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Robot System Safety and Installation Read this manual first Rev.12 EM15XB3080F Robot Controller RC620 Programming Software EPSON RC+6.0 Manipulator G series RS series C3 series S5 series...
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Robot System Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12 Copyright  2009-2015 SEIKO EPSON CORPORATION. All rights reserved. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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- Your controller model and its serial number - Your manipulator model and its serial number - Software and its version in your robot system - A description of the problem SERVICE CENTER Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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: +49-(0)-2159-538-1391 : +49-(0)-2159-538-3170 E-MAIL : robot.infos@epson.de China Epson (China) Co., Ltd. Factory Automation Division 7F, Jinbao Building No. 89, Jinbao Street, Dongcheng District, Beijing, China, 100005 : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Seobusaet-gil, Geumcheon-gu, Seoul, 153-803 Korea : +82-(0)-2-3420-6692 : +82-(0)-2-558-4271 Southeast Asia Epson Singapore Pte. Ltd. Factory Automation System 1 HarbourFront Place, #03-02, HarbourFront Tower One, Singapore 098633 : +65-(0)-6586-5696 : +65-(0)-6271-3182 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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12th Floor, The Millenia, Tower A, No. 1, Murphy Road, Ulsoor, Bangalore, India 560008 : +91-80-3051-5000 : +91-80-3051-5005 Japan Epson Sales Japan Corporation Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg.6-24-1 Nishishinjuku, Shinjuku-ku, Tokyo 160-8324 Japan :+81-(0)3-5321-4161 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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For other countries, please contact your local government to investigate the possibility of recycling your product. The battery removal/replacement procedure is described in the following manuals: Controller manual / Manipulator manual (Maintenance section) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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When using the TP1 with the RC180, refer to theRC180 Option Teach Pendant TP1. Do not connect the followings to the TP port of RC620. Connecting to the followings may result in malfunction of the device since the pin assignments are different.
Page 11: Table Of Contents

2.2 Unpacking ·····················································123 2.3 Transportation ················································124 2.3.1 Transportation Precautions ·····················124 2.3.2 Manipulator Transportation ·····················125 2.3.3 Using a Crane ······································131 2.3.4 Using a Forklift ·····································131 2.4 Manipulator Installation ·····································132 2.4.1 Installation Precautions ·························132 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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2.10 Connecting Manipulator and Controller ·············· 171 2.11 Power-on ······················································· 173 3. First Step 3.1 Installing EPSON RC+ 5.0 Software ··················· 175 3.1.1 Startup Sequence ································· 175 3.1.2 How to set the Independent mode ············ 179 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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5.2.3 Tightening Hexagon Socket Head Cap Bolts ··················································196 5.2.4 Greasing ·············································197 5.2.5 Handling and Disposal of Batteries ···········198 6. Manuals Software ·······························································200 Software Options ····················································200 Controller ······························································201 Drive Unit ······························································201 Controller Options ···················································201 Manipulator ···························································201 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Table of Contents 7. Directives and Norms Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 15: Safety

WARNING This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly. CAUTION Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 16: 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 to understand the safety requirements before designing and/or constructing the robot system.
Page 17: Designing A Safe Robot System

For further details, refer to the following section: 1.8 Lockout/Tagout Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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During an emergency stop, the power that is supplied to the motor driving the robot is shut off, and the robot is stopped by dynamic braking. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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(low power status). Make sure not to enter the safeguarded area except through the point where the safeguard interlock is installed. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Robot Operation Panel When using the robot operation panel, it must be installed so as to operate the robot system from outside the safeguard. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 21: Operation Safety

Manipulator moves abnormally while the robot system is operated. Continuing the operating the robot system while the Manipulator moves abnormally is extremely hazardous and may result in serious bodily injury and/or severe equipment change to the robot system. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Arm orientation and end effector load. Oscillation arises from natural oscillation frequency of the Arm and can be controlled by following measures. Changing Manipulator speed Changing the teach points Changing the end effector load Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 23: Safety-related Requirements

Compatibility assessment of the UL-compliant model is performed according to the following standards. UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) CSA/CAN Z434-03 (February 2003) CE Marking − Machinery Directive, Low Voltage Directive, EMC Directive Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 24: Part Names / Arm Motion

