Epson C Series User manual

Rev.2 EM221R5039F
6-Axis Robots
C series
Maintenance Manual

Manipulator manual C4 series Maintenance Manual Rev.2

C Series Maintenance Manual Rev.2 i
6-Axis Robots
C series Maintenance Manual
Rev.2
Copyright © 2021-2022 SEIKO EPSON CORPORATION. All rights reserved.

ii C Series Maintenance Manual Rev.2
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.
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.
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
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.

C Series Maintenance Manual Rev.2 iii
Regarding battery disposal
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For European Union customers only
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.
For Taiwanese customers only
Please separate used 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.

iv C Series Maintenance Manual Rev.2
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The C4 series Manipulators can be used with the following combinations of software.
Controllers : RC700, RC700-A
Software : EPSON RC+ 7.0
The C8 series Manipulators can be used with the following combinations of software.
Controllers : RC700-A
Software : EPSON RC+ 7.0 Ver.7.1.3 or later (C8XL)
EPSON RC+ 7.0 Ver.7.1.4 or later (C8, C8L)
EPSON RC+ 7.0 Ver.7.2.0 or later (Wall mounting)
The C12 series Manipulators can be used with the following combinations of software.
Controllers : RC700-A
Software : EPSON RC+ 7.0 Ver.7.4.6 or later
Setting by Using Software
EPSON
RC+
This manual contains setup procedures using the software.
Those sections are indicated by the symbol on the left.
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn
ON/OFF all the hardware components.
Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on
when it was shipped or the specifications. The procedures themselves, however, are accurate.

C Series Maintenance Manual Rev.2 v
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
RC700 series Manual (PDF)
This manual explains the installation of the entire robot system and the specifications and
functions of the controller. The manual is primarily intended for people who design robot
systems.
-The installation procedure of the robot system (specific details from unpacking
to operation)
-Daily inspection of the controller
-Controller specifications and basic functions
C series Manual (PDF)
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.
RC700 series Maintenance Manual (PDF)
C series Maintenance Manual (PDF) (xx: Manipulator series name)
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.

vi C Series Maintenance Manual Rev.2
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
C Series Maintenance Manual Rev.2 vii
C4 Series Maintenance
1. Safety Maintenance 3
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) .................................................................8
2.3 Greasing..................................................................................................10
2.4 Tightening Hexagon Socket Head Bolts.................................................12
2.5 Layout of Maintenance Parts..................................................................13
3. Covers 14
3.1 Arm #1 Top Cover...................................................................................15
3.2 Arm #1 Side Cover..................................................................................15
3.3 Arm #2 Side Cover..................................................................................16
3.4 Arm #3 Head Cover ................................................................................16
3.5 Arm #3 Bottom Cover .............................................................................17
3.6 Arm #4 side cover...................................................................................17
3.7 Base Bottom Cover.................................................................................18
3.8 Connector Plate ......................................................................................18
3.9 Connector Sub Plate...............................................................................19
3.10 User Plate .............................................................................................19
4. Cable Unit 20
4.1 Replacing the Cable Unit........................................................................20
Removal: Cable unit................................................................................22
Installation: Cable unit.............................................................................29
4.2 Connector Pin Assignments ...................................................................48
4.2.1 Signal Cable................................................................................48
4.2.2 Power Cable................................................................................54
4.2.3 User Cable ..................................................................................57
4.2.4 Color of Cables............................................................................57
5. Joint #1 58
5.1 Joint #1 - Replacing the Motor................................................................59
Removal: Joint #1 Motor.........................................................................59
Installation: Joint #1 Motor......................................................................61

Table of Contents
viii C Series Maintenance Manual Rev.2
5.2 Joint #1 - Replacing the Reduction Gear Unit........................................63
Removal: Joint #1 Reduction gear unit ..................................................64
Installation: Joint #1 Reduction gear unit ...............................................67
5.3 Joint #1 - Replacing the Timing Belt ......................................................71
Removal: Joint #1 Timing belt ................................................................71
Installation: Joint #1 Timing belt .............................................................71
5.4 Joint #1 - Replacing the Electromagnetic Brake ....................................72
Removal: Joint #1 Electromagnetic brake..............................................72
Installation: Joint #1 Electromagnetic brake...........................................72
6. Joint #2 73
6.1 Joint #2 - Replacing the Motor ...............................................................74
Removal: Joint #2 Motor.........................................................................75
Installation: Joint #2 Motor......................................................................77
6.2 Joint #2- Replacing the Reduction Gear Unit.........................................79
Removal: Joint #2 Reduction gear unit ..................................................80
Installation: Joint #2 Reduction gear unit ...............................................83
6.3 Joint #2 - Replacing the Timing Belt ......................................................87
Removal: Joint #2 Timing belt ................................................................87
Installation: Joint #2 Timing belt .............................................................87
6.4 Joint #2 - Replacing the Electromagnetic Brake ....................................88
Removal: Joint #2 Electromagnetic brake..............................................88
Installation: Joint #2 Electromagnetic brake...........................................88
7. Joint #3 89
7.1 Joint #3 - Replacing the Motor (with a Brake)........................................90
Removal: Joint #3 Motor (with a brake)..................................................90
Installation: Joint #3 Motor (with a brake)...............................................92
7.2 Joint #3 - Replacing the Reduction Gear Unit........................................94
Removal: Joint #3 Reduction gear unit ..................................................94
Installation: Joint #3 Reduction gear unit ...............................................98
7.3 Joint #3 - Replacing the Timing Belt ....................................................102
Removal: Joint #3 Timing belt ..............................................................102
Installation: Joint #3 Timing belt ...........................................................102
8. Joint #4 103
8.1 Joint #4 - Replacing the Motor .............................................................104
Removal: Joint #4 Motor.......................................................................104
Installation: Joint #4 Motor....................................................................106