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Epson LS-B Series Safety And Installation

Robot system
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Robot System
Safety and Installation
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Rev.4
EM196B3937F
Robot Controller RC90-B
Programming Software EPSON RC+ 7.0
Manipulator LS-B series
(LS20-B, LS10-B, LS6-B, LS3-B)

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  • Page 1 Robot System Safety and Installation Read this manual first Rev.4 EM196B3937F Robot Controller RC90-B Programming Software EPSON RC+ 7.0 Manipulator LS-B series (LS20-B, LS10-B, LS6-B, LS3-B)
  • Page 3 Robot System Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 Copyright  2018-2019 SEIKO EPSON CORPORATION. All rights reserved Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 4 3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 5 MANUFACTURER Seiko Epson Corporation 3-3-5 Owa, Suwa-shi, Nagano, 392-8502 : http://global.epson.com/company/ : http://www.epson.jp/prod/robots/ Toyoshina Plant Robotics Solutions Operations Division 6925 Toyoshina Tazawa, Azumino-shi, Nagano, 399-8285 Japan : +81-(0)263-72-1530 : +81-(0)263-72-1495 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 6 Beijing, 100025, PRC : +86-(0)-10-8522-1199 : +86-(0)-10-8522-1120 Epson Taiwan Technology & Trading Ltd. Taiwan Factory Automation Division 15F., No.100, Songren Rd., Sinyi Dist., Taipei City, 11073 Taiwan : +886-(0)-2-8786-6688 : +886-(0)-2-8786-6600 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 7 Murphy Road, Ulsoor, Bangalore, India 560008 : +91-80-3051-5000 : +91-80-3051-5005 Epson Sales Japan Corporation Japan Factory Automation Systems Department floor, JR Shinjuku Miraina Tower, 4-1-6 Shinjuku, Shinjuku-ku, Tokyo 160-8801 Japan :+81-(0)3-5919-5257 :+81-(0)3-5919-5402 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 8 The battery removal/replacement procedure is described in the following manuals: Controller manual / Manipulator manual (Maintenance section) For California customers only The lithium batteries in this product contain Perchlorate Material - special handling may apply, See www.dtsc.ca.gov/hazardouswaste/perchlorate. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 9 Operator Pendant OP500RC Jog Pad JP500 Teaching Pendant TP-3** series Operator Panel OP1 For RC90-B, be sure to install the EPSON RC+7.0 to the development PC NOTE  first, then connect the development PC and RC90-B with the USB cable.
  • Page 10 LS20-B**** Ver.7.4.5 or later Before Ver.7.4.4 EPSON RC+ 7.0 Ver.7.4.5 or later OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are available. !!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.4.5 or later.
  • Page 11 关于适用于在中华人民共和国境内销售的电器电子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 environmental protection use period label are based on the regulation in China. These are not necessary to be concerned in other countries. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 12 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 environmental protection use period label are based on the regulation in China. These are not necessary to be concerned in other countries. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 13: Table Of Contents

    2.4.2 Environment..............52 2.4.3 Noise level ..............53 2.4.4 Base Table ..............54 2.4.5 Installation Procedure ..........55 2.5 Controller Installation ............... 58 2.5.1 Installation Precautions ..........58 2.5.2 Environment..............59 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 14 4.1.2 Ethernet ............... 93 4.1.3 RS-232C (Option) ............93 4.1.4 Analog I/O (Option) ............93 4.2 Ethernet Connection of Development PC and Controller ..94 4.3 Connection of Option Teaching Pendant ......... 94 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 15 5.5 Handling and Disposal of Batteries ........104 6. Manuals Software ..................106 Software Options ................106 Controller ..................107 Controller Options ................107 Manipulator ..................107 7. Directives and Norms Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 xiii...
  • Page 16 Table of Contents Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 17: 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 18: 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 19: Designing A Safe Robot System

    For further details, refer to the following section: 1.8 Lockout/Tagout Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 20 During the emergency stop, the power supplied to the motor for driving the robot is shut off, and the robot is stopped due to the dynamic brake. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 21 (low power status). Make sure not to enter the safeguarded area except through the point where the safeguard interlock is installed. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 22 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 23: Operation Safety

    ■ To shut off power to the robot system, disconnect the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. WARNING DO NOT connect it directly to a factory power source. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 24 LS3-B : less than 32 mm LS6-B : less than 40 mm LS10-B : less than 50 mm LS20-B : less than 50 mm Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 25 ■ Manipulator may be warmed up due to motor heat or similar causes. Do not touch the Manipulator until temperature falls. Also, make sure the temperature of the Manipulator falls and is not hot when you touch it. Then perform teaching or maintenance. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 26: Safety-Related Requirements