Control Unit RC620 Front (3) (4) (12) (10) (11) (13) (14)-2 (14)-1 (15) Control Unit RC620-UL (Side and Back are the same as RC620.) (3) (4) (12) (13) (14)-2 (14)-1 (15) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Side (16) (17) Back (18) (20) (23) (24) (19) (21) (22) (26) (27) (25) (28) (29) (34) (30) (31) (32) (33) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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(14) Controller Number label (31) M/C POWER connector 2 (option) (15) Drive Unit Serial Number Label (32) M/C POWER connector 1 (16) Signature label (33) AC IN connector (17) MT label (34) Special slot Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Drive Unit RC600DU (3) (4) (10) (14) (15) (13) (12) (11)-1 (11)-2 (16) (17) (18) (19) (20) Drive Unit RC620DU-UL (3) (4) (10) (15) (12) (11)-1 (11)-2 (16) (17) (18) (19) (20) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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M/C POWER connector (16) DU OUT Connector Connection Check label (17) DU IN Connector M/C SIGNAL connector (18) R-I/O Connector EMERGENCY connector (19) I/O connector (10) AC IN (20) ProSix Driver Unit Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Fitting (black or blue)* for ø4 mm pneumatic tube for ø6 mm pneumatic tube Fitting (black or blue)* for ø6 mm pneumatic tube * Color differs depending on the shipment time Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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When the brake release switch is pressed in emergency mode, the brake for Joint  #3 is released. Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Fittings (black or blue)* for ø6 mm pneumatic tube Signal cable Power cable CE label Fitting (black or blue)* * Color differs depending for ø4 mm pneumatic tube UR label on the shipment time Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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When the brake release switch is pressed in emergency mode, the brake for Joint #3 is released. Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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ø 6 mm pneumatic tube Fitting (black or blue)* for ø 4 mm pneumatic tube Fitting (white) for ø 4 mm pneumatic tube * Color differs depending on the shipment time Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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(For G6-**1**, Joint #4 has no brake on it.) Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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ø 6 mm pneumatic tube Fitting (black or blue)* for ø 4 mm pneumatic tube Fitting (white) for ø 4 mm pneumatic tube * Color differs depending on the shipment time Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joints #3 and #4 are released simultaneously. Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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ø 6 mm Shaft pneumatic tube − Joint #3 and #4 Joint #4 brake release switch (rotating) CE label MT label (only for custom specification) Signature label (Serial No. of Manipulator) UR label Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Rotate the shaft by hand. NOTE  Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #3 (15-pin D-sub Connector) pneumatic tube − Shaft Joint #3 and #4 down) − brake release switch Joint #4 CE label (rotating) LED lamp Signature label (Serial No. of Manipulator) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Rotate the shaft by hand. NOTE  Be careful of the shaft while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Fitting for ø 4 mm pneumatic tube Black or blue (Color differs depending on the shipment time) Standard-model / Clean-room type Cover Exhaust port Signal cable Power cable For ø8 mm pneumatic tube Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Execute the following command to turn on the brake again. >Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be turned on] Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Arm #2 : The lower arm swings. Arm #3 : The upper arm swings. J1− Arm #4 : The wrist revolves. Arm #5 : The wrist swings. Arm #6 : The wrist rotates. Base Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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>Brake On,[The number (from 1 to 6) corresponding to the arm whose brake will be turned on] X5 series The operation varies with different module combination. For details, refer to the EZ Module X5 Series manual. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 45: Operation Modes

PROGRAM operation mode allows you to execute and debug programs when the safeguard is closed. TEACH operation mode allows you to jog and teach the robot at slow speed while inside the safeguarded area. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 46: Maintenance Safety

Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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- If alcohol, liquid gasket, or adhesive gets into your eyes or mouth, flush your eyes or wash out your mouth with clean water thoroughly, and then see a doctor immediately. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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If swallowed, do not induce vomiting. See a doctor immediately. If grease just gets into your mouth, wash out your mouth with water thoroughly. If grease gets on your skin: Wash the area thoroughly with soap and water. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 49: Emergency Stop

Manipulator is operating, make sure to check the following points after power restoration. Whether or not the reduction gear is damaged Whether or not the joints are in their proper positions Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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To check brake problems, refer to the following manuals. Manipulator Manual Maintenance 2.2.2 Inspection While the Power is ON (Manipulator is operating) Safety and Installation 5.2.2 Inspection Point - Inspection While the Power is ON (Manipulator is operating) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 51: Free Running Distance In Emergency

Joint #1 + Joint #2 [sec.] running Joint #3 [sec.] time Joint #1 [deg.] Free running Joint #2 [deg.] angle Joint #1 + Joint #2 [deg.] Free running Joint #3 [mm] distance Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #1 + Joint #2 [sec.] running Joint #3 [sec.] time Joint #1 [deg.] Free running Joint #2 [deg.] angle Joint #1 + Joint #2 [deg.] Free running Joint #3 G3-**1** [mm] distance Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #1 + Joint #2 [sec.] Free running time Joint #3 [sec.] Joint #1 [deg.] Free running Joint #2 [deg.] angle Joint #1 + Joint #2 [deg.] Joint #3 G6-**1** [mm] Free running distance G6-**3** Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #1 + Joint #2 [sec.] Free running Joint #3 [sec.] time Joint #1 [deg.] Free running Joint #2 [deg.] angle Joint #1 + Joint #2 [deg.] Free running Joint #3 G10/G20-**1** [mm] distance G10/G20-**4** Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #1 + Joint #2 [sec.] Free running time Joint #3 [sec.] Joint #1 [deg.] Free running Joint #2 [deg.] angle Joint #1 + Joint #2 [deg.] Free running Joint #3 [mm] distance Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Arm #1 Arm #2 Arm #3 Free running time [second] Arm #4 Arm #5 Arm #6 Arm #1 Arm #2 Free running angle Arm #3 [degree] Arm #4 Arm #5 Arm #6 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Arm #1 Arm #2 Free Arm #3 running time Arm #4 [sec.] Arm #5 Arm #6 Arm #1 Arm #2 Free Arm #3 running angle Arm #4 [deg.] Arm #5 Arm #6 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 58: How To Reset The Emergency Mode

