From Unpacking to Installation
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
When hoisting the Manipulator, use your hands to balance it. Losing balance may cause the Manipulator to drop, which is extremely hazardous and may result in serious injury and/or severe damage to the robot system.
To ensure safety, be sure to install safeguards for the robot system. For more information on safeguards, refer to the following manual.
"Epson RC+ User’s Guide - Safety - Installation and Design Precautions "
Install the Manipulator in a location with sufficient space so that a tool or a work piece does not touch a wall or a safeguard when the Manipulator extends its arm fully while holding a work piece. If the tool or the workpiece tip reaches a wall or safeguards, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Be sure to anchor the Manipulator before turning on the power or operating it. Turning on the power or operating the Manipulator while it is not anchored may cause the Manipulator to fall over, which is extremely hazardous and may result in serious injury and/or severe damage to the robot system.
Before installing or operating the Manipulator, make sure that no parts of the Manipulator are missing and that it has no damage or other external defects. Missing parts or damage may cause malfunction of the Manipulator, is extremely hazardous, and may result in serious injury and/or severe equipment damage to the robot system.
CAUTION
Use a cart or the like to transport the Manipulator in the same status as it was delivered.
When removing the fixing bolts securing the Manipulator to the transportation pallet and the packing box or the anchor bolts, support the Manipulator to prevent it falling. Removing the fixing bolts or anchor bolts without supporting the Manipulator may cause it to fall, catching your hands or feet.
The Manipulator should be transported by two or more people or secured to transporting equipment. Also, 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.
Manipulator weight: 63 kg: 139 lb
Take extra care when transporting the Manipulator. You may hit and damage the connector.
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.
The Manipulator must be installed to avoid interference with surrounding buildings, structures, and other machines and equipment that may create a trapping hazard or pinch points.
Resonance (resonating sound or minute vibrations) may occur during Manipulator operation depending on the rigidity of the base table. If the resonance occurs, improve the rigidity of the base table or change the speed or acceleration and deceleration settings of the Manipulator.
Manipulator base has a cooling fan. Install the Manipulator not to seal the cooling fan. For details, refer to the following figure.
Protective tape
Remove the protective tape (4 places).
Fixing bolt
For details on the dimensions, refer to the following sections.
Manipulator Mounting Dimensions
There are four threaded holes for the Manipulator base. Use M12 mounting bolts conforming to the strength equivalent to ISO898-1 property class 10.9 or 12.9. Tightening torque: 100.0 ± 5.0 N·m (1,020 ± 51 kgf·cm)
| Symbol | Description |
|---|---|
| a | 4×M12×40 |
| b | Spring washer |
| c | Plain washer |
| d | Threaded hole (25 mm or more depth) |
Base table
A base table for anchoring the Manipulator is not supplied. The base table must be fabricated or obtained by the customer.
The shape and size of the base table vary depending on the application of the robot system. As a reference when designing the base table, the requirements from the Manipulator side are shown here.
The base table must not only be able to bear the weight of the Manipulator but also be able to withstand the dynamic movement of the Manipulator when it operates at maximum acceleration/deceleration. Ensure that there is enough strength on the base table by attaching reinforcing materials such as crossbeams.
Followings are the torque and reaction force produced by the movement of the Manipulator.
| Maximum rotating torque on horizontal surface (N·m) | 2600 |
| Maximum reaction force in horizontal direction (N) | 1000 |
| Maximum rotating torque on vertical surface (N·m) | 3400 |
| Maximum reaction force in vertical direction (N) | 7900 |
The plate for the Manipulator mounting face should be at least 30 mm thick and made of steel for reducing vibrations.
A surface roughness of 25 μm or less at the maximum height is appropriate.
The base table must be secured on the floor to prevent it from moving.
The Manipulator installation surface should have a flatness of 0.5 mm or less and an inclination of 0.5° or less. If the installation surface does not have the proper flatness, the base of the Manipulator may be damaged or the robot may be unable to operate at maximum performance.
When using a leveler to adjust the height of the base table, use a screw with M16 diameter or more.
Connector
If passing cables through the holes in the base table, refer to the connector dimensions in the figures below. (Units: mm)
| Symbol | Description |
|---|---|
| a | M/C cable |
| b | Signal cable connector |
| c | Power cable connector (straight) |
| d | Power cable connector (L-shaped) |
Do not remove the M/C cables from the Manipulator.
KEY POINTS
For details on the environmental requirements for the space when housing the Controller in the base table, refer to the Robot Controller manual.
When using the Manipulator in the clean room, follow the steps below before the installation.
- Unpack the Manipulator outside of the cleanroom.
- Secure the Manipulator to transporting equipment (or a pallet) with bolts so that the Manipulator does not fall down.
- Wipe off any dust on the Manipulator using a lint-free cloth that was dipped in ethyl alcohol or distilled water.
- Carry the Manipulator into the cleanroom.
- Secure the Manipulator to the base table.