Epson ES Series User Manual

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TABLE OF CONTENTS
Part 1: Setup & Operation
1. Manipulator Part Names.............................................................. 3
2. Installation Requirements........................................................... 5
2.1 Environmental conditions........................................................................5
2.2 Installation area.......................................................................................5
2.3 Base Table ..............................................................................................6
2.4 Pre-installation safety precautions ..........................................................8
3. Installation.................................................................................... 9
3.1 Unpacking...............................................................................................9
3.2 Installation method................................................................................10
3.3 Connecting the cables ..........................................................................12
3.4 Safety precautions after installation ......................................................14
3.5 Relocating the manipulator ...................................................................16
4. User Wires and Pneumatic Tubes ............................................ 17
5. End Effectors ............................................................................. 19
5.1 Attaching an end effector ......................................................................19
Wire and tube layout ...................................................................................21
5.2 The end effector and acceleration / deceleration..................................22
Setting WEIGHT parameters ......................................................................22
Precautions for auto acceleration / deceleration .........................................25
Moment of inertia and the ACCEL setting ................................................... 26
Calculating the moment of inertia................................................................27
Eccentricity of Joint #4 ................................................................................29
6. Attaching a Camera, Valve, and Other Devices....................... 31
7. External Dimensions ................................................................. 33
8. Motion Range and Robot Coordinates..................................... 35
8.1 Standard motion range .........................................................................35
8.2 Pulse range...........................................................................................41
8.3 Changing the motion range ..................................................................44
Methods of setting the motion range...........................................................44
(1) Changing motion range using pulse range ............................................45
(2) Changing motion range using mechanical stops ...................................46
(3) Changing motion range using X, Y limits ...............................................54
9. Emergency Stop......................................................................... 57
10. Specifications .......................................................................... 59
10.1 ES series Standard model specifications ...........................................60
10.2 EL series Standard model specifications............................................61
10.3 Model settings.....................................................................................62
11. Clean Model.............................................................................. 63
11.1 Manipulator part names ......................................................................63
11.2 Installation method ..............................................................................64
11.3 Exhaust System ..................................................................................64
11.4 External dimensions............................................................................65
11.5 Additional specifications......................................................................67

Epson ES Series Specifications

General

Type	SCARA
Payload	3 kg
Repeatability	±0.01 mm
Axes	4
Controller	RC700