Page 1 6-Axis Robots C12 series MANIPULATOR MANUAL Rev.3 EM204R4255F...
Page 4 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times. WARRANTY The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high...
Page 5 TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
Page 6 Regarding battery disposal The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner.
Page 7 Structure of Control System C12 Manipulators can be used with the following combinations of Controllers and software. Controller : RC700-A Software : EPSON RC+ 7.0 Ver.7.4.6 or later Setting by Software This manual contains setup procedures using the software. EPSON Those sections are indicated by the symbol on the left.
Page 8 C12 Rev.3...
Page 9: Table Of Contents
Table of Contents Setup & Operation 1. Safety 1.1 Conventions....................3 1.2 Design and Installation Safety ..............4 1.3 Operation Safety ..................5 1.4 Emergency Stop ..................7 1.5 How to Move Arms with the Electromagnetic Brake ......9 1.5.1 Moving the Arm using the brake release unit ......10 1.5.2 Moving the Arm using the software ..........10 1.6 Precaution for Operation in Low Power Status ........10 1.7 Warning Labels ..................
Page 10 Table of Contents 5. Motion Range 5.1 Motion Range Setting by Pulse Range (for Each Joint) ...... 50 5.1.1 Max. Pulse Range of Joint #1 ..........51 5.1.2 Max. Pulse Range of Joint #2 ..........51 5.1.3 Max. Pulse Range of Joint #3 ..........52 5.1.4 Max.
Page 11 Table of Contents 3. Covers 3.1 Arm #1 Center Cover ................90 3.2 Arm #1 Side Cover ................91 3.3 Arm #2 Side Cover ................92 3.4 Arm #3 Cover ..................92 3.5 Arm #3 Maintenance Cover ..............93 3.6 Arm #4 Side Cover ................94 3.7 Arm #4 Maintenance Cover ..............96 3.8 Arm #4 D-sub Attachment ..............97 3.9 Base Cover .....................98...
Page 12 Table of Contents 6. Joint #2 6.1 Joint #2 - Replacing the Motor ............188 6.2 Joint #2- Replacing the Reduction Gear Unit ........197 6.3 Joint #2 - Replacing the Timing Belt ..........204 6.4 Joint #2 - Replacing the Electromagnetic Brake........ 205 7.
Page 13 Table of Contents 15. Replacing the Fan 16. Calibration 16.1 Overview ..................290 16.2 Calibration Procedure..............293 17. Maintenance Parts List 18. Option Parts List C12 Rev.3...
Page 14 Table of Contents C12 Rev.3...
Page 15: Setup & Operation
Setup & Operation This volume contains information for setup and operation of the Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Page 17: Safety
Setup & Operation 1. Safety 1. Safety Installation and transportation of the Manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables.
Page 18: Design And Installation Safety
The following items are safety precautions for design personnel: ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, and may result in serious bodily injury and/or severe equipment damage to the robot system.
Page 19: Operation Safety
Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the Safety and Installation manual. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Page 20 Setup & Operation 1. Safety ■ Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.
Page 21: Emergency Stop
Setup & Operation 1. Safety 1.4 Emergency Stop If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator to deceleration motion and stops it at the maximum deceleration speed. However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally.
Page 22 Setup & Operation 1. Safety For details of the Safeguard system, refer to the following manuals. EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions - Safeguard System Safety and Installation 2.6 Connection to EMERGENCY Connector To check brake problems, refer to the following manuals.
Page 23: How To Move Arms With The Electromagnetic Brake
Setup & Operation 1. Safety 1.5 How to Move Arms with the Electromagnetic Brake There are two methods to release the electromagnetic brake. Follow either method to release the electromagnetic brake and move the arms manually. 1.5.1 Moving the arm using the brake release unit Follow the method when you just unpack the delivered boxes or when the Controller does not start up yet.
Page 24: Moving The Arm Using The Brake Release Unit
Setup & Operation 1. Safety 1.5.1 Moving the Arm using the brake release unit The C12 series has the Brake Release Unit as an option. For details, refer to Setup & Option: 6 Options. 1.5.2 Moving the Arm using the software ■...
Page 25: Warning Labels
Setup & Operation 1. Safety 1.7 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.
Page 26 Setup & Operation 1. Safety Note Location Warning Label Location Label Be careful not to burn yourself. Location of Labels Top View Cable Downward model Bottom View Front View Back View Lateral View Lateral View C12 Rev.3...
Page 27: Specifications
Setup & Operation 2. Specifications 2. Specifications 2.1 Features of Manipulators Speed & Accuracy Increased productivity by balanced fast and accurate operation. High-speed, low-oscillation, and high-precision positioning by our technology even in heavy weight transportation. Average cycle time (300 mm) 1 kg 5 kg 8 kg...
Page 28: Part Names And Motion Range Of Each Arm
Setup & Operation 2. Specifications 2.3 Part Names and Motion Range of Each Arm Upper Arm (Arms #3 to #6) Joint #4 LED Lamp Arm #4 This lamp lights up while the motors are ON. Arm #6 Arm #3 Joint #6 Joint #3 Joint #5 Arm #5...
Page 29 Setup & Operation 2. Specifications Cable backward model Ethernet cable F-sensor connector cable connector User cable connector Standard-model (15-pin D-sub connector) : Cover Clean-room model : Exhaust port Power cable For ø12 mm pneumatic tube Signal cable For ø6 mm pneumatic tubes (Air1, Air2) Cable downward model Standard-model...
Page 30: Outer Dimensions
Setup & Operation 2. Specifications 2.4 Outer Dimensions [Unit: mm] C12 Rev.3...
Page 31: Standard Motion Range
Setup & Operation 2. Specifications 2.5 Standard Motion Range [Unit: mm] Top View P point* Arm #1 0 pulse position Motion range of P point* Front View Lateral View Arm #2 Arms #4, #6 0 pulse position 0 pulse position P point* Arms #3, #5 0 pulse position...
Page 32: Specifications
Setup & Operation 2. Specifications 2.6 Specifications 2.6.1 Specifications table Item Specification C12-A1401** Model Number C12XL Model Name Mounting type Table Top mounting Weight Standard, 63 kg (139 lbs.) (not include the weight of Cleanroom & ESD cables or shipping jigs) Driving method All joints AC servo motor...
Page 33 Setup & Operation 2. Specifications Item Specification Model Number C12-A1401** Model Name C12XL 15 wires (D-sub) Installed wire for customer use 8 pin (RJ45) Cat 5e or equivalent 6 pin (for Force Sensor) ø6 mm pneumatic tubes (2 tubes), Installed pneumatic tube for customer use Allowable pressure: 0.59 MPa (6 kgf/cm ) (86 psi) Ambient...
Page 34 Setup & Operation 2. Specifications *8: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover interior. A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.
Page 35 For US/JP(power supply voltage 100 V, short connector included) Short connector for the brake release box *1: When using the brake release box with C12 series, it is necessary to connect the short connector to the M/C power cable or connect the M/C power cable with the Controller.
Page 36: 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. C12 Rev.3...
Page 37: Environment And Installation
Setup & Operation 3. Environment and Installation 3. Environment and Installation Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. 3.1 Environmental Conditions A suitable environment is essential for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions...
Page 38: Unpacking, Transportation, And Relocation
Setup & Operation 3. Environment and Installation 3.2 Unpacking, Transportation, and Relocation Using a cart or similar equipment, transport the Manipulator in the same conditions as it was delivered. Observe the following when unpacking the Manipulator. The installation shall be made by qualified installation personnel and should conform to all national and local codes.
Page 39 Setup & Operation 3. Environment and Installation 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.
Page 40 Setup & Operation 3. Environment and Installation Using Eyebolt Check that the eyebolts are securely fastened before carrying the Manipulator. After transporting the Manipulator, remove the eyebolts and keep them for future use. The eyebolts (accessory, 2 pcs) and wire must be strong enough to withstand the weight (See the figures below).
Page 41: Mounting Dimensions
Setup & Operation 3. Environment and Installation 3.3 Mounting Dimensions Mounting Area Be sure to have the following space available in addition to the space for mounting the Manipulator, Controller, and peripheral equipment. Space for teaching points Space for maintenance and inspections (for installing jigs) Space for cables NOTE The minimum bend radius of the power cable is 90 mm.
Page 42: Cable Downward Model
Setup & Operation 3. Environment and Installation 3.3.2 Cable Downward Model The following part differs from the cable backward model. C12 Rev.3...
Page 43: 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 44 Setup & Operation 3. Environment and Installation Base table A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differ depending on the intended use of the robot system.
Page 45 Setup & Operation 3. Environment and Installation When using the Manipulator in the clean room, follow the steps below before the installation. (1) Unpack the Manipulator outside of the clean room. (2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall over.
Page 46: Connecting The Cables
Setup & Operation 3. Environment and Installation 3.5 Connecting the Cables ■ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.
Page 47 Setup & Operation 3. Environment and Installation Cleanroom-model Manipulator For the Cleanroom-model, an exhaust system is necessary. For details, refer to Setup & Operation: 2.6 Specifications. M/C Cable Connection method Connect the power connector and the signal connector of the M/C cables to the Controller. Grounding ■...
Page 48: User Wires And Pneumatic Tubes
Setup & Operation 3. Environment and Installation 3.6 User Wires and Pneumatic Tubes ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. CAUTION User electrical wires and pneumatic tubes are contained in the cable unit.
Page 49 Setup & Operation 3. Environment and Installation Electrical wires Specifications of the user wires D-sub 15-pin Allowable Nominal Rated Voltage Wires Note Current Sectional Area AC/DC30 V 0.106 mm Shielded Pins with the same number, indicated on the connectors on both ends of the cables, are connected.
Page 50: Checking The Basic Orientation
Setup & Operation 3. Environment and Installation 3.7 Checking the Basic orientation After parts have been replaced (motors, reduction gear units, belts, etc.), the Manipulator cannot operate properly because a gap exists between the origin positions stored in each motor and these stored in the Controller. The process to compensate the position gap is called “Calibration”.
Page 51: End Effectors
Setup & Operation 4. End Effectors 4. End Effectors 4.1 Attaching an End Effector Create an end effector for your Manipulator. Flange dimensions of the wrist attached to the end of Arm #6 is as below. ■ If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF.
Page 52: Attaching Camera And Air Valves
Setup & Operation 4. End Effectors 4.2 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 Setup & Operation: 6. Options.
Page 53: Weight And Inertia Settings
The allowable load for C12 series Manipulators is 12 kg at the maximum. Due to the limitations of the moment and inertia moment shown in the table below, the load (end effector weight + work piece weight) should also meet these conditions.
Page 54 Setup & Operation 4. End Effectors The moment M (Nm) and inertia moment I (kgm ) when the volume of the load (end effector + work piece) is small can be obtained by the following formula. M (Nm) = m(kg) × L (m) × g (m/s I (kgm ) = m(kg) ×...
Page 55: Weight Setting
Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable weight capacity (end effector and work piece) for C12 series Manipulators is as follows: Rated...
