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Robot System
Safety Manual
Read this manual first
Rev.4
EM221B5110F
This manual contains precautions for the correct use of the robot system.
Please carefully read this manual before installing the robot system.
Keep this manual handy for easy access at all times and reread it when you find anything
unclear.
Original instructions
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Table of Contents
Related Manuals for Epson RT3B-401SS
Summary of Contents for Epson RT3B-401SS
- Page 1 Robot System Safety Manual Read this manual first Rev.4 EM221B5110F This manual contains precautions for the correct use of the robot system. Please carefully read this manual before installing the robot system. Keep this manual handy for easy access at all times and reread it when you find anything unclear.
- Page 3 Robot System Safety Manual Rev.4 Copyright 2021-2022 SEIKO EPSON CORPORATION. All rights reserved Safety Manual Rev.4...
- Page 4 FOREWORD Thank you for purchasing our robot products. This manual contains precautions for the correct use of the robot system. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times and reread it when you find anything unclear.
- Page 5 EU Directive Compliance Precautions (Official Language) In the EU official languages, the manual for this product is only available in English. Précautions de conformité à la directive UE (langue officielle) Dans les langues officielles de l'UE, le manuel de ce produit n'est disponible qu'en anglais.
- Page 6 The contents of this manual are subject to change without notice. Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. MANUFACTURER Seiko Epson Corporation 3-3-5 Owa, Suwa-shi, Nagano, 392-8502 : global.epson.com/company/ : www.epson.jp/prod/robots/...
- Page 7 IMPORTERS Importer for the EU EPSON EUROPE B.V. Azie building, Atlas ArenA, Hoogoorddreef 5, 1101 BA Amsterdam Zuidoost The Netherlands : +31-20-314-5000 : +31-20-314-5010 Importer for the UK EPSON (U.K.) LIMITED Westside, London Road, Hemel Hempstead, Hertfordshire, HP3 9TD, U. K...
- Page 8 4F, Tower 1, China Central Place, 81 Jianguo Road, Chaoyang District, Beijing, 100025, PRC : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1125 Epson Taiwan Technology & Trading Ltd. Taiwan Factory Automation Division 15F., No.100, Song Ren Road., Sinyi Dist., Taipei City, 11073 Taiwan : +886-(0)-2-8786-6688...
- Page 9 Epson India Pvt. Ltd. India Sales & Marketing (Factory Automation) 12th Floor, The Millenia, Tower A, No. 1, Murphy Road, Ulsoor, Bangalore, India 560008 : +91-80-4566-5000 : +91-80-4566-5005 Epson Sales Japan Corporation Japan Factory Automation Systems Department 29th floor, JR Shinjuku Miraina Tower, 4-1-6...
- Page 10 DISPOSAL When disposing this product, dispose in accordance with the laws and regulations of each country. Regarding battery disposal The battery removal/replacement procedure is described in the following manuals: Maintenance Manual For European Union customers only 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.
- Page 11 For Taiwanese customers only Please separate used batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product.
- Page 12 Safety Manual Rev.4...
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Page 13: Table Of Contents
Table of Contents Table of Contents Safety of This Product ................ 1 Usage and Purpose of This Product .......... 1 Installation Environment ............1 Residual Risk ................2 Declaration of Conformity ............2 Safety Requirements ..............2 Safety Precautions ................4 Conventions ................ - Page 14 Table of Contents Training .................... 60 Training Held by Persons in Charge of Safety Management ... 60 Knowledge and Training You Need for Operating the Robot System ..................61 The Manuals of This Product ..........62 Manual Types .................. 62 How to Read the Manuals ............
