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VT6L
Epson VT6L User Manual
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Setup & Operati
on 2. Specificat
ions
V
T
R
e
v.
1
19
2.
6
System Example
VT6
Standard
Standard I/O
Remote I/O
Ethern
et
USB
(for save)
USB
(for developm
ent)
ModBus
Fieldbus
Slave
Option
TP2
TP3
*2
*3
Option
:
Tea
ching Pen
dant
W
indo
ws
*1
EPSON RC+ 7.0
Software
USB 2.0
or Ethernet
Option
*1
E
PSO
N RC+
7
.0
supports the fol
lowing OS
W
indows 7
Professional
Service Pack
1
W
indows 8.1
Pro (EPSON RC+7.0 V
er
.7.
1.0
o
r later
)
W
indows 10
Pro
(EPSO
N RC+7.0 V
er
.7.2.0
or later
)
*2
Eit
her teaching pe
ndant is
available
.
*3
When
connecting
to
VT
series manipulators
, specified conv
ert cable is necessary
.
34
36
Table of Contents
Default Chapter
9
Table of Contents
9
Setup & Operation
17
Safety
19
Conventions
19
Design and Installation Safety
20
Operation Safety
21
Emergency Stop
23
How to Move Arms with the Electromagnetic Brake
25
Arm Motions
25
Release the Brake by the Software
26
Precaution for Operation in Low Power Status
26
Labels
27
Specifications
29
Features of VT Series Manipulators
29
Model Number
29
Part Names
30
Outer Dimensions
31
Standard Motion Range
33
System Example
35
Specifications
36
How to Set the Model
39
Environments and Installation
40
Environmental Conditions
40
Base Table
41
Mounting Dimensions
42
Unpacking and Transportation
43
Installation Procedure
44
Power Supply
45
Specifications
45
AC Power Cable
45
Breaker
46
Grounding
47
Connecting the Cables
48
Connection Example
48
Noise Countermeasures
50
Relocation and Storage
51
Precautions for Relocation and Storage
51
Relocation
52
Checking the Basic Orientation
54
Setting of End Effectors
55
Attaching an End Effector
55
Attaching Cameras and Air Valves
56
Weight and Inertia Settings
57
Weight Setting
60
INERTIA Setting
63
Precautions for Auto Acceleration/Deceleration of Joint #3
67
Motion Range
68
Motion Range Setting by Pulse Range (for All Joints)
68
Max. Pulse Range of Joint #1
69
Max. Pulse Range of Joint #2
69
Max. Pulse Range of Joint #3
70
Max. Pulse Range of Joint #4
70
Max. Pulse Range of Joint #6
70
Max. Pulse Range of Joint #6
71
Motion Range Setting by Mechanical Stops
72
Motion Range Setting of Joint #1
72
Motion Range Setting of Joint #2
73
Motion Range Setting of Joint #3
74
Restriction of Manipulator Operation by Joint Angle Combination
75
Coordinate System
76
Changing the Robot
77
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
78
Operation Mode & LED
79
Overview
79
Switch Operation Mode
79
Program Mode (AUTO)
80
What Is Program Mode (AUTO)
80
Setup from EPSON RC+ 7.0
80
Auto Mode (AUTO)
81
What Is Auto Mode (AUTO)
81
Setup from EPSON RC+ 7.0
81
Setup from Control Device
82
Led
83
Development PC Connection Port
84
What Is Development PC Connection Port
84
Precaution
85
Software Setup and Connection Check
85
Disconnection of Development PC and Manipulator
86
Memory Port
87
What Is Controller Status Storage Function
87
Before Using Controller Status Storage Function
87
Precautions
87
Adoptable USB Memory
88
Controller Status Storage Function
88
Controller Status Storage
88
Load Data with EPSON RC+ 7.0
89
Transfer with E-Mail
90
Details of Data
91
LAN (Ethernet Communication) Port
92
What Is the LAN (Ethernet Communication) Port
92
IP Address
92
Changing Manipulator IP Address
93
Connection of Development PC and Manipulator with Ethernet
94
Disconnection of Development PC and Manipulator with Ethernet
96
TP Port
97
What Is the TP Port
97
Teach Pendant Connection
97
Options
98
Camera Plate Unit
98
Tool Adapter (ISO Flange)
100
Adjustable Mechanical Stops
101
External Wiring Kit
101
Emergency
102
Safeguard Switch and Latch Release Switch
103
Safeguard Switch
103
Latch Release Switch
103
Checking Latch Release Switch Operation
104
Emergency Stop Switch Connection
104
Emergency Stop Switch
