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Epson C Series Manuals
Manuals and User Guides for Epson C Series. We have
2
Epson C Series manuals available for free PDF download: Maintenance Manual, Manual
Epson C Series Maintenance Manual (668 pages)
6-Axis Robots
Brand:
Epson
| Category:
Robotics
| Size: 37.57 MB
Table of Contents
Table of Contents
9
Safety Maintenance
23
General Maintenance
25
Maintenance Inspection
25
Schedule for Maintenance Inspection
25
Inspection Point
26
Overhaul (Parts Replacement)
28
Greasing
30
Tightening Hexagon Socket Head Bolts
32
Layout of Maintenance Parts
33
Covers
34
Arm #1 Top Cover
35
Arm #1 Side Cover
35
Arm #2 Side Cover
36
Arm #3 Head Cover
36
Arm #3 Bottom Cover
37
Arm #4 Side Cover
37
Base Bottom Cover
38
Connector Plate
38
Connector Sub Plate
39
User Plate
39
Cable Unit
40
Replacing the Cable Unit
40
Removal: Cable Unit
42
Installation: Cable Unit
49
Connector Pin Assignments
68
Signal Cable
68
Power Cable
74
User Cable
77
Color of Cables
77
Joint #1
78
Joint #1 - Replacing the Motor
79
Removal: Joint #1 Motor
79
Installation: Joint #1 Motor
81
Joint #1 - Replacing the Reduction Gear Unit
83
Removal: Joint #1 Reduction Gear Unit
84
Installation: Joint #1 Reduction Gear Unit
87
Joint #1 - Replacing the Timing Belt
91
Removal: Joint #1 Timing Belt
91
Installation: Joint #1 Timing Belt
91
Joint #1 - Replacing the Electromagnetic Brake
92
Installation: Joint #1 Electromagnetic Brake
92
Joint #2
93
Joint #2 - Replacing the Motor
94
Removal: Joint #2 Motor
95
Installation: Joint #2 Motor
97
Joint #2- Replacing the Reduction Gear Unit
99
Removal: Joint #2 Reduction Gear Unit
100
Installation: Joint #2 Reduction Gear Unit
103
Joint #2 - Replacing the Timing Belt
107
Removal: Joint #2 Timing Belt
107
Installation: Joint #2 Timing Belt
107
Joint #2 - Replacing the Electromagnetic Brake
108
Removal: Joint #2 Electromagnetic Brake
108
Joint #3
109
Joint #3 - Replacing the Motor (with a Brake)
110
Removal: Joint #3 Motor (with a Brake)
110
Installation: Joint #3 Motor (with a Brake)
112
Joint #3 - Replacing the Reduction Gear Unit
114
Removal: Joint #3 Reduction Gear Unit
114
Installation: Joint #3 Reduction Gear Unit
118
Joint #3 - Replacing the Timing Belt
122
Removal: Joint #3 Timing Belt
122
Installation: Joint #3 Timing Belt
122
Joint #4
123
Joint #4 - Replacing the Motor
124
Removal: Joint #4 Motor
124
Installation: Joint #4 Motor
126
Joint #4 - Replacing the Reduction Gear Unit
129
Removal: Joint #4 Reduction Gear Unit
129
Installation: Joint #4 Reduction Gear Unit
132
Joint #4 - Replacing the Timing Belt
136
Removal: Joint #4 Timing Belt
136
Installation: Joint #4 Timing Belt
136
Joint #4 - Replacing the Electromagnetic Brake
137
Removal: Joint #4 Electromagnetic Brake
137
Installation: Joint #4 Electromagnetic Brake
137
Joint #5
138
Joint #5 - Replacing the Motor
139
Removal: Joint #5 Motor
139
Installation: Joint #5 Motor
141
Joint #5 - Replacing the Reduction Gear Unit
143
Installation: Joint #5 Reduction Gear Unit
147
Joint #5 - Replacing the Timing Belt
153
Removal: Joint #5 Timing Belt
153
Installation: Joint #5 Timing Belt
153
Joint #5 - Replacing the Electromagnetic Brake
154
Removal: Joint #5 Electromagnetic Brake
154
Installation: Joint #5 Electromagnetic Brake
154
Joint #6
155
Joint #6 - Replacing the Motor
156
Removal: Joint #6 Motor
156
Installation: Joint #6 Motor
158
Joint #6 - Replacing the Reduction Gear Unit
160
Removal: Joint #6 Reduction Gear Unit
160
Installation: Joint #6 Reduction Gear Unit
163
Joint #6 - Replacing the Timing Belt
165
Removal: Joint #6 Timing Belt
165
Installation: Joint #6 Timing Belt
165
Joint #6 - Replacing the Electromagnetic Brake
166
Removal: Joint #6 Electromagnetic Brake