Page 56 Setup & Operation 4. End Effectors Load on the Manipulator Mounting location of the load Load on the fore end of Arm #6 Arm #5 Deck Arm #3 Deck Details of the deck 4×M4 depth8 2×M4 depth8 Arm #5 Deck Arm #3 Deck [Unit: mm] When you attach the equipment to the decks on the upper arm, convert its weight into...
Page 57 Setup & Operation 4. End Effectors Calculate the Weight parameter by using the formula below and enter the value. Weight Parameter Formula Weight parameter = M : Load on the fore end of Arm #6 (kg) : Equivalent weight of the Arm #3 deck (kg) : Equivalent weight of the Arm #5 deck (kg) )²/ (L)²...
Page 58: Inertia Setting
CAUTION cause errors, excessive shock, insufficient function of the Manipulator, and/or shorten the life of parts/mechanisms. The acceptable inertia moment of load for C12 series Manipulators is 0.03 kg·m nominal rating and 0.2 kg·m maximum. Change the setting of the inertia moment according to the inertia moment of the load using the INERTIA command.
Page 59 Eccentric Quantity and the INERTIA Setting ■ The eccentric quantity of the load (weight of the end effector and work piece) must be 300 mm or less. The C12 series Manipulators are not designed to work with eccentric quantity exceeding 300 mm.
Page 60 Setup & Operation 4. End Effectors Automatic acceleration/deceleration setting by INERTIA (eccentric quantity) Automatic setting by inertia moment setting 慣設定度 (kg·m ) Inertia moment 0.05 0.15 * The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity (0.03 kg·m ) as 100%.
Page 61 Setup & Operation 4. End Effectors Calculating the Inertia Moment Refer to the following example formulas to calculate the inertia moment of the load (end effector with work piece). The inertia moment of the entire load is calculated by the sum of (a), (b), and (c). Rotation Center End Effector (a) Work Piece (b)
Page 62 Setup & Operation 4. End Effectors (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) Inertia moment of a sphere Sphere’s Center of Gravity Rotation Center...
Page 63: Precautions For Auto Acceleration/Deceleration
Setup & Operation 4. End Effectors 4.4 Precautions for Auto Acceleration/Deceleration The speed and acceleration/deceleration of the Manipulator motion are automatically optimized according to the values of WEIGHT and INERTIA and the Manipulator’s postures. WEIGHT Setting The speed and acceleration/deceleration of the Manipulator are controlled according to the load weight set by the WEIGHT command.
Page 64: 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]. C12 Rev.3...
Page 65: Max. Pulse Range Of Joint #1
Setup & Operation 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 Pulse values in counterclockwise direction are positive (+) and values in clockwise direction are negative (-). ＋15736800 pulse －240° Arm #1 0 pulse position ＋240° －15736800 pulse 5.1.2 Max.
Page 66: Max. Pulse Range Of Joint #3
Setup & Operation 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 Pulse values in clockwise direction are positive (+) and values in counterclockwise direction are negative (-). ＋202° Arm #3 0 pulse position ＋13238272 pulse －61° －3997696 pulse 5.1.4 Max.
Page 67: Max. Pulse Range Of Joint #5
Setup & Operation 5. Motion Range 5.1.5 Max. Pulse Range of Joint #5 Pulse values in clockwise direction are positive (+) and values in counterclockwise direction are negative (-). +4915350 pulse ＋135° Arm #5 0 pulse position －135°. −4915350 pulse 5.1.6 Max.
Page 68: Motion Range Setting By Mechanical Stops
Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Using the adjustable mechanical stops physically limits the absolute area that the Manipulator can move. Be sure to turn OFF the Manipulator in advance. Use bolts conforming to the specified length and surface processing (ex: ) with nickel plating high corrosion resistance.
Page 69: Motion Range Setting Of Joint #2
Setup & Operation 5. Motion Range 5.2.2 Motion Range Setting of Joint #2 Remove the mechanical stop installed as standard and install the adjustable mechanical stop (J2). (Joint #2 standard motion range −135 to +55 ° ° Hexagon socket head cap bolt M10×35×2 bolts Tightening torque 32.0 ±...
Page 70: Restriction Of Manipulator Operation By Joint Angle Combination
Setup & Operation 5. Motion Range 5.3 Restriction of Manipulator Operation by Joint Angle Combination To prevent the arms of the Manipulator from interfering each other, the Manipulator operation is restricted in the specified motion range according to the joint angle combination of the Arm #1, #2, and #3.
Page 71: Coordinate System
Setup & Operation 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. C12 Rev.3...
Page 72: Changing The Robot
Setup & Operation 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 73: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator
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]. C12 Rev.3...
Page 74: Options
Setup & Operation 6. Options 6. Options C12 series Manipulator has the following options. 6.1 Brake Release Unit 6.2 Camera Plate Unit 6.3 Tool Adapter (ISO flange) 6.4 Adjustable Mechanical Stops 6.5 User Wires and Pneumatic Tubes 6.1 Brake Release Unit With the electromagnetic brake is ON (such as in Emergency Stop status), all arms don’t...
Page 75 Setup & Operation 6. Options Width 180 mm Depth 150 mm Height 87 mm Weight (Cables are not included.) 1.7 kg Cable to the Manipulator Power cable length Power cable (US) 100 V specification Power cable (EU) 200 V specification M/C Short connector For M/C power cable short-circuit View from A...
Page 76 Setup & Operation 6. Options Mount the brake release unit (1) Turn OFF the Controller. (2) If the M/C power cable is not connected to the Controller: Connect the M/C short connector, or connect the Controller. (Keep the Controller power OFF) The M/C short connector can be purchased singly.
Page 77 Setup & Operation 6. Options How to use the brake release unit ■ Be careful of the arm falling when releasing the brake. While the brake is being released, the Manipulator’s arm falls by its own weight. The arm falling may cause hands and fingers to be caught and/or may cause equipment damage to or malfunction of the Manipulator.
Page 78: Camera Plate Unit
Setup & Operation 6. Options 6.2 Camera Plate Unit To mount a camera to the C12 series Manipulator, you need to mount the camera plate unit first. Appearance of arm end with camera Camera Camera plate unit Parts included Qty.
Page 79 Camera and C12 series Manipulator Joint #5 motion range (reference values) The Joint #5 motion range varies depending on the mounting position of camera mid plate and the camera you are using.
Page 80: Tool Adapter (Iso Flange)
Setup & Operation 6. Options 6.3 Tool Adapter (ISO Flange) Using the tool adapter, you can mount the end effector whose dimensions are designed for the ISO flange to the C12 series Manipulators. Parts included Qty. ISO flange Flange Hexagon socket head screw with low head M5×10 Hexagon socket head screw M5×15...
Page 81: Adjustable Mechanical Stops
Setup & Operation 6. Options 6.4 Adjustable Mechanical Stops This option is used to mechanically limit the motion range of the Manipulator. For installation and angle restriction measures, refer to Setup & Operation 5.2 Motion Range Setting by Mechanical Stops. Adjustable mechanical stop (J1) Item Qty.
Page 82: User Wires And Pneumatic Tubes
Setup & Operation 6. Options 6.5 User Wires and Pneumatic Tubes Use the following options when using the internal wiring and tubing for the end effector drive. They are attached to Manipulators as standard. The parts can be additionally purchased in case of lost or shortage.
Page 83: Maintenance
Maintenance This volume contains maintenance procedures with safety precautions for C12 series Manipulators.
Page 85: Safety Maintenance
Maintenance 1. Safety Maintenance 1. Safety Maintenance Please read this chapter, this manual, and other relevant manuals carefully to understand safe maintenance procedures before performing any maintenance. Only authorized personnel who have taken safety training should be allowed to perform the robot maintenance. Safety training is the program for industrial robot operators to follow the laws and regulations of each nation.
Page 86: General Maintenance
Maintenance 2. General Maintenance ■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) It may result in damage to the cables, disconnection, and/or contact failure.
Page 87: Inspection Point
Maintenance 2. General Maintenance 2.1.2 Inspection Point Inspection While the Power is OFF (Manipulator is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Check looseness or backlash of Manipulator mounting bolts √...
Page 88 √ √ Execute Brake off command (brake off, joint #) from the command window of the EPSON RC+ while the motors are OFF, and then check the sound of the electromagnetic brake. If there is no sound, replace the brake.
Page 89: Overhaul (Parts Replacement)
/ deceleration in continuous operation) applied on the Manipulator. NOTE For EPSON RC+ 7.0 the recommended replacement time for the parts subject to  maintenance (motors, reduction gear units, and timing belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
Page 90 The Manipulator operation hours can be checked in [Controller Status Viewer] dialog box- [Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog box. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog box.
Page 91: Greasing
Maintenance 2. General Maintenance 2.3 Greasing The reduction gear units and the bevel gear need greasing regularly. Only use the grease specified in the following table. ■ Before greasing, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric WARNING shock and/or malfunction of the robot system.
Page 92 Maintenance 2. General Maintenance Name Qty. Note 1674592 Grease up kit (A set of grease gun, nipple, and extension jig) Maintenance Grease plug 1656158 parts O-ring for grease inlet 1657289 Hexagonal wrench For M3 hexagon socket countersunk head bolts (width across flats: 2 mm) Hexagonal wrench For M3 hexagon socket head cap bolts Tools...
Page 93: Joint #1 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.1 Joint #1 Reduction Gear Unit Greasing 1. Remove the Arm #1 side cover. For details, refer to Maintenance: 3. Covers. 2. Remove the grease plug from the Joint #1 grease inlet located inside the Arm #1. 3.
Page 94: Joint #2 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.2 Joint #2 Reduction Gear Unit Greasing 1. Remove the grease plug from the Joint #2 grease inlet of the Arm #1. 2. Attach the grease nipple to the Joint #2 grease inlet. 3. Inject grease from the grease nipple using a grease gun Grease: SK-1A Grease amount: 12g...
Page 95: Joint #3 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.3 Joint #3 Reduction Gear Unit Greasing 1. Remove the grease plug from the Joint #3 grease inlet of the Arm #2. 2. Attach the grease nipple to the Joint #3 grease inlet. 3. Inject grease from the grease nipple using a grease gun Grease: SK-1A Grease amount: 3g...
Page 96: Joint #4 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.4 Joint #4 Reduction Gear Unit Greasing 1. Remove the grease plug from the Joint #4 grease inlet of the Arm #4. 2. Attach the grease nipple to the Joint #4 grease inlet. NOTE The grease plug attaching hole located near the ...
Page 97: Joint #5 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.5 Joint #5 Reduction Gear Unit Greasing 1. Remove the grease plug from the Joint #5 grease inlet of the Arm #5. 2. Attach the grease nipple to the Joint #5 grease inlet. NOTE  The grease plug attaching hole located near the label with “5”...
Page 98: Joint #6 Reduction Gear Unit
Maintenance 2. General Maintenance 2.3.6 Joint #6 Reduction Gear Unit Greasing Remove the grease plug from the Joint #6 grease inlet of the Arm #5. Attach the grease nipple to the Joint #6 grease inlet. NOTE  The grease plug attaching hole located near the label with “6”...
Page 99: Joint #6 Bevel Gear
Maintenance 2. General Maintenance 2.3.7 Joint #6 Bevel Gear Greasing Remove the Arm #5 grease inlet cover. Hexagon socket head cap bolts: 4-M3×6 Remove the O-ring located in the base groove. Apply grease to the mating surface of the bevel gear inside the Arm #5.
