Epson rc90 handbuch



ISBN: 311624203


Epson rc90 handbuch

Manuals Brands Epson Manuals Robotics RC90 Safety and installation Epson RC90 Safety And Installation Robot system. Quick Links Download this manual See also: User ManualManual. Robot System. Related Manuals for Epson RC90 Controller Epson RC90 User Manual Robot controller. Robotics Epson LS series Manipulator Manual Scara robot pages. Summary of Contents for Epson RC90 Page 1 Robot System Safety and Installation Read this manual first Rev.

Page 4 3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. Factory Automation Division 7F, Jinbao Building No. Page 7 12th Floor, The Millenia, Tower A, No.

Page 8 For other countries, please contact your local government to investigate the possibility of recycling your product. Page 9 TP port of RC90 is for the Teach Pendant TP1 and TP2. Connecting to the followings may result in malfunction of the device since the pin assignments are different. OPTIONAL DEVICE dummy plug Operation Pendant OP Page Table Of Contents 2. Page 14 4. Page 15 5. Manuals Software Page Safety WARNING This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

Page Designing A Safe Robot System For further details, refer to the following section: 1. Page 20 During an emergency stop, the power that is supplied to the motor driving the robot is shut off, and the robot is stopped by dynamic braking.

Page 21 low power status. Make sure not to enter the safeguarded area except through the point where the safeguard interlock is installed. Page 22 Robot Operation Panel When using the robot operation panel, it must be installed so as to operate the robot system from outside the safeguard. Page 27 Joints 3 and 4 are released simultaneously. Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of an end effector.

Page 29 3 and 4 are released simultaneously. Page Operation Modes - TEACH operation mode allows you to jog and teach the robot at slow speed while inside the safeguarded area. Page 32 - If alcohol, liquid gasket, or adhesive gets into your eyes or mouth, flush your eyes or wash out your mouth with clean water thoroughly, and then see a doctor immediately.

Page 33 If swallowed, do not induce vomiting. See a doctor immediately. If grease just gets into your mouth, wash out your mouth with water thoroughly. If grease gets on your skin: Wash the area thoroughly with soap and water. Page Emergency Stop Manipulator is operating, make sure to check the following points after power restoration. Page 35 Manipulator Manual Maintenance 2. Page 37 Pause halt or STOP program stop commands Pause and STOP commands do not turn OFF the motors.

Therefore, the brake does not function. 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. Page How To Reset The Emergency Mode 1. Safety 1.

It also shows status for Emergency Stop, Safeguard, Motors, and Power. Page Labels Disconnect and lockout main power before performing maintenance repair. TP port of RC90 is for the Teach Pendant TP1 and TP2. Do not connect the followings to TP port of RC Connecting to the followings may result in malfunction of the device.

Page 44 Location Label Note Be careful of the shaft falling and rotating while the brake release switch is pressed because the shaft may be lowered by the weight of the end effector. Page 45 1. Page 46 1. Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status. Page 49 The dynamic brake circuit is activated when the drop of the power supply voltage is detected. Temperature Anomaly Detection The temperature anomaly is detected.

Fan Malfunction Detection Malfunction of the fan rotation speed is detected. Page 51 When using the padlock, do not use the controller where it is subject to vibration or shock, otherwise failure or damage may result. Do not apply a force of more than 50N on the lockout attachment; otherwise the lockout attachment will be damaged.

Page Manipulator Specifications Weight cables not included 17 kg : Page 53 Joint 1 Max. Page 56 Although values larger than can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably. Page Motion Range Setting By Mechanical Stops Mechanical stop of Joint 2 Adjustable Do not move the upper limit mechanical stop. Page End User Training - Explanation of potential hazards involved in the work.

Page Installation The outline to install the robot system is indicated on 2. Page Outline From Unpacking To Operation Of Robot System 3. Page Unpacking : Do not remove the wire tie securing the arm until you finish the installation. You may get your hands caught in the Manipulator when the wire tie is removed before completing the installation.

Page Transportation : Stabilize the Manipulator with your hands when hoisting it. Page 65 Do not hold the metal duct and the resin duct when carrying the Manipulator. It may damage them. Page 66 7 Hoist the Manipulator attaching the hands on the shaded area so that it can keep the balance. Then, move it to the base table. Page Manipulator Installation : To ensure safety, a safeguard must be installed for the robot system. Space between safeguard and Manipulator Measurement point In front of the Manipulator, mm apart from the motion range, 50 mm above the base-installed surface.

Page Base Table The table must be secured on the floor or wall to prevent it from moving. The Manipulator must be installed horizontally. When using a leveler to adjust the height of the base table, use a screw with M16 diameter. Plane Washer Tightening torque: Screw Hole depth 20 mm Page 71 2. Page 72 depth 20 mm or more 2 Using nippers, cut off the wire tie binding the shaft and arm retaining bracket on the base. Page 73 2. Installation 4 Remove the bolts securing the wire ties removed in step 2.

Page 76 Controller. Make sure that heat sensitive devices are not placed near the outlet. Arrange the cables in front of the Controller so that you can pull the Controller forward. Page Connection To Emergency Connector Controller Operating the robot system when the switch is not functioning WARNING properly is extremely hazardous and may cause serious safety problems as the Safety Door input cannot fulfill its intended function. Page Latch Release Switch Manipulator power is operation-prohibited because the safety door is open at that time.

To execute a Manipulator operation, close the safety door again, and then close the latch release input. Page Checking Latch Release Switch Operation 1 Turn ON the Controller while the safety door is open in order to boot the controller software. Page Emergency Stop Switch 4 Release the Emergency Stop Switch. Page Pin Assignments The 24 V output is for emergency stop.