166
Installation: Joint #5 Electromagnetic Brake
166
Replacing the Arm #5 O-Ring
167
Removal: Arm #5 O-Ring
167
Installation: Arm #5 O-Ring
167
Replacing the Battery Unit
168
Replacing the Battery Unit (Lithium Battery)
168
Replacing the Battery Board
172
Removal: Battery Board
172
Installation: Battery Board
173
Replacing the Control Board
175
Replacing the Control Board 1
175
Removal: Control Board 1
175
Installation: Control Board 1
175
Replacing the Control Board 2
176
Removal: Control Board 2
176
Installation: Control Board 2
177
Replacing the LED Lamp
178
Removal: LED Lamp
179
Installation: LED Lamp
179
Replacing the M/C Cable
180
Removal: M/C Cable
182
Installation: M/C Cable
182
Calibration
183
Overview
183
Calibration Procedure
185
C4 Maintenance Parts List
190
Safety Maintenance
197
General Maintenance
199
Maintenance Inspection
199
Schedule for Maintenance Inspection
199
Inspection Point
200
Overhaul (Parts Replacement)
202
Greasing
204
Joint #1 Reduction Gear Unit (Table Top Mounting)
206
Joint #1 Reduction Gear Unit (Ceiling Mounting, Wall Mounting)
207
Joint #1 Reduction Gear Unit
207
Joint #2 Reduction Gear Unit
208
Joint #3 Reduction Gear Unit
209
Joint #4 Reduction Gear Unit
210
Joint #5 Reduction Gear Unit
211
Joint #6 Reduction Gear Unit
212
Joint #6 Bevel Gear
213
Tightening Hexagon Socket Head Bolts
214
Layout of Maintenance Parts
215
Covers
216
Arm #1 Center Cover
219
Arm #1 Side Cover
220
Arm #2 Side Cover
222
Arm #3 Cover
223
Arm #3 Maintenance Cover
224
Arm #4 Side Cover
226
Arm #4 Maintenance Cover (C8XL Only)
228
Arm #4 Maintenance Cover
229
Arm #4 D-Sub Attachment
230
Base Cover
231
M/C Cable Backward
231
M/C Cable Downward
232
Base Maintenance Cover
236
Connector Plate
238
M/C Cable Backward
238
M/C Cable Downward
242
Connector Sub Plate
243
Cable Unit
245
Replacing the Cable Unit
245
Replacing the Cable Unit (M/C Cable Backward)
247
Replacing the Cable Unit (M/C Cable Downward)
277
Connector Pin Assignment
282
Signal Cable
282
Power Cable
285
User Cable
288
Color of Cables
288
Joint #1
289
M/C Cable Backward (Joint #1)
290
Joint #1 - Replacing the Motor (M/C Cable Backward)
290
Joint #1 - Replacing the Reduction Gear Unit
298
Backward)
298
Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
305
Joint #1 - Replacing the Electromagnetic Brake
312
Backward)
312
M/C Cable Downward (Joint #1)
314
Joint #1 - Replacing the Motor (M/C Cable Downward)
314
Joint #1 - Replacing the Reduction Gear Unit
318
Downward)
318
Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
321
Joint #1 - Replacing the Electromagnetic Brake
326
Downward)
326
Joint #2
328
Joint #2 - Replacing the Motor
329
Joint #2- Replacing the Reduction Gear Unit
338
Joint #2 - Replacing the Timing Belt
345
Joint #2 - Replacing the Electromagnetic Brake
346
Joint #3
347
Joint #3 - Replacing the Motor
348
Joint #3 - Replacing the Reduction Gear Unit
356
Joint #3 - Replacing the Timing Belt
362
Joint #3 - Replacing the Electromagnetic Brake
363
Joint #4
364
Joint #4 - Replacing the Motor
365
Joint #4 - Replacing the Reduction Gear Unit
371
Joint #4 - Replacing the Timing Belt
378
Joint #4 - Replacing the Electromagnetic Brake
384
Joint #5
385
Joint #5 - Replacing the Motor
386
Joint #5 - Replacing the Reduction Gear Unit
393
Joint #5 - Replacing the Timing Belt
398
Joint #5 - Replacing the Electromagnetic Brake
399
Joint #6
401
Joint #6 - Replacing the Motor
402
Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set)
408
Joint #6 - Replacing the Timing Belt
408
Joint #6 - Replacing the Electromagnetic Brake
409
Replacing the Battery Unit
411
Replacing the Battery Unit (Lithium Battery)
413
Replacing the Battery Board
415
Replacing the Control Board
418
Replacing the Control Board 1