1. Safety 1.5.2 How to reset the emergency mode Select EPSON RC+ [Tools] – [Robot Manager] – [Control Panel] tab, and then click <Reset>. The Control Panel page contains buttons for basic robot operations, such as turning motors on/off and homing the robot. It also shows status for Emergency Stop, Safeguard, Motors, and Power.
Page 59: Labels

3 minutes after the Power is OFF. Residual voltage exists. avoid electric shock, do not open the cover while the Power is ON, or for 300 seconds after the Power is OFF. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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TP port of RC620. Connecting to the followings may result malfunction device. OPTIONAL DEVICE dummy plug, OP500, OP500RC, JP500, OP1 and TP-3**, and TP2 Refer to 4.2 Connection and Display Language of Option TP1 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Hazardous voltage exists while the Manipulator is ON. To avoid electric shock, do not touch any internal electric parts. Make sure to use the designated lithium battery. Refer to Controller Manual Maintenance 14. Maintenance parts list Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Control Unit RC620 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Drive Unit RC620DU Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 64: Manipulator

Manipulator. Follow the directions in this manual for installation and transportation. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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This is extremely hazardous and may result in serious safety problems. Hazardous voltage exists while Manipulator is ON. To avoid electric shock, do not touch any internal electric parts. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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* This label is attached to the option brake release box. Be careful of the shaft falling due to the hand’s own weight while the brake release button is being pressed. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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To pick up the manipulator arm, use two wire ropes of equal length. Remove the shipping brackets and eyebolts before turning power on. Follow the directions in this manual for installation and transportation. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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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 (Only UL model) system. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Location Label Note Make sure to use the designated lithium battery. Refer to Manipulator Manual Maintenance : Maintenance parts list Location of Labels Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Common Table Top Mounting Multiple Mounting Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Table Top Mounting G6-***S Ceiling Mounting Wall Mounting G6-***SW G6-***SR Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety G10/G20 Table Top Mounting: G10/G20-**** Wall Mounting: G10/G20-****W Ceiling Mounting: G10/G20-****R Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Side B (Both sides) Front Bottom Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Top View Front View Back View Lateral View Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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1. Safety Lateral View (Left side) Lateral View (Right side) Back View Front View  NOTE Label E is for the manipulator of up/down axis. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 76: Safety Features

Teach Pendant to the “Teach” mode. Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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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. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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The dynamic brake circuit is activated when the drop of the power supply voltage is detected. Temperature Anomaly Detection The temperature anomaly is detected. Fan Malfunction Detection Malfunction of the fan rotation speed is detected. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 79: Lockout / Tagout

(4) Attach a note to the POWER switch or the power supply plug to prevent anyone from turning ON the robot system by mistake. RC620-UL: For maintenance and repair, make sure to lockout and tagout the external disconnecting means. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 80: Manipulator Specifications

All joints: 50 W Rated 0.5 kg Payload Maximum 1 kg Joint #4 allowable Rated 0.0003 kg·m moment of inertia Maximum 0.004 kg·m Shaft diameter ø 8 mm Mounting hole 125×88 (4-M6) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #1 3.43322E-05 deg/pulse Joint #2 5.49316E-05 deg/pulse Resolution Joint #3 9.15527E-05 mm/pulse Joint #4 9.15527E-04 deg/pulse Motor power consumption All joints: 50 W Rated 0.5 kg Payload Maximum 1.5 kg Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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5 to 40 deg. C Environmental Ambient temperature (with minimum temperature variation) requirements Ambient relative humidity 10 to 80% (no condensation) Noise level = 70 dB (A) Applicable Controller RC180, RC620, RC700-A Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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− 2184534 (pulse) Right hand to 2730667 to 3003734 Joint #2 − 2730667 − 3003734 Left hand to 2457600 to 2184534 −1706667 to 0 Joint #3 Common ± 1494221 Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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− 1165085 to 5679787 Left hand pulse range Curved − 2184534 to 2912712 Right hand (pulse) Joint #2 − 2912712 to 2184534 Left hand −1706667 to 0 Joint #3 Common ± 1494221 Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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− 2184534 (pulse) Right hand to 2639645 to 2912712 Joint #2 − 2639645 − 2912712 Left hand to 2457600 to 2184534 −1365334 to 0 Joint #3 Common ± 1494221 Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Left hand pulse range to 5679787 Curved − 2184534 (pulse) Right hand to 2730667 Joint #2 − 2730667 Left hand to 2187534 −1365334 to 0 Joint #3 Common ± 1494221 Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 91

Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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180 mm : G6-**1S*, D* 150 mm : G6-**1C*, P*, D* with bellows option Joint #3 330 mm : G6-**3S*, D* 300 mm : G6-**3C*, P*, D* with bellows option ±360 deg Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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±2639645 pulse Z –270 to –330 145 deg ±2685156 pulse Z 0 to –240 147.5 deg G6-45*C*/ P* / D* ±2585031 pulse with bellows option Z –240 to –300 142 deg Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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180 mm : G6-**1S*, D* 150 mm : G6-**1C*, P*, D* with bellows option Joint #3 330 mm : G6-**3S*, D* 300 mm : G6-**3C*, P*, D* with bellows option ±360 deg Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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±2685156 (pulse) -1976708 : G6-**1S*, D* -1647257 : G6-**1C*, P*, D* with bellows option Joint #3 -1811982 : G6-**3S*, D* -1647257 : G6-**3C*, P*, D* with bellows option ±1961226 Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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*4: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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150 mm : G10/G20-**1C*, P*, D* with bellows option Joint #3 420 mm : G10/G20-**4S*, D* 390 mm : G10/G20-**4C*, P*, D* with bellows option ±360 deg Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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Joint #4 ±2752512 NOTE The length of Arm #1 + #2 varies in different Manipulator models. : 650 mm G10 only : 850 mm G10 / G20 : 1000 mm G20 only Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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150 mm : G10/G20-**1C*, P*, D* with bellows option Joint #3 420 mm : G10/G20-**4S*, D* 390 mm : G10/G20-**4C*, P*, D* with bellows option ±360 deg Joint #4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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G10/G20-85C / P / D with bellows option (Z: −360 to −390 only) ±151 deg ±2748871 G10/G20-85CW / PW / DW with bellows option G10/G20-85CR / PR / DR with bellows option Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
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IP65 Water: 5 enclosure from any direction shall have no harmful effects. *3: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal plane. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 105

Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 106

150 W Joint #4 100 W Option Installation environment Cleanroom & ESD *3 Joint #3 down force 150 N 15 wires: D-sub / 15 pin Installed wire for customer use connectors Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 107

EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 108

Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 109

Joint #3 150 W Joint #4 100 W Option Environment Cleanroom & ESD *3 Joint #3 down force 150 N 15 wires: D-sub / 15 pin Installed wire for customer use connectors Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 110

EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 111

Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 112

Joint #1 0.00000429 deg /pulse Joint #2 0.00000429 deg /pulse Joint #3 0.00000490 deg /pulse Resolution Joint #4 0.00000531 deg /pulse Joint #5 0.00000524 deg /pulse Joint #6 0.00000686 deg /pulse Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 113

EMC Directive, Machinery Directive, RoHS Directive KC Mark / KCs Mark UL standards Safety standard (when connected with RC620 or RC180) UL1740 (Third Edition, Dated December 7, 2007) ANSI/RIA R15.06-1999 NFPA 79 (2007 Edition) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 114

Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 115

400 W Arm #3 200 W Motor power consumption Arm #4 50 W Arm #5 50 W Arm #6 50 W Rated 2 kg Payload Maximum (with conditions) 5 (7) kg Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 116

400 W Arm #3 200 W Motor power consumption Arm #4 50 W Arm #5 50 W Arm #6 50 W Rated 2 kg Payload Maximum (with conditions) 5 (7) kg Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 117

200 (25000) (Max. setting values) 10000, 10000, 10000, 10000, 10000, 10000 FINE (65535, 65535, 65535, 65535, 65535, 65535) WEIGHT 2, 0 ANSI/RIA R15.06 compliance Safety standard EN775, EN60204-1, EN55011, EN61000-6-2, EN60950 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 118

*5 Conditions of Manipulator at measurement are as follows: Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed, maximum acceleration, and duty 50%. Measurement point: 1000 mm apart from the rear of Manipulator Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 119: Motion Range Setting By Mechanical Stops

Mechanical stop of Joint #2 (Adjustable) (Do not move the upper limit mechanical stop.) Mechanical stop of Joint #1 (Adjustable) Joint #1 ° = degree ) Model +125° -125° +120° -120° Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 120

+132° +120° *1 Standard position of the mechanical stop *2 Limits the motion range using the bolts in the Arm #2 bottom to prevent the bellows from contacting the manipulator body. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 121

Multiple mounting. Install the bolts for the mechanical stop of Joint #1 (adjustable) to the following position. Table Top mounting : Arm bottom side Multiple mounting : Arm top side Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 122

-95° -100° -105° -110° -120° Pulse Value -145636 -291271 -436907 -582542 -728178 -873813 Setting Angle +165° -125° -130° -140° -145° -150° Pulse Value -1019449 -1165085 -1456356 -1601991 -1747627 -2184533 (°: degree) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 123

(°: degree) NOTE In case of Multiple Mounting, it is impossible to limit the operating range completely.  Because it may hit the wall within the setting range of mechanical stops. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 124

