Epson C8 Series Manuals

Epson C8 Series Manuals

Manuals and User Guides for Epson C8 Series. We have 2 Epson C8 Series manuals available for free PDF download: Manipulator Manual, Manual

Epson C8 Series Manual

Epson C8 Series Manual (312 pages)

Brand: Epson | Category: Robotics | Size: 8.29 MB

Table of Contents

Table of Contents
9
C4 Manipulator
17
Safety
19
Conventions
19
Design and Installation Safety
20
Operation Safety
21
Emergency Stop
22
Safeguard
24
How to Move Arms with the Electromagnetic Brake
25
Moving the Arm Using the Brake Release Unit
26
Moving the Arm Using the Software
26
Precaution for Operation in Low Power Status
26
Warning Labels
27
Response for Emergency or Malfunction
30
Collision
30
Getting Body Caught in Manipulator
30
Specifications
31
Model Number
31
Part Names and Motion Range of each Arm
32
Outer Dimensions
33
C4-A601
33
C4-A901
34
Standard Motion Range
35
C4-A601
35
C4-A901
36
Specifications
38
Specifications Table
38
How to Set the Model
38
Environment and Installation
39
Environmental Conditions
39
Unpacking, Transportation, and Relocation
40
Mounting Dimensions
44
Installation
45
Connecting the Cables
48
User Wires and Pneumatic Tubes
49
Checking the Basic Orientation
50
End Effectors
51
Attaching an End Effector
51
Attaching Camera and Air Valves
52
WEIGHT and INERTIA Settings
54
WEIGHT Setting
56
INERTIA Setting
61
Precautions for Auto Acceleration/Deceleration
65
Motion Range
66
Motion Range Setting by Pulse Range (for All Arms)
67
Max. Pulse Range of Arm #1
68
Max. Pulse Range of Arm #2
69
Max. Pulse Range of Arm #3
69
Max. Pulse Range of Arm #4
70
Max. Pulse Range of Arm #5
71
Max. Pulse Range of Arm #6
71
Motion Range Setting by Mechanical Stops
72
Motion Range Setting of Arm #1
72
Motion Range Setting of Arm #2
73
Motion Range Setting of Arm #3
73
Restriction of Manipulator Operation by Joint Angle Combination
74
Coordinate System
76
Changing the Robot
77
Setting the Cartesian (Rectangular) Range in the XY Coordinate
78
Options
79
Brake Release Unit
79
Power Cable
80
Mount the Brake Release Unit
81
Remove the Brake Release Unit
82
How to Use the Brake Release Unit
82
Camera Plate Unit
83
PS Compatible Plate (Tool Adapter)
86
Base Side Angled Fittings
88
Base Side Fittings
90
PS Compatible Plate (Base Adapter)
93
Adjustable Mechanical Stop (Joint #2: Only C4-A901**)
95
C8 Manipulator
97
Safety
99
Conventions
99
Design and Installation Safety
100
Operation Safety
101
Emergency Stop
102
Safeguard
104
How to Move Arms with the Electromagnetic Brake
105
Moving the Arm Using the Brake Release Unit
106
Moving the Arm Using the Software
106
Precaution for Operation in Low Power Status
106
Warning Labels
107
Response for Emergency or Malfunction
110
Collision
110
Getting Body Caught in Manipulator
110
Specifications
111
Model Number
111
Part Names and Motion Range of each Arm
112
Outer Dimensions
114
C8-A701*** (C8)
114
C8-A901*** (C8L)
115
C8-A1401*** (C8Xl)
116
Standard Motion Range
117
C8-A701*** (C8)
117
C8-A901*** (C8L)
118
C8-A1401*** (C8Xl)
119
Specifications
120
Specifications Table
120
How to Set the Model
121
Environment and Installation
122
Environmental Conditions
122
Unpacking, Transportation, and Relocation
124
Mounting Dimensions
128
Cable Backward Model
128
Cable Downward Model
130
Installation
131
Connecting the Cables
134
User Wires and Pneumatic Tubes
136
Electrical Wires
137
Pneumatic Tubes
138
Checking the Basic Orientation
139
End Effectors
140
Attaching an End Effector
140
Attaching Camera and Air Valves
140
WEIGHT and INERTIA Settings
142
WEIGHT Setting
144
INERTIA Setting
148
Precautions for Auto Acceleration/Deceleration
153
Motion Range
154
Motion Range Setting by Pulse Range (for each Joint)
154
Max. Pulse Range of Joint #1
