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T3-401S
Epson T3-401S User Manual
128 pages
Manual
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Programm
ing Soft
ware EPSO
N RC+
7.0
Manipulat
or
T3
T6
VT6
Robot Sys
tem
Safety
and Inst
allati
on
Read this
manual first
R
e
v.
1
5
EM204B4249
F
2
Table of Contents
Default Chapter
15
Table of Contents
15
1 Safety
19
Conventions
19
Design and Installation Safety
20
Relevant Manuals
20
Designing a Safe Robot System
21
Operation Safety
25
Safety-Related Requirements
28
Part Names / Arm Motion
29
Operation Modes
33
Maintenance Safety
34
Emergency Stop
37
Free Running Distance in Emergency
37
How to Reset the Emergency Mode
41
Labels
42
T Series Manipulator
42
VT Series Manipulator
44
Safety Features
46
Manipulator Specifications
49
T Series Manipulator
49
VT Series Manipulator
52
Motion Range Setting by Mechanical Stops
58
T Series Manipulator
58
VT Series Manipulator
58
End User Training
62
2 Installation
63
System Example
63
Outline from Unpacking to Operation of Robot System
66
Unpacking
67
Unpacking Precautions
67
Transportation
68
Transportation Precautions
68
Manipulator Transportation
69
Manipulator Installation
70
Installation Precautions
70
Environment
71
Noise Level
73
Base Table
74
Installation Procedure
75
Connection to EMERGENCY Connector
77
Safety Door Switch and Latch Release Switch
78
Safety Door Switch
79
Latch Release Switch
80
Checking Latch Release Switch Operation
80
Emergency Stop Switch
81
Checking Emergency Stop Switch Operation
81
Pin Assignments
82
Circuit Diagrams
83
Power Supply, Power Cable, Breaker
86
Power Supply
86
Power Cable
88
Power-On
90
Power-ON Precautions
90
Power on Procedure
91
Saving Default Status
92
3 First Step
93
Installing EPSON RC+ 7.0 Software
93
Development PC and Manipulator Connection
96
About Development PC Connection Port
97
Precaution
97
Software Setup and Connection Check
98
Backup the Initial Condition of the Manipulator
99
Disconnection of Development PC and Manipulator
99
Moving the Manipulator to Initial Position
99
Writing Your First Program
105
4 Second Step
112
Connection with External Equipment
112
Remote Control
112
Ethernet
112
Ethernet Connection of Development PC and Manipulator
113
Connection of Option Teaching Pendant
113
5 General Maintenance
114
Schedule for Maintenance Inspection
114
Overhaul (Parts Replacement)
117
Tightening Hexagon Socket Head Cap Bolts
119
Greasing (T Series Manipulator)
120
Handling and Disposal of Lithium Batteries
122
6 Manuals
124
Software
124
Options
124
Manipulator
125
7 Directives and Norms
126
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Epson T3-401S Specifications
General
Robot Type
SCARA
Number of Axes
4
Maximum Payload
3 kg
Reach
400 mm
Repeatability
±0.01 mm
Degrees of Freedom
4
Mounting Orientation
Wall, Ceiling
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