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Page 15: Safety Of This Product
Safety of This Product Safety of This Product Usage and Purpose of This Product The usage and purpose of this product is transporting and assembling parts in an isolated safety area. Installation Environment For using the robot system function properly and safely, a suitable environment is required. -
Page 16: Residual Risk
Safety of This Product Residual Risk For the residual risk of our Manipulator or controller, check the warnings or cautions in each item of each chapter. Declaration of Conformity For the directives and standards of each country which this product complies with, check the attached Declaration of Conformity. - Page 17 Safety of This Product Safety of machinery -- Guards -- General requirements for the ISO14120 design and construction of fixed and movable guards Safety of machinery -- Electrical equipment of machines -- Part 1: IEC 60204-1 General requirements Industrial, scientific and medical (ISM) radio-frequency equipment CISPR11 -- Electromagnetic disturbance characteristics -- Limits and methods of measurement...
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Page 18: Safety Precautions
Safety Precautions Safety Precautions This chapter describes precautions for using the robot system safely. Before using the robot system, be sure to read the descriptions. In the descriptions of this chapter, the word “Controller” indicates Drive Unit as well. Conventions Important safety considerations are indicated throughout the manual by the following symbols. -
Page 19: Precautions For Design And Installation
Safety Precautions ■ People involved in the work should wear personal protective equipment such as a helmet when transporting. Also, make sure there are no other people around. WARNING ■ Avoid excessive vibration or shock during Manipulator transporting. Excessive vibration or shock may cause equipment damage to and/or malfunction of the Manipulator. - Page 20 Safety Precautions ■ When designing or installing a robot system, wear at least the following protective gear. Working without protective gear may cause serious safety problems. - Work clothes suitable for work - Helmet - Safety shoes ■ This product is intended for transporting and assembling parts in an isolated safety area.
- Page 21 Safety Precautions ■ Keep away from the Manipulator while the power is ON if you have not taken a training. Do not enter the operating area while the power is ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even though it seems to be stopped.
- Page 22 Safety Precautions ■ Be sure to use a power plug or disconnecting device for the power cable. Do not connect it directly to the factory power supply. ■ Do not open the cover(s) of the Controller or the Manipulator except while maintaining it.
- Page 23 Safety Precautions ■ Before wiring, turn OFF the Controller and related equipment, and then pull up a warning sign (e.g. DO NOT TURN ON THE POWER.). Wiring with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system. ■...
- Page 24 Safety Precautions ■ The Manipulator must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points. ■ Oscillation (resonance) may occur during operation depending on rigidity of the installation table. If the oscillation occurs, improve rigidity of the table or change the speed or acceleration and deceleration settings.
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Page 25: Precautions For Operation
Safety Precautions ■ When with the brake release unit or the external short connector: If the Manipulator is operated without connecting the brake release unit or the external short connector, the brakes cannot be released, and it may cause damage on them. After using the brake release unit, be sure to connect the external CAUTION short connector to the Manipulator, or check connection of the... - Page 26 Without brake release unit: Release the electromagnetic brake of the Manipulator from the EPSON RC+ command window and move the Manipulator by your hand. Be careful of the arm falling and rotation due to its own weight. ■ If mounting Manipulator on the mobile platform (Cartesian coordinate WARNING robot, wheeled platform, AGV, etc.) and pressing Emergency Stop...
- Page 27 Safety Precautions ■ When operating the Manipulator, make sure that: - No one is inside the safety guard of the Manipulator - The Manipulator and related equipment are not in an abnormal state ■ 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 28 Safety Precautions ■ SCARA robot: While pressing the brake release switch, be careful of the arm falling and rotation of the hand due to its own weight. It may cause pinching of fingers, damage to the manipulator, or malfunction. ■ 6-Axis robot: Normally, release the brake of joints one by one.
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Page 29: Precautions For Maintenance
Safety Precautions Precautions for Maintenance Read this chapter carefully to understand safe maintenance procedures before performing any maintenance. Only personnel who has taken maintenance training held by us and suppliers should be allowed to perform the maintenance of robot system. ■... - Page 30 Safety Precautions ■ To shut off power to the robot system, disconnect the power plug from the power source. ■ Before performing any replacement procedure, display a sign (ex. “Work in progress”), turn OFF the robot system and related equipment, and then disconnect the power plug from the power source.