Page 100: Tightening Hexagon Socket Head Bolts
Maintenance 2. General Maintenance 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. When it is required to refasten the bolts in some procedures in this manual (except special cases as noted), use a torque wrench so that the bolts are fastened with appropriate tightening torque as shown below.
Page 101: Layout Of Maintenance Parts
Maintenance 2. General Maintenance 2.5 Layout of Maintenance Parts LED lamp Joint #3 Reduction gear unit Joint #3 Timing belt Joint #3 Motor + Electromagnetic brake Joint #2 Reduction gear unit Joint #2 Timing belt Joint #1 Electromagnetic brake Joint #2 Motor + Electromagnetic brake Joint #1 Reduction gear unit Joint #1 Motor...
Page 102: Covers
Maintenance 3. Covers 3. Covers ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 103 Maintenance 3. Covers Name Qty. Note Metal cover Center cover 1675435 Common to Standard/ Arm #1 Clean-room models Side cover 1674537 Side cover (left) 1655114 Arm #2 Side cover (right) 1674542 Standard model Arm #3 Cover 1674543 Plastic cover Cover Side cover (left) 1822063 Arm #4...
Page 104: Arm #1 Center Cover
Maintenance 3. Covers 3.1 Arm #1 Center Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 105: Arm #1 Side Cover
Maintenance 3. Covers 3.2 Arm #1 Side Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 106: Arm #2 Side Cover
Maintenance 3. Covers 3.3 Arm #2 Side Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 107: Arm #3 Maintenance Cover
Maintenance 3. Covers 3.5 Arm #3 Maintenance Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 108: Arm #4 Side Cover
Maintenance 3. Covers 3.6 Arm #4 Side Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 109 Maintenance 3. Covers Installation 1. Insert the connectors. RJ45 connector: Insert the RJ45 connector to the connector on the cover. F-sensor connector: Insert the metallic connector to the connector on the cover. 2. Install the Arm #4 side cover to the Manipulator. Cross recessed truss head small screws: 7-M4×10 (one side) Tightening torque: 0.9 ±...
Page 110: Arm #4 Maintenance Cover
Maintenance 3. Covers 3.7 Arm #4 Maintenance Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 111: Arm #4 D-Sub Attachment
Maintenance 3. Covers 3.8 Arm #4 D-sub Attachment ■ Do not remove the D-sub attachment forcibly. Removing it forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.
Page 112: Base Cover
Maintenance 3. Covers 3.9 Base Cover 3.9.1 M/C Cable Backward ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 113: M/C Cable Downward
Maintenance 3. Covers 3.9.2 M/C Cable Downward ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 114 Maintenance 3. Covers Installation Install the spacers to the holes on the gasket. (11 places) Apply the liquid gasket to the base rear gasket. Install the base rear gasket to the base cover. (See the figure for gasket applying points) Spacer (×11) Gasket Applying...
Page 115: Base Maintenance Cover
Maintenance 3. Covers 3.10 Base Maintenance Cover ■ When mounting the cover, be careful not to get the cables caught in it or bend them forcibly to push into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure.
Page 116: Connector Plate
Maintenance 3. Covers 3.11 Connector Plate 3.11.1 M/C Cable Backward ■ Do not remove the connector plate forcibly. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system. ■...
Page 117 Maintenance 3. Covers Installation 1. Install the spacers to the holes on the gasket. (11 places) 2. Apply the liquid gasket to the base rear gasket. Install the base rear gasket to the base cover. (See the figure for gasket applying points) Spacer (×11) Gasket Applying...
Page 118: M/C Cable Downward
Maintenance 3. Covers 3.11.2 M/C Cable Downward ■ Do not remove the connector plate forcibly. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system. ■...
Page 119: Connector Sub Plate
Maintenance 3. Covers 3.12 Connector Sub Plate ■ Do not remove the connector sub plate forcibly. It may result in damage to the cables, disconnection, and/or contact failure. These are extremely hazardous and may result in electric shock and/or improper function of the robot system. ■...
Page 120: Cable Unit
Maintenance 4. Cable Unit 4. Cable Unit 4.1 Replacing the Cable Unit ■ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.
Page 121 Maintenance 4. Cable Unit ■ When disconnecting the connectors during the replacement of the cable unit, be sure to reconnect the connectors to their proper positions. Improper connection of the connectors may result in improper function of the robot system. For details on the connections, refer to the Maintenance 4.2 Connector Pin Assignments.
Page 122: Replacing The Cable Unit (M/C Cable Backward)
Maintenance 4. Cable Unit 4.1.1 Replacing the Cable Unit (M/C Cable Backward) Name Qty. Note Cable unit 2172931 Belt tensile jig* 1674582 Maintenance J1 brake positioning jig* 1675081 Parts AB100 1675753 Wire tie AB150 1675754 width across flats: 2.5 mm For M3 hexagon socket head cap bolts width across flats: 3 mm For M4 hexagon socket head cap bolts...
Page 123 Maintenance 4. Cable Unit Removal: Cable unit (M/C cable backward) 1. Move the Manipulator to the origin posture (0 pulse position). 2. Turn OFF the Controller. 3. Remove the following covers and plate. For details, refer to Maintenance: 3. Covers. Arm #4 side covers (both sides) Arm #4 maintenance cover Arm #3 cover...
Page 124 Maintenance 4. Cable Unit 8. Remove the ground wire plate (M/C cable backward). Hexagon socket head cap bolts: 2-M4×10 9. Remove the ground wire terminals. Cross recessed head screws with washer : 9-M4×8, 2-M3×6 10. Remove the brake power supply. Cross recessed head screws with washer: 2-M3×6 11.
Page 125 Maintenance 4. Cable Unit 14. Remove the base cable bracket (C1) and the cable protection sheet. Hexagon socket head cap bolts: 2-M3×6 15. Remove the Joint #1 timing belt. 16. Remove the battery from the battery box. 17. Disconnect the battery connector. NOTE Hold the board by hand and pull up the battery cable to disconnect ...
Page 126 Maintenance 4. Cable Unit 19. Disconnect the battery connectors. Connectors: CN3, CN6 20. Remove the two ground wire terminals from the Arm #1. Cross recessed head screws with washer: 2-M4×8 21. Remove the Joint #2 motor unit. For details, refer to Maintenance: 6.1 Joint #2 - Replacing the Motor, Removal steps (1) to (3) and (5) to (9).
Page 127 Maintenance 4. Cable Unit 25. Remove the Arm #1 cable brackets (C1: 2 pieces) and cable protection tube. Hexagon socket head cap bolts: 4-M3×6 26. Remove the Arm #1 cable brackets (C2 and S2: one each) and cable protection tube. Hexagon socket head cap bolts: 2-M3×6 (C2) 2-M4×10 (S2) 27.
Page 128 Maintenance 4. Cable Unit 30. Remove the two ground wire terminals from the Arm #2. Cross recessed head screws with washer: 2-M4×8 31. Remove the Joint #3 motor unit. For details, refer to Maintenance: 7.1 Joint #3 - Replacing the Motor, Removal steps (1) to (3) and (5) to (8).
Page 129 Maintenance 4. Cable Unit 37. Remove the fixing plate of the Arm #3 control board 2. Hexagon socket head cap bolts: 2-M4×10 38. Remove the Arm #3 cable bracket (C3B). Hexagon socket head cap bolts: 2-M3×6 39. Remove the Arm #3 cable fixing plate 1. Hexagon socket head cap bolts: 2-M4×10 40.
Page 130 Maintenance 4. Cable Unit 42. Pull out the separated cable unit (base side) from the Arm #1 side to the Arm #2 side. To protect the connectors and facilitate the work, first cover the connectors with a plastic bag. Then, pass the cable unit through the arm.
Page 131 Maintenance 4. Cable Unit 45. Remove the two air tubes inside the Arm #4. 46. Cut off the wire tie that binds the cables of the Arm #4. 47. Loosen the bolts that fix the cable protection plate attached on the Arm #4, and disconnect the cables.
Page 132 Maintenance 4. Cable Unit 50. Remove the Arm #4 D-sub attachment. Hexagon socket head cap bolts: 2-M4×10 For details, refer to Maintenance: 3. Covers. 51. Remove the following parts from the Arm #4 D-sub attachment. D-sub connector D-sub connector fixing plate 52.
Page 133 Maintenance 4. Cable Unit Installation: Cable unit (M/C cable backward) 1. Check if the cable unit contains the following parts. Silicon sheet Silicone sheet: 3 sheets (25 mm × 120 mm) 3 sheets (25 mm × 120 mm) F-sensor connector housing 2 pieces 2.
Page 134 Maintenance 4. Cable Unit 5. Place a mark at the fixing position of each cable you are going to pass 130 mm through the Arm #4. D-sub : 130 mm from the connector end Other cables : 190 mm from the connector end Air tube : 210 mm from the end 6.
Page 135 Maintenance 4. Cable Unit Leave out the other connector cables for a certain length, as shown in the photo, in order to store them in the Arm #3. 7. Pass the Ethernet cable, X052/X062 cable, and ground wire (green/yellow) from the Arm #3 side to the Arm #4 side. First pass the braid tube from the Arm #4 side to the Arm #3 side.
Page 136 Maintenance 4. Cable Unit As shown in the photo, disconnect the Ethernet cable and air tube NOTE  (blue) at one side of the Arm #4. Disconnect the remaining cables at the other side. Align the marked positions and the position on the Arm #4 indicated with the arrow in the photo.
Page 137 Maintenance 4. Cable Unit 12. Install the D-sub attachment to the Arm #4. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m NOTE  Do not to let the cables caught in the attachment. For details, refer to Maintenance: 3. Covers. 13.
Page 138 Maintenance 4. Cable Unit 14. Mount the brake power supply to the plate. Mount the brake power supply so that the cables are directed down. Cross recessed head screws with washer: 4-M3×6 Tightening torque: 0.45 ± 0.1 N·m Installation locations: Brake power supply for Joint #5: right side Brake power supply for Joint #6: left side 15.
Page 139 Maintenance 4. Cable Unit 18. Use a cable bracket (C4) to fix the cables to the Arm #3 cable fixing plate 2. Wrap the cables with the attached silicone sheet. Use a cable bracket to fix the wrapped silicone sheet. Hexagon socket head cap bolts: 2-M3×6 Tightening torque: 2.4 ±...
Page 140 Maintenance 4. Cable Unit 22. Use a cable bracket (C3B) to fix the cables. Place the two air tubes at the bottom part of the cables. Place the silicone tube to the position where it is fixed with a cable bracket.
Page 141 Maintenance 4. Cable Unit Adjust the connector protrusion so that the cover can be installed. 28. Use brackets (S3) to fix the cable protection spring to the Arm #2. Hexagon socket head cap bolts: 2-M4×8 Tightening torque: 4.0 ± 0.2 N·m 29.
