■ 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.
Page 46 0.5 ° or less. If the flatness of the installation surface is improper, the base may be damaged or the robot may not fully show its performance. When using a leveler to adjust the height of the base table, use a screw with M16 diameter or more. C series Rev.2...
Page 47 Manipulator does not fall. (3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint- free cloth. (4) Carry the Manipulator in the clean room. (5) Secure the Manipulator to the base table. C series Rev.2...
Page 48: Connecting The Cables
Cleanroom-model Manipulator For the Cleanroom-model, an exhaust system is necessary. For details, refer to “Appendix A: Specifications Table”. M/C Cable Connection method Connect the power connector and the signal connector of the M/C cables to the Controller. C series Rev.2...
Page 49: User Wires And Pneumatic Tubes
Standard-model: Cover Clean-room type: Exhaust port ( For ø8 mm pneumatic tube) S/N:C49E002931 or later Position of ø4 mm No.3 : Blue one-touch fitting for No.4 : Blue No.1 : White tube is different. No.2 : White C series Rev.2...
Page 50: Checking The Basic Orientation
Follow the steps below to set the basic orientation of the Manipulator shown below as the origin position. (1) Start EPSON RC+ 7.0. Double click the <EPSON RC+ 7.0> icon on the desktop. (2) Open the command window. EPSON RC+ 7.0 menu-[Tools]-[Command Window] (3) Execute the following command in [Command Window].
Page 51: End Effectors
To install the end effector used in the PS series or the end effectors which has flange conforming to ISO standard to the C4 series, we provide the optional PS Compatible Plate. For details, refer to “6. Options”. C series Rev.2...
Page 52: Attaching Camera And Air Valves
“4.3.1 WEIGHT Setting”. To mount the camera, the camera plate unit is necessary. We provide the optional Camera Plate Unit. For details, refer to “6. Options”. [Unit: mm] C4-A601** Deck Deck Space for cable Rotation Center of the Upper C series Rev.2...
Page 53 C4 Manipulator 4. End Effectors C4-A901** Deck Deck Space for cable Rotation Center of the Upper C series Rev.2...
Page 54: Weight And Inertia Settings
0.15 kg·m 4.41 N·m (0.45 kgf·m) 0.15 kg·m 2.94 N·m (0.3 kgf·m) 0.1 kg·m * The allowable load for Arm #5 are calculated as follows: Distance from the center of Arm #5 rotation (Figure: a + 65 [mm]). C series Rev.2...
Page 55 4.41 (N·m) / 9.8 / 2.5 (kg) = 0.18 → 0.18 (m) = 180 (mm) c = Distance from the Arm #5 rotation center (mm) − 65 (mm) c = 180 (mm) − 65 (mm) = 115 (mm) C series Rev.2...
Page 56: Weight Setting
* If the payload exceeds the maximum payload, refer to the section “Restriction on payload exceeding the maximum payload” in the Setup & Operation 4.3.1 WEIGHT Setting. C series Rev.2...
Page 57 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. C series Rev.2...
Page 58 Load on the Arm #5 deck is 0.5 kg (M The deck is 280 mm (L ) away from the Joint #3. =1.5 × 0 /315 =0.5 × 280 /315 =0.395 → 0.4(round up) =1 + 0 + 0.4=1.4 Enter “1.4” for the Weight parameter. C series Rev.2...
Page 59 Restrictions on payload exceeding the maximum payload Maximum payload for C4 Manipulators is as follows: Payload can be increased by restricting the arm posture of the Arm #5 downward. Max. Payload Max. Payload with Pose Restriction 4 kg 5 kg C series Rev.2...
Page 60 Load on Arm #5 surface form plane Arm #6 end Arm #5 Arm #6 Plane Arm #6 : Arm #5 angle from vertical direction Relation of Arm #5 angle and operating surface Angle limit for eccentric load C series Rev.2...
Page 61: Inertia Setting
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. Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 62 #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]. Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 63 Work Piece (b) of Work Piece (c) 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. C series Rev.2...
Page 64 Rectangular Parallelepiped’s Center of Gravity + m × L (b) Inertia moment of a cylinder Cylinder’s Center of Gravity Rotation Center + m × L (c) Inertia moment of a sphere Sphere’s Center of Gravity Rotation Center + m × L C series Rev.2...
Page 65: Precautions For Auto Acceleration/Deceleration
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. C series Rev.2...
Page 66: Motion Range
3. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the Manipulator Rectangular Range Setting Mechanical Mechanical Motion Range Stop Stop Pulse Range When the motion range is changed due to layout efficiency or safety, follow the descriptions in 5.1 through 5.4 to set the range. C series Rev.2...
Page 67: Motion Range Setting By Pulse Range (For All Arms)
Manipulator does not move. The pulse range can be set in [Tools]-[Robot manager]-[Range] panel. EPSON You may also execute the Range command from the [Command Window]. C series Rev.2...
Page 68: Max. Pulse Range Of Arm #1
5.1.1 Max. Pulse Range of Arm #1 Pulse values in counterclockwise direction are positive (+) and values in clockwise direction are negative (-). C4-A601** Arm #1 0 pulse position C4-A901** Arm #1 0 pulse position *1 without mechanical stop *2 UL Specification C series Rev.2...
Page 69: Max. Pulse Range Of Arm #2
0 pulse position 5.1.3 Max. Pulse Range of Arm #3 Pulse values in clockwise direction are positive (+) and values in counterclockwise direction are negative (-). C4-A601** C4-A901** Arm #3 Arm #3 0 pulse 0 pulse position position C series Rev.2...
Page 70: Max. Pulse Range Of Arm #4
CAUTION and/or malfunction to the Manipulator. Torsion of the inner wiring can be checked by removing the Arm #3 head cover. Arm #3 head cover C series Rev.2...
Page 71: Max. Pulse Range Of Arm #5
5.1.6 Max. Pulse Range of Arm #6 From the angle of arm end, clockwise pulse values are positive (+) and counterclockwise pulse values are negative (-). C4-A601** C4-A901** Arm #6 0 pulse position Arm #6 0 pulse position C series Rev.2...
Page 72: Motion Range Setting By Mechanical Stops
Mechanical stop for UL specification There is a specified mechanical stop for UL specification. Mount the mechanical stop as shown in the figure below. The setting angle differs from the non-UL compliant model. (refer to the above table) C series Rev.2...
Page 73: Motion Range Setting Of Arm #2
M8×12 hexagon socket head cap bolt Strength Equivalent to ISO898-1 property class 10.9 or 12.9 Tightening torque 37.2 N·m (380 kgf·cm) +225 Angle (°) −51 Pulse C4-A601** +5734400 −1299798 (pulse) C4-A901** +10194489 −2310751 Applied Applied Bolt standard standard C series Rev.2...
Page 74: Restriction Of Manipulator Operation By Joint Angle Combination
PTP motion command execution even though the joint angles of the Arms are in the gray areas of the figures above. (deg.=°) Combination of Joint #1 and #2 (C4-A601**) Joint #1 Angle Combination of Joint #2 and #3 (C4-A601**) Joint #2 Angle C series Rev.2...
Page 75 C4 Manipulator 5. Motion Range Combination of Joint #1 and #2 (C4-A901**) Joint #1 Angle Combination of Joint #1 and #2 (C4-A901**-UL) Joint #1 Angle Combination of Joint #2 and #3 (C4-A901**) Joint #2 Angle C series Rev.2...
