Safety Information for Relocation and Storage
Pay attention to the following requirements when relocating, storing, and transporting the Manipulators.
Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
WARNING
- Only qualified personnel should perform sling work and operate a crane or a forklift. When these operations are performed by unqualified personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system
CAUTION
- Before relocating, fold the arm and secure it tightly with a cable tie to prevent hands or fingers from getting caught in the Manipulator.
- When removing the anchor bolts, support the Manipulator so that it does not fall. Removing the anchor bolts without supporting the Manipulator can cause it to fall, causing hands or feet to get caught.
- The Manipulator should be transported by two or more people or secured to transporting equipment. Also, do not hold the bottom of the base. Holding these parts by hand is extremely hazardous and may cause your hands and fingers caught.
During unpacking and relocation, avoid applying external force to the arms and motors of the Manipulator.
When transporting the Manipulator over long distances, secure it directly to transporting equipment so that it will not fall. If necessary, pack the Manipulator using the same packaging as delivery.
When the Manipulator is reassembled and used for a robot system again after an extended period of storage, perform a test run to verify that it works properly before starting the main operation.
Manipulators should be transported and stored under the following conditions: Temperature: -20 to +60°C, Humidity: 10 to 90% (no condensation)
If condensation has formed on the Manipulator during transportation or storage, do not turn on the power until the condensation is removed.
Do not subject the Manipulator to excessive impacts or vibrations during the transportation process.
Relocation
Follow the procedures described below when relocating the Manipulator.
- Turn off the power for all devices and unplug the power cable connector and signal cable connector from the Controller.
Do not remove the M/C cables (power cable and signal cable) from the Manipulator.KEY POINTS
Remove the mechanical stops if using them to limit the motion range. For details on the motion range, refer to the following section.
- Unscrew the anchor bolts. Then, remove the Manipulator from the base table.
- C4-B601**
Position the Manipulator as shown in the figure. Then, secure the Manipulator to the transporting equipment or have at least two people to relocate the Manipulator. (Recommend: Joint #2 +65°. Joint #3 -51°)
Do not hold the bottom of the base (the screened parts in the figure). Holding these parts by hand is extremely hazardous and may cause your hands and fingers caught.
- C4-B901**
Position the Manipulator as shown in the figure. Then, secure the Manipulator to the transporting equipment or have at least three people to relocate the Manipulator.
(Recommend: Joint #2 +53°. Joint #3 -51°)
Do not hold the bottom of the base (the screened parts in the figure). Holding these parts by hand is extremely hazardous and may cause your hands and fingers caught.
- C4-B601**
Manipulator weight
| C4-B601**: C4 | C4-B901**: C4L |
|---|---|
| 27 kg: 59.5 lb | 30 kg: 66.1 lb |
Using eyebolts
Check that the eyebolts are securely fastened before transporting the Manipulator. After transporting the Manipulator, remove the eyebolts and keep them for future use.
The eyebolts and wire must be strong enough to withstand the weight (See the figures below).
If you use the eyebolts to lift up the Manipulator, be sure to use the bifilar wire of 1 m long or more to avoid contact with the Arm #4 side cover.
Also, the Manipulator may swing while being lifted up even when using the appropriate length of wire, so be sure to handle it with care.
Take extra care if you use the wire of 240 mm-long or shorter (for C4-B601**), or 360 mm-long or shorter (for C4-B901**), to lift the Manipulator, because the wire is likely to touch the Arm #4 side cover and break the Manipulator.
C4-B601**
- Lifting load: 27 kg: 59.5 lb
(deg. = °)
| Symbol | Description |
|---|---|
| a | Threaded holes for eyebolts: 2×M6 depth 12.5 |
| b | Center of gravity |
* Use the wire of 1000 mm or longer to avoid contact with Manipulator.
C4-B901**
- Lifting load: 30 kg: 66.1 lb
(deg. = °)
| Symbol | Description |
|---|---|
| a | Threaded holes for eyebolts: 2×M6 depth 12.5 |
| b | Center of gravity |
* Use the wire of 1000 mm or longer to avoid contact with Manipulator.
CAUTION
- Remove the eyebolts from the Manipulator after transportation/relocation is completed. If the Manipulator is operated with the eyebolts left on it, the arm may collide with the eyebolts and it may cause equipment damage to and/or malfunction of the Manipulator.