Epson G6 series, Manipulator Manual

Page 1: ...Rev 21 EM183R3621F SCARA ROBOT G6 series MANIPULATOR MANUAL ...

Page 2: ...MANIPULATOR MANUAL G6 series Rev 21 ...

Page 3: ...G6 Rev 21 i SCARA ROBOT G6 series Manipulator Manual Rev 21 Copyright 2007 2018 SEIKO EPSON CORPORATION All rights reserved ...

Page 4: ...anty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disas...

Page 5: ...tries Other brand and product names are trademarks or registered trademarks of the respective holders NOTICE No part of this manual may be copied or reproduced without authorization The contents of this manual are subject to change without notice Please notify us if you should find any errors in this manual or if you have any comments regarding its contents MANUFACTURER ...

Page 6: ...tailer where you purchased this product Use of the chemical symbols Pb Cd or Hg indicates if these metals are used in the battery This information only applies to customers in the European Union according to DIRECTIVE 2006 66 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91 157 EEC and...

Page 7: ... the Controllers since they have different control methods Details are described in the manual Turning ON OFF Controller When you see the instruction Turn ON OFF the Controller in this manual be sure to turn ON OFF all the hardware components For the Controller composition refer to the table above Shape of Motors The shape of the motors used for the Manipulator that you are using may be different ...

Page 8: ...vi G6 Rev 21 ...

Page 9: ...uter Dimensions 18 2 3 1 Table Top Mounting 18 2 3 2 Wall Mounting 24 2 3 3 Ceiling Mounting 30 2 4 Specifications 36 2 5 How to Set the Model 39 3 Environments and Installation 40 3 1 Environmental Conditions 40 3 2 Base Table 42 3 3 Mounting Dimensions 44 3 4 Unpacking and Transportation 46 3 5 Installation 47 3 5 1 Table Top Mounting 47 3 5 2 Wall Mounting 48 3 5 3 Ceiling Mounting 49 3 5 4 Cle...

Page 10: ...l Stops of Joints 1 and 2 72 5 2 2 Setting the Mechanical Stop of Joint 3 75 5 3 Setting the Cartesian Rectangular Range in the XY Coordinate System of the Manipulator for Joints 1 and 2 77 5 4 Standard Motion Range 77 Maintenance 1 Safety Maintenance 83 2 General Maintenance 84 2 1 Maintenance Inspection 84 2 1 1 Schedule for Maintenance Inspection 84 2 1 2 Inspection Point 85 2 2 Overhaul Parts ...

Page 11: ...132 6 2 Replacing Joint 2 Reduction Gear Unit 135 7 Arm 3 138 7 1 Replacing Joint 3 Motor 139 7 2 Replacing the Timing Belt 143 7 3 Replacing the Brake 146 8 Arm 4 149 8 1 Replacing Joint 4 Motor 150 8 2 Replacing the Timing Belt 154 8 3 Replacing the Brake 162 9 Bellows 165 10 Ball Screw Spline Unit 168 10 1 Greasing the Ball Screw Spline Unit 169 10 1 1 Standard model 169 10 1 2 Cleanroom model ...

Page 12: ...13 1 About Calibration 183 13 2 Calibration Procedure 184 13 3 Accurate Calibration of Joint 2 194 13 4 Calibration Procedure without using Calibration Wizard 196 14 Maintenance Parts List 200 14 1 Common Parts 200 14 2 Parts by Environment Model 202 ...

Page 13: ...Setup Operation This volume contains information for setup and operation of the G6 series Manipulators Please read this volume thoroughly before setting up and operating the Manipulators ...

Page 14: ......

Page 15: ...tions are indicated throughout the manual by the following symbols Be sure to read the descriptions shown with each symbol WARNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly WARNING This symbol indicates that a danger of possible serious injury or death caused by electric shock exists if the associated ins...

Page 16: ... system Designing and or constructing the robot system without understanding the safety requirements is extremely hazardous may result in serious bodily injury and or severe equipment damage to the robot system and may cause serious safety problems The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals This product has been designe...

Page 17: ...crew spline is applied the load exceeding the allowable value it is necessary to replace the ball screw spline unit The allowable loads differ depending on distance where the load is applied to For calculating the allowable load see the calculation formula below Allowable bending moment G6 M 27 000 N mm Example If 270 N load is applied at 100 mm from the end of the spline nut Moment M F L 100 270 ...

Page 18: ...power status to secure the safety of an operator However operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated WARNING To shut off power to the robo...

Page 19: ...rings are likely to cause oil film shortage in such situation To prevent early breakdown move the joints larger than 50 degrees for about five to ten times a day Joint 3 If the up and down motion of the hand is less than 10 mm move the joint a half of the maximum stroke for five to ten times a day Oscillation resonance may occur continuously in low speed Manipulator motion Speed approx 5 to 20 dep...

Page 20: ...es work This will shorten the life of the brakes due to the worn friction plates Normal brake life cycle About 2 years when the brakes are used 100 times day Do not turn OFF the Controller while the Manipulator is operating If you attempt to stop the Manipulator in emergency situations such as Safeguard Open make sure to stop the Manipulator using the Emergency Stop switch of the Controller If the...

Page 21: ...lator cannot stop immediately after the Emergency Stop switch is pressed The free running time angle and distance of the Manipulator are shown below However remember that the values vary depending on following conditions Weight of the end effector Weight of work piece Operating pose Weight Speed Accel etc Conditions for Measurement Accel Setting 100 Speed Setting 100 Load kg 6 Weight Setting 6 Joi...

Page 22: ...op switch of the Controller If the Manipulator is stopped by turning OFF the Controller while it is operating following problems may occur Reduction of the life and damage of the reduction gear unit Position gap at the joints In addition if the Controller was forced to be turned OFF by blackouts and the like while the Manipulator is operating make sure to check the following points after power res...

Page 23: ...distance of the Manipulator are shown below However remember that the values vary depending on following conditions Weight of the end effector Weight of work piece Operating pose Weight Speed Accel etc Conditions for Measurement Accel Setting 100 Speed Setting 100 Load kg 6 Weight Setting 6 Joint 1 Start point of operation Target point Stop point Joint 2 Point where the emergency stop signal is in...

Page 24: ... For G6 3 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 Joint 3 and 4 brake release switch Joint 1 rotating Joint 2 rotating Joint 3 up and down Joint 4 rotating Arm 1 Arm 2 Base Shaft The brake release switch affects both Joints 3 and 4 When the brake release switch is pressed in em...

Page 25: ... spline Set ACCELS as follows according to the Z axis height ACCELS setting value by Z axis position and tip load Z position mm Tip load 2 kg or less 4 kg or less 6 kg or less 0 Z 100 25000 or less 25000 or less 17000 or less 100 Z 200 15000 or less 10000 or less 200 Z 330 10000 or less 6500 or less Z Z axis height 0 Origin point If the Manipulator is operated in CP motion with the wrong set value...

Page 26: ...are attached as well as the nearby areas Location Warning Label NOTE A Before loosening the base mounting screws hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the Manipulator B C Hazardous voltage exists while the Manipulator is ON To avoid electric shock do not touch any internal electric parts D You can catch your hand or fingers between the shaf...

Page 27: ...operate a crane and a forklift 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 A B D C C Table Top Mounting G6 S E H G F B A C C D Ceiling Mounting G6 SR E H G F B A D C Wall Mounting G6 SW E H F G ...

Page 28: ...and mounting dimensions of the end effector for the G6 series are compatible with those for the E2 series Space Saving Compactness achieved by using a ductless design Motion Range Extended The motion range of the G6 series manipulator has been extended by 20 compared to E2S Improved Productivity The numbers of user wires and pneumatic tubes have been increased The speed of Joints 1 2 3 and 4 has b...

Page 29: ...duce dust emitted by the Manipulator to enable use in clean room environments Protected model IP54 IP65 The Protected model Manipulators operate under adverse conditions with dust and oily smoke G6 D Normal G6 D Manipulators do not have bellows The normal G6 D Manipulator without bellows option operates under adverse conditions with oily mist If necessary select the bellows option at shipment The ...

Page 30: ...blue for ø4 mm pneumatic tube Fitting white for ø6 mm pneumatic tube Fitting white for ø4 mm pneumatic tube LED lamp UR label Color differs depending on the shipment time The brake release switch affects both Joints 3 and 4 When the brake release switch is pressed in emergency mode the brakes for both Joints 3 and 4 are released simultaneously For G6 1 Joint 4 has no brake on it While the LED lamp...

Page 31: ...34 Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 90 or more Space for cables indicates the stroke margin by mechanical stop Reference through hole View from the bottom of the base Root both side chamfer C0 5 ...

Page 32: ...tional parts and specifications for the Table Top mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Plate cover For static electricity countermeasure Cover for Table Top mounting surface Exhaust port Lower bellows Plate cover For static electricity countermeasure ...

