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Epson ES Series User Manual
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Part 1: Setup & Operation
5. End Effectors
23
*
The percentage in
the graph is
based on th
e speed at rated weigh
t
(2kg) as
100%.
*
The percentage in the graph is
based on th
e speed at rated weigh
t
(2kg) as
100%.
Figure 12-1. Autom
atic speed setting by W
EIGHT
300
RC+
SPEL 95
34
36
Table of Contents
Default Chapter
9
Table of Contents
9
Manipulator Part Names
15
Installation Requirements
17
Environmental Conditions
17
Installation Area
17
Base Table
18
Pre-Installation Safety Precautions
20
Installation
21
Unpacking
21
Installation Method
22
Connecting the Cables
24
Safety Precautions after Installation
26
Relocating the Manipulator
28
User Wires and Pneumatic Tubes
29
End Effectors
31
Attaching an End Effector
31
Wire and Tube Layout
33
The End Effector and Acceleration / Deceleration
34
Setting WEIGHT Parameters
34
Precautions for Auto Acceleration / Deceleration
37
Moment of Inertia and the ACCEL Setting
38
Calculating the Moment of Inertia
39
Eccentricity of Joint #4
41
Attaching a Camera, Valve, and Other Devices
43
External Dimensions
45
Motion Range and Robot Coordinates
47
Standard Motion Range
47
Pulse Range
53
Changing the Motion Range
56
Methods of Setting the Motion Range
56
Changing Motion Range Using Pulse Range
57
Changing Motion Range Using Mechanical Stops
58
Changing Motion Range Using X, y Limits
66
Emergency Stop
69
Specifications
71
Series Standard Model Specifications
72
EL Series Standard Model Specifications
73
Model Settings
74
Clean Model
75
Manipulator Part Names
75
Installation Method
76
Exhaust System
76
External Dimensions
77
Additional Specifications
79
Protected Model
81
Manipulator Part Names
82
Environmental Conditions
83
General Environmental Conditions
83
Special Environmental Conditions
84
Connecting the Cables
85
User Wires and Pneumatic Tubes
86
External Dimensions
88
Additional Specifications
90
Part 2 Maintenance
91
Maintenance Safety Precautions
93
General Maintenance
95
Maintenance Inspection Schedule
95
Inspections
96
Lubrication
98
Tightening Torque of Bolts
98
Matching Mechanical and Electrical Origins
99
Differences between es and el Series
99
Internal Layout
100
Opening the Covers
101
Arm Top Cover
101
Arm Bottom Cover
102
Joint #1 Cover
102
Base Connector Plate
103
Replacing the Cable Unit
105
Cable Unit Replacement Procedure
106
Wiring Schematic 1
110
Wiring Schematic 2
111
Connector Pin Assignments
113
Replacing the Motors
119
Replacing the Joint #1 Motor
120
Replacing the Joint #2 Motor
124
Replacing the Joint #3 Motor
128
Replacing the Joint #4 Motor
134
Replacing the Reduction Gear Units
139
Replacing the Joint #1 Reduction Gear Unit
142
Replacing the Joint #2 Reduction Gear Unit
151
Replacing the Brake
163
Replacing the Timing Belts
167
Replacing the Z Belt
168
Replacing the U1 Belt
171
Replacing the U2 Belt
174
Replacing the Ball Screw Spline Unit
179
Replacing the Ball Screw Spline Unit
180
Greasing the Ball Screw Spline Unit
185
Replacing the Signal Relay Board
187
Signal Relay Board
187
Replacing the Lithium Battery
189
Calibration
191
Calibration for EPSON RC+ Controller
192
Common Procedure for Calibration
192
Calibrating Joint #3
194
Calibrating Joint #1, #2, and #4
195
Accurate Calibration of Joint #2
196
Calibration for SPEL 95 / SRC5** Controller
198
Common Procedure for Calibration
198
Calibrating Joint #3
200
Calibrating Joint #1, #2, and #4
201
Accurate Calibration of Joint #2
202
Calibration for SRC-3** Controllers
204
Common Procedure for Calibration
204
Calibrating Axis #3
206
Calibrating Axes #1, #2, and #4
207
Accurate Calibration of Axis #2
208
Clean Model Maintenance
211
Greasing the Ball Screw Spline Unit
211
Replacing the Bellows
213
Protected Model Maintenance
215
Safety Precautions
215
Sealing the Manipulator
216
Internal Layout
218
Replacing the Cable Unit
219
Wiring Schematic 1
223
Wiring Schematic 2
224
Greasing the Ball Screw Spline Unit
225
Replacing the Bellows
227
Replacing the Signal Relay Board
232
Maintenance Part Lists
233
Maintenance Parts for All Models
233
Maintenance Parts for Standard-Model
234
Maintenance Parts for Clean-Model
234
Maintenance Parts for Protected-Model
235
4
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Epson ES Series Specifications
General
Type
SCARA
Payload
3 kg
Repeatability
±0.01 mm
Axes
4
Controller
RC700
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