    Industrial, scientific and medical (ISM) radio-frequency equipment CISPR11 -- Electromagnetic disturbance characteristics -- Limits and EN55011 methods of measurement Electromagnetic compatibility (EMC) -- Part 6-2: Generic IEC 61000-6-2 standards -- Immunity for industrial environments EN 61000-6-2 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 27: Part Names / Arm Motion

    Controller Number label I/O connector (17) Connection Check label Standard RS-232C port (18) M/C POWER connector Option slot (19) M/C SIGNAL connector Cable Clamp (10) (20) EMERGENCY connector Battery (Mounted inside the controller) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 28 #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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 29 #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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 30 Rotate the shaft by hand. LS6-B The shaft cannot be rotated by hand until the electromagnetic brake applied to the shaft has been released. Move the shaft while pressing the brake release switch. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 31: Operation Modes

    - TEACH operation mode allows you to jog and teach the robot at slow speed while inside the safeguarded area. - TEST operation mode allows you to execute a program at slow speed while the safeguard is opened. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 32: Maintenance Safety

    Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 33 - 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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 34 Do not touch the Manipulator until temperature falls. Also, make sure the temperature of the Manipulator falls and you do not feel hot when you touch it. Then perform teaching or maintenance. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 35: Emergency Stop

    If there is a position gap, perform calibration by referring to Maintenance: 13. Calibration in the manipulator manual. Manipulator manuals contain information on the Emergency Stop. Please also read the descriptions in the manual and use the robot system properly. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 36 Manipulator Manual Maintenance 2.1.2 Inspection Point - Inspection While the Power is ON (Manipulator is operating) Safety and Installation 5.1.1 Manipulator - Inspection While the Power is ON (Manipulator is operating) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 37 Joint #1 + Joint #2 0.60 0.65 running Joint #3 time Joint #1 [deg] Free running Joint #2 [deg] angle Joint #1 + Joint #2 [deg] Free running Joint #3 [mm] distance Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 38 Free Joint #1 + Joint #2 running Joint #3 time Joint #1 [deg] Free running Joint #2 [deg] angle Joint #1 + Joint #2 [deg] Free running Joint #3 [mm] distance Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 39 Controller LS6-B502* LS6-B602* LS6-B702* LS3-B401* Manipulator Free Joints #1+#2 running Joint #3 time Joint #1 [deg] Free running Joint #2 [deg] angle Joints #1+#2 [deg] Free running Joint #3 [mm] distance Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 40: 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 41: Controller

    OP500, OP500RC, JP500, TP-3** series, and OP1 Refer to 4.3 Connection of Option Teaching Pendant. Hazardous voltage exists while the Manipulator is ON. To avoid electric shock, do not touch any internal electric parts. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 42: Manipulator

    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. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 43 Location Signature plate Note Manipulator’s serial No. LS20-B (Figure: LS20-B804S) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 44 Manipulators with bellows do not have this label for no danger of your hand or fingers being caught Location Signature plate Note Manipulator’s serial No. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 45 1. Safety LS10-B (Figure: LS10-B702S) LS6-B (Figure: LS6-B602S) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 46 1. Safety LS3-B (Figure: LS3-B401S) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 47: Safety Features

    Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status. Stop category of Safety door input: Category 1 (refer to Safety Standard IEC60204-1) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 48 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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 49 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 50: Lockout / Tagout

    POWER insert the pin in the holes. switch (2) Turn the lockout (3) Install the lockout (4) Slide the pin to attachment. attachment on the switch. the lock position. Lock position Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 51: Padlock Size And Weight

    When using the padlock, do not use the controller where it is subject to vibration or shock, otherwise failure or damage may result. Do not apply force of more than 50N on the lockout attachment; otherwise the lockout attachment will be damaged. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 52: Manipulator Specifications

    Joint #4 150 W Installation Option Cleanroom *3 environment Joint #3 down force 250 N 15 pin: D-sub, 9 pin: D-sub Installed wire for customer use Equivalent to 8 pin (RJ45) Cat.5e Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 53 420 mm 390 mm Joint #4 ± 360 deg. Joint #1 − 152918 ~ 808278 Joint #2 ± 345885 Max. pulse range Joint #3 −283853 ~ 0 −263578~0 Joint #4 ± 344064 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 54 2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi) tube for customer use 1 pneumatic tube (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi) Environmental Ambient Temp. 5 to 40 °C (with minimum temperature variation) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 55 − 152918 ~ 808278 Joint #2 ± 341334 Max. pulse range Joint #3 − 270336 ~ 0 − 229786 ~ 0 − 405504 ~ 0 − 364954 ~ 0 Joint #4 ± 215040 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 56 Driving method All joints Joint #1 200 W 200 W Joint #2 100 W 200 W Motor rated capacity Joint #3 100 W 100 W Joint #4 100 W 100 W Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 57 − 152918 ~ 808278 ± 320854 Joint #2 ± 341334 Max. pulse range −187734 ~ 0 −150187 ~ 0 Joint #3 −245760 ~ 0 −245760 ~ 0 ± 186778 Joint #4 ± 245760 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 58 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 59: Motion Range Setting By Mechanical Stops