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Page 31: Warning Labels
Safety Precautions ■ Wear protective gear including a mask, protective goggles, and oil- resistant gloves during grease up. If grease gets into your eyes, mouth, or on your skin, follow the instructions below. If grease gets into your eyes: Flush them thoroughly with clean water, and then see a doctor immediately. -
Page 32: Controller
Safety Precautions Controller Location Warning label Note Hazardous voltage exists while the Manipulator is ON. Do not open the cover for 300 seconds after the Power is OFF. There is a risk of electric shock due to the residual voltage. Disconnect and lockout main power before performing maintenance and repair. - Page 33 Safety Precautions Location Warning label Note Disconnect and lockout main power before performing maintenance and repair. Do not connect the followings to the TP port of the controller. Connecting to the followings may result in malfunction of the device because pin assignments are different.
- Page 34 Safety Precautions Location Warning label Note A label with the battery type. The product name, model name, serial number, information which laws and regulations are supported, product specifications, manufacturer, importer, date of manufacture, country of manufacture, etc. are listed. For details, see the label affixed to the product.
- Page 35 Safety Precautions Labeling position: RC700 Control Unit Labeling position: RC700-A Control Unit Labeling position: RC700-D Control Unit Safety Manual Rev.4...
- Page 36 Safety Precautions Labeling position: RC700-A-UL Control Unit Labeling position: RC700DU / RC700DU-A Drive Unit Labeling position: RC700DU-A-UL Drive Unit Safety Manual Rev.4...
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Page 37: Manipulator
Safety Precautions Manipulator Location Warning label Note Before loosening the base mounting screws, hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the Manipulator. For installation and transportation of robots, follow the directions of each robot manuals. - Page 38 Safety Precautions Location Warning label Note Do not enter the operation area while the Manipulator is moving. The robot arm may collide against the operator. This is extremely hazardous and may result in serious safety problems. Hazardous voltage exists while the Manipulator is ON.
- Page 39 Safety Precautions Location Warning label Note You can catch your hand or fingers between the shaft and cover when bringing your hand close to moving parts. Manipulators with bellows do not have this label since there is no danger of being your hand or fingers caught.
- Page 40 Safety Precautions Location Warning label Note When releasing the brakes, be careful of the arm falling and rotation due to its own weight. This label is attached on the Manipulator and optional brake release box as well. When releasing the brakes, be careful of the arm falling / rotation due to its own weight.
- Page 41 Safety Precautions Location Warning label Note Only authorized personnel should perform sling work and operate a crane. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
- Page 42 Safety Precautions Note Location Warning label Only authorized personnel should perform sling work and operate a crane and a forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
- Page 43 Safety Precautions Note Location Warning label Be careful not to burn yourself. Do not connect the followings to the TP port of the controller that attached this label. Connecting to the followings may result in malfunction of the device because pin assignments are different.
- Page 44 Safety Precautions Location of Labels: G1 (UL: F) (UL: B) Safety Manual Rev.4...
- Page 45 Safety Precautions Location of Labels: G3 Common Table Top Mounting Multiple Mounting Safety Manual Rev.4...
- Page 46 Safety Precautions Location of Labels: G6 Common Table Top Mounting: Ceiling Mounting Wall Mounting Safety Manual Rev.4...
- Page 47 Safety Precautions Location of Labels: G10/G20 Common Table Top Mounting: (UL: F) Ceiling Mounting (UL: F) Wall Mounting (UL: F) Safety Manual Rev.4...
- Page 48 Safety Precautions Location of Labels: LS3-B Location of Labels: LS6-B Safety Manual Rev.4...
- Page 49 Safety Precautions Location of Labels: LS10-B Safety Manual Rev.4...
- Page 50 Safety Precautions Location of Labels: LS20-B Safety Manual Rev.4...
- Page 51 Safety Precautions Location of Labels: T3 Safety Manual Rev.4...
- Page 52 Safety Precautions Location of Labels: T6 Safety Manual Rev.4...
- Page 53 Safety Precautions Location of Labels: RS3 (UL: F) Safety Manual Rev.4...