Page 76: Coordinate System
C4 Manipulator 5. Motion Range 5.4 Coordinate System The origin point is where the Manipulator base intersects with the rotation axis of Joint #1. For details on the coordinate system, refer to the EPSON RC+ Users Guide manual. Table Top mounting Ceiling mounting BASE setting is suitable for install the robot obliquely.
Page 77: Changing The Robot
C4 Manipulator 5. Motion Range 5.5 Changing the Robot This section describes how to change the Manipulator model on EPSON RC+. (Default setting is “table top mounting”.) ■ Changing the Manipulator should be done with great caution. It initializes the robot calibration parameters (Hofs, CalPls), additional axis information, and PG parameter data.
Page 78: Setting The Cartesian (Rectangular) Range In The Xy Coordinate
Manipulator or peripheral equipment. The method for changing the XYLIM setting varies with the software used. Set the XYLIM setting in [Tools]-[Robot manager]-[XYZ Limits] panel. EPSON You may also execute the XYLim command from the [Command Window]. C series Rev.2...
Page 79: Options
Width 180 mm Depth 150 mm Height 87 mm Weight (Cables are not included.) 1.7 kg Cable to the Manipulator View from A Power switch Power lamp Power cable* Brake release switches * Item you should provide C series Rev.2...
Page 80: Power Cable
- Standard Sheet C13: AC250V / 10A For Japan Item Specification Plug PSE qualified Class I (2P+PE), AC125V, 7A or higher Code PSE qualified 0.75mm or larger Connector PSE qualified IEC 60320-1 Standard Sheet C13: AC125V/10A or higher C series Rev.2...
Page 81: Mount The Brake Release Unit
Mount the brake release unit (1) Turn OFF the Controller. (2) Remove the external short connector. External short connector (3) Connect the brake release unit to the connector of the connection cable. Connector of the connection cable C series Rev.2...
Page 82: Remove The Brake Release Unit
The brake will be enabled by pressing the switch once again. NOTE Move the arm the brake is released by two persons or more (one presses the switch and  one moves the arm). The arm can be very heavy and needs the significant force to move. C series Rev.2...
Page 83: Camera Plate Unit
(5) Secure the cables at the position where they do not interfere with the Manipulator motion. When securing the cables, check if the cables bend radius is big enough and the cables NOTE  are not rubbing against each other while the Manipulator moves. Otherwise, the cables will be disconnected. C series Rev.2...
Page 84 Camera adapter plate Each camera uses the different mounting holes. USB camera : J (2 holes) GigE camera : E (3 holes) Mounting example Using the mounting hole A Using the mounting hole C E.g.) Camera: XC-ES30 C series Rev.2...
Page 85 Joint #5 motion range that will be limited in this case. (° = deg.) USB camera, GigE camera −135° ~ +60° −135° ~ +50° −135° ~ +35° −135° ~ +25° 72.5 mm 57 mm 37 mm 17 mm 7 mm Direction of the Joint #5 motion C series Rev.2...
Page 86: Ps Compatible Plate (Tool Adapter)
Dimensions of PS compatible plate (at 90° pitch) C: Hexagon socket head screw 4-M4×6 A: PS compatible plate 1 B: PS compatible plate 2 D: Hexagon socket head screw 8-M3×8 * Each dimension and tolerance complies with ISO9409-1-31.5-4-M5. C series Rev.2...
Page 87 (Insert to a track hole) B: PS compatible plate 2 NOTE If you move the Manipulator with the dowel pin inserted, the dowel pin will fall out.  After fixing the PS compatible plate 2, remove the dowel pin. C series Rev.2...
Page 88: Base Side Angled Fittings
For details of the mounting and precautions, refer to “3. Environment and Installation”. Parts included Qty. Base side angled plate (Left side) Base side angled plate (Right side) Base side plate (for Skewed mounting type) Hexagon socket head screw M8 × 25 Hexagon socket head screw M8 × 30 C series Rev.2...
Page 89 The base plate securing the Manipulator should be prepared by users. The torque value and reaction force generated in the Manipulator motions are described in “3.4 Installation”. C series Rev.2...
Page 90: Base Side Fittings
Fit the pins with the holes and secure the base side plate by pressing it from above to the base fixing part. (With the steps above, the both surfaces of base side fittings can be stable.) Base fixing part 2. Press toward this face from above 1. Insert pins into the holes 2-M8×60 C series Rev.2...
Page 91 C4 Manipulator 6. Options Dimension of the Manipulator with the base side fittings 2-M10 (Prepared hole ø8.5) 2-M10 (Prepared hole ø8.5) C series Rev.2...
Page 92 ← Base Plate (Floor) B: Secures A: Secures from below from below Ceiling mounting A: Secures B: Secures from above from above ← Base plate (Ceiling) B: Secures A: Secures from below from below C series Rev.2...
Page 93: Ps Compatible Plate (Base Adapter)
PS compatible plate is used to use Manipulator fixing taps for PS series to the C4 series Manipulator. Parts included Qty. PS compatible plate Dowel pin (M4 hole on one side) Dowel pin (M6 hole on one side) M10×25 hexagon socket head cap bolt Plain washer Spring washer Dimensions of PS compatible plate C series Rev.2...
Page 94 (2) Fix the C4 series Manipulator and the PS compatible plate. Hexagon socket head cap bolts (4-M10×25) + spring washers + plain washers Use dowel pins as needed to adjust positions of the Manipulator and the PS compatible plate. C series Rev.2...
Page 95: Adjustable Mechanical Stop (Joint #2: Only C4-A901**)
For details on the pulse range setting, refer to “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. Qty. Parts included Adjustable mechanical stop M6×40 hexagon socket head cap bolt Plain washer C series Rev.2...
Page 96 Direction of the adjustable mechanical stop depends on the angular limitation to be set. Installation 1 Installation 2 Installation 1 Installation 2 Angle (°) −153 −160 Pulse (pulse) +1456356 +3098066 −4456448 −7626008 Adjustable Not applied Not applied Applied Applied mechanical stop (standard) (standard) C series Rev.2...
Page 97: C8 Manipulator
C8 Manipulator This volume contains information for setup and operation of the Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Page 99: Safety
WARNING not followed properly. This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the CAUTION associated instructions are not followed properly. C series Rev.2...
Page 100: Design And Installation Safety
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: ■...
Page 101: Operation Safety
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. C series Rev.2...
Page 102: Emergency Stop
To place the robot system in emergency mode during normal operation, press the Emergency Stop switch while the Manipulator is not moving. Refer to the Robot Controller manual for instructions on how to wire the Emergency Stop switch circuit. C series Rev.2...
Page 103 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 “C series Maintenance Manual 16. Calibration”. Before using the Emergency Stop switch, be aware of the followings.
Page 104: Safeguard
Hand weight WEIGHT Setting ACCEL Setting Workpiece weight SPEED Setting Posture etc. For time and distance of the Manipulator free running, refer to Appendix C: Time and Distance of Free Running When the Safeguard is Opened. C series Rev.2...
