Epson RC620 Safety And Installation page 111

*1: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s
on horizontal plane.
*2: 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.
*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior
and arm cover interior together.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer
part of the arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified
maximum level.
Cleanliness level: Class ISO 3 (ISO14644-1)
Exhaust System: Exhaust port diameter: Inner diameter: ø12 mm/Outer diameter: ø16 mm
ESD specification uses resin materials with antistatic treatment. This model controls
adhesion of dust due to electrification.
*4: Conditions of Manipulator during measurement as follows:
Operating conditions
Measurement point
*5 In general use, Accel setting 100 is the optimum setting that maintains the balance of
acceleration and vibration when positioning. 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
Amount of Dust (0.1 µm diameter or larger) in 28317 cm
sample-air around the center of the motion rang: 10 particles or less.)
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter: ø8 mm)
or Inner diameter ø16mm or larger
Recommended exhaust flow rate: approx. 1000 cm
: Under rated load, 4-joints simultaneous motion, maximum
speed, maximum acceleration, and duty 50%.
: In front of the Manipulator, 1000 mm apart from the motion
range, 50 mm above the base-installed surface.
1. Safety
3
(1cft)
3
/s
(Normal)
97