Page 33: ...42 Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter 90 or more Space for cables indicates the stroke margin by mechanical stop Reference through hole View from the bottom of the base Root both side chamfer C0 5 Detail of A Calibration point position of Joints 3 and 4 ...

Page 34: ...ns of the end part of G6 D without bellows option refer to G6 S G6 P only Plate cover For oil resistant G6 P only Plate cover For oil resistant Upper bellows Stainless steel plate for Table Top mounting surface Exhaust port Lower bellows Stainless steel plate Stainless steel plate User connector Protected model User connector Protected model Joint 3 and 4 brake release button Protected model Fitti...

Page 35: ...hanical stop diameter Detail of A Calibration point position of Joints 3 and 4 90 or more Space for cables indicates the stroke margin by mechanical stop Reference through hole View from the bottom of the base Root both side chamfer C0 5 G6 45 D P G6 55 D P G6 65 D P a 200 300 400 G6 1D P G6 3D P b 150 300 c 116 34 d 795 5 945 5 ...

Page 36: ...e Fitting white for ø6 mm pneumatic tube Fitting black or blue for ø6 mm pneumatic tube LED lamp UR label Color differs depending on the shipment time The brake release switch affects both Joints 3 and 4 When the brake release switch is pressed in emergency mode the brakes for both Joints 3 and 4 are released simultaneously For G6 1 Joint 4 has no brake on it While the LED lamp is on the current i...

Page 37: ...41 d 385 535 Space for cables 90 or more Reference through hole View from the bottom of the base Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B ...

Page 38: ...figure shows the additional parts and specifications for the Wall mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Plate cover For static electricity countermeasure Exhaust port Lower bellows Plate cover For static electricity countermeasure ...

Page 39: ...249 d 526 676 Space for cables 90 or more Reference through hole View from the bottom of the base Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B ...

Page 40: ...ows option For dimensions of the end part of G6 DW without bellows option refer to G6 SW G6 PW only Plate cover For oil resistant G6 PW only Plate cover For oil resistant Upper bellows Exhaust port Lower bellows Stainless steel plate Stainless steel plate User connector Protected model User connector Protected model Joint 3 and 4 brake release button Protected model Fittings with cover Protected m...

Page 41: ...102 5 252 5 d 529 5 679 5 Space for cables 90 or more Reference through hole View from the bottom of the base Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B ...

Page 42: ...be Fitting white for ø6 mm pneumatic tube Fitting black or blue for ø6 mm pneumatic tube LED lamp UR label Color differs depending on the shipment time The brake release switch affects both Joints 3 and 4 When the brake release switch is pressed in emergency mode the brakes for both Joints 3 and 4 are released simultaneously For G6 1 Joint 4 has no brake on it While the LED lamp is on the current ...

Page 43: ...6 1SR G6 3SR b 180 330 c 9 141 d 385 535 Space for cables 90 or more Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B ...

Page 44: ...ditional parts and specifications for the Ceiling mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Plate cover For static electricity countermeasure Cover for Ceiling mounting surface Exhaust port Lower bellows Plate cover For static electricity countermeasure ...

Page 45: ...6 1CR G6 3CR b 150 300 c 99 249 d 526 676 Space for cables 90 or more Conical hole ø4 90 1 mm flat cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B ...

Page 46: ...s of the end part of G6 DR without bellows option refer to G6 SR G6 PR only Plate cover For oil resistant G6 PR only Plate cover For oil resistant Upper bellows Stainless steel plate for Ceiling mounting surface Exhaust port Lower bellows Stainless steel plate Stainless steel plate User connector Protected model User connector Protected model Joint 3 and 4 brake release button Protected model Fitt...

Page 47: ...t cut Max ø14 through hole ø20 h7 shaft diameter ø40 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 indicates the stroke margin by mechanical stop Detail of B G6 45 DR PR G6 55 DR PR G6 65 DR PR a 200 300 400 G6 1 DR PR G6 3 DR PR b 150 300 c 102 5 252 5 d 529 5 679 5 ...

Page 48: ... deg s Repeatability Joints 1 2 0 015 mm Joint 3 0 010 mm Joint 4 0 005 deg Max motion range Joint 1 45 152 deg 120 deg 105 deg 55 152 deg 135 deg 65 148 deg Joint 2 45 142 to 147 5 deg a 130 deg 55 147 5 deg 147 5 deg S 145 deg C P D with bellows option 65 147 5 deg Joint 3 1 180 mm G6 1S D 150 mm G6 1C P D with bellows option 3 330 mm G6 3S D 300 mm G6 3C P D with bellows option Joint 4 360 deg ...

Page 49: ...Through hole ø14 mm Joint 3 down force 150 N Installed wire for customer use 24 15 pin 9 pin D sub Installed pneumatic tube for customer use 2 pneumatic tubes ø6 mm 0 59 MPa 6 kgf cm2 86 psi 2 pneumatic tubes ø4 mm 0 59 MPa 6 kgf cm2 86 psi Environmental requirements Ambient Temperature 5 to 40 C with minimum temperature variation Ambient relative humidity 10 to 80 no condensation Equivalent conti...

Page 50: ...ows option at shipment The Manipulators with bellows option comply with grade of protection IP54 IEC 60529 JIS C0920 Model Degree of protection G6 D with bellows option IP54 Dust 5 Dust shall not ingress in a quantity to interfere with satisfactory operation of the equipment Water 4 Water splashing against the enclosure from any direction shall have no harmful effect G6 P IP65 Dust 6 No ingress of...

Page 51: ...el may result in abnormal or no operation of the Manipulator and or cause safety problems If the custom specifications number MT is described on MODEL of the signature label S N label the Manipulator has custom specifications A label with only the custom specifications number may be attached depending on shipment time The custom specifications may require a different configuration procedure check ...

Page 52: ...en using Manipulators in inadequate environments that do not meet the above conditions please contact us 1 The ambient temperature conditions are for the Manipulators only For the Controller the Manipulators are connected to refer to the Controller manual For the Protected model Manipulator be sure to install the robot system in an environment that also meets the following conditions Item Conditio...

Page 53: ...ck whether the Manipulator will damage the food or not 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 The controller used with the Protected model Manipulator does not have protection features for dusty wet or oily environment The controller must be placed in an...

Page 54: ...as crossbeams The torque and reaction force produced by the movement of the Manipulator are as follows Max Reaction torque on the horizontal plate 500 Nm Max Horizontal reaction force 2500 N Max Vertical reaction force 1500 N The threaded holes required for mounting the Manipulator base are M8 Use mounting bolts with specifications conforming to ISO898 1 property class 10 9 or 12 9 For dimensions ...

Page 55: ...l Cable Connector 83 76 Power Cable Connector L shaped 35 RC700 A Power Cable Connector Signal Cable Connector 47 26 53 18 RC180 Do not remove the M C cables from the Manipulator For environmental conditions regarding space when placing the Controller on the base table refer to the Controller manual WARNING To ensure safety a safeguard must be installed for the robot system For details on the safe...

Page 56: ... be sure to maintain sufficient distance from obstacles In addition leave enough space for other cables so that they are not bent forcibly Ensure distance to the safeguard from the maximum motion range is more than 100 mm G6 45 G6 55 G6 65 Table Top Mounting Center of Joint 3 Maximum space G6 45 G6 55 G6 65 S D C P D bellows a Length of Arm 1 mm 200 300 400 b Length of Arm 2 mm 250 250 250 c Motio...

Page 57: ...op degree 3 5 3 5 7 5 h Joint 2 angle to hit mechanical stop degree 3 8 3 3 5 8 6 3 The bellows for G6 DW are options at shipment G6 45 R G6 55 R G6 65 R Ceiling Mounting G6 45 R G6 55 G6 65 R SR DR CR PR DR bellows a Length of Arm 1 mm 200 300 400 b Length of Arm 2 mm 250 250 250 c Motion range 195 5 161 2 172 1 232 d Motion range of Joint 1 degree 120 152 152 e Motion range of Joint 2 degree 130...

Page 58: ...The arm is secured with a wire tie Leave the wire tie secured until you finish the installation so as not to get hands or fingers caught To carry the Manipulator have two or more people to work on it and secure the Manipulator to the delivery equipment or hold the areas indicated in gray in the figure bottom of Arm 1 and bottom of the base by hand When holding the bottom of the base by hand be ver...

Page 59: ... 5 2 Wall Mounting 3 5 3 Ceiling Mounting When the Manipulator is a Cleanroom model or Protected model refer to each section 3 5 4 Cleanroom model 3 5 5 Protected model 3 5 1 Table Top Mounting CAUTION Install the Table Top Mounting Manipulator with two or more people The Manipulator weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged by a fall o...

Page 60: ...a fall of the Manipulator G6 45 W Approximately 29 kg 64 lb G6 55 W Approximately 29 kg 64 lb G6 65 W Approximately 29 5 kg 65 lb When installing the Manipulator to the wall support the Manipulator and then secure the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard model 1 Unpack the manipulator ...