Page 105: How To Move Arms With The Electromagnetic Brake
While the electromagnetic brake is ON (such as in emergency mode), you cannot move any arm by pushing manually. Arm Motion Joint #4 Arm #4 Arm #3 Arm #6 Joint #6 Joint #3 Joint #5 Arm #5 Arm #2 Joint #2 Arm #1 (Lower Arm) Joint #1 Base (Figure: C8-A701* (C8)) C series Rev.2...
Page 106: Moving The Arm Using The Brake Release Unit
■ 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 to or malfunction of the Manipulator as it may CAUTION collide with peripheral equipment. C series Rev.2...
Page 107: Warning Labels
Do not enter the work space when the Manipulator is operating. It is extremely hazardous since the Arm may collide and cause serious safety problems. Do not touch the current-carrying parts inside the Manipulator while the power is ON. It may cause electrical shock. C series Rev.2...
Page 108 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. C series Rev.2...
Page 109 The product name, model name, serial number, information which laws and regulations are supported, product specifications, manufacturer, importer, date of manufacture, country of manufacture, etc. are listed. For details, see the label affixed to the product. Location of Labels C8-A1401*B C8-A1401** C series Rev.2...
Page 110: Response For Emergency Or Malfunction
How to release a brake When using a brake release unit For details, refer to “6.1 Brake Release Unit”. When using software For details, refer to “1.6.2 Moving the Arm using the software”. C series Rev.2...
Page 111: Specifications
: Cleanroom & ESD (electrostatic discharge) model : Protection model (IP67) Brake equipment : Brakes on all joints Arm length : 710 mm (C8-A701***: C8) : 900 mm (C8-A901***: C8L) 14 : 1400 mm (C8-A1401***: C8XL) Example C series Rev.2...
Page 112: Part Names And Motion Range Of Each Arm
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. C series Rev.2...
Page 113 For ø6 mm pneumatic tubes (Air1, Air2) Ethernet cable connector Signal cable Power cable Cable backward model / Cable downward model Signature label (Serial No. of Manipulator) Bolt hole M5 (for grounding) (Figure: Cable backward model) C series Rev.2...
Page 114: Outer Dimensions
C8 Manipulator 2. Specifications 2.3 Outer Dimensions [Unit: mm] 2.3.1 C8-A701*** (C8) C series Rev.2...
Page 115: C8-A901*** (C8L)
C8 Manipulator 2. Specifications 2.3.2 C8-A901*** (C8L) C series Rev.2...
Page 116: C8-A1401*** (C8Xl)
C8 Manipulator 2. Specifications 2.3.3 C8-A1401*** (C8XL) C series Rev.2...
Page 117: Standard Motion Range
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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 118: C8-A901*** (C8L)
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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 119: C8-A1401*** (C8Xl)
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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 120: Specifications
If you are using C3 or C4 series Manipulator and already have the brake release box, you can use it by connecting the M/C cable with the Controller, or purchasing the short connector separately and connecting it to the M/C power cable. C series Rev.2...
Page 121: How To Set The Model
The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and contact the supplier of your region if necessary. The Manipulator model can be set from software. Refer to the chapter “Robot Configuration” in “EPSON RC+ User’s Guide”. C series Rev.2...
Page 122: Environment And Installation
When using the Manipulators in inadequate environments that do not meet the above NOTE  conditions, please contact the distributor. For the Protection-model Manipulator, be sure to install the robot system in an environment that also meets the following conditions: C series Rev.2...
Page 123 Prepare the earth leakage breaker that pertains the Controller you are using. For WARNING details, refer to the Robot Controller manual. ■ When cleaning the Manipulator, do not rub it strongly with alcohol or benzene. It may lose luster on the coated face. CAUTION C series Rev.2...
Page 124: Unpacking, Transportation, And Relocation
During unpacking and relocation, avoid applying external force to the arms and motors of the Manipulator. When transporting the Manipulator for a long distance, secure it to the delivery equipment so that the Manipulator cannot fall. If necessary, pack the Manipulator in the same way as it was delivered. C series Rev.2...
Page 125 Manipulator weight C8-A701***: C8 C8-A901***: C8L C8-A1401***: C8XL 49 kg: 108 lbs. 52 kg: 115 lbs. 62 kg: 137 lbs. Standard, Cleanroom 53 kg: 117 lbs. 56 kg: 123 lbs. 66 kg: 146 lbs. Protection C series Rev.2...
Page 126 (Figure: C8-A701* (C8)) (Figure: C8-A901* (C8L)) Center of gravity Center of gravity Holes for eye bolt 2-M12 depth 25 (Figure: C8-A1401* (C8XL)) * Locations of the screw holes for eyebolts are common to all models. C series Rev.2...
Page 127 ■ 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 CAUTION the eyebolts and it may cause equipment damage to and/or malfunction of the Manipulator. C series Rev.2...
Page 128: Mounting Dimensions
In addition, leave enough space for other cables so that they are not bent forcibly. NOTE  In case of C8-A1401*** (C8XL): Make sure to leave 35 mm or more space around the fan cover. [Unit: mm] 3.3.1 Cable Backward Model C8-A701** (C8) C series Rev.2...
Page 129 C8 Manipulator 3. Environment and Installation C8-A901** (C8L) C series Rev.2...
Page 130: Cable Downward Model
C8 Manipulator 3. Environment and Installation C8-A1401** (C8XL) 3.3.2 Cable Downward Model The following part differs from the cable backward model. C8-A701*B* (C8), C8-A901*B* (C8L) C8-A1401*B* (C8XL) C series Rev.2...
Page 131: Installation
■ 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.
Page 132 0.5 ° or less. If the flatness of the installation surface is improper, the base may be damaged or the robot may not fully show its performance. When using a leveler to adjust the height of the base table, use a screw with M16 diameter or more. C series Rev.2...
Page 133 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. C series Rev.2...
Page 134: Connecting The Cables
After using the brake release unit, be sure to connect the external short connector to the Manipulator, or check connection of the connector for the brake release unit. C series Rev.2...
Page 135 It is recommended that the core size of the grounding wire be 5.5 mm or more. Directly connect the ground line to the Manipulator as shown in the figure below. Bolt hole M5 (for grounding) 5.5 mm or more Detail of A C series Rev.2...
Page 136: User Wires And Pneumatic Tubes
Standard-model (15-pin D-sub connector) : Cover Clean-room model : Exhaust port F sensor For ø12 mm pneumatic tube cable connector For ø6 mm pneumatic tubes (Air1, Air2) Ethernet cable connector Signal cable Power cable (Figure: C8-A701*B (C8)) C series Rev.2...
Page 137: Electrical Wires
For the protection-model, use the following optional part. User connector kit (IP67 waterproof, for RJ45, 2 pcs) For details, refer to “6. Option”. Other The 6-pin cable for the F sensor option is included. C series Rev.2...
Page 138: Pneumatic Tubes
■ Be sure to attach the cap or plug (attached at the time of shipment) on the user cable connector when not using the connector. Using the Manipulator without the cap or plug may cause equipment damage to and/or malfunction of the Manipulator as dust or oily smoke gets into the connector. C series Rev.2...
Page 139: Checking The Basic Orientation
Follow the steps below to set the basic orientation of the Manipulator shown below as the origin position. (1) Start EPSON RC+ 7.0. Double click the <EPSON RC+ 7.0> icon on the desktop. (2) Open the command window. EPSON RC+ 7.0 menu-[Tools]-[Command Window] (3) Execute the following command in [Command Window].