155
Max. Pulse Range of Joint #2
155
Max. Pulse Range of Joint #3
156
Max. Pulse Range of Joint #4
156
Max. Pulse Range of Joint #5
157
Max. Pulse Range of Joint #6
157
Motion Range Setting by Mechanical Stops
158
Motion Range Setting of Joint #1
158
Motion Range Setting of Joint #2
159
Motion Range Setting of Joint #3
161
Restriction of Manipulator Operation by Joint Angle Combination
161
Coordinate System
165
Changing the Robot
166
Setting the Cartesian (Rectangular) Range in the XY Coordinate
167
Options
168
Brake Release Unit
168
Power Cable
169
Mount the Brake Release Unit
171
Remove the Brake Release Unit
171
How to Use the Brake Release Unit
172
Camera Plate Unit
173
Tool Adapter (ISO Flange)
176
Adjustable Mechanical Stops
178
User Wires and Pneumatic Tubes
179
C12 Manipulator
181
Safety
183
Conventions
183
Design and Installation Safety
184
Operation Safety
185
Emergency Stop
186
Safeguard
188
How to Move Arms with the Electromagnetic Brake
189
Moving the Arm Using the Brake Release Unit
190
Moving the Arm Using the Software
190
Precaution for Operation in Low Power Status
190
Warning Labels
191
Response for Emergency or Malfunction
193
Collision
193
Getting Body Caught in Manipulator
193
Specifications
194
Model Number
194
Part Names and Motion Range of each Arm
195
Outer Dimensions
197
Standard Motion Range
198
Specifications
199
Specifications Table
199
How to Set the Model
200
Environment and Installation
201
Environmental Conditions
201
Unpacking, Transportation, and Relocation
202
Mounting Dimensions
205
Cable Backward Model
205
Cable Downward Model
206
Installation
207
Connecting the Cables
210
User Wires and Pneumatic Tubes
212
Electrical Wires
213
Pneumatic Tubes
213
Checking the Basic Orientation
214
End Effectors
215
Attaching an End Effector
215
Attaching Camera and Air Valves
216
WEIGHT and INERTIA Settings
217
WEIGHT Setting
219
INERTIA Setting
222
Precautions for Auto Acceleration/Deceleration
227
Motion Range
228
Motion Range Setting by Pulse Range (for each Joint)
228
Max. Pulse Range of Joint #1
229
Max. Pulse Range of Joint #2
229
Max. Pulse Range of Joint #3
230
Max. Pulse Range of Joint #4
230
Max. Pulse Range of Joint #5
231
Max. Pulse Range of Joint #6
231
Motion Range Setting by Mechanical Stops
232
Motion Range Setting of Joint #1
232
Motion Range Setting of Joint #2
233
Motion Range Setting of Joint #3
233
Restriction of Manipulator Operation by Joint Angle Combination
234
Coordinate System
235
Changing the Robot
236
Setting the Cartesian (Rectangular) Range in the XY Coordinate
237
Options
238
Brake Release Unit
238
Power Cable
239
Mount the Brake Release Unit
241
Remove the Brake Release Unit
241
How to Use the Brake Release Unit
242
Camera Plate Unit
243
Tool Adapter (ISO Flange)
246
Adjustable Mechanical Stops
247
Regular Inspection for C4 Manipulator 1.1 Inspection
247
Schedule for Inspection
247
User Wires and Pneumatic Tubes
248
Regular Inspection
249
Regular Inspection for C8 Manipulator
251
2.1 Inspection
251
Schedule for Inspection
251
Inspection Point
252
Overhaul (Parts Replacement)
254
Greasing
254
Tightening Hexagon Socket Head Bolts
254
Regular Inspection for C12 Manipulator
255
3.1 Inspection
255
Schedule for Inspection
255
Inspection Point
256
Overhaul (Parts Replacement)
258
Greasing
258
Tightening Hexagon Socket Head Bolts
258
Appendix
263
Appendix A: Specifications
265
C4 Specifications
265
C8 Specifications
268
C12 Specifications
268
Appendix B: Time and Distance of Free Running in Emergency
275
C4 Time and Distance of Free Running in Emergency
276
C8 Time and Distance of Free Running in Emergency
276
C12 Time and Distance of Free Running in Emergency
288
Appendix C: Time and Distance of Free Running When Safeguard Is Opened
294