104
Checking Emergency Stop Switch Operation
105
Recovery from Emergency Stop
105
Pin Assignments
106
Circuit Diagrams
107
External Emergency Stop Switch Typical Application
107
Example 2: External Safety Relay Typical Application
108
Standard I/O Connector
109
Input Circuit
109
Typical Input Circuit Application
110
Typical Input Circuit Application 2
110
Pin Assignments of Input Circuit
111
Output Circuit
111
Typical Output Circuit Application 1
112
Typical Output Circuit Application 2
112
Pin Assignments of Output Circuit
113
I/O Cable Product Procedure
114
I/O Cable Connecting Method
114
How to Fix the I/O Cable
114
I/O Remote Settings
115
I/O Signal Description
116
Remote Input Signals
116
Remote Output Signals
120
Timing Specifications
123
Precautions for Remote Input Signals
123
Timing Diagram for Operation Execution Sequence
123
Timing Diagram for Program Execution Sequence
123
Timing Diagram for Safety Door Input Sequence
124
Timing Diagram for Emergency Stop Sequence
124
SD Card Slots
125
Maintenance
129
Safety Maintenance
131
General Maintenance
132
Maintenance Inspection
132
Schedule for Maintenance Inspection
132
Inspection Point
133
Overhaul (Parts Replacement)
134
Tightening Hexagon Socket Head Cap Bolts
136
Matching Origins
136
Layout of Maintenance Parts
137
Manipulator Structure
138
Alarm
139
Maintenance
140
Maintenance Information
141
How to Check the Maintenance Information
141
How to Edit the Maintenance Information
142
Alarm Notifying Method
143
How to Cancel the Alarm
143
Backup and Restore
144
What Is the Backup Controller Function
144
Backup Data Types
144
Backup
145
Restore
146
Firmware Update
149
Updating Firmware
149
Firmware Upgrade Procedure
149
Manipulator Recovery
151
Firmware Initialization Procedure
152
Covers
154
Arm #1 Cover
155
Arm #2 Cover
156
Arm #3 Cover
157
Arm #4 Cover 1
158
Arm #4 Cover 2
159
Power Cable Cover
161
Connector Plate
162
Cable
163
Replacing Cable Unit
164
Insert or Pull out of Power Cable
180
Joint #1
181
Replacing Joint #1 Motor
182
Replacing Joint #1 Reduction Gear Unit
186
Replacing Joint #1 Timing Belt
187
Joint #2
192
Replacing Joint #2 Motor
193
Replacing Joint #2 Reduction Gear Unit
199
Replacing Joint #2 Timing Belt
200
Joint #3
201
Replacing Joint #3 Motor
202
Replacing Joint #3 Reduction Gear Unit
208
Replacing Joint #3 Timing Belt
209
Joint #4
210
Replacing Joint #4 Motor
211
Replacing Joint #4 Reduction Gear Unit
216
Replacing Joint #4 Timing Belt
217
Joint #5
221
Replacing Joint #5 Motor
222
Replacing Joint #5 Reduction Gear Unit
226
Replacing Joint #5 Timing Belt
227
Joint #6
228
Replacing Joint #6 Motor
229
Replacing Joint #6 Reduction Gear Unit
233
Replacing Joint #6 Timing Belt
234
AMP Board
235
Replacing AMP Board on Joint #1, #2, and #3
237
Replacing AMP Board on Joint #4
239
Replacing AMP Board on Joint #5 and #6
240
LED Plate
241
Replacing LED Plate
242
Felt Sheet
243
Replacing Joint #2 Felt Sheet
244
Replacing Joint #3 Felt Sheet
245
Controller Unit
246
Replacing Controller Unit
247
Replacing Power Board
251
Replacing CPU/DPB Board
252
Replacing Lithium Battery
254
Replacing Cooling Fan
255
Replacing SD Card
256
Calibration
257
Overview
257
Calibration Procedures
260
Restrictions
264
Commands Cannot Use
264
Commands Cause Motion Error if Specifying RS-232C
264
Commands Cause Error
265
Conveyor Tracking Commands
265
PG Commands
266
R-I/O Commands
266
Force Sensing Commands
266
Other (Finedist)
266
Other (Healthcalcperiod)
266
Other (Chdisk)
266
Restrictions of Functions
267
Tp3
267
Loop Processing
267
Camera Searching by CV1/CV2
268
Restore the Data of Backup Controller Function
268
Error Code Table
269
Other manuals for Epson VT6L
Setup Guide
4 pages
4
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Epson VT6L Specifications
General
Brand
Epson
Model
VT6L
Category
Robotics
Language
English
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