Page 61: ...y 28 kg 62 lb When installing the Manipulator to the ceiling support the Manipulator and then secure the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard model 1 Unpack the manipulator with retaining the arm posture 2 Secure the base to the ceiling with four bolts Use bolts with specifications con...

Page 62: ... Refer to the installation procedure of each Manipulator model and install the Manipulator When the Manipulator is a Protected model be aware of the followings WARNING Connect the power cable connection and the signal cable connector to the Manipulator immediately after the Manipulator installation The Manipulator without connecting them may result in electric shock and or malfunction of the robot...

Page 63: ...o ground it may result in the fire or electric shock CAUTION When connecting the Manipulator to the Controller make sure that the serial numbers on each equipment match Improper connection between the Manipulator and Controller may not only cause improper function of the robot system but also serious safety problems The connection method varies with the Controller used For details on the connectio...

Page 64: ...Setup Operation 3 Environments and Installation 52 G6 Rev 21 Cable Connections Connect the power connector and signal connector of the M C cables to the Controller Signal Connector Power Connector ...

Page 65: ...er 0 59 MPa 6 kgf cm2 86 psi 2 ø6 mm ø4 mm 2 ø4 mm ø2 5 mm Fittings for ø6 mm and ø4 mm outer diameter pneumatic tubes are supplied on both ends of the pneumatic tubes When the Manipulator is a Protected model be aware of the followings CAUTION Be sure to use IP54 or IP65 compliant wires and tubes when using the Manipulator under special environmental conditions adverse condition with dust and oil...

Page 66: ...e Wall Mounting Fitting black or blue for ø6 mm pneumatic tube User connector 15 pin D sub connector User connector 9 pin D sub connector Fitting white for ø6 mm pneumatic tube Fitting black or blue for ø4 mm pneumatic tube Fitting white for ø4 mm pneumatic tube Ceiling Mounting Fitting black or blue for ø4 mm pneumatic tube Fitting white for ø4 mm pneumatic tube Fitting black or blue for ø6 mm pn...

Page 67: ...hen get hands fingers or feet caught To carry the Manipulator have two or more people to work on it and secure the Manipulator to the delivery equipment or hold the bottom of Arm 1 the bottom of the main cable fitting and the bottom of the base by hand When holding the bottom of the base by hand be very careful not to get hands or fingers caught Stabilize the Manipulator with your hands when hoist...

Page 68: ...all devices and unplug the cables Remove the mechanical stops if using them to limit the motion range of Joints 1 and 2 For details on the motion range refer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops 2 Cover the arm with a sheet so that the arm will not be damaged Tie the lower end of the shaft and arm and the base and arm together with a wire tie Be careful not to tie them t...

Page 69: ...ng the anchor bolts without supporting is extremely hazardous and may result in fall of the Manipulator 1 Turn OFF the power on all devices and unplug the cables Remove the mechanical stops if using them to limit the motion range of Joints 1 and 2 For details on the motion range refer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops 2 Cover the arm with a sheet so that the arm will ...

Page 70: ...ving the anchor bolts without supporting is extremely hazardous and may result in fall of the Manipulator 1 Turn OFF the power on all devices and unplug the cables Remove the mechanical stops if using them to limit the motion range of Joints 1 and 2 For details on the motion range refer to Setup Operation 5 2 Motion Range Setting by Mechanical Stops 2 Cover the arm with a sheet so that the arm wil...

Page 71: ...ed the upper limit mechanical stop may hit the Manipulator and the robot system may not function properly Use a split muff coupling with an M4 bolt or larger to attach the end effector to the shaft Brake release switch Joints 3 and 4 G6 3 cannot be moved up down by hand because the electromagnetic brake is applied to the joints while power to the robot system is turned OFF This prevents the shaft ...

Page 72: ... the interference area of the end effector 4 2 Attaching Cameras and Valves Arm 2 has threaded holes as shown in the figure below Use these holes for attaching cameras valves and other equipment Unit mm 2 M5 depth 10 Common Dimensions A B A Ceiling Wall Mounting Table Top Mounting A B 30 2 M4 depth 4 M4 depth 41 35 20 4 M4 depth 8 80 20 90 96 From the base mounting face 391 From the base mounting ...

Page 73: ...ad may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable weight capacity end effector and work piece in G6 series is 3 kg at the default rating and 6 kg at the maximum When the load weight of the end effector and work piece exceeds the rating change the setting of Weight parameter After the setting is changed the ...

Page 74: ... 6 kg Weight setting The percentage in the graph is based on the speed at rated weight 3 kg as 100 100 100 100 100 70 70 100 Automatic acceleration deceleration setting by Weight 140 120 100 80 60 40 20 0 1 2 3 4 5 6 kg Weight setting The percentage in the graph is based on the acceleration deceleration at rated weight 3 kg as 100 120 80 120 120 115 100 70 70 120 G6 45 S G6 55 S 140 120 100 80 60 ...

Page 75: ...cient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable moment of inertia of load for a G6 series Manipulator is 0 01 kg m2 at the default rating and 0 12 kg m2 at the maximum When the moment of inertia of the load exceeds the rating change the setting of the moment of inertia parameter of the Inertia command After the setting is changed the maximum accel...

Page 76: ...ange the setting of eccentric quantity parameter of Inertia command After the setting is changed the maximum acceleration deceleration speed of the Manipulator at PTP motion corresponding to the eccentric quantity is set automatically Position of load s center of gravity Rotation center Eccentric quantity 150 mm or less Eccentric Quantity Eccentric quantity of load on the shaft The eccentric quant...

Page 77: ... shaft Rotation center Moment of inertia of end effector a Moment of inertia of work piece b Moment of inertia of work piece c Whole moment of inertia The methods for calculating the moment of inertia for a b and c are shown below Calculate the total moment of inertia using the basic formulas a Moment of inertia of a rectangular parallelepiped h b L Mass m Rectangular parallelepiped s center of gr...

Page 78: ...he faster the motion acceleration deceleration is However it takes more time to move Joint 3 up and down Adjust the position of Joint 3 for the Manipulator motion after considering the relation between the current position and the destination position The upper limit of Joint 3 during horizontal motion using Jump command can be set by the LimZ command Automatic acceleration deceleration vs Joint 3...

Page 79: ... motion range of the Manipulator There are three methods for setting the motion range described as follows 1 Setting by pulse range for all joints 2 Setting by mechanical stops for Joints 1 to 3 3 Setting the Cartesian rectangular range in the X Y coordinate system of the Manipulator for Joints 1 and 2 Mechanical stop Rectangular range setting Pulse range Motion range Mechanical stop When the moti...

Page 80: ...d is within the pulse range before operating If the target position is out of the set pulse range an error occurs and the Manipulator does not move EPSON RC The pulse range can be set on the Range panel shown by selecting Tools Robot Manager You may also execute the Range command from the Command Window 5 1 1 Max Pulse Range of Joint 1 The 0 zero pulse position of Joint 1 is the position where Arm...

Page 81: ...n Range G6 45 S D Z 0 to 270 mm 147 5 degrees 130 degrees Z 270 to 330 mm 145 degrees G6 45 C P D bellows Z 0 to 240 mm 147 5 degrees Z 240 to 300 mm 142 degrees G6 55 C P D bellows 147 5 degrees 145 degrees G6 55 S D 147 5 degrees G6 65 B Max Pulse Range G6 45 S D Z 0 to 270 mm 2685156 2366578 Z 270 to 330 mm 2369645 G6 45 C P D bellows Z 0 to 240 mm 2685156 Z 240 to 300 mm 2585031 G6 55 C P D be...

Page 82: ...G6 3C P D bellows 300 mm 1647257 The bellows for G6 D are options at shipment For the Cleanroom model G6 C and Protected model G6 P D with bellows option the motion range set with the Joint 3 mechanical stop cannot be changed 5 1 4 Max Pulse Range of Joint 4 The 0 zero pulse position of Joint 4 is the position where the flat near the end of the shaft faces toward the end of Arm 2 With the 0 pulse ...

Page 83: ... any length less than the maximum stroke Table Top Mounting Mechanical stop of Joint 2 Adjustable Mechanical stop of Joint 1 Fixed Mechanical stop of Joint 3 Lower limit mechanical stop Do not move the upper limit mechanical stop Mechanical stop of Joint 1 Adjustable Mechanical stop of Joint 2 Fixed Wall Mounting Mechanical stop of Joint 1 Fixed Mechanical stop of Joint 1 Adjustable Ceiling Mounti...

