Epson RC620 Safety And Installation page 114

1. Safety
*1 In case of PTP control
*2 If the payload exceeds the maximum payload, refer to the section "Restrictions on payload
exceeding the maximum payload" in C3 series Manipulator Manual: Setup & Operation
4.3.1 WEIGHT Setting.
*3 If the center of gravity is at the center of each arm. If the center of gravity is not at the
center of each arm, set the eccentric quantity using INERTIA command.
*4 For details of the installed pneumatic tube for customer use, refer to C3 series Manipulator
Manual: Setup & Operation 3.6 User Wires and Pneumatic Tubes.
*5 For details of the environmental requirements, refer to C3 series Manipulator Manual:
Setup & Operation 3.1 Environmental Conditions.
*6 Conditions of Manipulator during measurement as follows:
Operating conditions: Under rated load, 6 arms simultaneous motion, maximum speed,
Measurement point:
*7: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior
and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the
outer part of the arm, which can cause increased dust emission.
Do not remove the covers.
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 : Fitting for ø8 mm pneumatic tube
Exhaust tube
ESD specification uses resin materials with antistatic treatment. This model controls
adhesion of dust due to electrification.
*8 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.
100
maximum acceleration, and duty 50%.
1000 mm apart from the rear of Manipulator
(Number of particles of 0.1μm or larger in a sample air
3
(28317cm :1cft) around the center of the motion area = less than 10
particles)
Refer to C3 series Manipulator Manual:
Setup & Operation: 3.6 User Wires and Pneumatic Tubes.
60 L/min vacuum
: Polyurethane tube
Outer diameter: ø8 mm (Inner diameter: ø5 to 6 mm)
Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12