    Joint #2 (Adjustable) (Mechanical stop of Joint #2)* (Do not move the upper Mechanical stop of limit mechanical stop.) Joint #1 (Adjustable) *: There are no mechanical stops (fixed) for LS20-B. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 60: 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 61: Installation

    The workflow for installing the robot system is described in 2.1 Outline from Unpacking to Operation of Robot System. For unpacking, transportation, and installation, refer to the respective section and the Manipulator and Controller manuals. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 62: System Example

    EPSON RC+ 7.0 supports the following OS Requires preparation by users Windows 7 Professional Service Pack 1 Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later) Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 63: Outline From Unpacking To Operation Of Robot System

    3. First Step Procedures to install EPSON RC+7.0 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 64: 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 65: 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 66: Manipulator Transportation

    Do not hold the metal duct and the resin duct when transporting the Manipulator. Doing so may damage them. Resin duct Metal duct LS20-B804* : approx. 48 kg: 105.8 lb. LS20-BA04* : approx. 51 kg: 112.5 lb. (Figure: LS20-B) Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 67: 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 68: Environment

    The Manipulator cannot be used in corrosive environments where acid or alkaline is used. In a salty environment where the rust is likely to gather, the Manipulator is susceptible to rust. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 69: Noise Level

    It may lose luster on the coated face. CAUTION 2.4.3 Noise level Noise level by movement of manipulator. LS-B series manipulators: LAeq = 70 dB (A) or less Operating conditions Rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

  • Page 70: Base Table

    The table must be secured on the floor or wall to prevent it from moving. The Manipulator must be installed horizontally. When using a leveler to adjust the height of the base table, use a screw with M16 diameter. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 71: Installation Procedure

    (2). Remove the protection sheet for Bolt: M4 transportation which is attached to Wire tie the arm. NOTE  Make sure to remove the wire tie for protection of mechanical stop. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 72 Spring Washer Plane Washer Screw Hole (depth: 20 mm or more) 18.5 mm (2) Using nippers, cut off the wire tie binding the arm. Remove the bolt. Wire tie Bolt: M4 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 73 Manipulator. NOTE  Keep it with the arm lock which is supplied at shipment. Be careful not to lose the screw. Do not remove the mechanical stop. Mechanical stop M10×65 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 74: 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 75: Environment

    - Keep away from dust, oily mist, oil, salinity, metal powder or other contaminants. - Keep away from water. - Keep away from shocks or vibrations. - Keep away from sources of electronic noise - Keep away from strong electric or magnetic fields. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 76: Installation

    * The rubber foot needs to be replaced. NOTE For Controller installation to the Controller box or the base table, process screw hole  drilling as follows. 463 mm 133.35 mm Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 77 Air with higher temperature than the ambient air (about 10 °C) is blown out from the exhaust port of the Controller. Do not place the heat sensitive devices near the exhaust port. Route the cables to pull out from the front side of the Controller. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 78: Connection To Emergency Connector (Controller)

    The EMERGENCY connector has input terminals for the Safety Door switch and the Emergency Stop switch. Be sure to use these input terminals to keep the system safe. Connector Standard EMERGENCY connector D-sub 25 Pin (male) (Controller side) Mounting style #4-40 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 79: Safety Door Switch

    Safety Door switch has two separate redundant circuits and that each connects to the specified pins at the EMERGENCY connector on the Controller. - The Safety Door must be designed and installed so that it does not close accidentally. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 80: Latch Release Switch

    Manipulator power is operation-prohibited because the safety door is open at that time. To execute a Manipulator operation, close the safety door again, and then close the latch release input. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 81: Checking Latch Release Switch Operation

    (1) Turn ON the Controller while the safety door is open in order to boot the controller software. (2) Make sure that “Safety” is displayed on the EPSON RC+ 7.0 status bar. (3) Close the safety door, and turn ON the switch connecting to the latch release input.