Page 140: End Effectors
Decks are equipped to Arms #3 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 “6. Options”. C series Rev.2...
Page 141 Arm #5 Arm #3 Deck Deck Arm #5 Arm #3 Deck Deck Rotation Center of the Upper Arm Rotation Center of the Upper Arm C8-A1401*** (C8XL) Arm #5 Deck Arm #3 Deck Rotation Center of the Upper Arm C series Rev.2...
Page 142: Weight And Inertia Settings
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. C series Rev.2...
Page 143 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. C series Rev.2...
Page 144: Weight Setting
Setting method of Weight parameters Select [Tools]-[Robot Manager]-[Weight] panel and set the value in [Weight:]. EPSON You may also execute the Weight command from [Command Window]. C series Rev.2...
Page 145 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. C series Rev.2...
Page 146 Load on the Arm #5 deck is 1.0 kg (M The deck is 690 mm (L ) away from the Joint #3. =1.5 × 0 /730 =1.0 × 690 /730 =0.89 → 0.9 (round up) =5 + 0 + 0.9=5.9 Enter “5.9” for the Weight parameter. C series Rev.2...
Page 147 C8-A901***(C8L) Acceleration / Deceleration Speed (kg) Weight Parameter C8-A1401***(C8XL) Acceleration / Deceleration Speed (kg) Weight Parameter NOTE Maximum AccelS setting value varies depending on Weight setting value. For more details,  refer to “Appendix A: Specifications Table”. C series Rev.2...
Page 148: Inertia Setting
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. Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 149 #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]. Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 150 (0.03 kg·m ) as 100%. Automatic setting by eccentricity setting (common to C8 series) 100 100 300 (mm) Eccentricity The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity (50 mm) as 100% C series Rev.2...
Page 151 Figure out the whole inertia moment using the basic formulas below. (a) Inertia moment of a rectangular parallelepiped Rotation Center Rectangular Parallelepiped’s Center of Gravity + m × L (b) Inertia moment of a cylinder Cylinder’s Center of Gravity Rotation Center + m × L C series Rev.2...
Page 152 C8 Manipulator 4. End Effectors (c) Inertia moment of a sphere Sphere’s Center of Gravity Rotation Center + m × L C series Rev.2...
Page 153: Precautions For Auto Acceleration/Deceleration
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. C series Rev.2...
Page 154: Motion Range
Manipulator does not move. The pulse range can be set in [Tools]-[Robot manager]-[Range] panel. EPSON You may also execute the Range command from the [Command Window]. C series Rev.2...
Page 155: Max. Pulse Range Of Joint #1
－ direction C8-A701*** (C8) C8-A901*** (C8L) C8-A1401*** (C8XL) Angle (°) − 158 to + 65 − 135 to + 55 − 6245685 to − 6903178 to − 10616940 to Pulse (pulse) + 2569428 + 2839915 + 4325420 C series Rev.2...
Page 156: Max. Pulse Range Of Joint #3
From the angle of arm end, clockwise pulse values are positive (+) and counterclockwise pulse values are negative (-). The max. pulse range of the Arm #4 is common to C8 series Manipulators. Arm #4 0 pulse position -5461400 pulse +5461400 pulse (deg.= °) C series Rev.2...
Page 157: Max. Pulse Range Of Joint #5
From the angle of arm end, clockwise pulse values are positive (+) and counterclockwise pulse values are negative (-). The max. pulse range of the Arm #6 is common to C8 series Manipulators. Arm #6 0 pulse position + 6553800 pulse - 6553800 pulse (deg.= °) C series Rev.2...
Page 158: Motion Range Setting By Mechanical Stops
−145, +110 −110, +145 ±240 −5743867 −4357416 C8-A701*** (C8) ±9507090 +4357416 +5743867 −6461925 −4902150 Pulse (pulse) C8-A901*** (C8L) ±10695600 +4902150 +6461925 −9507650 −7212700 C8-A1401*** (C8XL) ±15736800 +7212700 +9507650 Not applied Adjustable mechanical stop (J1) Applied Applied (standard) C series Rev.2...
Page 159: Motion Range Setting Of Joint #2
Tightening torque 32.0 ± 1.6 N·m (326 ± 16 kgf·cm) Angle (°) −158, +30 −158, +65 -6245685 -6245685 C8-A701*** (C8) +1185890 + 2569428 Pulse(pulse) -6903178 -6903178 C8-A901*** (C8L) +1310730 +2839915 Adjustable mechanical stop (C8/C8L_J2) Applied Applied (standard) C series Rev.2...
Page 160 Equivalent to ISO898-1 property class 10.9 or 12.9 Tightening torque 32.0 ± 1.6 N·m (326 ± 16 kgf·cm) Angle (°) −125, +45 −135, +55 −9830500 −10616940 Pulse(pulse) C8-A1401*** (C8XL) +3538980 +4325420 Adjustable Applied Applied (standard) mechanical stop (C8XL_J2) C series Rev.2...
Page 161: Motion Range Setting Of Joint #3
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. C series Rev.2...
Page 162 −240 deg. <= J1 < −120 deg. or 120 deg. < J1<= 240 deg. Joint #2 Angle Combination of Joints #1 and #2 −240 deg. <= J1 <= −100 deg. or 100 deg. <= J1 <= 240 deg. Joint #1 Angle (deg = °) C series Rev.2...
Page 163 −240 deg. <= J1 < −120 deg. or 120 deg. < J1<= 240 deg. Joint #2 Angle Combination of Joints #1 and #2 −240 deg. <= J1 <= −100 deg. or 100 deg. <= J1 <= 240 deg. Joint #1 Angle (deg = °) C series Rev.2...
Page 164 −140 deg. < J1< −110 deg. or 110 deg. < J1< 140 deg. −240 deg. < J1< −220 deg. or 220 deg. < J1< 240 deg. Joint #2 Angle −220 deg. <= J1<= −140 deg. or 140 deg. < J1< 220 deg. Joint #2 Angle (deg = °) C series Rev.2...
Page 165: Coordinate System
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+ Users Guide manual. Table Top mounting Ceiling mounting Wall mounting BASE setting is suitable for install the robot obliquely.
Page 166: Changing The Robot
C8 Manipulator 5. Motion Range 5.5 Changing the Robot This section describes how to change the manipulator model on EPSON RC+. ■ Changing the Manipulator should be done with great caution. It initializes the robot calibration parameters (Hofs, CalPls), additional axis information, and PG parameter data.
Page 167: Setting The Cartesian (Rectangular) Range In The Xy Coordinate
Manipulator or peripheral equipment. The method for changing the XYLIM setting varies with the software used. Set the XYLIM setting in [Tools]-[Robot manager]-[XYZ Limits] panel. EPSON You may also execute the XYLim command from the [Command Window]. C series Rev.2...
Page 168: Options
87 mm Weight (Cables are not included.) 1.7 kg Cable to the Manipulator M/C Short connector For M/C power cable short-circuit View from A Power switch Power cable* Power lamp Brake release switches * Item you should provide C series Rev.2...
Page 169: Power Cable
- Standard Sheet C13: AC250V / 10A For Japan Item Specification Plug PSE qualified Class I (2P+PE), AC125V, 7A or higher Code PSE qualified 0.75mm or larger Connector PSE qualified IEC 60320-1 Standard Sheet C13:AC125V/10A or higher C series Rev.2...
