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T-B Series
Manual
Epson T-B Series Manual
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Also See for T-B Series
:
Maintenance manual
(160 pages)
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Installation
Safety
Conventions
Installation
System Example
Unpacking
Transportation
Transportation Precautions
Holding Position and Number of People to Transport Manipulator
Environments and Installation
Connection to EMERGENCY Connector
Power-On
Power Supply, Power Cable, Braker
Power-ON Precautions
Power on Procedure
Saving the Factory Default
First Step
Installing EPSON RC+ 7.0 Software
Development PC and Manipulator Connection
About Development PC Connection Port
Precautions
Software Setup and Connection Check
Backup the Initial Condition of the Manipulator
Disconnection of Development PC and Manipulator
Moving the Manipulator to Initial Position
Writing Your First Program
Second Step
Connection with External Equipment
Remote Control
Ethernet
Ethernet Connection of Development PC and Manipulator
Connection of Option Teaching Pendant
T3-B T6-B Manipulator
Safety
Conventions
Design and Installation Safety
Strength of the Ball Screw Spline
Operation Safety
Emergency Stop
Safeguard
Emergency Movement Without Drive Power
ACCELS Setting for CP Motions
Labels
Response for Emergency or Malfunction
Collision
Getting Body Caught in Manipulator
Specifications
Model Number
Part Names
T3-B
T6-B
Outer Dimensions
T3-B
T6-B
System Example
Specifications
How to Set the Model
Environments and Installation
Environmental Conditions
Base Table
Mounting Dimensions
Unpacking and Transportation
Installation Procedure
Power Supply
Specifications
AC Power Cable
Breaker
Power Unit
Connecting the Cables
Pneumatic Tubes
Relocation and Storage
Precautions for Relocation and Storage
Relocation
Setting of End Effectors
Attaching an End Effector
Attaching Cameras and Valves
Weight and Inertia Settings
Weight Setting
Inertia Setting
Precautions for Auto Acceleration/Deceleration of Joint #3
Motion Range
Motion Range Setting by Pulse Range (for All Joints)
Max. Pulse Range of Joint #1
Max. Pulse Range of Joint #2
Max. Pulse Range of Joint #3
Max. Pulse Range of Joint #4
Motion Range Setting by Mechanical Stops
Setting the Mechanical Stops of Joints #1 and #2
Setting the Mechanical Stop of Joint #3
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
Standard Motion Range
Operation Mode & LED
Overview
Switch Operation Mode
Program Mode (AUTO)
What Is Program Mode (AUTO)
Setup from EPSON RC+ 7.0
Auto Mode (AUTO)
What Is Auto Mode (AUTO)
Setup from EPSON RC+ 7.0
Setup from Control Device
Led
Development PC Connection Port
What Is Development PC Connection Port
Precaution
Software Setup and Connection Check
Disconnection of Development PC and Manipulator
Memory Port
What Is Controller Status Storage Function
Before Using Controller Status Storage Function
Precautions
Adoptable USB Memory
Controller Status Storage Function
Controller Status Storage
Load Data with EPSON RC+ 7.0
Transfer with E-Mail
Details of Data
LAN (Ethernet Communication) Port
What Is the LAN (Ethernet Communication) Port
IP Address
Changing Manipulator IP Address
Connection of Development PC and Manipulator with Ethernet
Disconnection of Development PC and Manipulator with Ethernet
TP Port
What Is the TP Port
Teach Pendant Connection
Emergency
Safeguard Switch and Latch Release Switch
Safeguard Switch
Latch Release Switch
Checking Latch Release Switch Operation
Emergency Stop Switch Connection
Emergency Stop Switch
Checking Emergency Stop Switch Operation
Recovery from Emergency Stop
Pin Assignments
Circuit Diagrams
Example 1: External Emergency Stop Switch Typical Application
Example 2: External Safety Relay Typical Application
Standard I/O Connector
Input Circuit
Typical Input Circuit Application 1: Source Type
Typical Input Circuit Application 2: Sink Type
Pin Assignments of Input Circuit
Output Circuit
Typical Output Circuit Application 1: Sink Type (NPN)
Typical Output Circuit Application 2: Source Type (PNP)
Pin Assignments of Output Circuit
I/O Cable Product Procedure
I/O Cable Connecting Method
How to Fix the I/O Cable
Hand I/O Connector
Power Supply Specifications
Input Circuit
Typical Input Circuit Application 1: Sourse Type
Typical Input Circuit Application 2: Sink Type
Output Circuit
Typical Output Circuit Application 1: Sink Type (NPN)
Typical Output Circuit Application 2: Source Type (PNP)
Pin Assignments
How to Control Hand I/O
I/O Remote Settings
I/O Signal Description
Remote Input Signals
Remote Output Signals
Timing Specifications
Precautions for Remote Input Signals
Timing Diagram for Operation Execution Sequence
Timing Diagram for Program Execution Sequence
Timing Diagram for Safety Door Input Sequence
Timing Diagram for Emergency Stop Sequence
SD Card Slots
Fieldbus I/O
Restrictions
Commands Cannot Use
Commands Cause Motion Error if Specifying RS-232C
Commands Cause Error
6-Axis Robot Command
Conveyor Tracking Commands
PG Commands
R-I/O Commands
Force Sensing Commands
Robot Control Commands
Other (Finedist)
Other (Healthcalcperiod)
Other (Chdisk)
Restrictions of Functions
Tp3
Loop Processing
Camera Searching by CV1/CV2
Restore the Data of Backup Controller Function
Error Code List
Regular Inspection
Regular Inspection for T3-B T6-B Manipulator
Inspection
Schedule for Inspection
Inspection Point
Overhaul (Parts Replacement)
Greasing
Tightening Hexagon Socket Head Cap Bolts
Appendix
Appendix A: Specifications T3-B Specifications
T6-B Specifications
Appendix B: Time and Distance of Free Running in Emergency
T3-B Time and Distance of Free Running in Emergency
T3-B401S: J1
T3-B401S: J2
T3-B401S: J3
T6-B Time and Distance of Free Running in Emergency
T6-B602S: J1
T6-B602S: J2
T6-B602S: J3
Appendix C: Time and Distance of Free Running When Safeguard Is Opened
T3-B Time and Distance of Free Running When Safeguard Is Opened
T3-B401S: J1
T3-B401S: J2
T3-B401S: J3
T6-B Time and Distance of Free Running When Safeguard Is Opened
T6-B602S: J1
T6-B602S: J2
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SCARA ROBOT
T-B series
MANUAL
Rev.1
EM217R4788F
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