Epson C Series User manual

Rev.2 EM221R5133F
6-Axis Robots
C series
MANUAL

6
-Axis Robots C series Manual Rev.2

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

ii C series Rev.2
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator.
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 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 Rev.2
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
C series Manipulators can be used with the following combinations of Controllers and
software.
C4 series
Controller : RC700, RC700-A
Software : EPSON RC+ 7.0
C8 series
Controller : 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)
C12 series
Controller : RC700-A
Software : EPSON RC+ 7.0 Ver.7.4.6 or later
Setting by 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 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)
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 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 Rev.2 vii
C4 Manipulator
1. Safety 3
1.1 Conventions............................................................................................3
1.2 Design and Installation Safety................................................................4
1.3 Operation Safety ....................................................................................5
1.4 Emergency Stop.....................................................................................6
1.5 Safeguard...............................................................................................8
1.6 How to Move Arms with the Electromagnetic Brake..............................9
1.6.1 Moving the Arm using the brake release unit...........................10
1.6.2 Moving the Arm using the software..........................................10
1.7 Precaution for Operation in Low Power Status....................................10
1.8 Warning Labels.....................................................................................11
1.9 Response for Emergency or Malfunction.............................................14
1.9.1 Collision ....................................................................................14
1.9.2 Getting body caught in Manipulator .........................................14
2. Specifications 15
2.1 Model Number......................................................................................15
2.2 Part Names and Motion Range of Each Arm.......................................16
2.3 Outer Dimensions.................................................................................17
2.3.1 C4-A601**.................................................................................17
2.3.2 C4-A901**.................................................................................18
2.4 Standard Motion Range .......................................................................19
2.4.1 C4-A601**.................................................................................19
2.4.2 C4-A901**.................................................................................20
2.5 Specifications .......................................................................................22
2.5.1 Specifications Table..................................................................22
2.5.2 Option .......................................................................................22
2.6 How to Set the Model...........................................................................22
3. Environment and Installation 23
3.1 Environmental Conditions ....................................................................23
3.2 Unpacking, Transportation, and Relocation.........................................24
3.3 Mounting Dimensions...........................................................................28
3.4 Installation ............................................................................................29
3.5 Connecting the Cables.........................................................................32
3.6 User Wires and Pneumatic Tubes........................................................33
3.7 Checking the Basic orientation.............................................................34
4. End Effectors 35
4.1 Attaching an End Effector.....................................................................35
4.2 Attaching Camera and Air Valves.........................................................36
4.3 WEIGHT and INERTIA Settings...........................................................38
4.3.1 WEIGHT setting........................................................................40

Table of Contents
viii C series Rev.2
4.3.2 INERTIA setting........................................................................45
4.4 Precautions for Auto Acceleration/Deceleration ..................................49
5. Motion Range 50
5.1 Motion Range Setting by Pulse Range (for All Arms)..........................51
5.1.1 Max. Pulse Range of Arm #1 ...................................................52
5.1.2 Max. Pulse Range of Arm #2 ...................................................53
5.1.3 Max. Pulse Range of Arm #3 ...................................................53
5.1.4 Max. Pulse Range of Arm #4 ...................................................54
5.1.5 Max. Pulse Range of Arm #5 ...................................................55
5.1.6 Max. Pulse Range of Arm #6 ...................................................55
5.2 Motion Range Setting by Mechanical Stops........................................56
5.2.1 Motion Range Setting of Arm #1..............................................56
5.2.2 Motion Range Setting of Arm #2..............................................57
5.2.3 Motion Range Setting of Arm #3..............................................57
5.3 Restriction of Manipulator Operation by Joint Angle Combination......58
5.4 Coordinate System...............................................................................60
5.5 Changing the Robot .............................................................................61
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
...................................................................... System of the Manipulator
.............................................................................................................62
6. Options 63
6.1 Brake Release Unit ..............................................................................63
Power Cable.........................................................................................64
Mount the brake release unit ...............................................................65
Remove the brake release unit............................................................66
How to use the brake release unit .......................................................66
6.2 Camera Plate Unit................................................................................67
6.3 PS Compatible Plate (Tool Adapter) ....................................................70
6.4 Base Side Angled Fittings....................................................................72
6.5 Base Side Fittings ................................................................................74
6.6 PS Compatible Plate (Base Adapter)...................................................77
6.7 Adjustable Mechanical Stop (Joint #2: only C4-A901**) .....................79