Page 142 Maintenance 4. Cable Unit 32. Install the Joint #3 motor unit. For details, refer to Maintenance: 7.1 Joint #3 - Replacing the Motor, Installation steps (4) and (8). 33. Fix the two ground wire terminals to the Arm #2. Green: Right side Green/yellow: Left side Cross recessed head screws with washer: 2-M4×8 Tightening torque: 0.9 ±...
Page 143 Maintenance 4. Cable Unit 37. Fix the cables to the Arm #2 cable fixing plate. Check that the silicone tube is not shifted away from the fixed position. Hexagon socket head cap bolts: 2-M3×6 Tightening torque: 2.4 ± 0.1 N·m 38.
Page 144 Maintenance 4. Cable Unit 42. Place a mark at a position 250 mm from the cable bracket (C2). 250 mm 43. For the GS01 cable to be installed on the control board 1, place a mark at a position 130 mm from the connector. 44.
Page 145 Maintenance 4. Cable Unit 46. Fix the Arm #1 cable fixing plate temporarily to the Arm #1 and finely adjust the cable length. Hexagon socket head cap bolts: 2-M4×10 Rough guide of temporary fixing: The plate should not move. Notes for fine adjustment: - No excess looseness or tension on the cables.
Page 146 Maintenance 4. Cable Unit 50. Apply grease to the cables inside the J1 sleeve. Grease: Krytox Amount: Approximately 7.5g Application position: Between fixing section of the bracket (C1) and the mark on the base side 51. Fix the Arm #1 cable fixing plate to the Arm #1. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ±...
Page 147 Maintenance 4. Cable Unit 56. Install the battery board fixing plate. Hexagon socket head cap bolts: 2-M4x10 Tightening torque: 4.0 ± 0.2 N·m 57. Connect the battery connectors. 58. Install the battery to the battery box. 59. Pass the Joint #1 timing belt through the cable. 60.
Page 148 Maintenance 4. Cable Unit 61. Install the plate for preventing cable interference. Hexagon socket head cap bolts: 2-M3×6 Tightening torque: 2.0 ± 0.1 N·m 62. Install the Joint #1 motor unit. For details, refer to Maintenance: 5.1.1 Joint #1 - Replacing the Motor (M/C Cable Backward), Installation steps (1) to (4).
Page 149 Maintenance 4. Cable Unit 66. Install the ground wire plate (M/C cable backward). Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m 67. Install the following connectors according to the marks on the connector plate. RJ45 connector: Ether F-sensor connector: F-sensor 68.
Page 150: Replacing The Cable Unit (M/C Cable Downward)
Maintenance 4. Cable Unit 4.1.2 Replacing the Cable Unit (M/C Cable Downward) Name Qty. Note Cable unit 2172931 Belt tensile jig* 1674582 Maintenance J1 brake positioning jig* 1675081 Parts AB100 1675753 Wire tie AB150 1675754 width across flats: 2.5 mm For M3 hexagon socket head cap bolts width across flats: 3 mm For M4 hexagon socket head cap bolts...
Page 151 Maintenance 4. Cable Unit Removal: Cable unit (M/C cable downward) 1. Move the Manipulator to the origin posture (0 pulse position). 2. Turn OFF the Controller. 3. Turn the Manipulator laterally. ■ When turning the Manipulator laterally, there must be two or more people to work on it so that at least one of them can support the arm while the others are removing the bolts.
Page 152 Maintenance 4. Cable Unit 9. Remove the ground wire terminals. Cross recessed head screws with washer: : 9-M4×8, 2-M3×6 10. Remove the brake power supply. Cross recessed head screws with washer: 2-M3×6 11. The subsequent steps are the same as those for the M/C cable (backward). For details, refer to Maintenance: 4.1.1 Replacing the Cable Unit (M/C Cable Backward), Removal steps (13) to (54).
Page 153 Maintenance 4. Cable Unit Installation: Cable unit (M/C cable downward) 1. Perform the installation steps (1) to (62) of Maintenance: 4.1.1 Replacing the Cable Unit (M/C Cable Backward). 2. Turn the Manipulator laterally. ■ When turning the Manipulator laterally, there must be two or more people to work on it so that at least one of them can support the arm while the others are removing the bolts.
Page 154 Maintenance 4. Cable Unit 8. Install the two air tubes according to the marks on the connector plate. Air1: Clear Air2: Blue NOTE  Install the air tube with the correct color. 9. Install the following covers and plate. Arm #4 side covers (both sides) Arm #4 maintenance cover Arm #3 cover Arm #3 maintenance cover...
Page 155: Connector Pin Assignment
Maintenance 4. Cable Unit 4.2 Connector Pin Assignment 4.2.1 Signal Cable C12 Rev.3...
Page 156 Maintenance 4. Cable Unit C12 Rev.3...
Page 157 Maintenance 4. Cable Unit C12 Rev.3...
Page 158: Power Cable
Maintenance 4. Cable Unit 4.2.2 Power Cable C12 Rev.3...
Page 159 Maintenance 4. Cable Unit C12 Rev.3...
Page 160: User Cable
Maintenance 4. Cable Unit 4.2.3 User Cable 4.2.4 Color of Cables The following table shows the codes and cable colors indicated in the pin assignments 4.2.1 Signal Cable 4.2.2 Power Cable 4.2.3 User Cable Code Cable color Black White Green Yellow Brown Blue...
Page 161: Joint #1
Maintenance 5. Joint #1 5. Joint #1 ■ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system.
Page 162: M/C Cable Backward (Joint #1)
Maintenance 5. Joint #1 5.1 M/C Cable Backward (Joint #1) 5.1.1 Joint #1 - Replacing the Motor (M/C Cable Backward) Name Qty. Note Motor unit (Joint #1) 2172922 Belt tensile jig* 1674582 Maintenance J1 brake positioning jig* 1675081 Parts AB100 1675753 Wire tie AB350...
Page 163 Maintenance 5. Joint #1 Removal: Joint #1 Motor (M/C Cable Backward) 1. Turn OFF the Controller. 2. Remove the base maintenance cover. For details, refer to Maintenance: 3. Covers. 3. Remove the connector plate (M/C cable backward). For details, refer to Maintenance: 3. Covers. 4.
Page 164 Maintenance 5. Joint #1 7. Remove the Joint #1 motor unit from the base. Hexagon socket head cap bolts: 3-M6×30 (with a plain washer) Be careful not to tear and lose the heat radiation sheet attached to the motor. C12 Rev.3...
Page 165 Maintenance 5. Joint #1 Installation: Joint #1 Motor (M/C Cable Backward) 1. Put the Joint #1 timing belt on the Joint #1 pulley 2 of the Joint #1. Hold the belt so as not to drop it. 2. Check that the heat radiation sheet is attached on the right side of the motor (when seeing from the rear side of the Manipulator).
Page 166 Maintenance 5. Joint #1 3. Apply proper tension to the Joint #1 motor unit and secure it. When securing the motor unit, attach the heat dissipation sheet to the right side of the base (when seeing from the rear side of the Manipulator).
Page 167 Maintenance 5. Joint #1 4. Install the Joint #1 electromagnetic brake / brake plate to the Joint 1 motor unit. Hexagon socket head cap bolts: 3-M4×20 Tightening torque: 4.0 ± 0.2 N·m Check that the motor and the brake core are aligned. Regarding brake misalignment: - Misalignment of the brake core may cause abnormal sound or apply abnormal torque on the brake.
Page 168 Maintenance 5. Joint #1 Heat radiation block Installation 1. Check that the heat radiation sheet is attached on the heat radiation block. If the Manipulator is operated without the heat radiation sheet, the motor NOTE  generates heat and the error may occur. If the heat radiation sheet has the protection film, remove the film.
Page 169 Maintenance 5. Joint #1 3-4 Wrap the wire tie around the motor. 3-5 Tighten the wire tie to hold the heat radiation sheet firmly. Make sure that the heat radiation sheet sticks out of the heat radiation block. NOTE Do not tighten the wire tie too much. It may result in cable ...
Page 170: Joint #1 - Replacing The Reduction Gear Unit (M/C Cable Backward)
Maintenance 5. Joint #1 5.1.2 Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Backward) Name Qty. Note Reduction gear unit (Joint #1) 1674604 Maintenance Belt tensile jig* 1674582 Parts J1 brake positioning jig* 1675081 Wire tie (AB100) 1675753 width across flats: 2.5 mm For M3 hexagon socket head cap bolts width across flats: 3 mm...
Page 171 Maintenance 5. Joint #1 Removal: Joint #1 Reduction gear unit (M/C Cable Backward) ■ This procedure has possibility of hands and fingers being caught and/or damage or malfunction to the Manipulator. Be very careful when performing maintenance. ■ Do not loosen the bolts while the Arm #2 is not tilted. It may cause the belt come off and the Arm #2 falls down, and it is extremely hazardous.
Page 172 Maintenance 5. Joint #1 5. Remove the cable interference prevention plate. Hexagon socket head cap bolts: 2-M3×6 6. Remove the base cable bracket (C1). Hexagon socket head cap bolts: 2-M3×6 7. Remove the Joint #1 timing belt. 8. Remove the Joint #2 motor unit. For details, refer to Maintenance 6.1 Joint #2 - Replacing the Motor, Removal steps (1) to (9).
Page 173 Maintenance 5. Joint #1 11. Disconnect the internal cables from the base to the Arm #1 side. Protect the connectors with masking tapes. - To protect the connector’s clips - To avoid adherence of cable grease NOTE Disconnect the cables one by one in order from the smallest ...
Page 174 Maintenance 5. Joint #1 Installation: Joint #1 Reduction gear unit (M/C Cable Backward) 1. Install the Joint #1 reduction gear unit. Hexagon socket head cap bolts: 12-M6×50 Tightening torque: 18.0 ± 0.9 N·m Installation face of the base reduction gear unit has clearance holes.
Page 175 Maintenance 5. Joint #1 5. Connect the connector to the control board 1. Connector: GS01 6. Install the Joint #1 cable bracket (Arm #1 side). Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m 7. Install the Joint #2 motor unit. For details, refer to Maintenance 6.1 Joint #2 - Replacing the Motor, Installation steps (4) to (9).
Page 176 Maintenance 5. Joint #1 11. Install the Joint #1 motor unit. For details, refer to Maintenance 5.1.1 Joint #1 – Replacing the Motor (M/C Cable Backward), Removal steps (1) to (4). 12. Pass the following parts through the hole inside the base to the upper part of the base.
Page 177: Joint #1 - Replacing The Timing Belt (M/C Cable Backward)
Maintenance 5. Joint #1 5.1.3 Joint #1 - Replacing the Timing Belt (M/C Cable Backward) Name Qty. Note Timing belt (Joint #1) 595 mm 1655930 Belt tensile jig * 1674582 Maintenance Part J1 brake positioning jig* 1675081 Wire tie AB100 1675753 width across flats: 2.5 mm For M3 hexagon socket head cap bolt...
Page 178 Maintenance 5. Joint #1 Removal: Joint #1 Timing belt (M/C Cable Backward) 1. Turn OFF the Controller. 2. Remove the base maintenance cover. For details, refer to Maintenance 3. Covers. 3. Remove the connector plate (M/C cable backward). For details, refer to Maintenance 3. Covers. 4.
