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Epson Manuals
Robotics
C12 Series
Manipulator manual
Epson C12 Series Manipulator Manual
6-axis robots
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Manual
(312 pages)
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Safety
Conventions
Design and Installation Safety
Operation Safety
Emergency Stop
How to Move Arms with the Electromagnetic Brake
Moving the Arm Using the Brake Release Unit
Moving the Arm Using the Software
Precaution for Operation in Low Power Status
Warning Labels
Specifications
Features of Manipulators
Model Number
Part Names and Motion Range of each Arm
Outer Dimensions
Standard Motion Range
Specifications
Specifications Table
How to Set the Model
Environment and Installation
Environmental Conditions
Unpacking, Transportation, and Relocation
Mounting Dimensions
Cable Backward Model
Cable Downward Model
Installation
Connecting the Cables
User Wires and Pneumatic Tubes
Checking the Basic Orientation
End Effectors
Attaching an End Effector
Attaching Camera and Air Valves
WEIGHT and INERTIA Settings
WEIGHT Setting
INERTIA Setting
Precautions for Auto Acceleration/Deceleration
Motion Range
Motion Range Setting by Pulse Range (for each Joint)
Max. Pulse Range of Joint #1
Max. Pulse Range of Joint #2
Max. Pulse Range of Joint #3
Max. Pulse Range of Joint #4
Max. Pulse Range of Joint #5
Max. Pulse Range of Joint #6
Motion Range Setting by Mechanical Stops
Motion Range Setting of Joint #1
Motion Range Setting of Joint #2
Motion Range Setting of Joint #3
Restriction of Manipulator Operation by Joint Angle Combination
Coordinate System
Changing the Robot
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
Options
Brake Release Unit
Camera Plate Unit
Tool Adapter (ISO Flange)
Adjustable Mechanical Stops
User Wires and Pneumatic Tubes
Maintenance
Safety Maintenance
General Maintenance
Maintenance Inspection
Schedule for Maintenance Inspection
Inspection Point
Overhaul (Parts Replacement)
Greasing
Joint #1 Reduction Gear Unit
Joint #2 Reduction Gear Unit
Joint #3 Reduction Gear Unit
Joint #4 Reduction Gear Unit
Joint #5 Reduction Gear Unit
Joint #6 Reduction Gear Unit
Joint #6 Bevel Gear
Tightening Hexagon Socket Head Bolts
Layout of Maintenance Parts
Covers
Arm #1 Center Cover
Arm #1 Side Cover
Arm #2 Side Cover
Arm #3 Cover
Arm #3 Maintenance Cover
Arm #4 Side Cover
Arm #4 Maintenance Cover
Arm #4 D-Sub Attachment
Base Cover
M/C Cable Backward
M/C Cable Downward
Base Maintenance Cover
Connector Plate
M/C Cable Backward
M/C Cable Downward
Connector Sub Plate
Cable Unit
Replacing the Cable Unit
Replacing the Cable Unit (M/C Cable Backward)
Replacing the Cable Unit (M/C Cable Downward)
Connector Pin Assignment
Signal Cable
Power Cable
User Cable
Color of Cables
Joint #1
M/C Cable Backward (Joint #1)
Joint #1 - Replacing the Motor (M/C Cable Backward)
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Backward)
Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Backward)
M/C Cable Downward (Joint #1)
Joint #1 - Replacing the Motor (M/C Cable Downward)
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Downward)
Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Downward)
Joint #2
Joint #2 - Replacing the Motor
Joint #2- Replacing the Reduction Gear Unit
Joint #2 - Replacing the Timing Belt
Joint #2 - Replacing the Electromagnetic Brake
Joint #3
Joint #3 - Replacing the Motor
Joint #3 - Replacing the Reduction Gear Unit
Joint #3 - Replacing the Timing Belt
Joint #3 - Replacing the Electromagnetic Brake
Joint #4
Joint #4 - Replacing the Motor
Joint #4 - Replacing the Reduction Gear Unit
Joint #4 - Replacing the Timing Belt
Joint #4 - Replacing the Electromagnetic Brake
Joint #5
Joint #5 - Replacing the Motor
Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6 Reduction Gear Unit Set)
Joint #5 - Replacing the Timing Belt
Joint #5 - Replacing the Electromagnetic Brake
Joint #6
Joint #6 - Replacing the Motor
Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set)
Joint #6 - Replacing the Timing Belt
Joint #6 - Replacing the Electromagnetic Brake
Replacing the Battery Unit
Replacing the Battery Unit (Lithium Battery)
Replacing the Battery Board
Replacing the Control Board
Replacing the Control Board 1
Replacing the Control Board 2
Replacing the LED Lamp
Replacing the Fan
Calibration
Overview
Calibration Procedure
Maintenance Parts List
Option Parts List
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Table of Contents
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Safety
3
Design and Installation Safety
4
Specifications
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6-Axis Robots
C12 series
MANIPULATOR MANUAL
Rev.3
EM204R4255F
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This manual is also suitable for:
C12-a1401 series
C12xl
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