419
Replacing the Control Board 2
421
Replacing the LED Lamp
423
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Epson C Series Manual (312 pages)
Brand:
Epson
| Category:
Robotics
| Size: 8.29 MB
Table of Contents
Table of Contents
9
C4 Manipulator
17
Safety
19
Conventions
19
Design and Installation Safety
20
Operation Safety
21
Emergency Stop
22
Safeguard
24
How to Move Arms with the Electromagnetic Brake
25
Moving the Arm Using the Brake Release Unit
26
Moving the Arm Using the Software
26
Precaution for Operation in Low Power Status
26
Warning Labels
27
Response for Emergency or Malfunction
30
Collision
30
Getting Body Caught in Manipulator
30
Specifications
31
Model Number
31
Part Names and Motion Range of each Arm
32
Outer Dimensions
33
C4-A601
33
C4-A901
34
Standard Motion Range
35
C4-A601
35
C4-A901
36
Specifications
38
Specifications Table
38
How to Set the Model
38
Environment and Installation
39
Environmental Conditions
39
Unpacking, Transportation, and Relocation
40
Mounting Dimensions
44
Installation
45
Connecting the Cables
48
User Wires and Pneumatic Tubes
49
Checking the Basic Orientation
50
End Effectors
51
Attaching an End Effector
51
Attaching Camera and Air Valves
52
WEIGHT and INERTIA Settings
54
WEIGHT Setting
56
INERTIA Setting
61
Precautions for Auto Acceleration/Deceleration
65
Motion Range
66
Motion Range Setting by Pulse Range (for All Arms)
67
Max. Pulse Range of Arm #1
68
Max. Pulse Range of Arm #2
69
Max. Pulse Range of Arm #3
69
Max. Pulse Range of Arm #4
70
Max. Pulse Range of Arm #5
71
Max. Pulse Range of Arm #6
71
Motion Range Setting by Mechanical Stops
72
Motion Range Setting of Arm #1
72
Motion Range Setting of Arm #2
73
Motion Range Setting of Arm #3
73
Restriction of Manipulator Operation by Joint Angle Combination
74
Coordinate System
76
Changing the Robot
77
Setting the Cartesian (Rectangular) Range in the XY Coordinate
78
Options
79
Brake Release Unit
79
Power Cable
80
Mount the Brake Release Unit
81
Remove the Brake Release Unit
82
How to Use the Brake Release Unit
82
Camera Plate Unit
83
PS Compatible Plate (Tool Adapter)
86
Base Side Angled Fittings
88
Base Side Fittings
90
PS Compatible Plate (Base Adapter)
93
Adjustable Mechanical Stop (Joint #2: Only C4-A901**)
95
C8 Manipulator
97
Safety
99
Conventions
99
Design and Installation Safety
100
Operation Safety
101
Emergency Stop
102
Safeguard
104
How to Move Arms with the Electromagnetic Brake
105
Moving the Arm Using the Brake Release Unit
106
Moving the Arm Using the Software
106
Precaution for Operation in Low Power Status
106
Warning Labels
107
Response for Emergency or Malfunction
110
Collision
110
Getting Body Caught in Manipulator
110
Specifications
111
Model Number
111
Part Names and Motion Range of each Arm
112
Outer Dimensions
114
C8-A701*** (C8)
114
C8-A901*** (C8L)
115
C8-A1401*** (C8Xl)
116
Standard Motion Range
117
C8-A701*** (C8)
117
C8-A901*** (C8L)
118
C8-A1401*** (C8Xl)
119
Specifications
120
Specifications Table
120
How to Set the Model
121
Environment and Installation
122
Environmental Conditions
122
Unpacking, Transportation, and Relocation
124
Mounting Dimensions
128
Cable Backward Model
128
Cable Downward Model
130
Installation
131
Connecting the Cables
134
User Wires and Pneumatic Tubes
136
Electrical Wires
137
Pneumatic Tubes
138
Checking the Basic Orientation
139
End Effectors
140
Attaching an End Effector
140
Attaching Camera and Air Valves
140
WEIGHT and INERTIA Settings
142
WEIGHT Setting
144
INERTIA Setting
148
Precautions for Auto Acceleration/Deceleration
153
Motion Range
154
Motion Range Setting by Pulse Range (for each Joint)
154
Max. Pulse Range of Joint #1
155
Max. Pulse Range of Joint #2
155
Max. Pulse Range of Joint #3
156
