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Epson RC90 Safety And Installation
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2. Installation
Safety an
d I
nstall
ation (R
C90 / E
PSON
RC+
7.0) R
ev
.6
66
2.6.8
Cir
cuit D
iagram
s
Example
1: Ex
ternal e
mergen
cy stop
sw
itch
typi
cal
app
l
ica
tion
+24V
+5V
Safety Door input
1
Ex
ternal
+24V
Safety Door input
2
Latch release input
Latch releas
e input
Close :Latch
of
f
Open :Latch on
Main Circuit
Control
AC Inp
ut
Emergency
Stop switch of
an Operation
Uni
t
(TP)
Ex
ternal
+
24V
GND
E
xter
nal Em
erge
nc
y
Stop s
witch
es
Motor D
riv
er
+
−
Control
ler
9
10
22
23
1
2
14
15
3
16
4
17
11
12
24
25
7
8
20
21
18
19
+
Emergency
Stop detect
ion
NOTE:+24V GND
+ 5V GND
Be ca
reful o
f
the direc
tion
o
f
volta
ge
applic
atio
n
ESTOP1
+
ESTOP
2+
ESTOP1
−
ESTOP
2-
81
83
Table of Contents
Default Chapter
13
Table of Contents
13
1 Safety
17
Conventions
17
Design and Installation Safety
18
Relevant Manuals
18
Designing a Safe Robot System
19
Operation Safety
23
Safety-Related Requirements
24
Part Names / Arm Motion
25
Operation Modes
30
Maintenance Safety
31
Emergency Stop
34
Free Running Distance in Emergency
34
How to Reset the Emergency Mode
41
Labels
42
Controller
42
Manipulator
43
Safety Features
47
Lockout / Tagout
50
Manipulator Specifications
52
Motion Range Setting by Mechanical Stops
57
End User Training
58
2 Installation
59
System Example
60
Outline from Unpacking to Operation of Robot System
61
Unpacking
62
Package Components Example
62
Unpacking Precautions
62
Transportation
63
Transportation Precautions
63
Manipulator Transportation
64
Manipulator Installation
67
Installation Precautions
67
Environment
67
Noise Level
68
Base Table
69
Installation Procedure
70
Controller Installation
74
Installation Precautions
74
Installation
75
Connection to EMERGENCY Connector (Controller)
77
Safety Door Switch and Latch Release Switch
77
Safety Door Switch
77
Latch Release Switch
78
Checking Latch Release Switch Operation
79
Emergency Stop Switch
80
Checking Emergency Stop Switch Operation
80
Pin Assignments
81
Circuit Diagrams
82
Power Supply / AC Power Cable / Breaker
84
Power Supply
84
AC Power Cable
85
Connecting Manipulator and Controller
87
Connecting Precautions
87
Power-On
88
Power-On Precautions
88
Power on Procedure
89
Saving Default Status
90
3 First Step
91
Installing EPSON RC+ 7.0 Software
91
Development PC and Controller Connection
94
About Development PC Connection Port
94
Precaution
95
Software Setup and Connection Check
95
Backup the Initial Condition of the Controller
96
Disconnection of Development PC and Controller
97
Moving the Robot to Initial Position
97
Writing Your First Program
102
4 Second Step
109
Connection with External Equipment
109
Remote Control
109
Ethernet
109
RS-232C (Option)
109
Ethernet Connection of Development PC and Controller
110
Connection of Option Teaching Pendant
110
5 General Maintenance
111
Schedule for Maintenance Inspection
111
Manipulator
111
Controller
114
Overhaul
115
Tightening Hexagon Socket Head Cap Bolts
117
Greasing
118
Handling and Disposal of Batteries
119
6 Manuals
121
Software
121
Software Options
121
Controller
122
Controller Options
122
Manipulator
122
7 Directives and Norms
123
Other manuals for Epson RC90
Manual
340 pages
User Manual
218 pages
Installation
3 pages
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Epson RC90 Specifications
General
Brand
Epson
Model
RC90
Category
Controller
Language
English
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