Page 84: ...nt 1 Mechanical Stops Joint 1 Mounting Arm Length a b c d e f g h i j k l Table Top 45 55 65 152 135 105 60 20 5 5 20 60 105 135 152 Ceiling 55 65 Wall 65 148 148 55 135 135 Ceiling 45 120 75 30 30 75 120 Wall 45 Setting Angle 152 148 135 120 105 75 60 Pulse Value 7048761 6932253 6553600 6116694 5679787 4805974 4369067 Setting Angle 30 20 5 5 20 30 60 Pulse Value 3495254 3203983 2767076 2475805 20...

Page 85: ... G6 45 S D 45 Z 0 to 270 45 Z 270 to 330 145 G6 45 C P D bellows 45 Z 0 to 240 147 5 45 Z 240 to 300 142 Ceiling Wall 45 130 The bellows for G6 D are options at shipment Setting Angle 147 5 145 142 130 125 100 Pulse Value 2685156 2639645 2585031 2366578 2275556 1820445 Setting Angle 100 125 130 142 145 147 5 Pulse Value 1820445 2275556 2366578 2585031 2639644 2685156 degree ...

Page 86: ... at low speeds until it reaches the positions of the minimum and maximum pulse range Make sure that the arm does not hit the mechanical stops Check the position of the mechanical stop and the motion range you set Example Using G6 1S The angle of Joint 1 is set from 85 degrees to 115 degrees The angle of Joint 2 is set from 132 degrees to 132 degrees EPSON RC Execute the following commands from the...

Page 87: ...r Be sure to hold the shaft by hand while pressing the button 3 Turn OFF the Controller 4 Loosen the lower limit mechanical stop screw M4 15 A mechanical stop is mounted on both the top and bottom of Joint 3 However only the position of the lower limit mechanical stop on the top can be changed Do not remove the upper limit mechanical stop on the bottom because the calibration point of Joint 3 is s...

Page 88: ...er limit position of the pulse range at low speed If the mechanical stop range is less than the pulse range Joint 3 will hit the mechanical stop and an error will occur When the error occurs either change the pulse range to a lower setting or extend the position of the mechanical stop within the limit The clearance between the lower limit pulse position and the mechanical stop should be approximat...

Page 89: ...indow 5 4 Standard Motion Range The following motion range diagrams show the standard maximum specification When each Joint motor is under servo control the center of Joint 3 s shaft s lowest point moves in the areas shown in the figure Area limited by mechanical stop is the area where the center of Joint 3 s lowest point can be moved when each joint motor is not under servo control Mechanical sto...

Page 90: ...0 147 5 3 134 8 Z 240 to 300 142 8 5 153 9 G6 55 147 5 6 3 133 8 161 2 300 550 514 9 523 G6 65 207 5 232 400 650 603 2 614 q r s G6 45 S D Z 0 to 270 147 5 150 5 64 4 Z 270 to 330 145 G6 45 C P D bellows Z 0 to 240 147 5 Z 240 to 300 142 G6 55 147 5 153 8 73 8 G6 65 147 5 m n p t G6 1S D 180 4 2 12 2 119 G6 3S D 330 31 G6 1C P D bellows 150 1 2 4 2 116 G6 3C P D bellows 300 34 The bellows for G6 D...

Page 91: ...5 5 200 450 G6 55 SW DW 135 147 5 3 3 146 8 161 2 300 550 G6 55 CW PW DW bellows 145 5 8 172 1 G6 65 W 148 7 5 147 5 6 3 207 5 232 400 650 j k q r s G6 45 W 301 8 313 5 130 133 8 122 4 G6 55 SW DW 462 1 474 7 147 5 150 8 86 8 G6 55 CW PW DW bellows 145 G6 65 W 589 2 614 147 5 153 8 147 5 m n p t G6 1SW DW 180 4 2 12 2 160 G6 3SW DW bellows 330 G6 1CW PW DW 150 1 2 4 2 193 G6 3CW PW DW bellows 300 ...

Page 92: ... 366 1 G6 55 SR DR 152 3 5 147 5 3 3 146 8 161 2 300 550 514 9 523 G6 55 CR PR DR bellows 145 5 8 172 1 G6 65 R 147 5 6 3 207 5 232 400 650 603 2 614 q r s G6 45 R 130 133 8 122 4 G6 55 SR DR 147 5 150 8 86 8 G6 55 CR PR DR bellows 145 G6 65 R 147 5 153 8 147 5 m n p t G6 1SR DR 180 4 2 12 2 9 G6 3SR DR bellows 330 141 G6 1CR 150 1 2 4 2 99 G6 3CR 300 249 G6 1PR DR 150 102 5 G6 3PR DR bellows 300 ...

Page 93: ...Maintenance This volume contains maintenance procedures with safety precautions for G6 series Manipulators ...

Page 94: ......

Page 95: ...es Do not enter the operating area while the power is ON Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even it seems to be stopped When you check the operation of the Manipulator after replacing parts be sure to check it while you are outside of the safeguarded area Checking the operation of the Manipulator wh...

Page 96: ... trouble and ensuring safety Be sure to perform the maintenance inspections in accordance with the schedule 2 1 Maintenance Inspection 2 1 1 Schedule for Maintenance Inspection Inspection points are divided into five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Manipulator is operated for 250 hours or longer per month the inspection points m...

Page 97: ...up if necessary External appearance of Manipulator External cables Check for bends or improper location Repair or place it properly if necessary Safeguard etc Check tension of timing belts Tighten it if necessary Inside of Arm 2 Grease conditions Refer to Maintenance 2 3 Greasing Battery Refer to Maintenance 11 Lithium Battery Inspection While the Power is ON Manipulator is operating Inspection Po...

Page 98: ...the maximum motion speed and maximum acceleration deceleration in continuous operation applied on the Manipulator For the EPSON RC 7 0 Ver 7 2 x or later firmware Ver 7 2 x x or later the recommended replacement time for the parts subject to maintenance motors reduction gear units and timing belts can be checked in the Maintenance dialog box of the EPSON RC 7 0 For details refer to the following m...

Page 99: ...us button to open the Browse For Folder dialog 3 Select the folder where the information is stored 4 Click OK to view the Controller Status Viewer dialog 5 Select Robot from the tree menu on the left side Dialog image EPSON RC 7 0 For the parts subject to overhaul refer to Maintenance 14 Maintenance Parts List For details of replacement of each part refer to the Maintenance section Please contact ...

Page 100: ...on your skin Wash the area thoroughly with soap and water Greasing part Greasing Interval Grease Refer to Maintenance Joint 1 Joint 2 Reduction gear units Overhaul timing SK 1A 5 2 Replacing the Joint 1 Reduction Gear Unit 6 2 Replacing the Joint 2 Reduction Gear Unit Joint 3 Ball screw spline unit At 100 km of operation 50 km for first greasing AFB 10 1 Greasing the Ball Screw Spline Unit Joint 1...

Page 101: ...aintenance dialog box of the EPSON RC 7 0 For details refer to the following manual Robot Controller RC700 RC700 A Maintenance 6 Alarm For the EPSON RC 5 0 Ver 5 4 7 or later firmware Ver 1 16 4 x or 1 24 4 x or later the recommended replacement time for the grease can be checked in the Maintenance dialog box of the EPSON RC 5 0 For details refer to the following manual Robot Controller RC180 Appe...

Page 102: ...in a crisscross pattern as shown in the figure below 1 5 3 7 2 6 4 8 Bolt hole Do not fasten all bolts securely at one time Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench Then use a torque wrench so that the bolts are fastened with tightening torques shown in the table above 2 5 Matching Origins After parts have been r...

Page 103: ...release switch Ball screw spline unit Joint 4 motor Cable unit Z belt U1 belt Joint 2 motor Joint 4 brake Arm cover U2 belt Joint 3 brake Figure G6 551S LED lamp Power cable Signal cable G6 C Cleanroom model G6 D P Protected model D With bellows option Bellows C D P Brake release switch for D P Bellows C D P Gasket D P Gasket P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gask...

Page 104: ...Ball screw spline unit Joint 4 motor Cable unit Z belt U1 belt Joint 2 motor Joint 4 brake Arm cover U2 belt Joint 3 brake Figure G6 551SW LED lamp Power cable Signal cable G6 CW Cleanroom model G6 DW PW Protected model D With bellows option Bellows C D P Brake release switch for D P Bellows C D P Gasket D P Gasket P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gasket P Gasket...

Page 105: ... screw spline unit Joint 4 motor Cable unit Z belt U1 belt Joint 2 motor Joint 4 brake Arm cover U2 belt Joint 3 brake Figure G6 551SR LED lamp Power cable Signal cable G6 CR Cleanroom model G6 DR PR Protected model D With bellows option Bellows C D P Brake release switch for D P Bellows C D P Gasket D P Gasket P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gasket D P Gasket P Gasket C D...

Page 106: ...placement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system Be careful not to get any foreign substances in the Manipulator connectors and pins during maintenance Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous and may result in electric shock and or malfunction of the...