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Epson C8 Series Manipulator Manual

Epson C8 Series Manipulator Manual (346 pages)

6-Axis Robots

Brand: Epson | Category: Robotics | Size: 20.46 MB

Table of Contents

Table of Contents
9
Setup & Operation
15
Safety
17
Conventions
17
Design and Installation Safety
18
Operation Safety
19
Emergency Stop
21
How to Move Arms with the Electromagnetic Brake
23
Moving the Arm Using the Brake Release Unit
24
Moving the Arm Using the Software
24
Precaution for Operation in Low Power Status
24
Warning Labels
25
Specifications
27
Features of Manipulators
27
Model Number
28
Part Names and Motion Range of each Arm
29
Outer Dimensions
31
C8-A701*** (C8)
31
C8-A901*** (C8L)
32
C8-A1401*** (C8Xl)
33
Standard Motion Range
34
C8-A701*** (C8)
34
C8-A901*** (C8L)
35
C8-A1401*** (C8Xl)
36
Specifications
37
Specifications Table
37
How to Set the Model
42
Environment and Installation
43
Environmental Conditions
43
Unpacking, Transportation, and Relocation
45
Mounting Dimensions
48
Cable Backward Model
48
Cable Downward Model
50
Installation
51
Connecting the Cables
54
User Wires and Pneumatic Tubes
56
Electrical Wires
57
Pneumatic Tubes
58
Checking the Basic Orientation
59
End Effectors
60
Attaching an End Effector
60
Attaching Camera and Air Valves
60
WEIGHT and INERTIA Settings
62
WEIGHT Setting
64
INERTIA Setting
68
Precautions for Auto Acceleration/Deceleration
73
Motion Range
74
Motion Range Setting by Pulse Range (for each Joint)
74
Max. Pulse Range of Joint #1
75
Max. Pulse Range of Joint #2
75
Max. Pulse Range of Joint #3
76
Max. Pulse Range of Joint #4
76
Max. Pulse Range of Joint #5
77
Max. Pulse Range of Joint #6
77
Motion Range Setting by Mechanical Stops
78
Motion Range Setting of Joint #1
78
Motion Range Setting of Joint #2
79
Motion Range Setting of Joint #3
80
Restriction of Manipulator Operation by Joint Angle Combination
81
Coordinate System
85
Changing the Robot
86
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
87
Options
88
Brake Release Unit
88
Mount the Brake Release Unit
90
Remove the Brake Release Unit
90
How to Use the Brake Release Unit
91
Camera Plate Unit
92
Tool Adapter (ISO Flange)
94
Adjustable Mechanical Stops
95
User Wires and Pneumatic Tubes
96
Maintenance
97
Safety Maintenance
99
General Maintenance
100
Maintenance Inspection
100
Schedule for Maintenance Inspection
100
Inspection Point
101
Overhaul (Parts Replacement)
103
Greasing
105
Joint #1 Reduction Gear Unit (Table Top Mounting)
107
Joint #1 Reduction Gear Unit (Ceiling Mounting, Wall Mounting)
108
Joint #2 Reduction Gear Unit
109
Joint #3 Reduction Gear Unit
110
Joint #4 Reduction Gear Unit
111
Joint #5 Reduction Gear Unit
112
Joint #6 Reduction Gear Unit
113
Joint #6 Bevel Gear
114
Tightening Hexagon Socket Head Bolts
115
Layout of Maintenance Parts
116
Covers
117
Arm #1 Center Cover
120
Arm #1 Side Cover
121
Arm #2 Side Cover
123
Arm #3 Cover
124
Arm #3 Maintenance Cover
125
Arm #4 Side Cover
127
Arm #4 Maintenance Cover (C8XL Only)
129
Arm #4 D-Sub Attachment
131
Base Cover
132
M/C Cable Backward
132
M/C Cable Downward
133
Base Maintenance Cover
137
Connector Plate
139
M/C Cable Backward
139
M/C Cable Downward
143
Connector Sub Plate
144
Cable Unit
146
Replacing the Cable Unit
146
Replacing the Cable Unit (M/C Cable Backward)
148
Replacing the Cable Unit (M/C Cable Downward)
178
Connector Pin Assignment
183
Signal Cable
183
Power Cable
186
User Cable
189
Color of Cables
189
Joint #1
190
M/C Cable Backward (Joint #1)
191
Joint #1 - Replacing the Motor (M/C Cable Backward)
191
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Backward)
199
Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
206
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Backward)
213
M/C Cable Downward (Joint #1)
215
Joint #1 - Replacing the Motor (M/C Cable Downward)
215
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Downward)
219
Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
222
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Downward)
227
Joint #2
230
Joint #2 - Replacing the Motor
231
Joint #2- Replacing the Reduction Gear Unit
240
Joint #2 - Replacing the Timing Belt
247
Joint #2 - Replacing the Electromagnetic Brake
248
Joint #3
249
Joint #3 - Replacing the Motor
250
Joint #3 - Replacing the Reduction Gear Unit
258
Joint #3 - Replacing the Timing Belt
264
Joint #3 - Replacing the Electromagnetic Brake
265
Joint #4
266
Joint #4 - Replacing the Motor
267
Joint #4 - Replacing the Reduction Gear Unit
273
Joint #4 - Replacing the Timing Belt
280
Joint #4 - Replacing the Electromagnetic Brake
286
Joint #5
287
Joint #5 - Replacing the Motor
288
Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6 Reduction Gear Unit Set)
295
Joint #5 - Replacing the Timing Belt
301
Joint #5 - Replacing the Electromagnetic Brake
302
Joint #6
304
Joint #6 - Replacing the Motor
305
Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set)
311
Joint #6 - Replacing the Timing Belt
312
Joint #6 - Replacing the Electromagnetic Brake
313
Replacing the Battery Unit
315
Replacing the Battery Unit (Lithium Battery)
317
Replacing the Battery Board
319
Replacing the Control Board
322
Replacing the Control Board 1
323
Replacing the Control Board 2
325
Replacing the LED Lamp
327
Replacing the M/C Cable
329
Replacing the Fan
333
Calibration
335
Overview
335
Calibration Procedure
338
Maintenance Parts List
342
Option Parts List
346

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