Page 179 Maintenance 5. Joint #1 Remove the ground wire from each connector. To remove the ground wire, hold the connector by hand and pull the ground wire. 8. Remove the brake power supply. Cross recessed head screws with washer: 2-M3×6 9. Remove the ground wire plate (M/C cable backward). Hexagon socket head cap bolts: 2-M4×10 10.
Page 180 Maintenance 5. Joint #1 11. Disconnect the following parts downward from the hole inside the base. D-sub cable Ground wire RJ45 connector F-sensor connector 12. Remove the Joint #1 motor unit. For details, refer to Maintenance: 5.1.1 Joint #1-Replacing the Motor (M/C Cable Backward), Removal steps (6) to (7).
Page 181 Maintenance 5. Joint #1 Installation: Joint #1 Timing belt (M/C Cable Downward) 1. Pass the cables and air tubes to the Joint #1 timing belt. 2. Mount the Joint #1 cable fixing plate. Hexagon socket head cap bolts: 2-M3×6 Tightening torque: 2.0 ± 0.1 N·m 3.
Page 182 Maintenance 5. Joint #1 6. Mount the ground wire plate (M/C cable backward). Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m 7. Install the brake power supply to the plate. Make sure to install the brake power supply so that the cables will be in the direction as shown in the photo.
Page 183 Maintenance 5. Joint #1 12. Install the connector plate (M/C cable backward). For details, refer to Maintenance: 3 Covers. 13. Install the base maintenance cover. For details, refer to Maintenance: 3 Covers. 14. Calibrate the Joint #1. For details, refer to Maintenance: 16. Calibration. C12 Rev.3...
Page 184: Joint #1 - Replacing The Electromagnetic Brake (M/C Cable Backward)
Maintenance 5. Joint #1 5.1.4 Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Backward) Name Qty. Note Electromagnetic brake (Joints #1, #2) 2172926 Maintenance J1 brake positioning jig * 1675081 Parts Wire tie (AB100) 1675753 Hexagonal wrench For M4 hexagon socket head cap bolt (width across flats: 3 mm) Tools Cross-point screwdriver (#2)
Page 185 Maintenance 5. Joint #1 Removal: Joint #1 Electromagnetic brake (M/C Cable Backward) 1. Remove the Joint #1 electromagnetic brake from the Joint #1 motor unit. For details, refer to Maintenance: 5.1.1 Joint #1-Replacing the Motor (M/C Cable Backward), Removal steps (1) to (6). NOTE ...
Page 186: M/C Cable Downward (Joint #1)
Maintenance 5. Joint #1 5.2 M/C Cable Downward (Joint #1) 5.2.1 Joint #1 - Replacing the Motor (M/C Cable Downward) Name Qty. Note Motor unit (Joint #1) 2172922 Belt tensile jig* 1674582 Maintenance J1 brake positioning jig* 1675081 Parts AB100 1675753 Wire tie AB350...
Page 187 Maintenance 5. Joint #1 Removal: Joint #1 Motor (M/C Cable Downward) Turn OFF the Controller. Turn the Manipulator laterally. ■ When turning the Manipulator laterally, there must be two or more people to work on it so that at least one of them can support the arm while the others are removing the bolts.
Page 188 Maintenance 5. Joint #1 Remove the Joint #1 brake plate from the Joint #1 motor unit. Hexagon socket head cap bolts: 3-M4×20 Remove the Joint #1 motor unit from the base. Hexagon socket head cap bolts: 3-M6×30 (with a plain washer) Be careful not to tear and lose the heat radiation sheet attached to the motor.
Page 189 Maintenance 5. Joint #1 Installation: Joint #1 Motor (M/C Cable Downward) Mount the Joint #1 motor unit to the base. For details, refer to Maintenance: 5.1.1 Joint #1-Replacing the Motor (M/C Cable Backward), Removal steps (1) to (4). Install the brake power supply to the plate. Make sure to install the brake power supply so that the cables will be in the direction as shown in the photo.
Page 190: Joint #1 - Replacing The Reduction Gear Unit (M/C Cable Downward)
Maintenance 5. Joint #1 5.2.2 Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Downward) Name Qty. Note Reduction gear unit (Joint #1) 1674604 Maintenance Belt tensile jig* 1674582 Parts J1 brake positioning jig* 1675081 Wire tie AB100 1675753 width across flats: 2.5 mm For M3 hexagon socket head cap bolts width across flats: 3 mm...
Page 191 Maintenance 5. Joint #1 Removal: Joint #1 Reduction gear unit (M/C cable downward) ■ This procedure has possibility of hands and fingers being caught and/or damage or malfunction to the Manipulator. Be very careful when performing maintenance. ■ Do not loosen the bolts while the Arm #2 is not tilted. It may cause the belt come off and the Arm #2 falls down, and it is extremely hazardous.
Page 192 Maintenance 5. Joint #1 Installation: Joint #1 Reduction gear unit (M/C Cable Downward) Install the Joint #1 reduction gear unit. For details, refer to Maintenance 5.1.2 Joint #1- Replacing the Reduction Gear Unit (M/C Cable Backward), Installation steps (1) to (11). Install the ground terminals to the plate.
Page 193: Joint #1 - Replacing The Timing Belt (M/C Cable Downward)
Maintenance 5. Joint #1 5.2.3 Joint #1 - Replacing the Timing Belt (M/C Cable Downward) Name Qty. Note Timing belt (Joint #1) 595 mm 1655930 Maintenance Belt tensile jig* 1674582 Part J1 brake positioning jig* 1675081 Wire tie AB100 1675753 width across flats: 3 mm For M4 hexagon socket head cap bolt Hexagonal...
Page 194 Maintenance 5. Joint #1 Removal: Joint #1 Timing belt (M/C Cable Downward) Turn OFF the Controller. Turn the Manipulator laterally. ■ When turning the Manipulator laterally, there must be two or more people to work on it so that at least one of them can support the arm while the others are removing the bolts.
Page 195 Maintenance 5. Joint #1 Remove the ground wire plate (M/C cable downward). Hexagon socket head cap bolts: 2-M4×12 Remove the Joint #1 motor unit. For details, refer to Maintenance: 5.1.1 Joint #1-Replacing the Motor (M/C cable backward), Removal steps (6) to (7). Remove the Joint #1 motor unit.
Page 196 Maintenance 5. Joint #1 Installation: Joint #1 Timing belt (M/C Cable Downward) 1. Pass the cables and the air tubes to the Joint #1 timing belt. 2. Mount the Joint #1 motor unit. For details, refer to Maintenance: 5.1.1 Joint #1-Replacing the Motor (M/C Cable Backward), Installation steps (1) to (4).
Page 197 Maintenance 5. Joint #1 7. Install the D-sub connector in accordance with the indications on the connector plates. Left: D-sub for brake release (with a wire marker: SW1): B-release Right: D-sub for user wiring (no wire marker: with a round terminal): D-sub 8.
Page 198: Joint #1 - Replacing The Electromagnetic Brake (M/C Cable Downward)
Maintenance 5. Joint #1 5.2.4 Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Downward) Name Qty. Note Electromagnetic brake (Joints #1, #2) 2172926 Maintenance J1 brake positioning jig * 1675081 Parts Wire tie AB100 1675753 Hexagonal wrench For M4 hexagon socket head cap bolt (width across flats: 3 mm) Tools Cross-point screwdriver (#2)
Page 199 Maintenance 5. Joint #1 Removal: Joint #1 Electromagnetic brake (M/C Cable Downward) 1. Remove the Joint #1 brake plate from the Joint #1 motor unit. For details, refer to Maintenance: 5.2.1 Joint #1-Replacing the Motor (M/C Cable Downward), Removal steps (1) to (6). NOTE ...
Page 200 Maintenance 5. Joint #1 Installation: Joint #1 Electromagnetic brake (M/C Cable Downward) 1. Install the Joint #1 brake to the brake plate. Hexagon socket head cap bolts: 3-M4×25 Tightening torque: 4.0 ± 0.2 N·m Be careful of the assembly direction of the Joint #1 electromagnetic brake.
Page 201: Joint #2
Maintenance 6. Joint #2 6. Joint #2 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 202: Joint #2 - Replacing The Motor
Maintenance 6. Joint #2 6.1 Joint #2 - Replacing the Motor Name Qty. Note AC servo motor 750 W 2168683 Maintenance Parts Belt tensile jig* 1674582 width across flats: 2.5 mm For M5 hexagon socket set screw Hexagonal width across flats: 3 mm For M6 hexagon socket head cap bolt wrench width across flats: 4 mm...
Page 203 Put a cloth between the Arm #1 and Arm #2 so that the arms do not touch each other. Command: EPSON >brake off, 2 ■ There is a possibility of hands and fingers being caught and/or damage or malfunction to the Manipulator. Be very careful when moving the Manipulator.
Page 204 Maintenance 6. Joint #2 6. Disconnect the following connectors of the motor. Connector: X121, X021, BT2, BR021 (Hold the clip to remove.) 7. Remove the brake power supply. Cross recessed head screws with captive washer: 2-M3×6 8. Loosen the bolts securing the Joint #2 motor unit and remove the belt.
Page 205 Maintenance 6. Joint #2 9. Remove the Joint #2 motor unit. 10. Remove the Joint #2 pulley 1 and the drive boss from the motor shaft of the Joint #2 motor unit. Remove two screws at the flat (D-cut) part of the motor shaft when viewing from above.
Page 206 Maintenance 6. Joint #2 12. Remove the motor plate from the Joint #2 motor. Hexagon socket head cap bolts: 4-M6×20 C12 Rev.3...
Page 207 Maintenance 6. Joint #2 Installation: Joint #2 Motor 1. Install the motor plate to the Joint #2 motor. Hexagon socket head cap bolts: 4-M6×20 Tightening torque: 13.0 ± 0.6 N·m NOTE Be careful of the assembly direction of the motor plate. ...
Page 208 Maintenance 6. Joint #2 3. Mount the drive boss and the pulley 1 to the Joint #2 motor unit. Insert the pulley 1 so that the set screw is aligned to the flat surface of the motor shaft. Fix the pulley 1 and the motor shaft. Leave 0.5 mm between the pulley 1 and the electromagnetic brake.
Page 209 Maintenance 6. Joint #2 6. Apply tension to the Joint #2 timing belt and fix Joint #2 motor unit. Joint #2 timing belt tension: 58 to 95 N Belt tension meter setting values Weight: 4.0 g/mm width × m span, Width: 14 mm, Span: 146 mm Hexagon socket set screws: 3-M5×25 (with a plain washer) Tightening torque: 8.0 ±...
Page 210 Maintenance 6. Joint #2 9. Remove the heat dissipation block and the heat dissipation sheet to the Arm #2. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m 10. Mount the Arm #1 cover and the Arm #1 side cover. For details, refer to Maintenance: 3.
Page 211: Joint #2- Replacing The Reduction Gear Unit
Maintenance 6. Joint #2 6.2 Joint #2- Replacing the Reduction Gear Unit Name Qty. Note Reduction gear unit (Joint #2) 1674606 Maintenance O-ring Arm #1 1670635 Parts (Joint #2) Arm #2 1656140 Belt tensile jig* 1674582 For M3 hexagon socket head cap bolts width across flats: 2.5 mm For M5 hexagon socket set screws Hexagonal...