Page 107: ...se bottom cover Except G6 S Table Top mounting Wall mounting Ceiling mounting Maintenance plate Arm top cover Connector plate Connector sub plate Side cover Arm cap Side cover Arm cap Base bottom cover Maintenance plate Arm top cover Arm bottom cover Connector plate Connector sub plate Side cover Arm cap Side cover Base bottom cover Except G6 SR Arm top cover ...

Page 108: ...ions Arm Top Cover Removal 1 Turn ON the Controller 2 Press and hold the brake release switch to let the shaft down Be sure to keep enough space and prevent the end effector hitting any peripheral equipment The brake release switch affects both Joints 3 and 4 When the brake release switch is pressed the brakes for both Joints 3 and 4 are released simultaneously Joint 4 brake is installed to G6 3 o...

Page 109: ...over to the arm and secure with the arm top cover mounting bolts After mounting the arm top cover make sure that the lower limit mechanical stop does not touch the cylindrical part of the arm top cover Cylinder part of the arm top cover Shaft Lower limit mechanical stop Brake release switch When bellows are installed to the manipulator install the arm top cover and then install the upper bellows F...

Page 110: ...e unit etc remove the end effector If it is not necessary to remove the cover completely move the shaft to the lower limit and lower the arm bottom cover Then perform maintenance or inspection When bellows are installed to the manipulator remove or pull down the lower bellows and then remove the arm bottom cover For bellows removal refer to Maintenance 9 Bellows G6 S Standard model G6 C Cleanroom ...

Page 111: ...he caps to remove them 3 3 1 G6 S Standard model G6 C Cleanroom model Arm side Common part Base side For the arm cap 4 M4 5 For the side cover 4 M4 15 Table Top mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 Wall mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 Ceiling mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 ...

Page 112: ...M4 5 For the side cover 4 M4 15 Gasket Gasket Table Top mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 Gasket Wall mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 Gasket Ceiling mounting For the side cover 4 M4 15 For the arm cap 4 M4 5 Gasket Gaskets are installed to G6 D P Protected model ...

Page 113: ...en installing the connector plate be careful not to allow the cables to interfere with the plate mounting and do not bend these cables forcibly to push them into the cover Unnecessary strain on cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper functio...

Page 114: ...10 6 M4 10 Gasket Part to apply silicon adhesive Wall mounting 4 M4 10 4 M4 10 Gasket Ceiling mounting 4 M4 10 6 M4 10 Gasket Part to apply silicon adhesive A gasket is installed to G6 D P Protected model When installing the gasket to Table Top mounting G6 D P or ceiling mounting G6 DR PR apply silicon adhesive to the gasket installing part on the base side shaded part in the photo NOTE ...

Page 115: ...on cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system When routing the cables observe the cable locations after removing the connector sub plate Be sure to place the cables back to their original locations Unscrew the conne...

Page 116: ...late 4 M4 10 User plate Gasket Sealing washer A gasket and sealing washers are installed to G6 D P Protected model 3 7 Maintenance Plate Unscrew the maintenance plate mounting bolts and remove the plate G6 S Standard model G6 C Cleanroom model G6 D P Protected model Table Top mounting 4 M4 5 Maintenance plate 4 M4 10 Maintenance plate Gasket Spacer Wall mounting 4 M4 5 4 M4 10 Maintenance plate Ga...

Page 117: ...e gasket unit Unscrew the base bottom cover mounting bolts and remove the cover G6 C Cleanroom model G6 D P Protected model Table Top mounting 6 M3 8 6 M3 8 Gasket Ceiling mounting 6 M3 8 6 M3 8 Gasket A gasket is installed to G6 D P Protected model A base bottom cover is not installed to G6 S Standard model NOTE ...

Page 118: ...ect 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 Be careful not to get any foreign substances in the Manipulator connectors and pins during maintenance Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous ...

Page 119: ...xes For details of the calibration refer to Maintenance 13 Calibration Name Quantity Note Maintenance parts Cable unit 1 Each manipulator model Refer to Maintenance 14 Maintenance parts Battery Unit Lithium battery 1 R13ZA00600300 Tools Hexagonal wrench width across flats 3 mm 1 For M4 screw width across flats 4 mm 1 For M5 screw width across flats 5 mm 1 For M6 screw Spanner width across flats 5 ...

Page 120: ...Maintenance 4 Cable 108 G6 Rev 21 Table Top mounting Cable Unit Wall mounting Cable Unit Ceiling mounting Cable Unit ...

Page 121: ...r contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system Cable unit Removal 1 Turn ON the Controller and change the motor to OFF status MOTOR OFF 2 Press and hold the brake release switch to let the shaft down Be sure to keep enough space and prevent the end effector hitting any peripheral equipment The brake release switch affects both...

Page 122: ...late 7 2 Remove the spring plate 7 3 Cut off the two wire ties binding cables When using Wall mounting type 7 1 Remove the ground plate 2 M4 10 Ground plate 7 2 Remove the spring plate 2 M4 10 Spring plate 7 3 Cut the wire tie banding the cables Wire tie 7 4 Pull out the spring plate Spring plate 7 5 Remove the saddle part mounting the cables 2 M4 10 Saddle part 7 6 Cut the wire tie banding the sp...

Page 123: ...the connection for connecting the disconnected parts after replacement 12 Cut off the wire tie binding cables on the Arm 2 side Wire tie 13 Remove the 11 connectors on the Arm side X21 X22 X31 X32 X33 X41 X42 X61 X221 X231 X241 Be sure to keep the connectors excluding X61 of the battery board connected at cables replacement Otherwise the motor will lose position data and the calibration must be ex...

Page 124: ...nting 19 Disconnect the cables that were disconnected from Arm 1 in step 18 to the side of Arm 1 Cable Table Top mounting Cable Wall Ceiling mounting 20 Disconnect the Arm 2 side cables from the lower part of Arm 1 When disconnecting the cables first disconnect the air tubes Then disconnect from the smaller connectors in order Do not try to disconnect the cables forcibly Otherwise connectors may b...

Page 125: ...tors and air tubes during the cable drawing 3 Connect the cables to Arm 1 in the proper direction Base side Arm side Cable 4 Set the mounting holes of the spring plate to the base side and mount the spring plate to Arm 1 4 M6 15 5 When using Table Top mounting disconnect the base side cables to the upper part of Arm 1 and pull the cables into the base When using Wall mounting or Ceiling mounting d...

Page 126: ...ate 6 3 Move Arm 1 to the right or left until the arm touches the mechanical stop to make allowance Then band the cables and air tubes with a wire tie If you band the cables and tubes without allowance the cables are pulled and may be disconnected during the robot operation Make sure to make allowance Wire tie 6 4 Remove the plastic bags on the base side applied in step 2 6 5 Mount the saddle part...

Page 127: ...he cables move Spring plate 6 4 Move Arm 1 to the right or left until the arm touches the mechanical stop to make allowance Then band the cables and air tubes with a wire tie If you band the cables and tubes without allowance the cables are pulled and may be disconnected during the robot operation Make sure to make allowance Wire tie 6 5 Remove the plastic bags on the base side applied in step 2 6...

Page 128: ...de cables to the lower part of Arm 1 and pull the cables into Arm 2 Cable 10 Mount the spring for cable protection to the spring plate with a wire tie Secure the spring plate to Arm 2 Wire tie Spring plate Spring 11 Move Arm 2 until the arm touches the mechanical stop to make allowance Then band the cables and air tubes with a wire tie If you band the cables and tubes without allowance the cables ...

Page 129: ...witch cable 17 Mount the user plate to the Arm 2 cover For details of user plate installation refer to Maintenance 3 6 User Plate 18 Set and secure the Arm 2 cover without the cables being stuck For details refer to Maintenance 3 1 Arm Top Cover 19 Mount the arm caps and side covers for Arm 1 For details refer to Maintenance 3 3 Arm 1 Cover 20 Remove the conector plate mounted loosely in the step ...

Page 130: ...e 4 Cable 118 G6 Rev 21 4 2 Wiring Diagrams 4 2 1 Signal Cable Cable color Pink Red Violet White Yellow Code P R V W Y Cable color Black Brown Green Blue Orange Code B BR G L O Mounting plate Detail Board Diagram ...

Page 131: ...Maintenance 4 Cable G6 Rev 21 119 4 2 2 Power Cable RC180 Cable color Pink Red Violet White Yellow Code P R V W Y Cable color Black Brown Green Blue Light green Orange Code B BR G L LG O ...

Page 132: ...Maintenance 4 Cable 120 G6 Rev 21 RC700 A RC700DU A Cable color Pink Red Violet White Yellow Code P R V W Y Cable color Black Brown Green Blue Light green Orange Code B BR G L LG O ...

Page 133: ...B Black R Red BR Brown V Violet G Green W White L Blue Y Yellow The following table shows the types of the use cable Environment Arm length Code Note S C 450 mm R13B020012 550 mm R13B020013 650 mm R13B020014 P D 450 mm R13B020015 Waterproof connector 550 mm R13B020016 650 mm R13B020017 ...