Ceiling Mounting Mechanical stop of Joint #1 (Adjustable) Mechanical stop of Joint #1 (Fixed) * The different mechanical stop positions from Table Top mounting are indicated for Wall mounting and Ceiling mounting. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 125

-5° -20° -30° -60° Pulse Value 3495254 3203983 2767076 2475805 2038898 1747627 873814 Setting Angle -75° -105° -120° -135° -148° -152° Pulse Value 436907 -436907 -873814 -1310720 -1689373 -1805881 (°: degree) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 126

+145° +142° +130° +125° +100° Pulse Value 2685156 2639645 2585031 2366578 2275556 1820445 Setting Angle -100° -125° -130° -142° -145° -147.5° Pulse Value -1820445 -2275556 -2366578 -2585031 -2639644 -2685156 (°: degree) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 127

Ceiling Mounting Mechanical stop of Joint #1 Mechanical stop of Joint #1 (Adjustable) (Fixed) * The different mechanical stop positions from Table Top Mounting are indicated for Wall Mounting and Ceiling Mounting. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 128

+15° -15° -60° -107° Ceiling Wall 65, 85, A0 Setting +152° +107° +60° +15° -15° -60° -107° -152° Angle Pulse +7048761 +5738041 +4369067 +3058347 +2184534 +873814 -495161 -1805881 Value (°: degree) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 129

Pulse Value -2776178 -2748871 -2230045 -2202738 -1820445 (°: degree) NOTE  In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 130

M10×15 hexagon socket head cap bolt Tightening torque 73.5 N·m (750 kgf·cm) −143 −160 Angle (deg.) −4165177 −4660338 Pulse (pulse) +1398102 +1893263 Not applied Not applied Bolt Applied Applied (Normal) (Normal) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 131

M8×12 hexagon socket head cap bolt Tightening torque 37.2 N·m (380 kgf·cm) −27 −51 Angle (deg.) +201 +225 −688128 −1299798 Pulse (pulse) +5122731 +5734400 Applied Applied Bolt Applied Applied (Normal) (Normal) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 132: End User Training

- Explanation of potential hazards involved in the work. - Work safety procedures and specific methods of avoiding potential hazards. - Safety device and interlock function testing and confirmation methods are working properly. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 133: Installation

The outline to install the robot system is indicated on 2.1 Outline from Unpacking to Operation of Robot System. Refer to each section and/or the Manipulator manual and the Controller manual for unpacking, transportation, and installation. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 134: System Example

Fieldbus I/O Master Board EPSON RC+ 6.0 PROFIBUS-DP DeviceNET Vision Guide 6.0 (option) EtherNet/IP VB Guide 6.0 (option) GUI Builder 6.0 S5 series (option) Display Keyboard Mouse X5 series Additional axis (option) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 135

Drive Unit cannot operate alone. One or Two Drive Unit(s) can be used per robot system.  NOTE RC620 Control Unit can be described as RC620CU (Control Unit) to distinguish from RC620DU (Drive Unit). Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 136: System

3. First Step Procedures to install EPSON RC+6.0 to the development PC and enable the operation of the robot system 4. Second Step Manual information to connect or setup the equipment and options Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 137: Unpacking

: Do not remove the wire tie securing the arm until you finish the installation. You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 138: Transportation

: Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is extremely hazardous and may results in serious bodily injury and/or severe equipment damage to the robot system as the fall of the Manipulator. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 139: Manipulator Transportation

G3-351*M : approx. 14 kg: 31 lb Table Top Mounting G3-251* : approx. 14 kg: 31 lb. G3-301* : approx. 14 kg: 31 lb. G3-351* : approx. 14 kg: 31 lb. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 140

Approx. 28 kg: 62 lb. Wall Mounting G6-45**W/G6-55**W Approx. 29 kg: 64 lb. G6-65**W Approx. 29.5 kg: 65 lb. Ceiling Mounting G6-45**R/G6-55**R Approx. 27 kg: 60 lb. G6-65**R Approx. 28 kg: 62 lb. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 141

When holding the bottom of the base by hand, be very careful not to get your hands or fingers caught. RS3-351* : approx. 17 kg : 38 lb. (except cables) RS4-551* : approx. 19 kg : 42 lb. (except cables) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 142

Manipulator weight : 27 kg (59.5 lb.) DO NOT hold the bottom of the base by hand. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 143

Approx. 38 kg (Manipulator weight: 36 kg (80 lb.)) S5-A901** Approx. 40 kg (Manipulator weight: 38 kg (84 lb.)) Shipping bolts and jigs DO NOT hold the bottom of the base by hand. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 144

- Basically, transport the manipulator on module basis. Module body weight RH module Max. 61 kg RM module Max. 17 kg RSz module Max. 8.3 kg RU module 2.6 kg Main unit Motor Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 145: Using A Crane

The pallet must have enough strength to bear the weight of the Manipulator. Transporting of the Manipulator must be performed slowly in order to avoid overturning or slippage. 18° 45° Bolt (4-M10) Controller Pallet Inset here the forklift claws. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 146: Manipulator 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. Space between safeguard and Manipulator...
Page 147: Environment

