Epson T-B Series

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T3-B T6-B Manipulator

This volume contains information for setup and operation of the Manipulators.

Please read this volume thoroughly before setting up and operating the Manipulators.

Main Page

Table of Contents9
Installation17
Safety19
Conventions19
Installation20
System Example20
Unpacking21
Transportation21
Transportation Precautions21
Holding Position and Number of People to Transport Manipulator21
Environments and Installation22
Connection to EMERGENCY Connector22
Power-On23
Power Supply, Power Cable, Braker23
Power-ON Precautions23
Power on Procedure24
Saving the Factory Default24
First Step25
Installing EPSON RC+ 7.0 Software25
Development PC and Manipulator Connection27
About Development PC Connection Port28
Precautions28
Software Setup and Connection Check28
Backup the Initial Condition of the Manipulator29
Disconnection of Development PC and Manipulator29
Moving the Manipulator to Initial Position30
Writing Your First Program33
Second Step39
Connection with External Equipment39
Remote Control39
Ethernet39
Ethernet Connection of Development PC and Manipulator39
Connection of Option Teaching Pendant39
T3-B T6-B Manipulator41
Safety43
Conventions43
Design and Installation Safety44
Strength of the Ball Screw Spline45
Operation Safety45
Emergency Stop47
Safeguard49
Emergency Movement Without Drive Power50
ACCELS Setting for CP Motions51
Labels52
Response for Emergency or Malfunction54
Collision54
Getting Body Caught in Manipulator54
Specifications55
Model Number55
Part Names56
T3-B56
T6-B57
Outer Dimensions58
T3-B58
T6-B59
System Example60
Specifications61
How to Set the Model61
Environments and Installation62
Environmental Conditions62
Base Table64
Mounting Dimensions65
Unpacking and Transportation67
Installation Procedure68
Power Supply69
Specifications69
AC Power Cable70
Breaker71
Power Unit72
Connecting the Cables73
Pneumatic Tubes76
Relocation and Storage78
Precautions for Relocation and Storage78
Relocation79
Setting of End Effectors81
Attaching an End Effector81
Attaching Cameras and Valves83
Weight and Inertia Settings84
Weight Setting84
Inertia Setting88
Precautions for Auto Acceleration/Deceleration of Joint #392
Motion Range93
Motion Range Setting by Pulse Range (for All Joints)93
Max. Pulse Range of Joint #194
Max. Pulse Range of Joint #294
Max. Pulse Range of Joint #395
Max. Pulse Range of Joint #495
Motion Range Setting by Mechanical Stops96
Setting the Mechanical Stops of Joints #1 and #296
Setting the Mechanical Stop of Joint #398
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)100
Standard Motion Range100
Operation Mode & LED101
Overview101
Switch Operation Mode101
Program Mode (AUTO)102
What Is Program Mode (AUTO)102
Setup from EPSON RC+ 7.0102
Auto Mode (AUTO)103
What Is Auto Mode (AUTO)103
Setup from EPSON RC+ 7.0103
Setup from Control Device104
Led105
Development PC Connection Port106
What Is Development PC Connection Port106
Precaution107
Software Setup and Connection Check107
Disconnection of Development PC and Manipulator108
Memory Port109
What Is Controller Status Storage Function109
Before Using Controller Status Storage Function109
Precautions109
Adoptable USB Memory109
Controller Status Storage Function110
Controller Status Storage110
Load Data with EPSON RC+ 7.0111
Transfer with E-Mail112
Details of Data113
LAN (Ethernet Communication) Port114
What Is the LAN (Ethernet Communication) Port114
IP Address114
Changing Manipulator IP Address115
Connection of Development PC and Manipulator with Ethernet116
Disconnection of Development PC and Manipulator with Ethernet117
TP Port118
What Is the TP Port118
Teach Pendant Connection118
Emergency119
Safeguard Switch and Latch Release Switch119
Safeguard Switch120
Latch Release Switch120
Checking Latch Release Switch Operation121
Emergency Stop Switch Connection121
Emergency Stop Switch121
Checking Emergency Stop Switch Operation122
Recovery from Emergency Stop122
Pin Assignments123
Circuit Diagrams124
Example 1: External Emergency Stop Switch Typical Application124
Example 2: External Safety Relay Typical Application125
Standard I/O Connector126
Input Circuit126
Typical Input Circuit Application 1: Source Type127
Typical Input Circuit Application 2: Sink Type128
Pin Assignments of Input Circuit129
Output Circuit130
Typical Output Circuit Application 1: Sink Type (NPN)131
Typical Output Circuit Application 2: Source Type (PNP)132
Pin Assignments of Output Circuit132
I/O Cable Product Procedure133
I/O Cable Connecting Method133
How to Fix the I/O Cable133
Hand I/O Connector134
Power Supply Specifications134
Input Circuit135
Typical Input Circuit Application 1: Sourse Type135
Typical Input Circuit Application 2: Sink Type135
Output Circuit136
Typical Output Circuit Application 1: Sink Type (NPN)136
Typical Output Circuit Application 2: Source Type (PNP)136
Pin Assignments137
How to Control Hand I/O137
I/O Remote Settings139
I/O Signal Description140
Remote Input Signals140
Remote Output Signals144
Timing Specifications148
Precautions for Remote Input Signals148
Timing Diagram for Operation Execution Sequence148
Timing Diagram for Program Execution Sequence148
Timing Diagram for Safety Door Input Sequence149
Timing Diagram for Emergency Stop Sequence149
SD Card Slots150
Fieldbus I/O151
Restrictions152
Commands Cannot Use152
Commands Cause Motion Error if Specifying RS-232C152
Commands Cause Error152
6-Axis Robot Command152
Conveyor Tracking Commands153
PG Commands154
R-I/O Commands154
Force Sensing Commands154
Robot Control Commands154
Other (Finedist)154
Other (Healthcalcperiod)155
Other (Chdisk)155
Restrictions of Functions155
Tp3155
Loop Processing155
Camera Searching by CV1/CV2156
Restore the Data of Backup Controller Function156
Error Code List157
Regular Inspection159
Regular Inspection for T3-B T6-B Manipulator161
Inspection161
Schedule for Inspection161
Inspection Point162
Overhaul (Parts Replacement)163
Greasing163
Tightening Hexagon Socket Head Cap Bolts166
Appendix167
Appendix A: Specifications T3-B Specifications169
T6-B Specifications172
Appendix B: Time and Distance of Free Running in Emergency175
T3-B Time and Distance of Free Running in Emergency176
T3-B401S: J1176
T3-B401S: J2176
T3-B401S: J3176
T6-B Time and Distance of Free Running in Emergency177
T6-B602S: J1177
T6-B602S: J2177
T6-B602S: J3177
Appendix C: Time and Distance of Free Running When Safeguard Is Opened179
T3-B Time and Distance of Free Running When Safeguard Is Opened180
T3-B401S: J1180
T3-B401S: J2180
T3-B401S: J3180
T6-B Time and Distance of Free Running When Safeguard Is Opened181
T6-B602S: J1181
T6-B602S: J2181

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