Page 134: ...connection of the connectors may result in improper function of the robot system For details on the connections refer to Maintenance 4 2 Wiring Diagrams When mounting the cover be careful not to allow the cables to interfere with the cover mounting and do not bend these cables forcibly to push them into the cover Unnecessary strain on cables may result in damage to the cables disconnection and or ...

Page 135: ...Maintenance 4 Cable G6 Rev 21 123 Table Top mounting M C Cable Wall mounting M C Cable Ceiling mounting M C Cable ...

Page 136: ...ue number Each connector has a different shape Do not disconect the battery connector XB10 Otherwise the calibration must be executed M C Cable Installation 5 Connect new M C cable connectors to those of the Cable Unit Connect to the connectors of the Cable Unit with the same number 6 Mount the Connector Sub Plate For details refer to Maintenance 3 5 Connector SubPlate 7 Connect the power cable an...

Page 137: ...forming any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system CAUTION Be careful not to apply excessive shock to the motor shaft when replacing the motors The shock may shorten the life cycle of the motors and encoder and or damage them Never disassemble the motor and encoder A disassembled motor and encoder will ...

Page 138: ...etails refer to Maintenance 3 7 Maintenance Plate 4 Remove the spring plate For the details refer to Maintenance 4 1 Replacing Cable Unit Cable unit Removal Step 7 2 for Table mounting Ceiling mounting 5 Remove the Joint 1 motor unit from the base To do so unscrew the bolts from the Joint 1 motor flange Then pull out the motor straight and downward To unscrew the two bolts on the maintenance hole ...

Page 139: ...rm generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 3 Insert the oil seal and mount the Joint 1 motor unit on the base Be sure to fit the O ring properly The motor cable must face the connector plate side If it is difficult to mount the motor push it while moving Arm 1 slowly by hand 4 M...

Page 140: ...tion gear unit refer to Maintenance 14 Maintenance parts list Name Quantity Note Maintenance Parts Reduction Gear Unit 1 R13B010011 Tools Hexagonal wrench width across flats 2 5 mm 1 width across flats 3 mm 1 For M4 screw width across flats 4 mm 1 width across flats 5 mm 1 For M6 screw Torque wrench M4 1 Tightening torque 6 0 N m 61 2 kgf cm M6 1 Tightening torque 22 0 N m 224 3 kgf cm Nippers 1 S...

Page 141: ...UTION When turning the Manipulator laterally there must be two or more people to work on it so that at least one of them can support the arm while others are removing the bolts Removing the bolts without supporting the arm may result in the arm falling bodily injury and or malfunction of the robot system 4 Use the extracting M4 screws and remove the flexspline and the grip ring Be sure to keep the...

Page 142: ... the torque specified in the table below Circular spline 16 M4 20 Item Bolt type Number of bolts Tightening torque Joint 1 reduction gear unit M4 20 16 6 0 N m 61 2 kgf cm M6 15 8 22 0 N m 224 3 kgf cm 3 Set the grip ring by aligning it with the tap hole Set the flexspline by aligning it with the tap hole Align the position of the air vent of the spacer Flexspline 8 M6 15 Spacer Grip ring 4 Apply ...

Page 143: ...forming any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system CAUTION Be careful not to apply excessive shock to the motor shaft when replacing the motors The shock may shorten the life cycle of the motors and encoder and or damage them Never disassemble the motor and encoder A disassembled motor and encoder will ...

Page 144: ...ffector hitting any peripheral equipment The brake release switch is applied to both Joints 3 and 4 When the brake release switch is pressed the respective brakes of the Joints 3 and 4 are released simultaneously Joint 4 brake is installed to G6 3 only Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an e...

Page 145: ...oint 2 motor unit upward to remove If the motor cannot be removed easily pull it out while moving Arm 2 slowly by hand 4 M4 15 10 Remove the wave generator from the Joint 2 motor There is a brass bushing in one of the set screw holes Be careful not to lose it 2 M4 8 set screw M4 bushing 11 Remove the motor flange from the Joint 2 motor 4 M5 15 ...

Page 146: ... See the figures above for the orientation of the waveform generator Be sure to install the waveform generator properly Improper installation of the waveform generator will result in improper function of the Manipulator 3 Mount the Joint 2 motor unit on Arm 2 If it is difficult to mount the motor push it while moving Arm 2 slowly by hand 4 M4 15 4 Mount the spring plate 2 M4 10 Spring plate 5 Conn...

Page 147: ...ction gear unit refer to Maintenance 14 Maintenance parts list Name Quantity Note Maintenance parts Reduction Gear Unit 1 R13B010012 Tools Hexagonal wrench width across flats 2 mm 1 width across flats 2 5 mm 1 For M3 screw width across flats 3 mm 1 width across flats 4 mm 1 For M5 screw Torque wrench M3 1 Tightening torque 3 0 N m 30 5 kgf cm M5 1 Tightening torque 12 0 N m 122 3 kgf cm Nippers 1 ...

Page 148: ...s of the Joints 3 and 4 are released simultaneously Joint 4 brake is installed to G6 3 only Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Execute steps from 1 to 10 in Maintenance 6 1 Replacing Joint 2 Motor and remove the waveform generator from the Joint 2 ...

Page 149: ...ttern at the torque specified in the table below 16 M3 15 Circular spline Item Bolt type Number of bolts Tightening torque Joint 2 reduction gear unit M3 15 16 3 0 N m 30 5 kgf cm M5 15 8 12 0 N m 122 3 kgf cm 3 Set the grip ring by aligning it with the tap hole Set the flexspline by aligning it with the tap hole Align the tap hole and mount the flexspline Align the position of the air vent of the...

Page 150: ... Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system CAUTION Be careful not to apply excessive shock to the motor shaft when replacing the motors The shock may shorten the life cycle of the motors and encoder and or damage them Never disassemble the motor and encoder A disassembled motor and encoder w...

Page 151: ...cutting wire tie Force gauge 1 Belt tension 80 N 8 2 kgf Suitable cord Length about 800 mm 1 For belt tension Material Wire tie 2 A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that...

Page 152: ...ller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Cut off the wire tie used for binding the motor cables to the Joint 3 motor 6 Disconnect the following connectors Connectors X231 X31 Hold the claw to remove Connector X63 7 Loosen the Z belt Loosen four bolts on the Joint 3 motor unit Slide the Joint 3 motor unit to the end of the arm 4 M4 12 Wash...

Page 153: ...71 3 kgf cm Z plate Joint 3 motor 4 M5ｘ12 Torque 700N cm 71 3 kgf cm 3 Loosen the screws securing the pulley Push up the pulley to the brake and tighten the screw PUSH Z1 pulley 2 M5 6 4 Loosen the screws securing the hub Push down the hub to the pulley side Tighten the screws with the space 0 1 0 3 mm between If the hub is secured with the space larger than 0 3 mm the brake hub may interfere with...

Page 154: ... the set screws with cables connected Hexagonal wrench Stubby type makes it easier to tighten remove screws 4 M4 12 Washer Z belt tension 80 N 8 2 kgf Force gauge Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right Make ...

Page 155: ...bout 800 mm 1 For belt tension Material Wire tie 2 A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that the brake will not work during the replacement procedure Move the shaft down t...

Page 156: ...reful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Cut off the wire tie used for binding the motor cables to the Joint 3 motor 6 Disconnect the following connectors Connectors...

Page 157: ...n be moved by hand and it will not tilt when pulled If the unit is secured too loose or too tight the belt will not have the proper tension 6 Apply the proper tension to the Z belt and then secure the Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension ...

Page 158: ... gauge 1 Belt tension 80 N 8 2 kgf Suitable cord Length about 800 mm 1 For belt tension Material Wire tie 3 A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that the brake will not wo...

Page 159: ...ile the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Cut off the wire tie used for binding the motor cables to the Joint 3 motor 6 Disconnect the following connectors Connectors X231 X31 Hold the claw to remove Connecto...

Page 160: ...b When the brake disk is not aligned turn ON the Controller and connect the connector X32 Press the brake release switch and release the brake to manually adjust the position 4 Mount the Joint 3 brake unit to Arm 2 so that the open side faces toward the end of the arm 4 M4 12 Washer Joint 3 motor unit 5 Connect the connectors Connectors X231 X31 X32 X63 6 Re bundle the cables in their original pos...

Page 161: ...orming any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system CAUTION Be careful not to apply excessive shock to the motor shaft when replacing the motors The shock may shorten the life cycle of the motors and encoder and or damage them Never disassemble the motor and encoder A disassembled motor and encoder will c...

Page 162: ...sion 70 N 7 1 kgf Suitable cord Length about 800 mm 1 For belt tension A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that the brake will not work during the replacement procedure M...