Page 212 Maintenance 6. Joint #2 Removal: Joint #2 Reduction gear unit 1. Remove the Joint #2 timing belt. For details, refer to Maintenance 6.3 Joint #2 - Replacing the Timing Belt, Removal steps (1) to (3). 2. Remove the following parts. Battery Battery board Battery connector...
Page 213 Maintenance 6. Joint #2 7. Remove the Arm #2. Hexagon socket head cap bolts (with a plain washer): 16-M6×35 Remove a wave washer on the Arm #1 side. The wave washer will be used again. Be careful not to lose it. Wipe grease on the part while removing it.
Page 214 Maintenance 6. Joint #2 10. Remove the O-ring from the groove on the Arm #2. Wipe grease on the part while removing it. C12 Rev.3...
Page 215 Maintenance 6. Joint #2 Installation: Joint #2 Reduction gear unit Apply a thin coat of grease (SK-1A) to the O-ring. Fit the O-ring to the groove on the Arm #2. Do not allow the O-ring to come out of the groove. If the O-ring is swollen, damaged, or deteriorated, replace it with a new one.
Page 216 Maintenance 6. Joint #2 Apply a thin coat of grease (SK-1A) to the O-ring. Fit the O-ring to the groove on the reduction gear unit. Do not allow the O-ring to come out of the groove. If the O-ring is swollen, damaged, or deteriorated, replace it with a new one.
Page 217 Maintenance 6. Joint #2 After fixing the Arm #2, fix the Arm #1 side arm. Hexagon socket head cap bolts: 8-M6×25 (with a plain washer) Tightening torque: 18.0 ± 0.9 N·m Install the Joint #2 pulley 2 to the Joint #2 shaft. Hexagon socket head cap bolts: 2-M5×10 (with a brass washer) Tightening torque: 3.9 ±...
Page 218: Joint #2 - Replacing The Timing Belt
Maintenance 6. Joint #2 6.3 Joint #2 - Replacing the Timing Belt Name Qty. Note Timing belt (Joint #2) 540 mm 1655927 Maintenance Parts Belt tensile jig * 1674582 Hexagonal wrench For M5 hexagon socket head cap bolt (width across flats: 4 mm) Cross-point screwdriver For cross recessed head screws Tools...
Page 219: Joint #2 - Replacing The Electromagnetic Brake
Maintenance 6. Joint #2 6.4 Joint #2 - Replacing the Electromagnetic Brake Name Qty. Note Electromagnetic brake (Joints #1, #2) 2172926 Maintenance Parts Belt tensile jig* 1674582 width across flats: 2.5 mm For M5 hexagon socket set screw width across flats: 3 mm For M6 hexagon socket set screw Hexagonal width across flats: 4 mm...
Page 220: Joint #3
Maintenance 7. Joint #3 7. Joint #3 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 221: Joint #3 - Replacing The Motor
Maintenance 7. Joint #3 7.1 Joint #3 - Replacing the Motor Name Qty. Note Maintenance AC servo motor 400 W 2168684 Parts Belt tensile jig* 1674582 width across flats: 2.5 mm For M5 hexagon socket set screws Hexagonal width across flats: 3 mm For M4 hexagon socket head cap bolts wrench width across flats: 4 mm...
Page 222 Therefore, release the brake and tilt the Arm #3 in advance. Command: EPSON >brake off, 3 ■ There is a possibility of hands and fingers being caught and/or damage or malfunction to the Manipulator. Be very careful when moving the Manipulator.
Page 223 Maintenance 7. Joint #3 6. Remove the brake power supply. Cross recessed head screws with captive washer: 2-M3×6 7. Loosen the bolts securing the Joint #3 motor unit and remove the belt. Hexagon socket head cap bolts: 3-M4×20 (with a plain washer) ■...
Page 224 Maintenance 7. Joint #3 8. Remove the Joint #3 motor unit. NOTE Be careful not to drop the removed connectors inside the Arm.  9. Remove the Joint #3 pulley 1 and the drive boss from the motor shaft of the Joint #3 motor unit. Remove two screws at the flat (D-cut) part of the motor shaft when viewing from above.
Page 225 Maintenance 7. Joint #3 10. Remove the Joint #3 electromagnetic brake. Hexagon socket set screws: 2-M5×10 (with a brass bushing) The screws have a brass bushing. Be careful not to lose them. 11. Remove the motor plate from the Joint #3 motor. Hexagon socket head cap bolts: 4-M5×15 C12 Rev.3...
Page 226 Maintenance 7. Joint #3 Installation: Joint #3 Motor 1. Install the motor plate to the Joint #3 motor. Hexagon socket head cap bolts: 4-M5×15 Tightening torque: 8.0 ± 0.4 N·m NOTE Be careful of the assembly direction of the motor plate. (See ...
Page 227 Maintenance 7. Joint #3 3. Mount the drive boss and the pulley 1 to the Joint #3 motor unit. Insert the pulley 1 so that the set screw is aligned to the flat surface of the motor shaft. Fix the pulley 1 and the motor shaft. Leave 0.5 mm between the pulley 1 and the electromagnetic brake.
Page 228 Maintenance 7. Joint #3 6. Apply tension to the Joint #3 timing belt and fix the Joint #3 motor unit. Joint #3 timing belt tension: 25 to 85 N Belt tension meter setting value Weight: 2.5 g/mm width × m span, Width: 10 mm, Span: 168 mm Hexagon socket set screw: 3-M4×20 (with a plain washer) Tightening torque: 4.0 ±...
Page 229: Joint #3 - Replacing The Reduction Gear Unit
Maintenance 7. Joint #3 7.2 Joint #3 - Replacing the Reduction Gear Unit Name Qty. Note Reduction gear unit (Joint #3) 1674608 1263977 Maintenance O-ring Arm #2 side 1510528 Parts (Joint #3) Arm #3 side Belt tensile jig* 1674582 For M3 hexagon socket head cap bolts width across flats: 2.5 mm For M5 hexagon socket set screws Hexagonal...
Page 230 Maintenance 7. Joint #3 Removal: Joint #3 Reduction gear unit 1. Remove the Joint #3 timing belt. For details, refer to Maintenance 7.3 Joint #3 - Replacing the Timing Belt, Removal steps (1) to (3). 2. Remove the Arm #2 side arm fixing bolts. Hexagon socket head cap bolts: 6-M5×20 (with a plain washer) 3.
Page 231 Maintenance 7. Joint #3 5. Remove the wave generator from the reduction gear unit. If the wave generator unit does not come off easily, set the pulley 2 as shown in the photo to the shaft and pull out the parts. Wipe grease on the wave generator while removing it.
Page 232 Maintenance 7. Joint #3 Installation: Joint #3 Reduction gear unit Apply a thin coat of grease (SK-1A) to the O-ring. Fit the O-ring into the groove on the Arm #3. Do not allow the O-ring to come out of the groove. If the O-ring is swollen, damaged, or deteriorated, replace it with a new one.
Page 233 Maintenance 7. Joint #3 Temporarily fix the Arm #1 side arm to the Arm #2. At this time, set the wave washer to the Arm #2. Hexagon socket head cap bolts: 6-M5×20 (with a plain washer) ■ There is a possibility of hands and fingers being caught and/or damage or malfunction to the Manipulator.
Page 234 Maintenance 7. Joint #3 Install the Joint #3 pulley 2 to the Joint #3 shaft. Hexagon socket head cap bolts (with 1 brass bushing): 2- M5×12 Tightening torque: 3.9 ± 0.2 N·m Insert the pulley 2 so that one of the set screws is at the flat NOTE ...
Page 235: Joint #3 - Replacing The Timing Belt
Maintenance 7. Joint #3 7.3 Joint #3 - Replacing the Timing Belt Name Qty. Note Maintenance Timing belt (Joint #3) 501 mm 1655919 Parts Belt tensile jig* 1674582 Hexagonal wrench For M4 hexagon socket head cap bolt (width across flats: 3 mm) Cross-point screwdriver (#2) For cross recessed head screws Tools...
Page 236: Joint #3 - Replacing The Electromagnetic Brake
Maintenance 7. Joint #3 7.4 Joint #3 - Replacing the Electromagnetic Brake Name Qty. Note Electromagnetic brake (Joint #3) 2172927 Maintenance Parts Belt tensile jig* 1674582 width across flats: 2.5 mm For M5 hexagon socket set screw Hexagonal width across flats: 3 mm For M4 hexagon socket head cap bolt wrench width across flats: 4 mm...
Page 237: Joint #4
Maintenance 8. Joint #4 8. Joint #4 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 238: Joint #4 - Replacing The Motor
Maintenance 8. Joint #4 8.1 Joint #4 - Replacing the Motor Name Qty. Note 2206705 Maintenance AC servo motor 150 W (common to Joints #4, #5, #6) Parts Belt tensile jig* 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 239 Maintenance 8. Joint #4 Removal: Joint #4 Motor 1. Turn OFF the Controller power. 2. Remove the following covers. Arm #3 cover Arm #3 maintenance cover Arm #2 side cover For details, refer to Maintenance: 3. Covers. 3. Pull out the cables from the Arm #3 and disconnect the following connectors.
Page 240 Maintenance 8. Joint #4 7. Remove the Joint #4 pulley 1 and the drive boss from the motor shaft of the Joint #4 motor unit. Pulley 1 and drive boss screws Hexagon socket set screws: 2-M4×4 (with a brass bushing) Drive boss and motor shaft screws Hexagon socket set screws: 2-M4×4 There is a brass bushing on one of the set screws fixing the drive...
Page 241 Maintenance 8. Joint #4 Installation: Joint #4 Motor 1. Install the motor plate to the Joint #4 motor. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m Be careful of the assembly direction of the motor plate. NOTE ...
Page 242 Maintenance 8. Joint #4 Drive boss and the motor shaft: Hexagon socket set screws: 2-M4×4 Tightening torque: 2.5 ± 0.2 N·m Align the screws to the two flat faces of the motor shaft and fix them. Drive boss and the pulley 1: Hexagon socket set screws: 2-M4×4 (with a brass bushing) Tightening torque: 2.5 ±...
Page 243 Maintenance 8. Joint #4 When using the belt tension tensile jig (maintenance part): Fix the belt tension tensile jig (for J4) to the Joint #4 motor plate. Hexagon socket head cap bolt: 2-M4×15 Push the belt tension tensile jig (for J4, J5, and J6) against the Arm #3 as shown in the photo.
Page 244: Joint #4 - Replacing The Reduction Gear Unit
Maintenance 8. Joint #4 8.2 Joint #4 - Replacing the Reduction Gear Unit Name Qty. Note Maintenance Reduction gear unit (Joint #4) 1821978 Parts Belt tensile jig* 1674582 width across flats: 2.5 mm For M3 hexagon socket head cap bolts width across flats: 3 mm For M4 hexagon socket head cap bolts Hexagonal...