  • Page 82: Checking Emergency Stop Switch Operation

    Emergency Stop switch. (2) Make sure that E-STOP LED of the controller is lighting. (3) Make sure that “EStop” is displayed on EPSON RC+ 7.0 status bar. (4) Release the Emergency Stop Switch. (5) Select EPSON RC+ 7.0-[Tools]-[Robot Manager]-[Control Panel] and click the <Reset>...

  • Page 83: Pin Assignments

     The 24 V output is for emergency stop. Do not use it for other purposes. Doing so may result in system malfunction.  Do not apply reverse voltage to the Emergency Stop circuit. CAUTION Doing so may result in system malfunction. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 84: Circuit Diagrams

    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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 85 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 (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 86: Power Source

    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 should be installed near the equipment and should be easily accessible. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 87: Ac Power Cable

    ■ Select the plug or a disconnecting device which conform safety standards for nations. Item Specification Black, Black AC power wire (2 cables) or Black, White Ground wire Green / Yellow Cable length Terminal M4 round solderless terminal Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 88: M/C Power Cable Connection

    (2) Set the M/C Power Cable in the clamp for the M/C Power Cable. (3) Mount the cover for the M/C Power Connector. (4) Secure the cover with the screw. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 89: Connecting Manipulator And Controller

    Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. For Cleanmodel : When the Manipulator is a Clean-model, use it with an exhaust system. For details, refer to the Manipulator manual. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 90: Power-On

    When supplying the power again : When supplying the power to the controller again, turn OFF the controller and wait for 5 seconds or more. Then, turn ON the controller again. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 91: Power On Procedure

    For the procedure of controller status storage, refer to Robot controller manual RC90/RC90-B (EPSON RC+ 7.0): Setup & Operation 6.1 What is Controller Status Storage Function?. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 92: First Step

    3.1 Installing EPSON RC+ 7.0 Software The EPSON RC+ 7.0 software needs to be installed on your development PC. (1) Insert the EPSON RC+ 7.0 Setup DVD in the DVD drive. (2) The following dialog will be displayed. Click <Next>.
  • Page 93 3. First Step (3) Enter your user name and company name and click <Next>. (4) Select the drive where you want to install EPSON RC+ 7.0 and click <Next>. NOTE  The installation directory is called EpsonRC70. This cannot be changed.
  • Page 94 <Next>. (7) If required, install “Windows Installer” and “Microsoft .NET Framework 3.5” on your system. This may take several minutes. Adobe Reader needs to be installed on your PC in order to view the EPSON NOTE ...

  • Page 95: Development Pc And Controller Connection

     EPSON RC+ 7.0 User’s Guide: PC to Controller Communications Command. For RC90-B, be sure to install the EPSON RC+7.0 to the development PC first, then connect the development PC and RC90-B with the USB cable. If RC90-B and the development PC are connected without installing the EPSON RC+7.0 to the development PC, [Add New Hardware Wizard] appears.

  • Page 96: Precaution

    3.2.3 Software Setup and Connection Check The following is the steps of connecting the development PC and the Controller. (1) Make sure that the EPSON RC+ 7.0 is installed on the Controller connected to the development PC. (Install the software when it is not installed.) (2) Connect the development PC and the Controller by the USB cable.

  • Page 97: Backup The Initial Condition Of The Controller

    (4) From the [Tools] menu, select [Controller]. (5) Click on the <Backup Controller> button. (6) Select the arbitrary drive. (7) Click <OK>. The system configuration will be backed up on the external media. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 98: Disconnection Of Development Pc And Controller

    3.2.5 Disconnection of Development PC and Controller Disconnection of the development PC and the Controller is indicated. (1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications] to display the [PC to Controller Communications] dialog. (2) Click the <Disconnect> button.
  • Page 99 Following explains the example of moving all joints to the 0 pulse positions by specifying the pulse for each joint. (1) Start the EPSON RC+ 7.0. Double click the <EPSON RC+ 7.0> icon on the desktop. (2) Open the command window. EPSON RC+ 7.0 menu-[Tools]-[Command Window] (3) Execute the following command in [Command Window].
  • Page 100 Move the robot by exciting the motors and operating from the Jog & Teach window of the EPSON RC+. (1) Start the EPSON RC+ 7.0. Double click the <EPSON RC+ 7.0> icon on the desktop. (2) Create a new project. 1. Select [New] from the [Project] Menu. The [New Project] dialog box will be displayed.
  • Page 101 Select [Jog & Teach] tab. Select “Joint” in [Jogging]-<Mode>. Move the manipulator by joint by clicking J1-J4 jog keys. Manipulator can be moved by setting to other modes or setting the jog distance. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 102: Writing Your First Program

