Epson ProSix S5 Series - Page 12

x S5 Rev.5
4. End Effectors ································································· 46
4.1 Attaching an End Effector .................................................................... 46
4.2 Attaching Valves .................................................................................. 47
4.3 WEIGHT and INERTIA Settings .......................................................... 47
4.3.1 WEIGHT Setting ...................................................................... 50
4.3.2 INERTIA Setting ....................................................................... 54
4.4 Precautions for Auto Acceleration / Deceleration ................................ 58
5. Motion Range ································································ 59
5.1 Motion Range Setting by Pulse Range (for All Arms) .......................... 60
5.1.1 Max. Pulse Range of Arm #1 ................................................... 61
5.1.2 Max. Pulse Range of Arm #2 ................................................... 62
5.1.3 Max. Pulse Range of Arm #3 ................................................... 63
5.1.4 Max. Pulse Range of Arm #4 ................................................... 64
5.1.5 Max. Pulse Range of Arm #5 ................................................... 65
5.1.6 Max. Pulse Range of Arm #6 ................................................... 66
5.2 Restriction of Manipulator Operation by Joint Angle Combination ...... 67
5.3 Coordinate System .............................................................................. 69
5.4 Setting the Cartesian (Rectangular) Range in
the XY Coordinate System of the Manipulator ...................................... 69
Maintenance
1. Safety Maintenance ························································ 73
2. Periodic Inspection ························································· 75
2.1 Schedule for Maintenance Inspections ............................................... 75
2.2 Inspection Tasks .................................................................................. 76
2.3 Grease Replenishment ........................................................................ 78
2.3.1 Joint #1 Reduction Gear Unit ................................................... 80
2.3.2 Joint #1 Gear ........................................................................... 81
2.3.3 Joint #2 Reduction Gear Unit ................................................... 82
2.3.4 Joint #3 Reduction Gear Unit ................................................... 83
2.3.5 Joint #4 Reduction Gear Unit ................................................... 84
2.3.6 Joint #5 Reduction Gear Unit ................................................... 85
2.3.7 Joint #6 Reduction Gear Unit ................................................... 86
2.4 Tightening Hexagon Socket Head Cap Bolts ...................................... 87
2.5 Removing Condensation (Only protection-model) ................................ 88
3. Covers ········································································· 89
3.1 Arm #1 Cover ......................................................................................... 90
3.2 Arm #2 Cover ....................................................................................... 91
3.3 Arm #3 Cover ....................................................................................... 92
3.4 Arm #4 Cover ....................................................................................... 93
3.5 Connector Plate ..................................................................................... 94
3.6 Connector Sub Plate ............................................................................. 95