Page 245 Maintenance 8. Joint #4 Removal: Joint #4 Reduction gear unit 1. Turn OFF the Controller power. 2. Remove the Arm #4 side cover and Arm #3 cover. For details, refer to Maintenance 3. Covers. 3. Remove the Joints #5 and #6 motors. For details, refer to the Removal steps in Maintenance 9.1 Joint #5 - Replacing the Motor and Maintenance 10.1 Joint #6 - Replacing the Motor.
Page 246 Maintenance 8. Joint #4 7. Remove the bolts fixing the J4 flange and the Joint #4 reduction gear unit. Hexagon socket head cap bolts: 16-M3×20 8. Remove the wave generator of the Joint #4 reduction gear unit together with the J4 flange. If the wave generator does not come off easily, insert a tool in a gap between the J4 flange and the Arm and remove the wave generator little by little.
Page 247 Maintenance 8. Joint #4 11. Remove the bolts of the bearing holder on the pulley. Hexagon socket head cap bolts: 3-M3×8 (with a plain washer) 12. Remove the pulley from the pulley spacer. Hexagon socket set screws: 2-M4×4 13. Remove the pulley spacer from the wave generator. Hexagon socket head cap bolts: 4-M3×8 C12 Rev.3...
Page 248 Maintenance 8. Joint #4 Installation: Joint #4 Reduction gear unit 1. Apply grease to the mating surface of the sleeve and the fixing bolts. (for grease leakage prevention for the reduction gear unit) Fit the J4 sleeve and install the J4 sleeve holder. Hexagon socket head cap bolts: 4-M3×6 Tightening torque: 2.0 ±...
Page 249 Maintenance 8. Joint #4 4. Install the wave generator of the Joint #4 reduction gear unit. 5. Set the O-ring attached to the reduction gear unit to the O-ring groove on the Joint #4 reduction gear unit. Then, install the J4 flange. Hexagon socket head cap bolts: 16-M3×20 Tightening torque: 2.4 ±...
Page 250 Maintenance 8. Joint #4 8. Apply adhesive to the following parts of the J4 pulley. Bearing mating part Inner ring (J4 sleeve) Outer ring (J4 pulley) Adhesive: Loctite 641 Install the J4 pulley bearing, and tighten the bearing bolt. Hexagon socket head cap bolts: 3-M3×8 (with a plain washer) Tightening torque: 2.0 ±...
Page 251: Joint #4 - Replacing The Timing Belt
Maintenance 8. Joint #4 8.3 Joint #4 - Replacing the Timing Belt Name Qty. Note Timing belt (Joint #4) 1655931 Maintenance Parts Belt tensile jig 1674582 width across flats: 2.5 mm Hexagonal For M3 hexagon socket head cap bolt width across flats: 3 mm wrench For M4 hexagon socket head cap bolt Cross-point screwdriver (#2)
Page 252 Maintenance 8. Joint #4 4. Remove the Arm #3 cable bracket and cable protection sheet. Hexagon socket head cap bolts: 2-M3×6 The Arm #3 cable bracket and cable protection sheet will be used again. Be careful not to lose them. 5.
Page 253 Maintenance 8. Joint #4 10. Remove the air tube (blue) from the fitting. 11. Remove the Arm #4 maintenance cover. For details, refer to Maintenance: 3 Covers. 12. Remove the Arm #4 cable bracket and the cable protection sheet. Hexagon socket head cap bolts: 2-M3×6 The Arm #4 cable bracket and cable protection sheet will be used again.
Page 254 Maintenance 8. Joint #4 Installation: Joint #4 Timing belt 1. Pass the Joint #4 timing belt around the Joint #4 pulley 2 2. Install the Joint #4 motor unit. For details, refer to Maintenance: 8.1 Joint #4 – Replacing the Motor, Installation steps (4) through (6). 3.
Page 255 Maintenance 8. Joint #4 6. Wrap the cables inside the Arm #3 with a cable protection sheet and install the Arm #3 cable bracket. Hexagon socket head cap bolts: 2-M3×6 Tightening torque: 2.0 ± 0.1 N·m 7. Install the cable bracket inside the Arm #3. Hexagon socket head cap bolts: 4-M4×10 Tightening torque: 4.0 ±...
Page 256 Maintenance 8. Joint #4 11. Connect the connectors inside the Arm #4. Connector: X052, X062 12. Fix the cable protection bracket to the Arm #4. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m NOTE Be careful not to get the cables caught. ...
Page 257: Joint #4 - Replacing The Electromagnetic Brake
Maintenance 8. Joint #4 8.4 Joint #4 - Replacing the Electromagnetic Brake Name Qty. Note 2172928 Electromagnetic brake Maintenance (common for Joints #4, #5, #6) Parts Belt tensile jig 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 258: Joint #5
Maintenance 9. Joint #5 9. Joint #5 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 259: Joint #5 - Replacing The Motor
Maintenance 9. Joint #5 9.1 Joint #5 - Replacing the Motor Name Qty. Note 2206705 Maintenance AC servo motor 150 W (Common for Joints #4, #5, #6) Parts Belt tensile jig * 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 260 Maintenance 9. Joint #5 Removal: Joint #5 Motor 1. Turn OFF the Controller power. 2. Remove the Arm #4 side cover. For details, refer to Maintenance: 3. Covers. 3. Loosen the screws fixing the cable protection bracket on the Arm #4 and pull out the cables.
Page 261 Maintenance 9. Joint #5 8. Remove the Joint #5 motor unit. Hexagon socket head cap bolts: 2-M4×15 (with a plain washer) 9. Remove the Joint #5 pulley 1 and the drive boss from the motor shaft of the Joint #5 motor unit. Pulley 1 and drive boss screws Hexagon socket set screws: 2-M4×4 (with a brass bushing) Drive boss and motor shaft screws...
Page 262 Maintenance 9. Joint #5 10. Remove the Joint #5 electromagnetic brake. Hexagon socket head cap bolts: 3-M3×15 (with a spacer) Be careful not to lose the spacers. 11. Remove the motor plate from the Joint #5 motor. Hexagon socket head cap bolts: 2-M4×10 C12 Rev.3...
Page 263 Maintenance 9. Joint #5 Installation: Joint #5 Motor 1. Install the motor plate to the Joint #5 motor. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m Be careful of the assembly direction of the motor plate. NOTE ...
Page 264 Maintenance 9. Joint #5 Drive boss and the motor shaft: Hexagon socket set screws: 2-M4×4 Tightening torque: 2.5 ± 0.2 N·m Align the screws to the two flat faces of the motor shaft and fix them. Drive boss and the pulley 1: Hexagon socket set screws: 2-M4×4 (with a brass bushing) Tightening torque: 2.5 ±...
Page 265 Maintenance 9. Joint #5 When using the belt tension tensile jig (maintenance part): Fix the belt tension tensile jig (for J4, J5, and J6) with the screws (2-M4×15) and push the rubber against the pulley. Tension is applied as the set screw (M6×15) is pushed by the rubber.
Page 266: Joint #5 - Replacing The Reduction Gear Unit (Replacing The Joint #5, #6 Reduction Gear Unit Set)
Maintenance 9. Joint #5 9.2 Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6 Reduction Gear Unit Set) For replacement of the Joint #5 and Joint #6 reduction gear unit, replace the Joints #5, #6 reduction gear unit set. The Joints #5 and #6 reduction gear unit set is adjusted in advance.
Page 267 Maintenance 9. Joint #5 Removal: Joints #5, #6 Reduction gear unit set 1. Turn OFF the Controller power. 2. Remove the Arm #4 side cover and Arm #3 cover. For details, refer to Maintenance 3. Covers. 3. Remove the Joints #5 and #6 motors. For details, refer to the Removal steps in Maintenance 9.1 Joint #5 - Replacing the Motor and Maintenance 10.1 Joint #6 - Replacing the Motor.
Page 268 Maintenance 9. Joint #5 Installation: Joint #5, #6 Reduction gear unit set 1. Install the Arm #4 extension flange. Hexagon socket head cap bolts: 12-M3×18 Tightening torque: 2.4 ± 0.1 N·m 2. Install the Joint #5 and #6 reduction gear unit. Install the Arm #4 extension flange to the Arm #4 extension part.
Page 269 Maintenance 9. Joint #5 4. Install the Joint #5 and #6 motors. For details, refer to Installation steps in Maintenance 9.1 Joint #5 – Replacing the Motor and Maintenance 10.1 Joint #6 – Replacing the Motor. 5. Install the removed covers. For details, refer to Maintenance 3.
Page 270: Joint #5 - Replacing The Timing Belt
Maintenance 9. Joint #5 9.3 Joint #5 - Replacing the Timing Belt Name Qty. Note Joint #5 timing belt 330 mm 1655932 Maintenance Parts Belt tensile jig 1674582 Hexagonal wrench For M4 hexagon socket head cap bolts (width across flats: 3 mm) Tools Cross-point screwdriver (#2) For cross recessed head screws...
Page 271: Joint #5 - Replacing The Electromagnetic Brake
Maintenance 9. Joint #5 9.4 Joint #5 - Replacing the Electromagnetic Brake Name Qty. Note Electromagnetic brake 2172928 (Common for Joints #4, #5, #6) Maintenance Parts Belt tensile jig 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 272 Maintenance 9. Joint #5 Removal: Joint #5 Electromagnetic brake 1. Remove the Joint #5 electromagnetic brake. For details, refer to Maintenance: 9.1 Joint #5 – Replacing the Motor, Removal steps (1) through (10). Installation: Joint #5 Electromagnetic brake 1. Mount the Joint #5 electromagnetic brake to the Joint #5 motor unit. For details, refer to Maintenance: 9.1 Joint #5 –...
Page 273: Joint #6
Maintenance 10. Joint #6 10. Joint #6 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 274: Joint #6 - Replacing The Motor
Maintenance 10. Joint #6 10.1 Joint #6 - Replacing the Motor Name Qty. Note Maintenance AC servo motor 150 W 2206705 (common to Joints #4, #5, #6) Parts Belt tensile jig * 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 275 Maintenance 10. Joint #6 Removal: Joint #6 Motor 1. Turn OFF the Controller power. 2. Remove the Arm #4 side cover. For details, refer to Maintenance: 3. Covers. 3. Loosen the screws fixing the cable protection plate on the Arm #4 and pull out the cables.
Page 276 Maintenance 10. Joint #6 8. Remove the Joint #6 motor pulley 1 and the drive boss from the Joint #6 motor unit. Pulley 1 and drive boss screws Hexagon socket set bolts: 2-M4×4 (with a brass bushing) Drive boss and motor shaft screws Hexagon socket set bolts: 2-M4×4 There is a brass bushing on one of the set screws fixing the drive boss and the pulley.
Page 277 Maintenance 10. Joint #6 Installation: Joint #6 motor 1. Install the motor plate to the Joint #6 motor. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ± 0.2 N·m Be careful of the assembly direction of the motor plate. NOTE ...
Page 278 Maintenance 10. Joint #6 Drive boss and the motor shaft: Hexagon socket set screws: 2-M4×4 Tightening torque: 2.5 ± 0.2 N·m Align the screws to the two flat faces of the motor shaft and fix them. Drive boss and the pulley 1: Hexagon socket set screws: 2-M4×4 (with a brass bushing) Tightening torque: 2.5 ±...