4 kV or less Base table Use a base table that is at least 100 mm off the floor. Placing the Controller directly on the floor could allow dust penetration leading to malfunction. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 148: Noise Level

RP-HMSz 76.2 and duty 50% RU-HMSz 76.2 Under rated load, All arm simultaneous operation, 1000mm apart from maximum speed, the Back of the Manipulator maximum acceleration, and duty 50% Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 149: Base Table

The plate for the Manipulator mounting face should be 30 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μm or less. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 150: Installation Procedure

ISO898-1 property class: 6.9. Secure outward four points. Tightening torque: 13 N·m (133 kgf·cm) G1-171* : approx. 8 kg :18 lb. G1-221* : approx. 8 kg :18 lb. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 151

(3) Remove the bolts securing the Wire tie wire ties removed in step (2). Bolt :M4×15 (4) Remove the shipping bolt and Sheet jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 152

Use bolts with specifications  conforming to ISO898-1 Property 10 mm Class: 10.9 or 12.9. Plane Washer Spring Washer Tightening torque 4-M8×30 : 32.0 N·m (326 kgf·cm) (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 153

Bolt :M4×15 (3) Remove the bolts securing the wire ties Sheet removed in step (2). Wire tie Bolt (4) Remove the shipping bolt and jigs. :M5×15 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 154

Use bolts with specifications  conforming to ISO898-1 Property Class: 10.9 or 12.9. Tightening torque Plane Washer : 32.0 N·m (326 kgf·cm) 6-M8×40 Spring Washer (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 155

20 mm  NOTE Plane conforming to ISO898-1 Property Washer Spring Class: 10.9 or 12.9. Washer 4-M8×40 Tightening torque : 32.0 N·m (326 kgf·cm) (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 156

: M6 Wire tie (3) Remove the bolts securing the wire ties removed in step (2). Arm mounting bolt (4) Remove the shipping bolt and jigs. : M12×20 Eyebolt (Attached at shipment) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 157

ISO898-1 Property Class: 10.9 or 12.9. Screw Hole Tightening torque (depth 20 mm or more) : 32.0 N·m (326 kgf·cm) Plane Washer Spring Washer 6-M12×40 (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 158

Use bolts with specifications conforming NOTE  Washer Spring to ISO898-1 Property Class: 10.9 or 12.9. Washer 4-M12×40 Tightening torque : 32.0 N·m (326 kgf·cm) (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 159

Intensity of the bolts should be NOTE  equivalent to ISO898-1 Property Class 10.9 or 12.9. Tightening torque 6-M6×20 : 13.0 N·m (133 kgf·cm) (3) Remove the shipping bolt and jigs. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 160

Point A Point B There are four threaded holes for the Manipulator base. Use M8 mounting bolts conforming to the strength of ISO898-1 property class 12.9. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 161

- Mount the mounting braket on the module main unit with the attached bolt. - Process a screw on te mounting base table and secure the module unit from the upper side. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 162

Units to use RH800 : 3 RM750 : 3 RM750 : 2 RH1000 : 3 Weight approx. 2.4 kg approx.1.8 kg approx.3.6 kg RG-HM RG-MS Applicable module RD-HM YZ-MS RD-MS RP-HMSz RP-MSSz RU-HMSz Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 163: Controller Installation

Damaged cables, disconnection, or a contact failure is extremely hazardous and may result in electric shock and/or improper function of the system. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 164: Installation - Control Unit Rc620

There must also be room behind the Control Unit so that one can attach and remove cables. Use a base table that is at least 100 mm off the floor. Placing the Control Unit directly on the floor could allow dust penetration leading to malfunction. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 165: Installation - Drive Unit Rc620du

The length from the edge of fixture L differs by the side. Refer to the following NOTE  figure and mount the side with shorter distance from the edge to the screw hole on the Upper side. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 166

(Front Side) Drive unit Drive unit only + ProSix Driver Unit - No screw hole processing is required for mounting direction (D). Secure it to the rack with screws and nuts. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 167

- Hot air with higher temperature than the ambient temperature (about 10 deg.C) comes out from the Drive unit. Make sure that heat sensitive devices are not placed near the outlet. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 168: Connecting To Emergency Connector

Connector Standard EMERGENCY connector D-sub25 Pin (male) (Controller / DriveUnit side) Mounting style #4-40 * The E-STOP BOX, connector cable, terminal block, and connector kit are offered as options. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 169: Safety Door Switch

The controller software latches the following conditions: - The safety door is open. - The operation mode is “TEACH”. The EMERGENCY connector has an input terminal for a latch release switch that cancels the latched conditions. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 170: Operation

To cancel the condition, close the safety door, and then close the safety door latch release input. Closed : The latch release switch does not latch the condition that the safety door is open. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 171: Emergency Stop Switch

EMERGENCY connector at the Controller, refer to the following. 2.6.8 Circuit Diagrams - Control Unit 2.6.9 Circuit Diagrams - Drive Unit Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 172: Operation