Page 170 ■ If you turn ON the brake release unit without the connector, it may lead to the short for the male pin used in the connector. Before turning ON the brake release unit, make sure that the connector is connected. C series Rev.2...
Page 171: Mount The Brake Release Unit
(3) Disconnect the brake release unit from the connector of the connection cable. (4) If the M/C short connector is connected to the M/C power cable, remove the short conenctor. (5) Connect the external short connector to the connector of the connection cable. C series Rev.2...
Page 172: How To Use The Brake Release Unit
The brake will be enabled by pressing the switch once again. NOTE Move the arm the brake is released by two persons or more (one presses the switch and  one moves the arm). The arm can be very heavy and needs the significant force to move. C series Rev.2...
Page 173: Camera Plate Unit
Tightening Hexagon Socket Head Bolts” Mounting holes for the camera base plate on the C8 series Manipulator Camera base plate mounting hole For the installation steps, refer to the following manual: EPSON RC+ Option Vision Guide 7.0 Hardware & Setup C series Rev.2...
Page 174 C8 Manipulator 6. Options Dimension of the camera plate unit 6×M4 depth 8.5 (for securing cables) Camera C series Rev.2...
Page 175 Joint #5 motion range that will be limited in this case. USB camera, −135 to −135 to −135 to −135to +70° 95.5 mm GigE camera +60° +45° +35° 50 mm 30 mm 10 mm −10 mm Direction of the Joint #5 motion C series Rev.2...
Page 176: Tool Adapter (Iso Flange)
Flange Hexagon socket head screw with low head M5×10 Hexagon socket head screw M5×15 Dimensions of ISO flange 4-M5 depth 12 (at 90 ° pitch) depth 5 depth 4 * Each dimension and tolerance complies with ISO9409-1-31.5-4-M5. C series Rev.2...
Page 177 (4) Align the pin and the pin hole on the ISO flange, and then mount the ISO flange. Hexagon socket head screw with low head: 6-M5×10 ISO flange Hexagonal socket head screw with low head 6 M5×10 C series Rev.2...
Page 178: Adjustable Mechanical Stops
Hexagon socket head screw M12×30 Adjustable mechanical stop (C8/C8L_J2) Item Qty. Adjustable mechanical stop (C8/C8L_J2) Hexagon socket head screw M10×35 Adjustable mechanical stop (C8XL_J2) Item Qty. Adjustable mechanical stop(C8XL_J2) Adjustable mechanical stop (J3) Item Qty. Adjustable mechanical stop (J3) C series Rev.2...
Page 179: User Wires And Pneumatic Tubes
Waterproof User Connector Kit (Ethernet) Item Qty. Manufacturer Standard Connector HARTING 09 45 145 1560 * Not attached as standard. Please purchase the item if needed. Please note that the protection rating IP67 cannot be satisfied if other connectors are used. C series Rev.2...
Page 180 C8 Manipulator 6. Options C series Rev.2...
Page 181: C12 Manipulator
C12 Manipulator This volume contains information for setup and operation of the Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Page 183: Safety
WARNING not followed properly. This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the CAUTION associated instructions are not followed properly. C series Rev.2...
Page 184: Design And Installation Safety
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: ■...
Page 185: Operation Safety
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. C series Rev.2...
Page 186: Emergency Stop
To place the robot system in emergency mode during normal operation, press the Emergency Stop switch while the Manipulator is not moving. Refer to the Robot Controller manual for instructions on how to wire the Emergency Stop switch circuit. C series Rev.2...
Page 187 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 “C series Maintenance Manual 16. Calibration”. Before using the Emergency Stop switch, be aware of the followings.
Page 188: Safeguard
Hand weight WEIGHT Setting ACCEL Setting Workpiece weight SPEED Setting Posture etc. For time and distance of the Manipulator free running, refer to Appendix C: Time and Distance of Free Running When the Safeguard is Opened. C series Rev.2...
Page 189: How To Move Arms With The Electromagnetic Brake
While the electromagnetic brake is ON (such as in emergency mode), you cannot move any arm by pushing manually. Arm Motion Joint #4 Arm #4 Arm #6 Arm #3 Joint #6 Joint #3 Joint #5 Arm #5 Arm #2 Joint #2 Arm #1 (Lower Arm) Joint #1 Base C series Rev.2...
Page 190: Moving The Arm Using The Brake Release Unit
■ 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 to or malfunction of the Manipulator as it may CAUTION collide with peripheral equipment. C series Rev.2...
Page 191: Warning Labels
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. C series Rev.2...
Page 192 The product name, model name, serial number, information which laws and regulations are supported, product specifications, manufacturer, importer, date of manufacture, country of manufacture, etc. are listed. For details, see the label affixed to the product. Location of Labels C12-A1401*B C12-A1401** C series Rev.2...
Page 193: Response For Emergency Or Malfunction
How to release a brake When using a brake release unit For details, refer to “6.1 Brake Release Unit”. When using software For details, refer to “1.6.2 Moving the Arm using the software”. C series Rev.2...
Page 194: Specifications
: Table Top mounting M/C cable installation direction □ : Cable backward : Cable downward Environment : Standard model : Cleanroom & ESD (electrostatic discharge) model Brake equipment : Brakes on all joints Arm length 14 : 1400 mm C series Rev.2...
Page 195: Part Names And Motion Range Of Each Arm
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. C series Rev.2...
Page 196 For ø6 mm pneumatic tubes (Air1, Air2) Ethernet cable connector Signal cable Power cable Cable backward model / Cable downward model Signature label (Serial No. of Manipulator) Bolt hole M5 (for grounding) (illustration: Cable backward model) C series Rev.2...
Page 197: Outer Dimensions
C12 Manipulator 2. Specifications 2.3 Outer Dimensions [Unit: mm] C series Rev.2...
Page 198: Standard Motion Range
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 to CAUTION and/or malfunction of the Manipulator. C series Rev.2...
Page 199: Specifications
If you are using C3, C4, or C8 series Manipulator and already have the brake release box, you can use it by connecting the M/C cable with the Controller, or purchasing the short connector separately and connecting it to the M/C power cable. C series Rev.2...
Page 200: How To Set The Model
The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and contact the supplier of your region if necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide. C series Rev.2...
Page 201: Environment And Installation
Prepare the earth leakage breaker that pertains the Controller you are using. For WARNING details, refer to the Robot Controller manual. ■ When cleaning the Manipulator, do not rub it strongly with alcohol or benzene. It may lose luster on the coated face. CAUTION C series Rev.2...
Page 202: Unpacking, Transportation, And Relocation
Manipulator. Be sure to transport and store the robot system in environments that meet the following conditions: Item Conditions Ambient temperature −20 to 60 °C Ambient relative humidity 10 to 90 % (no condensation) C series Rev.2...
Page 203 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 to be caught. Manipulator weight : 63 kg (139 lbs.) DO NOT hold the bottom of the base by hand. C series Rev.2...
Page 204 ■ 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 CAUTION the eyebolts and it may cause equipment damage to and/or malfunction of the Manipulator. C series Rev.2...