Page 279 Maintenance 10. Joint #6 When using the belt tension tensile jig (maintenance part): Fix the belt tension tensile jig (for Joints #4, #5, and #6) with the screws (2-M4×15) and push the rubber against the pulley. Tension is applied as the set screw (M6×15) is pushed by the rubber. 7.
Page 280: Joint #6 - Replacing The Reduction Gear Unit (Replacing The Joints #5, #6 Reduction Gear Unit Set)
Maintenance 10. Joint #6 10.2 Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set) For replacement of the Joint #5 and Joint #6 reduction gear unit, replace the Joints #5, #6 reduction gear unit set. The Joints #5 and #6 reduction gear unit set is adjusted in advance.
Page 281: Joint #6 - Replacing The Timing Belt
Maintenance 10. Joint #6 10.3 Joint #6 - Replacing the Timing Belt Name Qty. Note Maintenance Joint #6 timing belt 339 mm 1655933 Parts Belt tensile jig 1674582 Hexagonal wrench For M4 hexagon socket head cap bolts (width across flats: 3 mm) Tools Cross-point screwdriver (#2) For cross recessed head screws...
Page 282: Joint #6 - Replacing The Electromagnetic Brake
Maintenance 10. Joint #6 10.4 Joint #6 - Replacing the Electromagnetic Brake Name Qty. Note Maintenance Electromagnetic brake 2172928 (Common to Joints #4, #5, #6) Parts Belt tensile jig 1674582 width across flats: 2 mm For M4 hexagon socket set screws Hexagonal width across flats: 2.5 mm For M3 hexagon socket head cap bolts...
Page 283 Maintenance 10. Joint #6 Removal: Joint #6 Electromagnetic brake 1. Remove the Joint #6 electromagnetic brake. For details, refer to Maintenance: 10.1 Joint #6 – Replacing the Motor, Removal steps (1) through (9). Installation: Joint #6 Electromagnetic brake 1. Mount the Joint #6 electromagnetic brake to the Joint #6 motor unit. For details, refer to Maintenance: 10.1 Joint #6 –...
Page 284: Replacing The Battery Unit
Controller is energized. If warnings of voltage reduction occur, replace the lithium metal battery even if it has not reached the above product life. NOTE For the EPSON RC+ 7.0 the recommended replacement time for the battery can be  checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
Page 285 Maintenance 11. Replacing the Battery Unit The battery may run out if it passes the recommended replacement time. If no warnings of voltage reduction occur, the calibration for all joints is not necessary. You need to perform calibration if the position moves from the originals after replaced the battery.
Page 286: Replacing The Battery Unit (Lithium Battery)
Maintenance 11. Replacing the Battery Unit 11.1 Replacing the Battery Unit (Lithium Battery) Turn OFF the Controller power. Remove the Arm #1 side cover. For details, refer to Maintenance: 3. Covers. Remove the battery from the battery box. NOTE If you removed all the batteries before connecting the new ones, the calibration data will be deleted and ...
Page 287 Maintenance 11. Replacing the Battery Unit Install the Arm #1 side cover. For details, refer to Maintenance: 3. Covers. Turn ON the Controller power. Check operation to see if the Manipulator’s position and posture are out of position. Move the Manipulator to two or three points (poses) of the registered points. 10.
Page 288: Replacing The Battery Board
Maintenance 11. Replacing the Battery Unit 11.2 Replacing the Battery Board After parts have been replaced (motors, reduction gear units, brakes, timing belts, etc.), the Manipulator cannot perform positioning properly because a gap exists between the origin stored in each motor encoder and its corresponding origin stored in the Controller. Therefore, it is necessary to match these origins after replacing the parts.
Page 289 Maintenance 11. Replacing the Battery Unit Remove the connectors. Connectors: CN3, CN6 Remove the battery board fixed to the plate. Cross recessed head screws: 3-M3×6 C12 Rev.3...
Page 290 Maintenance 11. Replacing the Battery Unit Installation: Battery board 1. Install the battery board to the plate. Cross recessed head screws: 3-M3×6 Tightening torque: 0.45 ± 0.1 N·m 2. Connect the connectors to the battery board. Connector: CN3, CN6 3. Install the plate where the battery board is installed to. Hexagon socket head cap bolts: 2-M4×10 Tightening torque: 4.0 ±...
Page 291: Replacing The Control Board
Maintenance 12. Replacing the Control Board 12. Replacing the Control Board ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 292: Replacing The Control Board 1
Maintenance 12. Replacing the Control Board 12.1 Replacing the Control Board 1 Removal: Control board 1 Turn OFF the Controller. Remove the Arm #1 center cover. For details, refer to Maintenance 3. Covers. Remove the connector connected to the control board 1. Connector: GS01 Remove the control board 1 fixed to the Arm #1.
Page 293 Maintenance 12. Replacing the Control Board Installation: Control board 1 Install the control board 1 protection plate. Cross recessed head screws with captive washer: M3×6 Tightening torque: 0.45 ± 0.1 N·m NOTE Be careful of the assembly direction of the protection plate. ...
Page 294: Replacing The Control Board 2
Maintenance 12. Replacing the Control Board 12.2 Replacing the Control Board 2 Removal: Control board 2 1. Turn OFF the Controller power. 2. Remove the Arm #3 cover. For details, refer to Maintenance: 3. Covers. 3. Remove the connector connected to the control board 2. Connector: GS02 4.
Page 295 Maintenance 12. Replacing the Control Board Installation: Control board 2 1. Install the control board 2 to the plate. Cross recessed head screws: 4-M3×8 Tightening torque: 0.45 ± 0.1 N·m NOTE Be careful of the assembly direction of the control board 2. ...
Page 296: Replacing The Led Lamp
Maintenance 13. Replacing the LED Lamp 13. Replacing the LED Lamp ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 297 Maintenance 13. Replacing the LED Lamp Removal: LED lamp Turn OFF the Controller power. Remove the Arm #3 cover. For details, refer to Maintenance: 3. Covers. Remove the connector connected to the LED lamp. The connector for the LED lamp (LED) is under the Arm #3 cover. Connector: LED Remove the LED lamp from the Arm #3.
Page 298 OFF the Controller. The position data will be lost when the cable connector connected to the battery is disconnected. And the EPSON RC+ will display the error message of encoder alarm occurrence when the Controller is turned ON.
Page 299 Maintenance 14. Replacing the M/C Cable Name Qty. Note Straight R12NZ900S1 L-shaped R12NZ900S5 Straight R12NZ900S2 L-shaped R12NZ900S6 Straight R12NZ900S3 M/C cable 10 m L-shaped R12NZ900S7 Straight R12NZ900YC 15 m L-shaped R12NZ900YB Straight R12NZ900S4 20 m Maintenance L-shaped R12NZ900S8 Parts Straight R12NZ900S9 L-shaped R12NZ900SD...
Page 300 Maintenance 14. Replacing the M/C Cable Removal: M/C cable Turn OFF the Controller power. Disconnect the following connectors from the Controller. Power cable connector Signal cable connector Remove the connector plate. For details, refer to Maintenance: 3. Covers. NOTE  Do not pull the connector plate forcibly.
Page 301 Maintenance 14. Replacing the M/C Cable Installation: M/C cable 1. Install the connector sub plate. For details, refer to Maintenance: 3. Covers. 2. Connect the connectors of the new M/C cable to these of the cable unit. Connector: X11, X12, X14, BR010, X010, X020, X040, LED, GS01 3.
Page 302: Replacing The Fan
Maintenance 15. Replacing the Fan 15. Replacing the Fan ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 303 Maintenance 15. Replacing the Fan (Figure: Cable backward model) Removal: Fan Remove the fan cover screws while supporting the cover. Cross recessed head screws with washer: 4-M4×35 NOTE The cover falls when the screws are removed.  When removing the screws, be sure to support the cover. Remove the fan cover.
Page 304: Calibration
Manipulator moves unexpectedly. In EPSON RC+, a coordinate point including the arm pose is defined as “point” and its data is called “point data”.
Page 305 Maintenance 16. Calibration Also, pay attention to the following points at the encoder initialization. ■ The Joint #1 and Joint #4 have no mechanical stops and they may be rotated more than 360 degrees. If the encoder initialization is performed with improper posture, the Manipulator moves outside the operation range.
Page 306 Maintenance 16. Calibration For details on Jog & Teach, refer to the following manual. EPSON RC+ User’s Guide 5.11.1 Robot Manager Command Tools: Robot Manager: Jog and Teach Page. NOTE - For details about the basic orientation, refer to Setup & Operation 3.7 Checking the Basic ...
Page 307: Calibration Procedure
Jog Motion Setting of the jog motion is required in some calibration procedures. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page. The panel, window, and page above are indicated as [Jog & Teach] in the calibration procedures.
Page 308 4-1 Move the arm you want to calibrate to the position of the calibration mark. Select menu-[Tool]-[Robot Manager]-[Jog & Teach] panel to move the EPSON Manipulator. If an error occurs after replacing the motor and you cannot use the [Jog &...
Page 309 Joint #5 >Encreset 5, 6 Joint #6 >Encreset 6 4-3 Reboot the Controller. Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>. EPSON 4-4 Input the command in the Command window and execute it. Execute one of the following commands to reset the encoder of the joint you EPSON want to calibrate from the menu-[Tool]-[Command Window].
Page 310 Calibration (More accurate positioning) Move the Manipulator to the selected point data by jogging in [Jog & Teach]. EPSON Move the joint* which is not calibrated to the specified point by motion command. *When the Joint #5 is being calibrated, move the Joints #1 - #4 to the home positions.
Page 311: Maintenance Parts List
Maintenance 17. Maintenance Parts List 17. Maintenance Parts List Reference in Name Code Note Overhaul *1 Maintenance Joint #1 unit 2172922 1000 W, unit 5.1.1, 5.2.1  Joint #2 AC servo 2168683 750 W, single item  motor Joint #3 2168684 400 W, single item ...
Page 312 Maintenance 17. Maintenance Parts List Reference in Name Code Note Maintenance Straight R12NZ900S1 L-shaped R12NZ900S5 Straight R12NZ900S2 L-shaped R12NZ900S6 Straight R12NZ900S3 M/C cable 10 m L-shaped R12NZ900S7 Straight R12NZ900YC 15 m L-shaped R12NZ900YB Straight R12NZ900S4 20 m L-shaped R12NZ900S8 Straight R12NZ900S9 L-shaped R12NZ900SD...
Page 313 Maintenance 17. Maintenance Parts List *1 Overhaul As a rough indication, perform the overhaul (parts replacement) before reaching 20,000 operation hours of the Manipulator. The operation hours can be checked in [Controller Status Viewer] dialog - [Motor On Hours]. For details, refer to Maintenance 2.2 Overhaul. *2 Reduction Gear Unit: A reduction gear unit consists of the following three parts.
Page 314: Option Parts List
Maintenance 18. Option Parts list 18. Option Parts list Reference in Name Code Note Setup & Operation R12NZ900N4 For Europe (200V) Brake release unit R12NZ900N5 For U.S. & Japan (100V) (with cable and M/C short connector) MC short connector R12NZ900N7 For brake release unit Common to C3, C4, C8 Camera plate unit...

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