Epson T-B Series Bedienungsanleitung

SCARA ROBOT

T-B series

MAINTENANCE MANUAL

Rev.1 EM217R4792F

-B series Maintenance Manual Rev.1

T-B series Maintenance Manual Rev.1 i

SCARA ROBOT

T-B series Maintenance Manual

Rev.1

ii T-B series Maintenance Manual Rev.1

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator and

the integrated Controller.

Please carefully read this manual and other related manuals before installing the robot

system.

Keep this manual handy for easy access at all times.

The robot system and its optional parts are shipped to our customers only after being

subjected to the strictest quality controls, tests, and inspections to certify its compliance with

our high performance standards. Please note that the basic performance of the product will

not be exhibited if our robot system is used outside of the usage conditions and product

specifications described in the manuals.

This manual describes possible dangers and consequences that we can foresee. Be sure to

comply with safety precautions on this manual to use our robot system safety and correctly.

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries. Other brand and

product names are trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 8 Operating system

Microsoft® Windows® 10 Operating system

Throughout this manual, Windows 8, and Windows 10 refer to above respective operating

systems. In some cases, Windows refers generically to Windows 8, and Windows 10.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments

regarding its contents.

MANUFACTURER

CONTACT INFORMATION

Contact information is described in “SUPPLIERS” in the first pages of the following

manual:

Robot System Safety Manual Read this manual first

T-B series Maintenance Manual Rev.1 iii

DISPOSAL

When disposing this product, dispose in accordance with the laws and regulations of each

country.

Regarding battery disposal

The crossed out wheeled bin label that can be found on your product indicates that this

product and incorporated batteries should not be disposed of via the normal household waste

stream. To prevent possible harm to the environment or human health please separate this

product and its batteries from other waste streams to ensure that it can be recycled in an

environmentally sound manner. For more details on available collection facilities please

contact your local government office or the retailer where you purchased this product. Use

of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.

This information only applies to customers in the European Union, according to

DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE

COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and

accumulators and repealing Directive 91/157/EEC and legislation transposing and

implementing it into the various national legal systems.

For other countries, please contact your local government to investigate the possibility of

recycling your product.

The battery removal/replacement procedure is described in the following manuals:

Maintenance Manual

For California customers only

The lithium batteries in this product contain

Perchlorate Material - special handling may apply,

See www.dtsc.ca.gov/hazardouswaste/perchlorate

iv T-B series Maintenance Manual Rev.1

Before Reading This Manual

This section describes what you should know before reading this manual.

“ T-B” and “T-B series” described in this manual are the following models.

T3-B series

T6-B series

T-B series Manipulators can use the Teach Pendant (TP2, TP3). Do not connect the other

devices to TP port except TP2 and TP3. Connecting other devices may result in malfunction

of the device since the pin assignments are different.

Concerning the security support for the network connection:

The network connecting function (Ethernet) on our products assumes the use in the local

network such as the factory LAN network. Do not connect to the external network such as

Internet.

In addition, please take security measure such as for the virus from the network connection

by installing the antivirus software.

Security support for the USB memory:

Make sure the USB memory is not infected with virus when connecting to the Manipulator.

If written T series in the reference information, read it as T-B series.

Features of T-B series Manipulators

The T-B series Manipulators are Controller integrated Manipulators.



NOTE



NOTE



NOTE



NOTE



NOTE

T-B series Maintenance Manual Rev.1 v

Structure of Robot System

The T-B series Manipulators can be used with the following combinations of software.

T3-B401S, T6-B602S

Controller Firmware

Ver.7.5.51.1 or later

EPSON RC+ 7.0

Ver.7.5.1 or earlier

!!!

Ver.7.5.1A or later

OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are

available.

!!!: Compatible Connection is OK. It is recommended to use the EPSON RC+ 7.0

Ver.7.5.1A or later. Display or control may not be operated properly.

Shape of Motors

The shape of the motors used for the Manipulator that you are using may be different from

the shape of the motors described in this manual because of the specifications.

Setting by Using Software

This manual contains setting procedures by using software. They are marked with the

following icon.

EPSON

RC+

vi T-B series Maintenance Manual Rev.1

The Manuals of This Product

The following are typical manual types for this product and an outline of the descriptions.

Safety Manual (book, PDF)

This manual contains safety information for all people who handle this product. The

manual also describes the process from unpacking to operation and the manual you should

look at next.

Read this manual first.

-Safety precautions regarding robot system and residual risk

-Declaration of conformity

-Training

-Flow from unpacking to operation

T-B series Manual (PDF) (Controller integrated Manipulators)

This manual describes the specifications and functions of the Manipulator. The manual is

primarily intended for people who design robot systems.