Page 205: Mounting Dimensions
In addition, leave enough space for other cables so that they are not bent forcibly. NOTE  Make sure to leave 35 mm or more space around the fan cover. [Unit: mm] 3.3.1 Cable Backward Model C series Rev.2...
Page 206: Cable Downward Model
C12 Manipulator 3. Environment and Installation 3.3.2 Cable Downward Model The following part differs from the cable backward model. C series Rev.2...
Page 207: Installation
■ 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.
Page 208 0.5 ° or less. If the flatness of the installation surface is improper, the base may be damaged or the robot may not fully show its performance. When using a leveler to adjust the height of the base table, use a screw with M16 diameter or more. C series Rev.2...
Page 209 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 clean room. (5) Secure the Manipulator to the base table. C series Rev.2...
Page 210: Connecting The Cables
After using the brake release unit, be sure to connect the external short connector to the Manipulator, or check connection of the connector for the brake release unit. C series Rev.2...
Page 211 It is recommended that the core size of the grounding wire be 5.5 mm or more. Directly connect the ground line to the Manipulator as shown in the figure below. Bolt hole M5 (for grounding) Detail of A 5.5 mm or more C series Rev.2...
Page 212: User Wires And Pneumatic Tubes
Standard-model User cable connector : Cover (15-pin D-sub connector) Clean-room model : Exhaust port For ø12 mm pneumatic tube F sensor cable connector For ø6 mm pneumatic tubes (Air1, Air2) Ethernet cable connector Signal cable Power cable C series Rev.2...
Page 213: Electrical Wires
0.59 MPa (6 kgf/cm : 86 psi) ø6 mm × ø4 mm The elbow fitting is attached on the Arm #4 at the time of shipment. The part can be replaced with the straight fitting (accessory) according to application. C series Rev.2...
Page 214: Checking The Basic Orientation
Follow the steps below to set the basic orientation of the Manipulator shown below as the origin position. (1) Start EPSON RC+ 7.0. Double click the <EPSON RC+ 7.0> icon on the desktop. (2) Open the command window. EPSON RC+ 7.0 menu-[Tools]-[Command Window] (3) Execute the following command in [Command Window].
Page 215: End Effectors
Compatibility with ISO flange: To install the end effector whose mounting dimensions are designed for the ISO flange, we provide the optional C8 ISO flange (J6). For details, refer to “6. Options”. C series Rev.2...
Page 216: Attaching Camera And Air Valves
Decks are equipped to Arms #3 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 “6. Options”. Arm #5 Deck Arm #3 Deck Rotation Center of the Upper Arm C series Rev.2...
Page 217: Weight And Inertia Settings
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. C series Rev.2...
Page 218 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. C series Rev.2...
Page 219: Weight Setting
Setting method of Weight parameters Select [Tools]-[Robot Manager]-[Weight] panel and set the value in [Weight:]. EPSON You may also execute the Weight command from [Command Window]. C series Rev.2...
Page 220 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. C series Rev.2...
Page 221 Load on the Arm #5 deck is 1.0 kg (M The deck is 690 mm (L ) away from the Joint #3. =1.5 × 0 /730 =1.0 × 690 /730 =0.89 → 0.9 (round up) =5 + 0 + 0.9=5.9 Enter “5.9” for the Weight parameter. C series Rev.2...
Page 222: Inertia Setting
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. Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 223 #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]. Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:]. EPSON You may also execute the Inertia command from [Command Window]. C series Rev.2...
Page 224 * The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity (0.03 kg·m ) as 100%. Automatic setting by eccentricity setting (mm) Eccentricity * The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity (50 mm) as 100%. C series Rev.2...
Page 225 End Effector (a) of Work Piece (b) 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. C series Rev.2...
Page 226 Rectangular Parallelepiped’s Center of Gravity + m × L (b) Inertia moment of a cylinder Cylinder’s Center of Gravity Rotation Center + m × L (c) Inertia moment of a sphere Sphere’s Center of Gravity Rotation Center + m × L C series Rev.2...
Page 227: Precautions For Auto Acceleration/Deceleration
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. C series Rev.2...
Page 228: Motion Range
Manipulator does not move. The pulse range can be set in [Tools]-[Robot manager]-[Range] panel. EPSON You may also execute the Range command from the [Command Window]. C series Rev.2...
Page 229: Max. Pulse Range Of Joint #1
＋240° －15736800 pulse 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 ＋55° ＋4325420 pulse －135° －10616940 pulse C series Rev.2...
Page 230: Max. Pulse Range Of Joint #3
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 －200° ＋200° −5461400 pulse +5461400 pulse C series Rev.2...
Page 231: Max. Pulse Range Of Joint #5
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 －360° +360° +6553800 pulse −6553800 pulse C series Rev.2...
Page 232: Motion Range Setting By Mechanical Stops
Equivalent to ISO898-1 property class 10.9 or 12.9 Tightening torque 42.0 ± 2.1N·m (428 ± 21 kgf·cm) Angle ( −145, +110 −110, +145 ±240 ° −9507650 −7212700 Pulse (pulse) ±15736800 +7212700 +9507650 Not applied Adjustable mechanical stop (J1) Applied Applied (standard) C series Rev.2...
Page 233: Motion Range Setting Of Joint #2
Equivalent to ISO898-1 property class 10.9 or 12.9 Tightening torque 13.0 ± 0.6 N·m (133 ± 6 kgf·cm) Angle ( −51, +192 −61, +202 ° −3342336 −3997696 Pulse(pulse) +12582912 +13238272 Adjustable mechanical stop (J3) Applied Applied (standard) C series Rev.2...
Page 234: Restriction Of Manipulator Operation By Joint Angle Combination
° ° < J1 < −220 or 220 < J1 < 240 −240 ° ° ° ° Joint #2 Angle −220 <= J 1<= −140 or 140 < J1< 220 ° ° ° ° Joint #2 Angle C series Rev.2...
Page 235: Coordinate System
C12 Manipulator 5. Motion Range 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+ Users Guide manual. C series Rev.2...
Page 236: Changing The Robot
C12 Manipulator 5. Motion Range 5.5 Changing the Robot This section describes how to change the Manipulator model on EPSON RC+. ■ Changing the Manipulator should be done with great caution. It initializes the robot calibration parameters (Hofs, CalPls), additional axis information, and PG parameter data.
Page 237: Setting The Cartesian (Rectangular) Range In The Xy Coordinate
Manipulator or peripheral equipment. The method for changing the XYLIM setting varies with the software used. Set the XYLIM setting in [Tools]-[Robot manager]-[XYZ Limits] panel. EPSON You may also execute the XYLim command from the [Command Window]. C series Rev.2...
Page 238: Options
87 mm Weight (Cables are not included.) 1.7 kg Cable to the Manipulator M/C Short connector For M/C power cable short-circuit View from A Power switch Power cable* Power lamp Brake release switches * Item you should provide C series Rev.2...
Page 239: Power Cable
- Standard Sheet C13: AC250V / 10A For Japan Item Specification Plug PSE qualified Class I (2P+PE), AC125V, 7A or higher Code PSE qualified 0.75mm or larger Connector PSE qualified IEC 60320-1 Standard Sheet C13:AC125V/10A or higher C series Rev.2...
Page 240 ■ If you turn ON the brake release unit without the connector, it may lead to the short for the male pin used in the connector. Before turning ON the brake release unit, make sure that the connector is connected. C series Rev.2...
