Epson C8L Manuals

Manuals and User Guides for Epson C8L. We have 1 Epson C8L manual available for free PDF download: Manipulator Manual

Epson C8L Manipulator Manual (346 pages)

6-Axis Robots

Brand: Epson | Category: Robotics | Size: 20.46 MB

Table of Contents
9
Setup & Operation
15
Safety
17
Conventions
17
Design and Installation Safety
18
Operation Safety
19
Emergency Stop
21
How to Move Arms with the Electromagnetic Brake
23
Moving the Arm Using the Brake Release Unit
24
Moving the Arm Using the Software
24
Precaution for Operation in Low Power Status
24
Warning Labels
25
Specifications
27
Features of Manipulators
27
Model Number
28
Part Names and Motion Range of each Arm
29
Outer Dimensions
31
C8-A701*** (C8)
31
C8-A901*** (C8L)
32
C8-A1401*** (C8Xl)
33
Standard Motion Range
34
C8-A701*** (C8)
34
C8-A901*** (C8L)
35
C8-A1401*** (C8Xl)
36
Specifications
37
Specifications Table
37
How to Set the Model
42
Environment and Installation
43
Environmental Conditions
43
Unpacking, Transportation, and Relocation
45
Mounting Dimensions
48
Cable Backward Model
48
Cable Downward Model
50
Installation
51
Connecting the Cables
54
User Wires and Pneumatic Tubes
56
Electrical Wires
57
Pneumatic Tubes
58
Checking the Basic Orientation
59
End Effectors
60
Attaching an End Effector
60
Attaching Camera and Air Valves
60
WEIGHT and INERTIA Settings
62
WEIGHT Setting
64
INERTIA Setting
68
Precautions for Auto Acceleration/Deceleration
73
Motion Range
74
Motion Range Setting by Pulse Range (for each Joint)
74
Max. Pulse Range of Joint #1
75
Max. Pulse Range of Joint #2
75
Max. Pulse Range of Joint #3
76
Max. Pulse Range of Joint #4
76
Max. Pulse Range of Joint #5
77
Max. Pulse Range of Joint #6
77
Motion Range Setting by Mechanical Stops
78
Motion Range Setting of Joint #1
78
Motion Range Setting of Joint #2
79
Motion Range Setting of Joint #3
80
Restriction of Manipulator Operation by Joint Angle Combination
81
Coordinate System
85
Changing the Robot
86
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator
87
Options
88
Brake Release Unit
88
Mount the Brake Release Unit
90
Remove the Brake Release Unit
90
How to Use the Brake Release Unit
91
Camera Plate Unit
92
Tool Adapter (ISO Flange)
94
Adjustable Mechanical Stops
95
User Wires and Pneumatic Tubes
96
Maintenance
97
Safety Maintenance
99
General Maintenance
100
Maintenance Inspection
100
Schedule for Maintenance Inspection
100
Inspection Point
101
Overhaul (Parts Replacement)
103
Greasing
105
Joint #1 Reduction Gear Unit (Table Top Mounting)
107
Joint #1 Reduction Gear Unit (Ceiling Mounting, Wall Mounting)
108
Joint #2 Reduction Gear Unit
109
Joint #3 Reduction Gear Unit
110
Joint #4 Reduction Gear Unit
111
Joint #5 Reduction Gear Unit
112
Joint #6 Reduction Gear Unit
113
Joint #6 Bevel Gear
114
Tightening Hexagon Socket Head Bolts
115
Layout of Maintenance Parts
116
Covers
117
Arm #1 Center Cover
120
Arm #1 Side Cover
121
Arm #2 Side Cover
123
Arm #3 Cover
124
Arm #3 Maintenance Cover
125
Arm #4 Side Cover
127
Arm #4 Maintenance Cover (C8XL Only)
129
Arm #4 D-Sub Attachment
131
Base Cover
132
M/C Cable Backward
132
M/C Cable Downward
133
Base Maintenance Cover
137
Connector Plate
139
M/C Cable Backward
139
M/C Cable Downward
143
Connector Sub Plate
144
Cable Unit
146
Replacing the Cable Unit
146
Replacing the Cable Unit (M/C Cable Backward)
148
Replacing the Cable Unit (M/C Cable Downward)
178
Connector Pin Assignment
183
Signal Cable
183
Power Cable
186
User Cable
189
Color of Cables
189
Joint #1
190
M/C Cable Backward (Joint #1)
191
Joint #1 - Replacing the Motor (M/C Cable Backward)
191
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Backward)
199
Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
206
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Backward)
213
M/C Cable Downward (Joint #1)
215
Joint #1 - Replacing the Motor (M/C Cable Downward)
215
Joint #1 - Replacing the Reduction Gear Unit (M/C Cable Downward)
219
Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
222
Joint #1 - Replacing the Electromagnetic Brake (M/C Cable Downward)
227
Joint #2
230
Joint #2 - Replacing the Motor
231
Joint #2- Replacing the Reduction Gear Unit
240
Joint #2 - Replacing the Timing Belt
247
Joint #2 - Replacing the Electromagnetic Brake
248
Joint #3
249
Joint #3 - Replacing the Motor
250
Joint #3 - Replacing the Reduction Gear Unit
258
Joint #3 - Replacing the Timing Belt
264
Joint #3 - Replacing the Electromagnetic Brake
265
Joint #4
266
Joint #4 - Replacing the Motor
267
Joint #4 - Replacing the Reduction Gear Unit
273
Joint #4 - Replacing the Timing Belt
280
Joint #4 - Replacing the Electromagnetic Brake
286
Joint #5
287
Joint #5 - Replacing the Motor
288
Joint #5 - Replacing the Reduction Gear Unit (Replacing the Joint #5, #6 Reduction Gear Unit Set)
295
Joint #5 - Replacing the Timing Belt
301
Joint #5 - Replacing the Electromagnetic Brake
302
Joint #6
304
Joint #6 - Replacing the Motor
305
Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set)
311
Joint #6 - Replacing the Timing Belt
312
Joint #6 - Replacing the Electromagnetic Brake
313
Replacing the Battery Unit
315
Replacing the Battery Unit (Lithium Battery)
317
Replacing the Battery Board
319
Replacing the Control Board
322
Replacing the Control Board 1
323
Replacing the Control Board 2
325
Replacing the LED Lamp
327
Replacing the M/C Cable
329
Replacing the Fan
333
Calibration
335
Overview
335
Calibration Procedure
338
Maintenance Parts List
342
Option Parts List
346

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