-Technical information, functions, specifications, etc. required for the

Manipulator installation and design

-Daily inspection of the Manipulator

Status Code/Error Code List (PDF)

This manual contains a list of code numbers displayed on the controller and messages

displayed in the software message area. The manual is primarily intended for people who

design robot systems or do programming.

T-B series Maintenance Manual (PDF) (Controller integrated Manipulators)

This manual describes the details of maintenance etc. The manual is intended for people

who perform maintenance.

-Daily inspection

-Replacement and repair of maintenance parts

-The method of firmware update and controller setting backup etc.

EPSON RC+ 7.0 User’s Guide (PDF)

This manual describes general information about program development software.

EPSON RC+ 7.0 SPEL+ Language Reference (PDF)

This manual describes the robot programming language “SPEL+”.

Other Manual (PDF)

Manuals for each option are available.

Table of Contents

T-B series Maintenance Manual Rev.1 vii

T3-B T6-B Maintenance

1. Safety Maintenance 3

1.1 Conventions......................................................................................... 3

1.2 Maintenance Precautions.................................................................... 4

2. General Maintenance 5

2.1 Maintenance Inspection ...................................................................... 5

2.1.1 Schedule for Maintenance Inspection ..................................... 5

2.1.2 Inspection Point ....................................................................... 6

2.2 Overhaul (Parts Replacement)............................................................ 7

2.3 Greasing .............................................................................................. 9

2.4 Tightening Hexagon Socket Head Cap Bolts.................................... 12

2.5 Matching Origins................................................................................ 12

2.6 Layout of Maintenance Parts ............................................................ 13

3. Manipulator Structure 14

4. Alarm 16

4.1 Maintenance ...................................................................................... 17

4.2 Maintenance Information................................................................... 18

4.2.1 How to View the Maintenance Information............................ 18

4.2.2 How to Edit the Maintenance Information ............................. 19

4.2.3 Alarm Notifying Method ......................................................... 20

4.2.4 How to Cancel the Alarm....................................................... 20

5. Backup and Restore 21

5.1 What is the Backup Controller Function............................................ 21

5.2 Backup Data Types ........................................................................... 21

5.3 Backup............................................................................................... 22

5.4 Restore .............................................................................................. 23

6. Firmware Update 26

6.1 Updating Firmware ............................................................................ 26

6.2 Firmware Upgrade Procedure........................................................... 26

6.3 Manipulator Recovery ....................................................................... 29

6.4 Firmware Initialization Procedure...................................................... 30

6.5 Adding Confirmation Steps by Strengthening Security of EtherNet

Connection ................................................................................................. 32

7. Covers 36

7.1 Arm Top Cover .................................................................................. 38

7.2 Arm Bottom Cover............................................................................. 39

Table of Contents

viii T-B series Maintenance Manual Rev.1

7.3 Power Cable Cover ............................................................................39

7.4 Connector Plate .................................................................................40

7.5 Power Unit Cover ...............................................................................42

7.6 Base Side Cover ................................................................................43

7.7 User Plate...........................................................................................44

8. Cable 45

8.1 Replacing Cable Unit .........................................................................46

8.2 Insert or Pull out of Power Cable .......................................................54

9. Joint #1 55

9.1 Replacing Joint #1 Motor ...................................................................56

9.2 Replacing Joint #1 Reduction Gear Units..........................................70

10. Joint #2 73

10.1 Replacing Joint #2 Motor .................................................................74

10.2 Replacing Joint #2 Reduction Gear Units........................................80

11. Joint #3 83

11.1 Replacing Joint #3 Motor .................................................................84

11.2 Replacement of the timing belt ........................................................93

11.3 Replacing the Brake.........................................................................94

11.4 Checking the Timing Belt Tension (Z Belt) ......................................95

12. Joint #4 96

12.1 Replacing Joint #4 Motor .................................................................98

12.2 Replacement of the timing belt ......................................................104

12.2.1 U2 Belt (T6-B) ....................................................................105

12.2.2 U1 Belt (T6-B) ....................................................................110

12.2.3 U Belt (T3-B) ......................................................................111

12.3 Checking the Timing Belt Tension .................................................112

13. Ball Screw Spline Unit 113

14. Lithium Battery, SD Card, Boards, and Filter 116

14.1 Replacing the CPU/DPB Boards....................................................117

14.2 Replacing the Lithium Battery........................................................120

14.3 Replacing the SD Card ..................................................................121

14.4 Replacing the Power Board ...........................................................122

14.5 Fieldbus I/O....................................................................................124

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