(3) Make sure that “E.Stop” is displayed on the main window status bar. (4) Release the Emergency Stop Switch. (5) Execute the RESET command. (6) Make sure that “ERROR/E-STOP” LED turns OFF and “E-Stop” display fades on the main window status bar. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 173: Pin Assignments

18-19 pin Latch Release rated input current 10 mA/+24 V input  NOTE The total electrical resistance of the Emergency Stop switches and their circuit should be 1 Ω or less. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 174: Circuit Diagrams - Control Unit

Stop detection External +24V Safety Door input 1 Safety Door input 2 Latch release input External +24V Latch release input Close :Latch off NOTE:+24V GND Open :Latch on + 5V GND Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 175

External +24V External +24V Safety Door input 1 Safety Door input 2 Latch Release input External +24V Latch release input Close :Latch off NOTE:+24V GND Open :Latch on + 5V GND Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 176: Circuit Diagrams - Drive Unit

2. Installation 2.6.9 Circuit Diagrams - Drive Unit Circuit Diagram Drive Unit Main Circuit Control Emergency Stop detection Safety Door input 1 Safety Door input 2 Latch release input Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 177

Operation unit Terminal block NOTE  - The Emergency cable, Emergency cable kit, and Terminal block are offered as options. - Design the cables connecting the units within 20 m long. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 178

+24V Terminal block * Fuse For the protection of the emergency stop circuit, the fuse’s capacity should be as follows: - Meets the capacity of the external - 0.4A or less Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 179

Safety Door input 2 Latch release input Safety Door input 1 Safety Door input 2 Latch release input External NOTE  - Design the cables connecting the units within 20 m long. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 180: Ac Power Cable

10 kHz or more leakage current. If you install a circuit breaker, please select one that will handle the above mentioned “peak current”. The power receptacle shall be installed near the equipment and shall be easily accessible. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 181: Ac Power Cable

Purpose Color AC power wire (2 cables) Black Ground wire Green / Yellow Specification of Power plug (option) Manufacturer Name Model AC plug 422R AMERICAN DENKI Cable length: 3 m (Standard) Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 182: Breaker

AC power supplying side in accordance with the National Electrical Code. A disconnecting means shall be installed in accordance with the WARNING National Electrical Code and provide the ability for lockout and tagout. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 183: Drive Unit Connection

How to turn on the power switch: Check the connection first. Then, make sure to turn on the power switch of Drive Unit before turning on the power switch of Control Unit. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 184: Drive Unit Configuration

Plastic Fasteners Change the DIP swich in SMB. Drive Unit ALL OFF DIP switch 1 2 3 4 Drive Unit ON : 1 OFF : 2, 3, 4 1 2 3 4 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 185: Connecting Manipulator And Controller

The unnecessary strain on the cables 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. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 186

Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP65.  Connect the Manipulator to the Controller using the Power cable and the Signal NOTE cable. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 187: Power-on

Turn ON the Drive Unit RC620DU POWER switch. * Turn ON the Control Unit RC620CU POWER switch. * * For RC620-UL and RC620DU-UL, the POWER switch is not available. Instead, turn ON the external disconnecting means. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 188

When an error appears, check the connection in step (1) to (5) to turn ON the power again. If an error appears after checking the connection, contact the supplier. Control Unit RC620CU (8) LCD (7) POWER switch Drive Unit RC620DU (6) POWER switch Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 189: First Step

Auto Start. NOTE  When using the VB Guide option, you do not need to start EPSON RC+ 6.0. The library provided with VB Guide will load EPSON RC+ 6.0 into your .NET application process automatically.
Page 190

If no tasks are currently running, a dialog below will be displayed. For sessions > 1 EPSON RC+ should be started in Off-line mode. If there are no project files specified on the startup command line, then the last project that was opened will be opened as read only at startup time.
Page 191

Real Part and Windows Part are started up separately at the each timing. To operate the robot system without problem, you should synchronize these two parts. At the shipment of RC620 robot controller, the Cooperative mode that synchronizes these parts is applied.
Page 192

When the controller is in Cooperative mode, the state does not back to wait for the  RC+ connection even after RC+ shutdown. Also when the console is Remote, you need to be careful during the RC+ shutdown because the remote command is still executable. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 193: How To Set The Independent Mode

To configure startup, select the [System Configuration] from the Setup Menu. The Startup section has pages for Start Mode, Auto Start, and Windows Login. 3.1.4 Start Mode This page has settings for the EPSON RC+ 6.0 start mode. There are two start modes: Program This mode allows you to develop your projects.
Page 194: Start Mode Dialog

When you change to PROGRAM mode from this dialog, it is only temporary.  The next time EPSON RC+ 6.0 runs, the original start mode setting will be used. 3.1.6 Start Mode: Program Program mode is the default start mode.
Page 195: Start Mode: Auto