Page 163: ...f an end effector 3 Turn OFF the Controller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Cut off the wire tie used for binding the motor cables to the Joint 4 motor 6 Disconnect the following connectors X42 G6 3 only Connectors X241 X41 Hold the claw to remove Connector X42 X64 7 Remove the Joint 4 motor unit from Arm 2 Be careful not to break the...

Page 164: ...Place the U1 belt around the U1 pulley and the U2 large pulley upper side so that the gear grooves of the belt are fit into those of the pulleys completely 5 Loosely secure the Joint 4 motor unit to Arm 2 Loosely secure the Joint 4 motor unit to Arm 2 so that the motor unit can be moved by hand and it will not tilt when pulled If the unit is secured too loose or too tight the belt will not have th...

Page 165: ...with a wire tie removed in step 5 Do not allow unnecessary strain on the cables 9 Install the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 10 Perform the calibration of Joint 4 For details on the calibration method refer to Maintenance 13 Calibration ...

Page 166: ...cutting wire tie Suitable cord Length about 800 mm 1 For belt tension A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that the brake will not work during the replacement procedure Mo...

Page 167: ...se switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Loosen the bolts securing the Joint 4 motor unit 4 M4 12 Washer Joint 4 intermediate shaft unit Joint 4 motor unit 6 Loosen the blots securing the Joint 4 intermediate shaft unit 7 Remo...

Page 168: ...an be moved by hand and it will not tilt when pulled If the units are secured too loose or too tight the belt will not have the proper tension 4 Apply the proper tension to the U2 belt and then secure the Joint 4 intermediate shaft unit To do so pass a suitable cord or string around the Joint 4 intermediate shaft unit near its mounting plate Then pull the cord using a force gauge or similar tool t...

Page 169: ... G6 Rev 21 157 6 Install the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 7 Perform the calibration of Joint 3 For details on the calibration method refer to Maintenance 13 Calibration ...

Page 170: ...ause the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Remove the arm top cover and the arm bottom cover For details refer to Maintenance 3 Covers 5 Cut off the wire tie used for binding the motor cables to the Joint 3 motor 6 Disconnect the following connectors Connectors X231 X31 Hold the claw to remove Connector X63 X32 7 Remove the Joint 3 motor unit from Ar...

Page 171: ...oint 4 intermediate shaft unit U1 belt U2 belt U2 small pulley U2 large pulley Put the Joint 4 motor unit and the Joint 4 intermediate shaft unit to the shaft side and remove the belt from the pulley 11 Remove the U2 belt Remove the bolts securing the spline plate Hold the spline plate up and remove the U2 belt from the shaft by pulling them up 3 M4 12 U2 belt Spline plate ...

Page 172: ... upper side so that the gear grooves of the belt are fit into those of the pulleys completely U1 belt U2 large pulley U1 pulley 6 Set the U2 belt around the U3 pulley and U2 small pulley so that the gear grooves of the belt are fit into those of the pulleys completely U2 belt U2 small pulley U3 pulley 7 Loosely secure the Joint 3 motor unit Joint 4 intermediate shaft unit Joint 4 motor unit to Arm...

Page 173: ...n shown in the figure on the right 4 M4 12 Washer U1 belt tension 70 N 7 1 kgf Force gauge Joint 4 motor unit 10 Apply the proper tension to the Z belt and then secure the Joint 3 motor unit To do so pass a suitable cord or string around the Joint 3 motor unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the ri...

Page 174: ... 1 The brake for U axis is installed to G6 3 A brake is mounted on the motor of Joints 3 and 4 to prevent the shaft from moving down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status MOTOR OFF The brake for Joint 4 is only installed to G6 3 Note that the brake will not work during the replacement procedure Move the shaft down to its ...

Page 175: ...spective brakes for Joints 3 and 4 are released simultaneously The brake for Joint 4 is only installed to G6 3 Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector 3 Turn OFF the Controller 4 Remove the arm top cover For details refer to Maintenance 3 1 Arm Top Cover 5 Disconnect the connector...

Page 176: ...p Insert 9 mm to the brake If the cap is inserted 10 mm or more the rotation part touches the rubber cap and may result in malfunctions Rubber cap Rubber cap Rotator part Brake hub 4 Connect the connector Connector X42 5 Re bundle the cables in their original positions with a wire tie removed in step 6 Do not allow unnecessary strain on the cables 6 Install the arm top cover For details refer to M...

Page 177: ... removing the bellows Name Quantity Note Maintenance parts Bellows 150 mm 1 R13B030701 300 mm R13B030702 Tools Cross point screwdriver 1 For clamp band removal Bellows Removal 1 Remove the end effector 2 Remove the wires and tubes from the end effector 3 Turn ON the controller Stop motor excitation MOTOR OFF 4 Loosen the two clamp bands on each bellows Bellows Clamp band small Clamp band medium wi...

Page 178: ...cover side The smaller joint must be attached to the end face side of the shaft Be careful not to misplace the clamp bands The clamp band has three sizes small medium and large Attach the mounting part of the bellows until the end touches the cylindrical part of the cover Attach the rubber sheet Be sure to attach the rubber sheet so that no space is made between the bias cut No rubber sheet for th...

Page 179: ...Maintenance 9 Bellows G6 Rev 21 167 6 Turn OFF the Controller and peripheral equipment 7 Attach the end effector 8 Connect the wires and tubes to the end effector ...

Page 180: ...t directly to a factory power source Before performing any replacement procedure turn OFF the 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 After parts have been replaced motors reduction gear units brakes ...

Page 181: ... arm to a position where Joint 3 can be moved in full stroke 3 Move the shaft to its upper limit manually while pressing the brake release switch Brake release switch 4 Turn OFF the Controller 5 Wipe off the old grease from the upper part of the shaft and then apply new grease to it When applying the new grease to the upper part of the shaft directly fill the grooves on it by hand Wipe off excess ...

Page 182: ...p band Lower Part of the Shaft 7 Loosen the clamp band on the bellows and then move the bellows downward 8 Move the shaft to its lower limit manually while pressing the brake release switch 9 Wipe off the old grease from the lower part of the shaft and then apply new grease to it Directly fill the grooves on the shaft inside the bellows with grease by hand Wipe off excess grease from the shaft 9 S...

Page 183: ...e replacement procedure Move the shaft down to its lower limit before starting the replacement procedure by following the removal steps from 1 to 3 Name Quantity Note Maintenance parts Ball Screw Spline Unit 1 Each manipulator model Refer to Maintenance 14 Maintenance Parts Grease For Ball Screw Spline Unit AFB grease Proper quantity Tools Hexagonal wrench width across flats 3 mm 1 For M4 screw Ni...

Page 184: ...FF the Controller 4 Detach the wires tubes from the end effector and remove the end effector 5 This step is only for Cleanroom model and Protected model C D with bellows option P Remove the bellows For details refer to Maintenance 9 Bellows 6 Remove the arm top cover and arm bottom cover For details refer to Maintenance 3 Covers 7 Cut off the wire tie banding motor cables to the Joint 3 motor 8 Di...

Page 185: ...Put the Joint 4 motor unit and the Joint 4 intermediate shaft unit to the shaft side and remove the belt from the pulley 14 Remove the U2 belt and Z belt Remove the bolts securing the spline plate Hold the spline plate up and remove the U2 belt and Z belt from the shaft by pulling them up 3 M4 12 Z belt U2 belt Spline plate 15 Remove the nut mounting screws of the ball screw spline shaft on the lo...

Page 186: ... Loosely secure the spline plate to Arm 2 After moving the shaft up and down several times secure the spline plate to Arm 2 3 M4 12 Z belt U2 belt Spline plate 4 Place the Joint 3 motor unit back to Arm 2 Joint 3 motor unit Z belt Z2 pulley Z1 pulley 5 Set the Z belt around the Z1 pulley and Z2 pulley so that the gear grooves of the belt are fit into those of the pulleys completely 6 Set the U1 be...

Page 187: ...ension 9 Apply the proper tension to the U2 belt and then secure the Joint 4 intermediate shaft unit To do so pass a suitable cord or string around the Joint 4 intermediate shaft unit near its mounting plate Then pull the cord using a force gauge or similar tool to apply the specified tension shown in the figure on the right If the string is touching the battery board remove mounting screw for the...

Page 188: ...heir original positions with a wire tie removed in step 4 Do not allow unnecessary strain on the cables 14 If the position of the lower limit mechanical stop was changed for area limit secure it to the proper position 15 Grease the shaft For details refer to Maintenance 10 1 Greasing the Ball Screw Spline Unit 16 Install the arm top cover and arm bottom cover For details refer to Maintenance 3 Cov...

Page 189: ...osion or inflammation and may cause serious safety problems Improper Handling Battery Charge Disassembly Incorrect Installation Exposing to Fire Forced Discharge Deformation by Pressure Short circuit Polarity Positive Negative Heating 85 C or more Soldering the terminal of the lithium battery directly When disposing of the battery consult with the professional disposal services or comply with the ...