Page 241: Mount The Brake Release Unit
(3) Disconnect the brake release unit from the connector of the connection cable. (4) If the M/C short connector is connected to the M/C power cable, remove the short conenctor. (5) Connect the external short connector to the connector of the connection cable. C series Rev.2...
Page 242: How To Use The Brake Release Unit
The brake will be enabled by pressing the switch once again. NOTE Move the arm the brake is released by two persons or more (one presses the switch and  one moves the arm). The arm can be very heavy and needs the significant force to move. C series Rev.2...
Page 243: Camera Plate Unit
Tightening Hexagon Socket Head Bolts” Mounting holes for the camera base plate on the C12 series Manipulator Camera base plate mounting hole For the installation steps, refer to the following manual: EPSON RC+ Option Vision Guide 7.0 Hardware & Setup C series Rev.2...
Page 244 C12 Manipulator 6. Options Dimension of the camera plate unit 6×M4 depth 8.5 (for securing cables) Camera C series Rev.2...
Page 245 Joint #5 motion range that will be limited in this case. USB camera, −135 to +70° −135 to +60° −135 to +45° −135 to +35° 95.5 mm GigE camera 50 mm 30 mm 10 mm −10 mm Direction of the Joint #5 motion C series Rev.2...
Page 246: Tool Adapter (Iso Flange)
Flange Hexagon socket head screw with low head M5×10 Hexagon socket head screw M5×15 Dimensions of ISO flange 4-M5 depth 12 (at 90 ° pitch) depth 5 depth 4 * Each dimension and tolerance complies with ISO9409-1-31.5-4-M5. C series Rev.2...
Page 247: Adjustable Mechanical Stops
Adjustable mechanical stop (J1) Hexagon socket head screw M12×30 Adjustable mechanical stop (J2) Item Qty. Adjustable mechanical stop (J2) Hexagon socket head screw M10×35 Adjustable mechanical stop (J3) Item Qty. Adjustable mechanical stop (J3) Hexagon socket head screw M6×15 C series Rev.2...
Page 248: User Wires And Pneumatic Tubes
ø6 straight fitting KQ2S06-M6N Fitting for customer use (ø6 elbow) Item Qty. Manufacturer Standard ø6 elbow fitting KQ2L06-M6N Standard user connector kit (D-sub) Item Qty. Manufacturer Standard Connector DA-15PF-N (Solder type) (Connector setscrew: Clamp hood HDA-CTH(4-40)(10) #4-40 UNC) C series Rev.2...
Page 249: Regular Inspection
Regular Inspection Performing inspection properly is essential to prevent trouble and ensure safety. This volume describes the inspection schedule and contents. Inspect according to the schedule.
Page 251: Regular Inspection For C8 Manipulator
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 C series Rev.2...
Page 252: Inspection Point
Manipulator, or the brake connector is connected. release unit connector. Check the brake operation Brake for arm #1 to #6 √ √ √ √ √ Check whether unusual sound or Whole √ √ √ √ √ vibration occurs. C series Rev.2...
Page 253 If the arm falls when in MOTOR OFF and the brake is not released, contact the supplier. Check that there is no unusual sound or vibration when operating. Check whether unusual sound or vibration occurs. If there is something wrong, contact the supplier. C series Rev.2...
Page 254: Overhaul (Parts Replacement)
Overhaul timing who has taken a proper training. Joint # 6 Bevel gear For details, “C series Maintenance Manual” 1.4 Tightening Hexagon Socket Head Bolts Hexagon socket head cap bolts (hereinafter, “bolts”) are used in places where mechanical strength is required. These bolts are fastened with the tightening torque shown in the following tables.
Page 255: Regular Inspection For C12 Manipulator
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 C series Rev.2...
Page 256: Inspection Point
Brake for arm #1 to #6 √ √ √ √ √ Check whether unusual sound or Whole √ √ √ √ √ vibration occurs. Check that fan is working. √ √ √ √ √ (only for C8-A1401***(C8XL)) C series Rev.2...
Page 257 If there is something wrong, contact the supplier. Check that the fan is working when in MOTOR Check that fan is working. (only for C8-A1401***(C8XL)) If the fan is not working when in MOTOR ON, contact the supplier. C series Rev.2...
Page 258: Overhaul (Parts Replacement)
Overhaul timing has taken a proper training. Joint # 6 Bevel gear For details, “C series Maintenance Manual” 2.4 Tightening Hexagon Socket Head Bolts Hexagon socket head cap bolts (hereinafter, “bolts”) are used in places where mechanical strength is required. These bolts are fastened with the tightening torque shown in the following tables.
Page 259 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 C series Rev.2...
Page 260 Check the brake operation Brake for arm #1 to #6 √ √ √ √ √ Check whether unusual sound or Whole √ √ √ √ √ vibration occurs. Check that fan is working. √ √ √ √ √ C series Rev.2...
Page 261 If there is something wrong, contact the supplier. Check that the fan is working when in MOTOR Check that fan is working. If the fan is not working when in MOTOR ON, contact the supplier. C series Rev.2...
Page 262 Greasing shall be performed by personnel who All Joints Reduction gear units has taken a proper training. Overhaul timing For details, see “C series Maintenance Joint # 6 Bevel gear Manual” 3.4 Tightening Hexagon Socket Head Bolts Hexagon socket head cap bolts (hereinafter, “bolts”) are used in places where mechanical strength is required.
Page 263: Appendix
Appendix This volume describes the specifications table for each model and detailed data of time and distance of free running.
Page 265: Appendix A: Specifications
Joint #2 400 W Joint #3 150 W Motor rated capacity Joint #4 50 W Joint #5 50 W Joint #6 50 W Rated 1 kg Payload *3 4 kg Max. 5 kg with arm downward positioning C series Rev.2...
Page 266 For details on how to change the model settings, refer to “C4 Manipulator 5.5 Changing the Robot”, and “EPSON RC+ User’s Guide Robot Configuration”. *2: In case of PTP control *3: If the payload exceeds the maximum payload, refer to the section “Restrictions on payload exceeding the maximum payload”...
Page 267 Accel setting may shorten the product life remarkably. *11: Maximum AccelS setting value for payload of 4 kg or more is 12000. Although setting the value exceeding 12000 does not cause an error, do not set the value in order to prevent Manipulator malfunction. C series Rev.2...
Page 268: C8 Specifications
100 W Joint #5 100 W Joint #6 100 W Rated 3 kg Payload *3 Max. 8 kg Joint #4 16.6 N·m (1.69 kgf·m) Allowable moment Joint #5 16.6 N·m (1.69 kgf·m) Joint #6 9.4 N·m (0.96 kgf·m) C series Rev.2...
Page 269 In such a case, it is recommended to warm up for about 10 minutes. C series Rev.2...
Page 270 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.) C series Rev.2...
Page 271 End effector weight 8 (kg) Wall mounting 40000 35000 C8-A701**W : C8 30000 C8-A901**W : C8L 25000 25000 25000 C8-A1401**W : C8XL 21000 20000 20000 15000 17000 15000 13000 10000 11000 11000 11000 5000 End effector weight 8 (kg) C series Rev.2...
