Epson C12 Series Manuals

Manuals and User Guides for Epson C12 Series. We have 2 Epson C12 Series manuals available for free PDF download: Manipulator Manual, Manual

Epson C12 Series Manual (312 pages)

Brand: Epson | Category: Robotics | Size: 8.29 MB

Table of Contents
9
C4 Manipulator
17
Safety
19
Conventions
19
Design and Installation Safety
20
Operation Safety
21
Emergency Stop
22
Safeguard
24
How to Move Arms with the Electromagnetic Brake
25
Moving the Arm Using the Brake Release Unit
26
Moving the Arm Using the Software
26
Precaution for Operation in Low Power Status
26
Warning Labels
27
Response for Emergency or Malfunction
30
Collision
30
Getting Body Caught in Manipulator
30
Specifications
31
Model Number
31
Part Names and Motion Range of each Arm
32
Outer Dimensions
33
C4-A601
33
C4-A901
34
Standard Motion Range
35
C4-A601
35
C4-A901
36
Specifications
38
Specifications Table
38
How to Set the Model
38
Environment and Installation
39
Environmental Conditions
39
Unpacking, Transportation, and Relocation
40
Mounting Dimensions
44
Installation
45
Connecting the Cables
48
User Wires and Pneumatic Tubes
49
Checking the Basic Orientation
50
End Effectors
51
Attaching an End Effector
51
Attaching Camera and Air Valves
52
WEIGHT and INERTIA Settings
54
WEIGHT Setting
56
INERTIA Setting
61
Precautions for Auto Acceleration/Deceleration
65
Motion Range
66
Motion Range Setting by Pulse Range (for All Arms)
67
Max. Pulse Range of Arm #1
68
Max. Pulse Range of Arm #2
69
Max. Pulse Range of Arm #3
69
Max. Pulse Range of Arm #4
70
Max. Pulse Range of Arm #5
71
Max. Pulse Range of Arm #6
71
Motion Range Setting by Mechanical Stops
72
Motion Range Setting of Arm #1
72
Motion Range Setting of Arm #2
73
Motion Range Setting of Arm #3
73
Restriction of Manipulator Operation by Joint Angle Combination
74
Coordinate System
76
Changing the Robot
77
Setting the Cartesian (Rectangular) Range in the XY Coordinate
78
Options
79
Brake Release Unit
79
Power Cable
80
Mount the Brake Release Unit
81
Remove the Brake Release Unit
82
How to Use the Brake Release Unit
82
Camera Plate Unit
83
PS Compatible Plate (Tool Adapter)
86
Base Side Angled Fittings
88
Base Side Fittings
90
PS Compatible Plate (Base Adapter)
93
Adjustable Mechanical Stop (Joint #2: Only C4-A901**)
95
C8 Manipulator
97
Safety
99
Conventions
99
Design and Installation Safety
100
Operation Safety
101
Emergency Stop
102
Safeguard
104
How to Move Arms with the Electromagnetic Brake
105
Moving the Arm Using the Brake Release Unit
106
Moving the Arm Using the Software
106
Precaution for Operation in Low Power Status
106
Warning Labels
107
Response for Emergency or Malfunction
110
Collision
110
Getting Body Caught in Manipulator
110
Specifications
111
Model Number
111
Part Names and Motion Range of each Arm
112
Outer Dimensions
114
C8-A701*** (C8)
114
C8-A901*** (C8L)
115
C8-A1401*** (C8Xl)
116
Standard Motion Range
117
C8-A701*** (C8)
117
C8-A901*** (C8L)
118
C8-A1401*** (C8Xl)
119
Specifications
120
Specifications Table
120
How to Set the Model
121
Environment and Installation
122
Environmental Conditions
122
Unpacking, Transportation, and Relocation
124
Mounting Dimensions
128
Cable Backward Model
128
Cable Downward Model
130
Installation
131
Connecting the Cables
134
User Wires and Pneumatic Tubes
136
Electrical Wires
137
Pneumatic Tubes
138
Checking the Basic Orientation
139
End Effectors
140
Attaching an End Effector
140
Attaching Camera and Air Valves
140
WEIGHT and INERTIA Settings
142
WEIGHT Setting
144
INERTIA Setting
148
Precautions for Auto Acceleration/Deceleration
153
Motion Range
154
Motion Range Setting by Pulse Range (for each Joint)
154
Max. Pulse Range of Joint #1
155
Max. Pulse Range of Joint #2