Page 190: ...anual Robot Controller RC180 Appendix Alarm The battery may run out if it passes the recommended replacement time If no warnings of voltage reduction occur the calibration for all joints is not necessary You need to perform calibration if the position moves from the originals after replaced the battery Always use the lithium battery and battery board designated by us Refer to Maintenance 14 Mainte...

Page 191: ...e to connect the connector of the new battery before disconnecting the old battery If the current battery is disconnected before connecting the new one the robot will lose the origin position data and the calibration must be executed again Except when the Power Low warning is appearing X60A Battery board X60B Wire tie 5 Cut off the wire tie banding the lithium battery and remove the lithium batter...

Page 192: ... pressing the brake release switch Be sure to keep enough space and prevent the end effector hitting any peripheral equipment The brake release switch is applied to both Joints 3 and 4 When the brake release switch is pressed the respective brakes of the Joints 3 and 4 are released simultaneously The brake for Joint 4 is only installed to G6 3 Be careful of the shaft falling and rotating while the...

Page 193: ...ry board 2 Connect the connectors Connectors X61 X62 X63 X64 Battery board X61 X62 X63 X64 3 Fix the connector cable with wiring tie Refer to procedure 4 4 Mount the arm top cover For details refer to Maintenance 3 1 Arm Top Cover 5 Turn ON the Controller 6 Perform the calibration of all joints For details refer to Maintenance 13 Calibration ...

Page 194: ... replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot system Name Quantity Note Maintenance parts LED Lamp 1 R13A030000200 Tools Cross point screwdriver 1 For wire removal Nippers 1 Material Wire tie 1 LED Lamp Removal 1 Remove the arm top cover For details refer to Maintenance 3 1 Arm Top Cover 2 Disconnect the X1 and X2 t...

Page 195: ...hat no one is inside the safeguarded area The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area The motion of the Manipulator is always in restricted low speeds and low power status to secure the safety of an operator However operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious ...

Page 196: ...t Arm Orientations to accurately calibrate Joint 2 For details refer to Maintenance 13 3 Accurate Calibration of Joint 2 When calibrating Joint 4 you must calibrate Joint 3 and 4 at the same time You cannot calibrate Joint 4 alone because of the structure of the Manipulator If Err9716 or 5016 Power supply failure of the absolute encoder Replace the battery Check the robot internal wiring occurs ap...

Page 197: ...ot Calibration Only selected robot can be calibrated iii Select the joint and click the Calibrate button 2 Confirm the warning message and click the Yes button 3 Move the joint to calibrate manually to approximate 0 pulse position as shown in the dialog After moving the joint click the Next button NOTE EPSON RC 7 0 ...

Page 198: ...ht line Regardless of the Joint 1 direction 0 pulse 0 pulse position of Joint 3 upper limit position in motion range The height of Joint 3 depends on manipulator model Standard model Cleanroom model Protected model with bellows option 0 pulse position of Joint 4 position where the flat surface or groove in the up down mechanical stop on the shaft faces toward the tip of Arm 2 Groove Flat surface 0...

Page 199: ... 5 Reboot the Controller This window will disappear when the Controller starts up 6 Select the reference point to use for calibration and click the Next button Select a point from the current points to use for checking the accuracy 7 Click the Jog button to display the Jog Teach dialog ...

Page 200: ...8 G6 Rev 21 8 Jog the end effector to approximate reference point in the Jog Teach dialog for rough calibration Then click the OK button Before operating the robot open the Jog Teach tab and execute Motor ON 9 Click the Next button ...

Page 201: ...he manipulator moves to the reference point Click the Execute button Input JUMP P0 z 0 Point selected in step 6 11 Confirm the message and click the Yes button 12 After the manipulator moves to the reference point click the Next button JUMP P0 z 0 ...

Page 202: ...3 Jog to the accurate reference position Click the Jog button 14 Jog the end effector to approximate reference point in the Jog Teach dialog for rough calibration Then click the OK button Position Joint 2 only and move Joint 3 to around 0 pulse ...

Page 203: ...ation Using Right Left Arm Orientations to accurately calibrate Joint 2 only Go on to the step 19 for the other joints calibration i Move to another point that has different pose from righty to lefty using Jump command Click the Yes button ii Jog to the accurate reference position Click the Jog button ...

Page 204: ...Maintenance 13 Calibration 192 G6 Rev 21 iii Jog to the accurate reference position and adjust the position Click the OK button iv Click the Next button ...

Page 205: ...aintenance 13 Calibration G6 Rev 21 193 17 Calibration is complete Click the Finish button 18 Move the manipulator to other points and check if it can move without problems Teach points where appropriate ...

Page 206: ...ight figure and attach it on the end of the shaft to make the center of the shaft clear Decide a target point and mark a cross on it so that you can easily verify the center of the shaft after switching the arm pose between right and left Calibration jig at the end of the shaft Example Target point The center of the shaft After removing the end effector and performing the calibration install the e...

Page 207: ...from right to lefty click the Free All in the Control Panel and change the arm orientation to lefty by hands Then go to the step 6 7 8 The joints are slightly out of position Adjust the gap with the Z in the Jogging group in the Jog Teach Then teach another point data number unused This pose point is now called P2 Specify point number P2 and click the Teach button in Jog Teach 9 Input the new Hofs...

Page 208: ...brating Joint 4 you must calibrate Joint 3 and 4 at the same time The reference point a point to identify the position of the manipulator needs to be specified for calibration Follow steps 1 to 6 described below in order to calibrate the origin 1 Basic Pose Confirmation 1 1 After the part replacement perform the calibration using the point data currently registered Confirm the point data number P ...

Page 209: ...ht line Regardless of the Joint 1 direction 0 pulse 0 pulse position of Joint 3 upper limit position in motion range The height of Joint 3 depends on manipulator model Standard model Cleanroom model Protected model with bellows option 0 pulse position of Joint 4 position where the flat surface or groove in the up down mechanical stop on the shaft faces toward the tip of Arm 2 Groove Flat surface 0...

Page 210: ...ntroller button This window will be disappeared when the Controller starts up 4 Rough Calibration 4 1 Execute the following command from the menu Tools Command Window calpls 0 0 0 0 Manipulator does not move 4 2 Execute one of the following commands according to the joint you want to calibrate from the menu Tools Command Window Joint 1 calib 1 Joint 2 calib 2 Joint 3 calib 3 Joint 4 calib 3 4 5 Ca...

Page 211: ...y align the joint being calibrated to the specified point using jog commands You must move Joint 3 and 4 to the position when calibrating Joint 4 Select the jog mode Joint from Jog Teach to execute the jog motion 5 7 Execute the calibration Enter and execute one of the following commands in Command Window according to the joint being calibrated Joint 1 Calib 1 Joint 2 Calib 2 Joint 3 Calib 3 Joint...

Page 212: ...8 2 R13B030208 U2 width 20 mm Battery Board R13B041202 With lithium battery Installed in Arm 2 ER17330V TOSHIBA 11 2 Battery Unit R13ZA00600300 Lithium battery for replacement 3 ER17330V TOSHIBA 11 1 O ring R13B031223 For Motor flange of Joint 1 5 1 LED Lamp R13A030000200 2 12 Grease 5 AFB Ball Screw Spline For purchasing the grease please contact the sales company in your region 2 3 SK 1A Reducti...

Page 213: ...tml Reduction Gear Unit A reduction gear unit consists of the following three parts When replacing the reduction gear unit be sure to always replace the waveform generator flexspline and circular spline all together as one set Waveform generator This waveform generator consists of an ellipsoidal cam with ball bearings on its outer circumference The inner ring of bearings is secured to the cam whil...

Page 214: ...50 mm R13B020015 550 mm R13B020016 650 mm R13B020017 M C Cable S C 3 m For RC180 R12B020425 4 4 3 For RC700 A Straight R12NZ900JX For RC700 A L shaped R12NZ900K1 5 m For RC180 R12B020426 For RC700 A Straight R12NZ900JY For RC700 A L shaped R12NZ900K2 10 m For RC180 R12B020427 For RC700 A Straight R12NZ900JZ For RC700 A L shaped R12NZ900K3 D P 3 m For RC180 R12B020428 For RC700 A Straight R12NZ900K...

Page 215: ... 1 G6 1 Z 150 180 mm do not have U axis Solenoid Brake 2 Common with E2 series 3 Common with E2C 4 Common with G10 G20 series 5 As a rough indication perform the overhaul parts replacement before reaching 20 000 operation hours of the Manipulator The operation hours can be checked in Controller Status Viewer dialog Motor On Hours For details refer to Maintenance 2 2 Overhaul Parts Replacement 6 Th...

Page 216: ...Maintenance 14 Maintenance Parts List 204 G6 Rev 21 ...