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ProSix S5 Series
Epson ProSix S5 Series User Manual
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S5
R
e
v.
5
v
Southeast As
ia
Ep
son Si
nga
pore Pt
e Lt
d.
India
Factory Aut
omation
System
1 HarbourFr
ontPlac
e, #03
-
02
HarbourFr
ont T
ower
one, Singapore
098633
TEL
:
+
65
-
(0)
-
6586
-
5
696
FA
X
:
+
65
-
(0)
-
6271
-
3
182
Korea
EPSO
N Korea
Co, L
t
d.
Marketin
g T
eam (Robot
Business)
27F DaeSung D-Polis A,
606,
Seobusaet-gil, Geumcheon-gu, Seoul,
153-803
Korea
TEL
: +82
-
(0)
-2-
3420
-
6692
FA
X
: +82
-
(0)
-2-
558
-
4271
Japan
EPSO
N SA
LES JA
P
A
N CO
RPO
RA
TION
Factory Aut
omation
Systems
Depart
ment
Nis
hi
-
Shi
njuk
u Mi
tsui
Bldg.6
-
24
-1
Nis
his
hinj
uk
u. Sh
injuk
u
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ku
. T
ok
yo. 160
-
8324
J
A
PA
N
TEL
: +81
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(0)3
-
5321
-
4161
6
8
Table of Contents
Default Chapter
11
Table of Contents
11
Setup & Operation
15
Safety
17
Conventions
17
Design and Installation Safety
18
Operation Safety
19
Emergency Stop
20
How to Move Arms the Electromagnetic Brake Is Applied to
22
Moving the Arm Using the Brake Release Unit
22
Moving the Arm Using the Software
28
Precaution for Operation in Low Power Status
29
Manipulator Labels
30
Specifications
32
Features of Manipulators
32
Model Number
33
Appearance
34
Specifications
39
Table
39
Option Table
40
How to Set the Model
41
Environment and Installation
42
Environmental Conditions
42
Unpacking, Transportation, and Relocation
44
Using a Crane
45
Using a Forklift
46
Removing / Attaching the Shipping Bolts and Jigs
46
Relocating
47
Mounting Dimensions
48
Installation
49
Base Table Mounting
50
Floor Mounting
51
Cleanroom-Model
52
Protection-Model
52
Connecting the Cables
53
Cable Connections
54
Grounding
55
Setting the Basic Pose for Calibration
56
User Wires and Pneumatic Tubes
58
End Effectors
60
Attaching an End Effector
60
Attaching Valves
61
WEIGHT and INERTIA Settings
61
WEIGHT Setting
64
INERTIA Setting
68
Precautions for Auto Acceleration/Deceleration
72
Motion Range
73
Motion Range Setting by Pulse Range (for All Arms)
74
Max. Pulse Range of Arm #1
75
Max. Pulse Range of Arm #2
76
Max. Pulse Range of Arm #3
77
Max. Pulse Range of Arm #4
78
Max. Pulse Range of Arm #5
79
Max. Pulse Range of Arm #6
80
Restriction of Manipulator Operation by Joint Angle Combination
81
Coordinate System
83
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
83
Maintenance
85
Safety Maintenance
87
Periodic Inspection
89
Schedule for Maintenance Inspections
89
Inspection Tasks
90
Grease Replenishment
92
Joint #1 Reduction Gear Unit
94
Joint #1 Gear
95
Joint #2 Reduction Gear Unit
96
Joint #3 Reduction Gear Unit
97
Joint #4 Reduction Gear Unit
98
Joint #5 Reduction Gear Unit
99
Joint #6 Reduction Gear Unit
100
Tightening Hexagon Socket Head Cap Bolts
101
Removing Condensation (Only Protection-Model)
102
Covers
103
Arm #1 Cover
104
Arm #2 Cover
105
Arm #3 Cover
106
Arm #4 Cover
107
Connector Plate
108
Connector Sub Plate
109
Joint #1
110
Replacing the Joint #1 Motor
110
Replacing the Joint #1 Reduction Gear Unit
116
Greasing the Reduction Gear Unit
117
Replacing the Reduction Gear Unit
118
Joint #2
124
Replacing the Joint #2 Motor
124
Replacing the Joint #2 Reduction Gear Unit
128
Greasing the Reduction Gear Unit
130
Replacing the Reduction Gear Unit
131
Replacing the Joint #2 Timing Belt
138
Joint #3
140
Replacing the Joint #3 Motor
140
Replacing the Joint #3 Reduction Gear Unit
144
Greasing the Reduction Gear Unit
145
Replacing the Reduction Gear Unit
147
Replacing the Joint #3 Timing Belt
154
Joint #4
156
Replacing the Joint #4 Motor
156
Replacing the Joint #4 Reduction Gear Unit
159
Greasing the Reduction Gear Unit
160
Replacing the Reduction Gear Unit
161
Replacing the Joint #4 Timing Belt
167
Joint #5 & Joint #6
169
Replacing the Joint #5 & Joint #6 Motor
169
Replacing the Joint #5 & Joint #6 Timing Belt
174
Replacing the Joint #5 & Joint #6 Brake
176
Cable Unit
177
Replacing the Cable Unit
177
Wiring Diagrams
189
Signal Cable
189
Power Cable
190
User Cable
191
Replacing the M/C Cable
192
Battery Unit (Lithium Battery)
195
Precautions of the Data
195
Replacing the Battery Unit
196
Data Recovery
198
Replacing the LED Lamp
200
Calibration
202
Overview
202
Calibration Procedure
204
Calibration Jig
207
Maintenance Parts List
209
Standard
209
4
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Epson ProSix S5 Series Specifications
General
Brand
Epson
Model
ProSix S5 Series
Category
Robotics
Language
English
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