Max. Pulse Range of Joint #4
156
Max. Pulse Range of Joint #5
157
Max. Pulse Range of Joint #6
157
Motion Range Setting by Mechanical Stops
158
Motion Range Setting of Joint #1
158
Motion Range Setting of Joint #2
159
Motion Range Setting of Joint #3
161
Restriction of Manipulator Operation by Joint Angle Combination
161
Coordinate System
165
Changing the Robot
166
Setting the Cartesian (Rectangular) Range in the XY Coordinate
167
Options
168
Brake Release Unit
168
Power Cable
169
Mount the Brake Release Unit
171
Remove the Brake Release Unit
171
How to Use the Brake Release Unit
172
Camera Plate Unit
173
Tool Adapter (ISO Flange)
176
Adjustable Mechanical Stops
178
User Wires and Pneumatic Tubes
179
C12 Manipulator
181
Safety
183
Conventions
183
Design and Installation Safety
184
Operation Safety
185
Emergency Stop
186
Safeguard
188
How to Move Arms with the Electromagnetic Brake
189
Moving the Arm Using the Brake Release Unit
190
Moving the Arm Using the Software
190
Precaution for Operation in Low Power Status
190
Warning Labels
191
Response for Emergency or Malfunction
193
Collision
193
Getting Body Caught in Manipulator
193
Specifications
194
Model Number
194
Part Names and Motion Range of each Arm
195
Outer Dimensions
197
Standard Motion Range
198
Specifications
199
Specifications Table
199
How to Set the Model
200
Environment and Installation
201
Environmental Conditions
201
Unpacking, Transportation, and Relocation
202
Mounting Dimensions
205
Cable Backward Model
205
Cable Downward Model
206
Installation
207
Connecting the Cables
210
User Wires and Pneumatic Tubes
212
Electrical Wires
213
Pneumatic Tubes
213
Checking the Basic Orientation
214
End Effectors
215
Attaching an End Effector
215
Attaching Camera and Air Valves
216
WEIGHT and INERTIA Settings
217
WEIGHT Setting
219
INERTIA Setting
222
Precautions for Auto Acceleration/Deceleration
227
Motion Range
228
Motion Range Setting by Pulse Range (for each Joint)
228
Max. Pulse Range of Joint #1
229
Max. Pulse Range of Joint #2
229
Max. Pulse Range of Joint #3
230
Max. Pulse Range of Joint #4
230
Max. Pulse Range of Joint #5
231
Max. Pulse Range of Joint #6
231
Motion Range Setting by Mechanical Stops
232
Motion Range Setting of Joint #1
232
Motion Range Setting of Joint #2
233
Motion Range Setting of Joint #3
233
Restriction of Manipulator Operation by Joint Angle Combination
234
Coordinate System
235
Changing the Robot
236
Setting the Cartesian (Rectangular) Range in the XY Coordinate
237
Options
238
Brake Release Unit
238
Power Cable
239
Mount the Brake Release Unit
241
Remove the Brake Release Unit
241
How to Use the Brake Release Unit
242
Camera Plate Unit
243
Tool Adapter (ISO Flange)
246
Adjustable Mechanical Stops
247
Regular Inspection for C4 Manipulator 1.1 Inspection
247
Schedule for Inspection
247
User Wires and Pneumatic Tubes
248
Regular Inspection
249
Regular Inspection for C8 Manipulator
251
2.1 Inspection
251
Schedule for Inspection
251
Inspection Point
252
Overhaul (Parts Replacement)
254
Greasing
254
Tightening Hexagon Socket Head Bolts
254
Regular Inspection for C12 Manipulator
255
3.1 Inspection
255
Schedule for Inspection
255
Inspection Point
256
Overhaul (Parts Replacement)
258
Greasing
258
Tightening Hexagon Socket Head Bolts
258
Appendix
263
Appendix A: Specifications
265
C4 Specifications
265
C8 Specifications
268
C12 Specifications
268
Appendix B: Time and Distance of Free Running in Emergency
275
C4 Time and Distance of Free Running in Emergency
276
C8 Time and Distance of Free Running in Emergency
276
C12 Time and Distance of Free Running in Emergency
288
Appendix C: Time and Distance of Free Running When Safeguard Is Opened
294
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