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Manuals
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Epson Manuals
Robotics
ES Series
Manipulator manual
Epson ES Series Manipulator Manual
Scara robot
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Manipulator Part Names
Installation Requirements
Environmental Conditions
Installation Area
Base Table
Pre-Installation Safety Precautions
Installation
Unpacking
Installation Method
Connecting the Cables
Safety Precautions after Installation
Relocating the Manipulator
User Wires and Pneumatic Tubes
End Effectors
Attaching an End Effector
Wire and Tube Layout
The End Effector and Acceleration / Deceleration
Setting WEIGHT Parameters
Precautions for Auto Acceleration / Deceleration
Moment of Inertia and the ACCEL Setting
Calculating the Moment of Inertia
Eccentricity of Joint #4
Attaching a Camera, Valve, and Other Devices
External Dimensions
Motion Range and Robot Coordinates
Standard Motion Range
Pulse Range
Changing the Motion Range
Methods of Setting the Motion Range
Changing Motion Range Using Pulse Range
Changing Motion Range Using Mechanical Stops
Changing Motion Range Using X, y Limits
Emergency Stop
Specifications
Series Standard Model Specifications
EL Series Standard Model Specifications
Model Settings
Clean Model
Manipulator Part Names
Installation Method
Exhaust System
External Dimensions
Additional Specifications
Protected Model
Manipulator Part Names
Environmental Conditions
General Environmental Conditions
Special Environmental Conditions
Connecting the Cables
User Wires and Pneumatic Tubes
External Dimensions
Additional Specifications
Part 2 Maintenance
Maintenance Safety Precautions
General Maintenance
Maintenance Inspection Schedule
Inspections
Lubrication
Tightening Torque of Bolts
Matching Mechanical and Electrical Origins
Differences between es and el Series
Internal Layout
Opening the Covers
Arm Top Cover
Arm Bottom Cover
Joint #1 Cover
Base Connector Plate
Replacing the Cable Unit
Cable Unit Replacement Procedure
Wiring Schematic 1
Wiring Schematic 2
Connector Pin Assignments
Replacing the Motors
Replacing the Joint #1 Motor
Replacing the Joint #2 Motor
Replacing the Joint #3 Motor
Replacing the Joint #4 Motor
Replacing the Reduction Gear Units
Replacing the Joint #1 Reduction Gear Unit
Replacing the Joint #2 Reduction Gear Unit
Replacing the Brake
Replacing the Timing Belts
Replacing the Z Belt
Replacing the U1 Belt
Replacing the U2 Belt
Replacing the Ball Screw Spline Unit
Replacing the Ball Screw Spline Unit
Greasing the Ball Screw Spline Unit
Replacing the Signal Relay Board
Signal Relay Board
Replacing the Lithium Battery
Calibration
Calibration for EPSON RC+ Controller
Common Procedure for Calibration
Calibrating Joint #3
Calibrating Joint #1, #2, and #4
Accurate Calibration of Joint #2
Calibration for SPEL 95 / SRC5** Controller
Common Procedure for Calibration
Calibrating Joint #3
Calibrating Joint #1, #2, and #4
Accurate Calibration of Joint #2
Calibration for SRC-3** Controllers
Common Procedure for Calibration
Calibrating Axis #3
Calibrating Axes #1, #2, and #4
Accurate Calibration of Axis #2
Clean Model Maintenance
Greasing the Ball Screw Spline Unit
Replacing the Bellows
Protected Model Maintenance
Safety Precautions
Sealing the Manipulator
Internal Layout
Replacing the Cable Unit
Wiring Schematic 1
Wiring Schematic 2
Greasing the Ball Screw Spline Unit
Replacing the Bellows
Replacing the Signal Relay Board
Maintenance Part Lists
Maintenance Parts for All Models
Maintenance Parts for Standard-Model
Maintenance Parts for Clean-Model
Maintenance Parts for Protected-Model
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SCARA ROBOT
ES/EL series
MANIPULATOR MANUAL
Rev.9
EM019R893F
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El series
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