- Page 54 Safety Precautions Location of Labels: RS4 (UL: F) (Figure: RS3-351*) Safety Manual Rev.4...
- Page 55 Safety Precautions Location of Labels: C4 E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 56 Safety Precautions Location of Labels: C8 C8-A1401*B C8-A1401** E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 57 Safety Precautions Location of Labels: C12 C12-A1401*B C12-A1401** E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 58 Safety Precautions Location of Labels: N2 E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 59 Safety Precautions Location of Labels: N6-A850*** E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 60 Safety Precautions Location of Labels:N6-A1000** E: This label is attached on the UL-approved Manipulators and the optional brake release box as well. Safety Manual Rev.4...
- Page 61 Safety Precautions Location of Labels: VT VT6-A901S/C VT6-A901P Safety Manual Rev.4...
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Page 62: For T-B Series
Safety Precautions For T-B series Warning label Location Note Before loosening the base mounting screws, hold the arm and secure it tightly with a band to prevent hands or fingers from being caught Manipulator. Do not enter the operation area while Manipulator is moving. - Page 63 Safety Precautions Warning label Location Note Do not connect the followings to the TP port of the controller that attached this label. Connecting to followings result malfunction of the device because pin assignments are different. OPTIONAL DEVICE dummy plug Operation Pendant OP500 Operator Pendant OP500RC Jog Pad JP500 Teaching Pendant TP-3**...
- Page 64 Safety Precautions Location of Labels: T3-B C-(1) D-(1) D-(2) C-(2) Safety Manual Rev.4...
- Page 65 Safety Precautions Location of Labels: T6-B C-(1) C-(2) Safety Manual Rev.4...
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Page 66: For Gx Series
Safety Precautions For GX series Position Warning label NOTE Hazardous voltage exists while Manipulator is ON. The surface of the Manipulator is hot during and after operation, and there is a risk of burns. Position Warning label NOTE The product name, model name, serial number, information which laws and regulations are supported, product specifications, manufacturer, importer, date of manufacture, country of manufacture, etc. - Page 67 Safety Precautions Location of Labels GX4 Common (Arm 2) Top View Table Top Mounting Lateral View Front View Lateral View Back View Table Top Mounting (Cable Downward Model) Lateral View Front View Lateral View Bottom View Safety Manual Rev.4...
- Page 68 Safety Precautions Multiple Mounting Lateral View Front View Lateral View Top View Safety Manual Rev.4...
- Page 69 Safety Precautions Location of Labels GX8 Common (Arm 2) Top View Front View Lateral View Back View Table Top Mounting Lateral View Front View Lateral View Back View Safety Manual Rev.4...
- Page 70 Safety Precautions Table Top Mounting (Cable Downward Model) Lateral View Front View Lateral View Bottom View Wall Mounting Lateral View Front View Lateral View Top View Ceiling Mounting Lateral View Front View Lateral View Back View Safety Manual Rev.4...
