Epson RC620+ Manuel utilisateur

Rev.5 EM15XC3078F

ROBOT CONTROLLER / Drive Unit

RC620DU

ROBOT CONTROLLER / Drive Unit RC620DU Rev.5

RC620DU Rev.5 i

ROBOT CONTROLLER / DRIVE UNIT

RC620DU

Rev.5

ii RC620DU Rev.5

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the robot 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.

RC620 robot controller consists of the following:

RC620 CU (Control Unit)

RC620 DU (Drive Unit)

This manual contains the information for the RC620 CU (Control Unit).

For RC620 DU (Drive Unit), refer to the Robot Controller / Drive Unit RC620DU manual.

The information for the robot controller is describes as below, indicating both RC620 CU

and RC620 DU:

Robot controller

Controller

RC620

The information for the either unit (CU or DU) is described as below:

RC620CU Control Unit

RC620DU Drive Unit

RC620DU Rev.5 iii

WARRANTY

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.

Product malfunctions resulting from normal handling or operation will be repaired free of

charge during the normal warranty period. (Please ask your Regional Sales Office for

warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur

during the warranty period):

Damage or malfunction caused by improper use which is not described in the manual,

careless use.

Malfunctions caused by customers’ unauthorized disassembly.

Damage due to improper adjustments or unauthorized

repair attempts.

Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

If the

robot system

associated equipment is used outside of the usage conditions and

product

specifications described in the manuals, this warranty is void.

If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be

responsible for any malfunction or accident, even if the result is injury or death.

We cannot foresee all possible dangers and consequences. Therefore, this manual

cannot warn the user of all possible hazards.

iv RC620DU Rev.5

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® XP Operating system

Microsoft® Windows® Vista Operating system

Microsoft® Windows® 7 Operating system

Throughout this manual, Windows XP, Windows Vista, and Windows 7 refer to above

respective operating systems. In some cases, Windows refers generically to Windows XP,

Windows Vista, and Windows 7.

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.

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier office for

your region.

Please prepare the following items before you contact us.

-Your controller model and its serial number

-Your manipulator model and its serial number

-Software and its version in your robot system

-A description of the problem

SERVICE CENTER

RC620DU Rev.5 v

MANUFACTURER

Seiko Epson Corporation

Toyoshina Plant

Robotics Solutions Operations Division

6925 Toyoshina Tazawa,

Azumino

-shi, Nagano, 399-8285

Japan

TEL

: +81-(0)263-72-1530

FAX

: +81-(0)263-72-1495

SUPPLIERS

North & South America

Epson

America, Inc.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

USA

TEL

: +1-562-290-5900

FAX

: +1-562-290-5999

E-MAIL

: info@robots.epson.com

Europe

Epson Deutschland GmbH

Factory Automation Division

Otto

-Hahn-Str.4

-40670 Meerbusch

Germany

TEL

: +49-(0)-2159-538-1391

FAX

: +49-(0)-2159-538-3170

E-MAIL

: robot.infos@epson.de

China

Epson (China) Co., Ltd.

Factory Automation Division

7F, Jinbao Building No. 89, Jinbao Street,

Dongcheng District, Beijing,

China, 100005

TEL

: +86-(0)-10-8522-1199

FAX

: +86-(0)-10-8522-1120

Taiwan

Epson Taiwan Technology & Trading Ltd.

Factory Automation Division

14F, No.7, Song Ren Road, Taipei 110,

Taiwan, ROC

TEL

: +886-(0)-2-8786-6688

FAX

: +886-(0)-2-8786-6677

vi RC620DU Rev.5

Korea

Epson Korea Co., Ltd.

Marketing Team (Robot Business)

27F DaeSung D

-Polis A, 606

Seobusaet

-gil, Geumcheon-gu, Seoul, 153-803

Korea

TEL

: +82-(0)-2-3420-6692

FAX

: +82-(0)-2-558-4271

SoutheastAsia

Epson Singapore Pte. Ltd.

Factory Automation System

1 HarbourFront Place, #03

-02,

HarbourFront Tower One,

Singapore 098633

TEL

: +65-(0)-6586-5696

FAX

: +65-(0)-6271-3182

India

Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)

12th Floor, The Millenia, Tower A, No. 1,

Murphy Road, Ulsoor, Bangalore,

India 560008

TEL

: +91-80-3051-5000

FAX

: +91-80-3051-5005

Japan

Epson Sales Japan Corporation

Factory Automation Systems Department

Nishi

-Shinjuku Mitsui Bldg.6-24-1

Nishishinjuku, Shinjuku

-ku, Tokyo 160-8324

Japan

TEL

: +81

-(0)3-5321-4161

Table of Contents

RC620DU Rev.5 vii

Safety 1. Safety 3

2. Conventions 3

3. Safety Precautions 4

Setup & Operation

1. Specifications 9

1.1 System Example.......................................................................................9

1.2 Drive unit Standard Specifications..........................................................10

1.3 Outer Dimensions...................................................................................11

2. Part Names and Functions 12

2.1 Part Names.............................................................................................12

2.2 Functions.................................................................................................13

2.3 LED .........................................................................................................15

2.4 Safety Features.......................................................................................16

3. Installation 18

3.1 Unpacking...............................................................................................18

3.2 Environmental Requirements .................................................................18

3.2.1 Environment................................................................................18

3.2.2 Installation...................................................................................19

3.2.3 Install inside the Cabinet.............................................................21

3.3 Power Supply..........................................................................................22

3.3.1 Specifications..............................................................................22

3.3.2 AC Power Cable.........................................................................23

3.4 Cable Connection ...................................................................................23

3.4.1 Typical Cable Connection...........................................................24

3.4.2 Connecting Manipulator to Drive unit.........................................25

3.5 Noise Countermeasures.........................................................................26

4. Drive Unit Connection 27

5. Drive Unit Confirmation 28

Table of Contents

viii RC620DU Rev.5

6. EMERGENCY 29

6.1 Safety Door Switch and Latch Release Switch......................................29

6.1.1 Safety Door Switch.....................................................................29

6.1.2 Latch Release Switch.................................................................30

6.1.3 Checking Latch Release Switch Operation................................30

6.2 Emergency Stop Switch Connection......................................................32

6.2.1 Emergency Stop Switch.............................................................32

6.2.2 Checking Emergency Stop Switch Operation............................32

6.2.3 Recovery from Emergency Stop................................................32

6.3 Pin Assignments.....................................................................................33

6.4 Circuit and Wiring Example....................................................................34

6.4.1 Circuit Diagrams .......................................................................34

6.4.2 Wiring Example for Emergency Stop .......................................35

6.4.3 Wiring Example for Safety Door Input / Latch Release Input....37

7. I/O Connector 38

7.1 Input Circuit.............................................................................................38

7.2 Output Circuit..........................................................................................40

7.3 Pin Assignment.......................................................................................42

8. R-I/O Connector 43

8.1 Input Circuit.............................................................................................43

8.2 Pin Assignment.......................................................................................44

Maintenance 1. Safety Precautions on Maintenance 47

1.1 Safety Precautions..................................................................................47

1.2 Lockout / Tagout.....................................................................................48

2. Regular Maintenance Inspection 49

2.1 Schedule for Maintenance Inspection....................................................49

2.2 Inspection Point......................................................................................49

2.2.1 Inspection While the Drive unit is Turned OFF..........................49

2.2.2 Inspection While the Drive unit is Turned ON............................49

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