    After installing the Controller, Manipulator, and EPSON RC+ 7.0 software on your PC, follow the instructions below to create a simple application program so that you will become more familiar with the EPSON RC+ 7.0 development environment. 1. Start EPSON RC+ 7.0 Double-click the EPSON RC+ 7.0 icon on the desktop.
  • Page 103 3. First Step 3. Edit the program Type the following program lines in the Main.prg edit window. Function main Print "This is my first program." Fend Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 104 (4) The messages like the following will be 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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 105 (2) Click the [Control Panel] tab. Then, click the <Motor On> button to turn on the robot motors. You will be prompted to confirm the operation. (3) Click <Yes> to continue. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 106 (11) Click the <+X> button to jog the robot in the +X direction. (12) Select “P2” in the [Point (P)] dropdown list which is next to the <Teach> button. The current point is set to P2. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 107 The robot will move to each of the points you taught at 20% speed, acceleration, and deceleration. The Power High statement executes the program to operate the robot with increased speed and acceleration. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 108 USB memory key. Follow the steps below to back up the project and system configuration: (1) Select the EPSON RC+ 7.0 menu - [Project] - [Copy]. (2) Change the [Destination Drive] to an arbitrary drive.

  • Page 109: Second Step

    ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual Setup & Operation: 13.4 RS-232C Board 4.1.4 Analog I/O (Option) ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual Setup & Operation: 13.5 Analog I/O Board Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 110: Ethernet Connection Of Development Pc And Controller

    Setup & Operation: 8. TP Port ROBOT CONTROLLER RC700 / RC90 Option Teach Pendant TP1 Function & Installation: 3. Installation ROBOT CONTROLLER RC700 / RC90 Option Teach Pendant TP2 Function & Installation: 3. Installation Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 111: General Maintenance

    √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ 20,000 h √ h = hour Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 112 Turn ON and OFF the Brake Release switch and check the sound of the electromagnetic Brake √ √ √ √ √ brake If there is no sound, replace the brake Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 113 Check tension of Base, timing belts √ √ Inside of Arm Tighten it if necessary Grease conditions Refer to 5.4 Greasing. Refer to 5.5 Handling and Disposal of Batteries Battery Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 114: Controller

    Duration 5 minutes 5 minutes 20 minutes 15 minutes (reference) Reference: Controller Manual Fan Filter Fan Filter Battery Maintenance Expected product 30,000 hours life Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 115: Overhaul (Parts Replacement)

    L10 life is displayed as 100%. The manipulator operation hours can be checked in [Controller Status Viewer] dialog -[Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
  • Page 116 For the parts subject to overhaul, refer to Manipulator manual: Maintenance section: Maintenance Parts List. For details of replacement of each part, refer to the Manipulator manual: Maintenance section. Please contact the distributors of your region for further information. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 117: Tightening Hexagon Socket Head Cap Bolts

    Bolt hole securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 118: Greasing

    However, the timing may vary depending on usage condition and the load applied on the Manipulator (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation). Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 119 The recommended replacement time for the grease can be checked in the NOTE  [Maintenance] dialog box of the EPSON RC+ 7.0. For details, refer to the following manual. Robot Controller RC90/RC90-B Maintenance 6. Alarm Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 120: Handling And Disposal Of Batteries

    Controller and related equipment, and then disconnect the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 121 The battery may run out if it passes the recommended replacement time. Be sure to use the designated lithium battery. Be sure to set the correct polar when installing the battery. Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 122: Manuals

    This section describes contents of each manual. The manuals below are provided in PDF format for using the robot system. To read the PDF manuals on a PC, select EPSON RC+ 7.0-[Help]-[PDF Manual]. (Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.) Software EPSON RC+ 7.0 User’s Guide...

  • Page 123: Controller

    - Teach Pendant TP2 Manipulator SCARA ROBOT LS-B series manipulators The manipulator manuals contain information on SCARA robots: LS20-B, LS10-B, LS6-B, LS3-B series manipulators. - Safety - Specification, Installation, Setting - Maintenance - Calibration Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

  • Page 124: Directives And Norms

    7. Directives and Norms These products conform to the following directives and norms. For more details of controller and manipulator, please refer to each manual. Product Name Model Controller RC90-B Manipulator LS-B series Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 125 Limits and methods of measurement EN 61000-6-2 (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 (RC90-B / EPSON RC+ 7.0) Rev.4...
  • Page 126 7. Directives and Norms Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4...

This manual is also suitable for:

Ls6-bLs3-bRc90-bLs20-bLs10-b

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