Do not use it for other purposes. Doing so may result in system malfunction. CAUTION Doing so may result in system malfunction. The power receptacle shall be installed near the equipment and shall be easily accessible. For Clean-model : When the Manipulator is a Clean-model, use it with an exhaust system. For details, refer to the Manipulator manual.

Page Power-On When supplying the power again : When supplying the power to the controller again, turn OFF the controller and wait for 5 seconds or more. Then, turn ON the controller again.

Quick Links Download this manual See also: User Manual. Robot Controller. Related Manuals for Epson RC90 Robotics Epson RC90 Safety And Installation Robot system pages. Controller epson RC Manual Robot controller pages. Epson dot matrix lcd controller driver product manual 13 pages. All rights reserved.

This manual is intended for personnel who perform any operations using the pendant, such as teaching robot points. Please thoroughly read this manual and other related manuals before and while using the equipment. Page 5 Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

Page 6 For T series, VT series Manipulator user only T series and VT series Manipulators are controller integrated manipulators. Page 9: Table Of Contents 2. Page 10 4. Page 11 Table of Contents 4. Maintenance Parts List Page Introduction More flexible modification and expansion of a system because multiple devices are simply added to one Fieldbus without additional wiring.

Slave devices can transmit self-diagnostics information. Page 14 1. Each type of Fieldbus supports the following boards. DeviceNet master board manufactured by molex PROFIBUS-DP master board manufactured by molex Page Devicenet Maintenance spare parts stored on site factory, etc. Similar products are available around the world due to a global standard DeviceNet. Page 16 The data transfer frequency is defined by master configuration. However, never disable the ACK since communication errors cannot be detected.

Page Profibus Dp Maintenance parts stored on site factory, etc. Similar products are available around the world due to a global standard PROFIBUS DP. Page General Specifications m Page General Specifications Bus EIA RS compliant Type Transmission Format HDLC compliant Maximum Number of 64 units Devices Slave Station Number 1 to 64 CC-Link Ver1.

Concept of PROFINET has been developed based on standard Ethernet of IEEE through a joint effort with its users. Functionality has been added to cover the area that standard Ethernet cannot satisfy. Page Profinet Communication IRT is used for applications where a strict real-time performance is required, such as motion control. As a communication hardware, switch-function-embedded special ASIC is used. This method guarantees the real-time performance by dividing the communication band on Ethernet.

Page Ethercat Ethernet cable STP cable. If you use an office use product or UTP cable, it may causes communication errors and may not offer the proper performance. Page Installation Turn ON the communications power supply. After that or simultaneouslyturn ON the nodes to supply power. When the power to the nodes is supplied earlier than the power to the communication power supply, communication with the nodes may fail. Page Devicenet Network Construction You can install masters anywhere in the network.

You can connect up to 64 nodes including the server in the network. As a noise countermeasure, you can leave the network ungrounded. For details, refer to 4. Trouble shooting. Page 32 In the figure above, each drop line length is as follows: Drop Line to Node 1: 4 m Drop Line to Node 2: 6 m Drop Line to Node 3: 6 m One drop line length should be 6 m or less. Page 33 5 A and 6 A on the right side. Incorrect wiring may cause node malfunction and severe damage to the entire DeviceNet network.

Page 35 Specifications Special Tool AI 0. Page 36 Specific screwdrivers for DeviceNet connector screw are: 0. Page Installing Devicenet Master Board Manufactured By Molex Strobe, Polling, Cyclic and Change of State Explicit Messaging Connection EDS Support Max.

Input Data Size bits bytes Max. Output Data Size bits bytes Automatic Detection Yes. Devices can be detected automatically. Page 38 DeviceNet master can control up to 64 nodes max. DeviceNet network configuration is specified by configuration management software. The dialog box shown below appears. Page 40 The applicomIO Console application installer runs and the [Welcome to the InstallShield Wizard for applicomIO] dialog box appears.

The [License Agreement] dialog box appears. Page 41 Specify the installation folder for the applicomIO Console application. The [Ready to Install the Program] dialog box appears. Page 42 The message prompting you to reboot your PC appears. Refer to the next section Installing a Board to install the DeviceNet master board manufactured by molex.

Page 43 WARNING Configure the board address jumper JP1 on DeviceNet master board manufactured by molex. Refer to the following table for JP1 configuration. Page 44 When the applicomIO Console application shuts down, the dialog box below appears. Then, the following dialog box appears. Reboot the Windows. After the PC is rebooted, refer to the next section Master Mode and continue the step. Page 45 EDS file that is necessary for the network setup.

Select [Protocol]. Select the [Equipment Library] tab. The [Select configuration files] dialog box appears. Specify the EDS file that is supplied by the device manufacturer. Set the configuration to minimize the load. For verification of the load on the bus using the applicomIO Console application, refer to 4. Troubleshooting in this manual. Page 47 The following message appears.

The [Network Detection] dialog box appears and the devices on the Fieldbus will be read in. The list of detected devices is displayed in [Network detection] panel. Page 48 2. Installation Select a device you want to scan. The following dialog box appears. Page 49 Communication with the slave device is not performed if they do not match.

Change the information of either Connections Parameters or Fieldbus master board. Please consult with the slave device manufacturer if the information is unclear. Page 50 In this case, obtain the EDS file from the device manufacturer and register it by following the step 7. After that, follow the step Page 51 2. Check the communication status with each slave devices.

The [Diagnostic Board] dialog box appears. Page 52 Connections Parameters for the Fieldbus master board can be checked by the following procedure. First, select the slave device which is registered to the Fieldbus master board.

Then, click the left mouse button and select [Properties]. Page 53 2. Installation The property information of selected slave device is displayed. Select the [Connection Configuration] tab. Connections Parameters appear to communicate with the slave device.

Page 54 Now, the Fieldbus master board is ready to operate in the master mode.