155
Max. Pulse Range of Joint #3
156
Max. Pulse Range of Joint #4
156
Max. Pulse Range of Joint #5
157
Max. Pulse Range of Joint #6
157
Motion Range Setting by Mechanical Stops
158
Motion Range Setting of Joint #1
158
Motion Range Setting of Joint #2
159
Motion Range Setting of Joint #3
161
Restriction of Manipulator Operation by Joint Angle Combination
161
Coordinate System
165
Changing the Robot
166
Setting the Cartesian (Rectangular) Range in the XY Coordinate
167
Options
168
Brake Release Unit
168
Power Cable
169
Mount the Brake Release Unit
171
Remove the Brake Release Unit
171
How to Use the Brake Release Unit
172
Camera Plate Unit
173
Tool Adapter (ISO Flange)
176
Adjustable Mechanical Stops
178
User Wires and Pneumatic Tubes
179
C12 Manipulator
181
Safety
183
Conventions
183
Design and Installation Safety
184
Operation Safety
185
Emergency Stop
186
Safeguard
188
How to Move Arms with the Electromagnetic Brake
189
Moving the Arm Using the Brake Release Unit
190
Moving the Arm Using the Software
190
Precaution for Operation in Low Power Status
190
Warning Labels
191
Response for Emergency or Malfunction
193
Collision
193
Getting Body Caught in Manipulator
193
Specifications
194
Model Number
194
Part Names and Motion Range of each Arm
195
Outer Dimensions
197
Standard Motion Range
198
Specifications
199
Specifications Table
199
How to Set the Model
200
Environment and Installation
201
Environmental Conditions
201
Unpacking, Transportation, and Relocation
202
Mounting Dimensions
205
Cable Backward Model
205
Cable Downward Model
206
Installation
207
Connecting the Cables
210
User Wires and Pneumatic Tubes
212
Electrical Wires
213
Pneumatic Tubes
213
Checking the Basic Orientation
214
End Effectors
215
Attaching an End Effector
215
Attaching Camera and Air Valves
216
WEIGHT and INERTIA Settings
217
WEIGHT Setting
219
INERTIA Setting
222
Precautions for Auto Acceleration/Deceleration
227
Motion Range
228
Motion Range Setting by Pulse Range (for each Joint)
228
Max. Pulse Range of Joint #1
229
Max. Pulse Range of Joint #2
229
Max. Pulse Range of Joint #3
230
Max. Pulse Range of Joint #4
230
Max. Pulse Range of Joint #5
231
Max. Pulse Range of Joint #6
231
Motion Range Setting by Mechanical Stops
232
Motion Range Setting of Joint #1
232
Motion Range Setting of Joint #2
233
Motion Range Setting of Joint #3
233
Restriction of Manipulator Operation by Joint Angle Combination
234
Coordinate System
235
Changing the Robot
236
Setting the Cartesian (Rectangular) Range in the XY Coordinate
237
Options
238
Brake Release Unit
238
Power Cable
239
Mount the Brake Release Unit
241
Remove the Brake Release Unit
241
How to Use the Brake Release Unit
242
Camera Plate Unit
243
Tool Adapter (ISO Flange)
246
Adjustable Mechanical Stops
247
Regular Inspection for C4 Manipulator 1.1 Inspection
247
Schedule for Inspection
247
User Wires and Pneumatic Tubes
248
Regular Inspection
249
Regular Inspection for C8 Manipulator
251
2.1 Inspection
251
Schedule for Inspection
251
Inspection Point
252
Overhaul (Parts Replacement)
254
Greasing
254
Tightening Hexagon Socket Head Bolts
254
Regular Inspection for C12 Manipulator
255
3.1 Inspection
255
Schedule for Inspection
255
Inspection Point
256
Overhaul (Parts Replacement)
258
Greasing
258
Tightening Hexagon Socket Head Bolts
258
Appendix
263
Appendix A: Specifications
265
C4 Specifications
265
C8 Specifications
268
C12 Specifications
268
Appendix B: Time and Distance of Free Running in Emergency
275
C4 Time and Distance of Free Running in Emergency
276
C8 Time and Distance of Free Running in Emergency
276
C12 Time and Distance of Free Running in Emergency
288
Appendix C: Time and Distance of Free Running When Safeguard Is Opened
294