Page 272 Joint #4 25.0 N·m (2.55 kgf·m) Allowable moment Joint #5 25.0 N·m (2.55 kgf·m) Joint #6 9.8 N·m (1.0 kgf·m) Joint #4 0.70 kg·m2 Allowable moment of inertia (GD2/4) *4 Joint #5 0.70 kg·m2 Joint #6 0.20 kg·m2 C series Rev.2...
Page 273 *8: Conditions of Manipulator at measurement are as follows: Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration/deceleration, and duty of robot operation time 30%. Measurement point: 1000 mm apart from the rear of Manipulator C series Rev.2...
Page 274 Setting the value which exceeds the maximum AccelS causes an error. In such a case, check the setting value. Maximum AccelS setting value 40000 35000 30000 25000 25000 20000 17000 15000 15000 10000 11000 6500 5000 End effector weight (kg) C series Rev.2...
Page 275: Appendix B: Time And Distance Of Free Running In Emergency
Horizontal axis : Weight setting value Vertical axis : Time and distance of free running in each Weight setting value Weight [kg] : Weight setting value Time [sec] : Free running time Distance [degrees] : Free running distance C series Rev.2...
Page 276: C4 Time And Distance Of Free Running In Emergency
20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C4-A601**: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.50 60.0 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 277 0.10 10.0 0.00 Weight [kg] Weight [kg] C4-A601**: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.35 30.0 0.30 25.0 0.25 20.0 0.20 15.0 0.15 10.0 0.10 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 278 0.10 10.0 0.00 Weight [kg] Weight [kg] C4-A901**: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 279 0.10 10.0 0.00 Weight [kg] Weight [kg] C4-A901**: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.35 30.0 0.30 25.0 0.25 20.0 0.20 15.0 0.15 10.0 0.10 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 280 0.00 Weight [kg] Weight [kg] C8-A701***: J4 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.60 80.0 70.0 0.50 60.0 0.40 50.0 0.30 40.0 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 281 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A701***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.25 50.0 0.20 40.0 0.15 30.0 0.10 20.0 0.05 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 282 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C8-A701***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.60 80.0 70.0 0.50 60.0 0.40 50.0 0.30 40.0 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 283 25.0 0.15 20.0 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A701***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.25 50.0 0.20 40.0 0.15 30.0 0.10 20.0 0.05 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 284 0.10 10.0 0.00 Weight [kg] Weight [kg] C8-A901***: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 285 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A901***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.25 35.0 30.0 0.20 25.0 0.15 20.0 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 286 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C8-A901***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 287 0.15 20.0 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A901***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.25 35.0 30.0 0.20 25.0 0.15 20.0 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 288: C12 Time And Distance Of Free Running In Emergency
0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C8-A1401***: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.50 35.0 30.0 0.40 25.0 0.30 20.0 15.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 289 0.05 0.00 Weight [kg] Weight [kg] C8-A1401***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.35 35.0 0.30 30.0 0.25 25.0 0.20 20.0 0.15 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 290 0.40 20.0 0.30 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C8-A1401***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.50 35.0 30.0 0.40 25.0 0.30 20.0 15.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 291 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A1401***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.35 35.0 0.30 30.0 0.25 25.0 0.20 20.0 0.15 15.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 292 30.0 0.40 20.0 0.30 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C12-A1401**: J3 (Table Top mounting) 100% Speed [%] 100% Speed [%] 0.50 25.0 0.40 20.0 0.30 15.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 293 10.0 0.05 0.00 Weight [kg] Weight [kg] C12-A1401**: J6 (Table Top mounting) 100% Speed [%] 100% Speed [%] 0.35 70.0 0.30 60.0 0.25 50.0 0.20 40.0 0.15 30.0 0.10 20.0 0.05 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 294: Appendix C: Time And Distance Of Free Running When Safeguard Is Opened
Horizontal axis : Weight setting value Vertical axis : Time and distance of free running in each Weight setting value Weight [kg] : Weight setting value Time [sec] : Free running time Distance [degrees] : Free running distance C series Rev.2...
Page 295 20.0 0.10 0.00 Weight [kg] Weight [kg] C4-A601**: (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.60 70.0 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 296 40.0 0.20 20.0 0.10 0.00 Weight [kg] Weight [kg] C4-A601**: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.50 100.0 0.40 80.0 0.30 60.0 0.20 40.0 0.10 20.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 297 0.00 Weight [kg] Weight [kg] C4-A901**: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.70 70.0 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 298 0.10 0.00 Weight [kg] Weight [kg] C4-A901**: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.50 80.0 70.0 0.40 60.0 50.0 0.30 40.0 0.20 30.0 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 299 0.10 10.0 0.00 Weight [kg] Weight [kg] C8-A701***: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.70 100.0 0.60 80.0 0.50 60.0 0.40 0.30 40.0 0.20 20.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 300 0.05 0.00 Weight [kg] Weight [kg] C8-A701***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.35 60.0 0.30 50.0 0.25 40.0 0.20 30.0 0.15 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 301 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C8-A701***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.70 100.0 0.60 80.0 0.50 60.0 0.40 0.30 40.0 0.20 20.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 302 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A701***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.35 60.0 0.30 50.0 0.25 40.0 0.20 30.0 0.15 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 303 0.00 Weight [kg] Weight [kg] C8-A901***: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.70 70.0 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 304 0.05 0.00 Weight [kg] Weight [kg] C8-A901***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.35 60.0 0.30 50.0 0.25 40.0 0.20 30.0 0.15 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 305 0.20 20.0 0.10 0.00 Weight [kg] Weight [kg] C8-A901***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.70 70.0 0.60 60.0 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 306 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C8-A901***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.35 60.0 0.30 50.0 0.25 40.0 0.20 30.0 0.15 20.0 0.10 10.0 0.05 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 307 20.0 0.20 10.0 0.00 Weight [kg] Weight [kg] C8-A1401***: J3 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.60 50.0 0.50 40.0 0.40 30.0 0.30 20.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 308 0.20 40.0 0.10 20.0 0.00 Weight [kg] Weight [kg] C8-A1401***: J6 (Table Top mounting, Ceiling mounting) 100% Speed [%] 100% Speed [%] 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 309 40.0 0.40 30.0 20.0 0.20 10.0 0.00 Weight [kg] Weight [kg] C8-A1401***: J3 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.60 50.0 0.50 40.0 0.40 30.0 0.30 20.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 310 80.0 0.30 60.0 0.20 40.0 0.10 20.0 0.00 Weight [kg] Weight [kg] C8-A1401***: J6 (Wall mounting) 100% Speed [%] 100% Speed [%] 0.50 50.0 0.40 40.0 0.30 30.0 0.20 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 311 20.0 0.20 10.0 0.00 Weight [kg] Weight [kg] C12-A1401**: J3 (Table Top mounting) 100% Speed [%] 100% Speed [%] 0.60 40.0 35.0 0.50 30.0 0.40 25.0 0.30 20.0 15.0 0.20 10.0 0.10 0.00 Weight [kg] Weight [kg] C series Rev.2...
Page 312 40.0 0.10 20.0 0.00 Weight [kg] Weight [kg] C12-A1401**: J6 (Table Top mounting) 100% Speed [%] 100% Speed [%] 0.50 80.0 70.0 0.40 60.0 50.0 0.30 40.0 0.20 30.0 20.0 0.10 10.0 0.00 Weight [kg] Weight [kg] C series Rev.2...

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