3.1.8 Auto Start You can configure EPSON RC+ 6.0 to automatically start when Windows starts. From the Setup | System Configuration | Auto Start page, set the Start EPSON RC+ 6.0 after Windows start check box. In addition, if you set the checkbox above, you can specify EPSON RC+ 6.0 command line options (/auto, /nosplash, etc.) in the Command line options text...
Page 196: Writing Your First Program

3. First Step 3.2 Writing Your First Program After installing the RC620 controller, robot, and EPSON RC+ 6.0 software on your PC, follow these instructions to create a simple application program so that you will become more familiar with the EPSON RC+ 6.0 development environment.
Page 197

3. First Step 3. Edit the program Type in the following program lines in the Main.prg edit window. Function main Print "This is my first program." Fend Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 198

(4) You should see text similar to the following displayed in the Status window: 19:32:45 Task main started 19:32:45 All tasks stopped On the Run window, you will see the output of the print statement. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 199

Control Panel page displayed. (2) Click on the Motor On button to turn on the robot motors. You will be prompted to confirm the operation. Answer Yes to continue. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 200

(11) Change the current point to P2 by selecting P2 in the Point dropdown list. (12) Click the Teach button. You will see a confirmation message to teach the point. Answer Yes. (13) Click the Save Project toolbar button to save the changes. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 201

8. Backup the project and system configuration Even though this is only a sample project, we will backup the project and controller configuration. This is easy to do with EPSON RC+ 6.0. It is important that you keep regular backups of your applications on external media such as USB memory.
Page 202

Click on the Backup Controller button. f. Select the certain drive. g. Click OK. The system configuration will be backed up on the external media. Now that you have written your first program. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 203: Second Step

4.1.2 Ethernet ROBOT CONTROLLER RC620 Setup & Operation 6. LAN (Ethernet) Port 4.1.3 RS-232C (Option) EPSON RC+ 6.0 User’s Guide 12. RS-232C Communication ROBOT CONTROLLER RC620 Setup & Operation 11.4 RS-232C Board Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 204: Connection And Display Language Of Option Tp1

B: TP Cable B : D-sub connector Teach TP Cable Controller Pendant Connection ROBOT CONTROLLER RC620 Setup & Operation 3. Installation 7. TP/OP Port Changing Display Language RC620 Operation 13.4.9 Language Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 205: General Maintenance

√ 9 months (2250 h) √ 10 months (2500 h) √ 11 months (2750 h) √ √ √ √ 12 months (3000 h) √ 13 months (3250 h) h = hour Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 206

Loose bolts, connectors and cables Periodical Every half year Inspect timing belt for damage and looseness. Replace cables. Periodical replacement Every two years Replace timing belt. of expendable parts Every three years Replace lithium battery. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 207: Inspection Point

G1 G3 G6 G10 Check tension of G20 LS RS √ √ timing belts. Inside of Base and Tighten it if necessary. Arm #1, 2, 3, 4 : Grease conditions Refer to Greasing. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 208

Check for wear of protective spring. (Visual, Multimeter) Replace the battery unit when an error warning ― that low battery status is occurring at startup of Battery unit the software or every three years. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 209: (manipulator Is Operating)

Daily Monthly Quarterly Biannual Annual Check whether unusual Entire Controller √ √ √ √ √ sound or vibration is occurring. Make a backup of data. Project and Whenever data is changed. system data Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 210

Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 211: Greasing

First time: after 50 km operation Joint #3 Ball screw spline shaft 2nd or more: after 100 km operation Joint #4 Backlash less gear At greasing of Joint #3 Only for G10 Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 212: Handling And Disposal Of Batteries

Spent battery or not, make sure the terminal is insulated. If the terminal contacts with the other metals, it is extremely hazardous, may result in heat generation, leakage, explosion, or inflammation, and may cause serious safety problems. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 213

However, when the position is out of place after the battery replacement, perform the calibration. Be sure to use the designated lithium battery and the battery board. Be sure to set the correct polar when installing the battery. Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 214: Manuals

Manuals are supplied by Acrobat PDF to use the Robot system. Select EPSON RC+ 6.0 | Help | PDF Manual to view the PDF manuals on a PC. (From the Windows desktop, click <Start> | Program | EPSON RC+ 6.0.) Software EPSON RC+ 6.0 User’s Guide...
Page 215: Controller

6. Manuals Controller ROBOT CONTROLLER RC620 This manual indicates descriptions of the Robot Controller RC620, Robot system, and option TP1. - Safety - Specification, Installation, Operation, and Setup - Backup and Restore - Maintenance - Verifying Robot System Operation etc.
Page 216

These products conform to the following directives and norms. For more details of Controllers and Manipulators, please refer to each manual. Product Name Model Controller RC620 Manipulator G series RS series C3 series X5 series Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 217

- Electromagnetic disturbance characteristics - Limits and methods of measurement EN61000-6-2(2005) Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards - Immunity for industrial environments *Emergency stop circuit category3, PL d Safety Door circuit category3, PL d Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...
Page 218

7. Directives and Norms Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12...