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Page 71: Safety Features
Safety Precautions Safety Features The following safety features which robot system has are particularly important. Make sure that these and other features function properly before operating the robot system. Emergency Stop Switch The EMERGENCY connector on the Controller has expansion Emergency Stop input terminals used for connecting the Emergency Stop switches. -
Page 72: Protection Features
Safety Precautions Protection Features The robot control system supports protection features described below. However, these features are prepared for unexpected occurrence. Low Power Mode The motor power is reduced in this mode. Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. -
Page 73: Cpu Irregularity Detection
Safety Precautions Speed Overflow - Servo Error - Detection The dynamic brake circuit is activated when the Manipulator’s actual speed is detected to mark an overflow (the actual speed is outside the nominal range) error. CPU Irregularity Detection Irregularity of CPU that controls the motor is detected by the watchdog timer. The system CPU and the motor controlling CPU inside the Controller are also designed to constantly check each other for any discrepancies. -
Page 74: Training
Training Training Training Held by Persons in Charge of Safety Management Persons in charge of safety management should confirm that the operators who program, operate, and maintain the Manipulator and robot system take proper training. Also confirm that the operators have expertise to conduct the work safely. Training should include at least the following: - Study of regulation safety procedures, and safety-related recommendations by robot manufacturers and system designers. -
Page 75: Knowledge And Training You Need For Operating The Robot System
Training Knowledge and Training You Need for Operating the Robot System Contents Knowledge and training you need About robot system Take “Safety program for the industrial robot operator” * that follows the laws and regulations of each nation. * “Safety program for the industrial robot operator” must include: - Knowledge of industrial robots. -
Page 76: The Manuals Of This Product
The Manuals of This Product The Manuals of This Product Manual Types The following are typical manual types for this product and an outline of the descriptions. Safety Manual (book, PDF) This manual contains safety information for all people who handle this product. The manual also describes the process from unpacking to operation and the manual you should look at next. - Page 77 EPSON RC+ 7.0 User’s Guide (PDF) This manual describes general information about program development software. EPSON RC+ 7.0 SPEL+ Language Reference (PDF) This manual describes the robot programming language “SPEL+”. Other Manual (PDF) Manuals for each option are available.
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Page 78: How To Read The Manuals
(Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.) Installing the Software and Manuals (1) Insert the EPSON RC+ 7.0 Setup DVD which provided with products in the DVD drive. Follow the instructions on the screen to enter information and select the drive to install. -
Page 79: Outline From Unpacking To Operation Of Robot System
1. Unpacking 2. Transportation 3. Installation 4. Power-on 5. Settings of EPSON RC+ 7.0 (First Step - For the first) 6. Connection and settings of peripherals and options (Second Step – For the next) Refer to the following PDF manuals for the details of 1 to 6 from your robot system. -
Page 80: China Rohs
China RoHS China RoHS This sheet and Environment Friendly Use Period label on the product are based on the laws and regulations in China. These are not applicable outside of China. Safety Manual Rev.4... - Page 81 China RoHS 产品中有害物质的名称及含量 C4 C8 C12 G1 G3 G6 G10 G20 LS-B 机器人型号名称 适用系列 GX4 GX8 T T-B VT RS3 RS4 N2 N6 系列 有害物质 六价 多溴 多溴 部件名称 铅 汞 镉 铬 联苯 二苯醚 (Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE) 机械手臂...
- Page 82 China RoHS 产品中有害物质的名称及含量 C4 C8 C12 G1 G3 G6 G10 G20 LS-B GX4 GX8 T T-B VT RS3 RS4 N2 N6 机器人型号名称 适用系列 系列 有害物质 六价 多溴 多溴 铅 汞 镉 铬 联苯 二苯醚 部件名称 (Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE) √...
- Page 83 China RoHS 产品中有害物质的名称及含量 RC700 RC700-A RC700DU RC700DU-A 控制器型号名称 适用系列 RC700-D RC90-B T T-B VT系列 有害物质 部件名称 铅 汞 镉 六价铬 多溴联苯 多溴二苯醚 (Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE) 控制器 × ○ ○ ○ ○ ○ √ √ √ √ √ √...
- Page 84 China RoHS 本表格依据SJ/T 11364的规定编制。 ○：表示该有害物质在该部件所有均质材料中的含量在GB/T 26572规定的限量要求以下。 ×：表示该有害物质至少在该部件的某一均质材料中的含量超出GB/T 26572规定的限量要求。 本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。 产品环保使用期限的使用条件 关于适用于在中华人民共和国境内销售的本产品的环保使用期限，在遵守该产品的安全及使用注意事项的 条件下，从生产日期开始计算，在标志的年限内，本产品中含有的有害物质不会对环境造成严重污染或对 人身、财产造成严重损害。 附注： 本表格及环保使用期限标志依据中国的有关规定而制定，中国以外的国家/地区则无需关注。 Note: This sheet and Environment Friendly Use Period label on the product are based on the laws and regulations in China. These are not applicable outside of China. Safety Manual Rev.4...