Epson C12 Series Manipulator Manual (314 pages)

6-Axis Robots

Brand: Epson | Category: Robotics | Size: 18.49 MB

Table of Contents
9
Safety
17
Specifications
27
- Features of Manipulators
  27
- Model Number
  27
- Part Names and Motion Range of each Arm
  28
- Outer Dimensions
  30
- Standard Motion Range
  31
- Specifications
  32
  - Specifications Table
    32
- How to Set the Model
  36
Environment and Installation
37
- Environmental Conditions
  37
- Unpacking, Transportation, and Relocation
  38
- Mounting Dimensions
  41
  - Cable Backward Model
    41
  - Cable Downward Model
    42
- Installation
  43
- Connecting the Cables
  46
- User Wires and Pneumatic Tubes
  48
- Checking the Basic Orientation
  50
End Effectors
51
- Attaching an End Effector
  51
- Attaching Camera and Air Valves
  52
- WEIGHT and INERTIA Settings
  53
  - WEIGHT Setting
    55
  - INERTIA Setting
    58
- Precautions for Auto Acceleration/Deceleration
  63
Motion Range
64
Options
74
- Brake Release Unit
  74
- Camera Plate Unit
  78
- Tool Adapter (ISO Flange)
  80
- Adjustable Mechanical Stops
  81
- User Wires and Pneumatic Tubes
  82
Maintenance

83
- Safety Maintenance
  85
- General Maintenance
  86
  - Maintenance Inspection
    86
    
    Schedule for Maintenance Inspection
    86
    
    Inspection Point
    87
  - Overhaul (Parts Replacement)
    89
  - Greasing
    91
    
    Joint #1 Reduction Gear Unit
    93
    
    Joint #2 Reduction Gear Unit
    94
    
    Joint #3 Reduction Gear Unit
    95
    
    Joint #4 Reduction Gear Unit
    96
    
    Joint #5 Reduction Gear Unit
    97
    
    Joint #6 Reduction Gear Unit
    98
    
    Joint #6 Bevel Gear
    99
  - Tightening Hexagon Socket Head Bolts
    100
  - Layout of Maintenance Parts
    101
- Covers
  102
  - Arm #1 Center Cover
    104
  - Arm #1 Side Cover
    105
  - Arm #2 Side Cover
    106
  - Arm #3 Cover
    106
  - Arm #3 Maintenance Cover
    107
  - Arm #4 Side Cover
    108
  - Arm #4 Maintenance Cover
    110
  - Arm #4 D-Sub Attachment
    111
  - Base Cover
    112
    
    M/C Cable Backward
    112
    
    M/C Cable Downward
    113
  - Base Maintenance Cover
    115
  - Connector Plate
    116
    
    M/C Cable Backward
    116
    
    M/C Cable Downward
    118
  - Connector Sub Plate
    119
- Cable Unit
  120
  - Replacing the Cable Unit
    120
    
    Replacing the Cable Unit (M/C Cable Backward)
    122
    
    Replacing the Cable Unit (M/C Cable Downward)
    150
  - Connector Pin Assignment
    155
    
    Signal Cable
    155
    
    Power Cable
    158
    
    User Cable
    160
    
    Color of Cables
    160
- Joint #1
  161
  - M/C Cable Backward (Joint #1)
    162
    
    Joint #1 - Replacing the Motor (M/C Cable Backward)
    162
    
    Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Backward)
    170
    
    Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
    177
    
    Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Backward)
    184
  - M/C Cable Downward (Joint #1)
    186
    
    Joint #1 - Replacing the Motor (M/C Cable Downward)
    186
    
    Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Downward)
    190
    
    Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
    193
    
    Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Downward)
    198
- Joint #2
  201
- Joint #3
  220
- Joint #4
  237
- Joint #5
  258
- Joint #6
  273
- Replacing the Battery Unit
  284
  - Replacing the Battery Unit (Lithium Battery)
    286
  - Replacing the Battery Board
    288
- Replacing the Control Board
  291
  - Replacing the Control Board 1
    292
  - Replacing the Control Board 2
    294
- Replacing the LED Lamp
  296
- Replacing the Fan
  302
- Calibration
  304
  - Overview
    304
  - Calibration Procedure
    307
- Maintenance Parts List
  311
- Option Parts List
  314

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