Table of Contents
C series Rev.2 ix
C8 Manipulator
1. Safety 83
1.1 Conventions..........................................................................................83
1.2 Design and Installation Safety..............................................................84
1.3 Operation Safety ..................................................................................85
1.4 Emergency Stop...................................................................................86
1.5 Safeguard.............................................................................................88
1.6 How to Move Arms with the Electromagnetic Brake............................89
1.6.1 Moving the Arm using the brake release unit...........................90
1.6.2 Moving the Arm using the software..........................................90
1.7 Precaution for Operation in Low Power Status....................................90
1.8 Warning Labels.....................................................................................91
1.9 Response for Emergency or Malfunction.............................................94
1.9.1 Collision ....................................................................................94
1.9.2 Getting body caught in Manipulator .........................................94
2. Specifications 95
2.1 Model Number......................................................................................95
2.2 Part Names and Motion Range of Each Arm.......................................96
2.3 Outer Dimensions.................................................................................98
2.3.1 C8-A701*** (C8) .......................................................................98
2.3.2 C8-A901*** (C8L) .....................................................................99
2.3.3 C8-A1401*** (C8XL).............................................................. 100
2.4 Standard Motion Range .................................................................... 101
2.4.1 C8-A701*** (C8) .................................................................... 101
2.4.2 C8-A901*** (C8L) .................................................................. 102
2.4.3 C8-A1401*** (C8XL).............................................................. 103
2.5 Specifications .................................................................................... 104
2.5.1 Specifications Table............................................................... 104
2.5.2 Option .................................................................................... 104
2.6 How to Set the Model........................................................................ 105
3. Environment and Installation 106
3.1 Environmental Conditions ................................................................. 106
3.2 Unpacking, Transportation, and Relocation...................................... 108
3.3 Mounting Dimensions.........................................................................112
3.3.1 Cable Backward Model ..........................................................112
3.3.2 Cable Downward Model .........................................................114
3.4 Installation ..........................................................................................115
3.5 Connecting the Cables.......................................................................118
3.6 User Wires and Pneumatic Tubes..................................................... 120
Electrical wires .................................................................................. 121
Pneumatic tubes ............................................................................... 122
3.7 Checking the Basic orientation.......................................................... 123

Table of Contents
x C series Rev.2
4. End Effectors 124
4.1 Attaching an End Effector ..................................................................124
4.2 Attaching Camera and Air Valves ......................................................124
4.3 WEIGHT and INERTIA Settings.........................................................126
4.3.1 WEIGHT setting .....................................................................128
4.3.2 INERTIA setting......................................................................132
4.4 Precautions for Auto Acceleration/Deceleration ................................137
5. Motion Range 138
5.1 Motion Range Setting by Pulse Range (for Each Joint)....................138
5.1.1 Max. Pulse Range of Joint #1 ................................................139
5.1.2 Max. Pulse Range of Joint #2 ................................................139
5.1.3 Max. Pulse Range of Joint #3 ................................................140
5.1.4 Max. Pulse Range of Joint #4 ................................................140
5.1.5 Max. Pulse Range of Joint #5 ................................................141
5.1.6 Max. Pulse Range of Joint #6 ................................................141
5.2 Motion Range Setting by Mechanical Stops......................................142
5.2.1 Motion Range Setting of Joint #1...........................................142
5.2.2 Motion Range Setting of Joint #2...........................................143
5.2.3 Motion Range Setting of Joint #3...........................................145
5.3 Restriction of Manipulator Operation by Joint Angle Combination....145
5.4 Coordinate System.............................................................................149
5.5 Changing the Robot ...........................................................................150
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
...................................................................... System of the Manipulator
...........................................................................................................151
6. Options 152
6.1 Brake Release Unit ............................................................................152
Power Cable.......................................................................................153
Mount the brake release unit .............................................................155
Remove the brake release unit..........................................................155
How to use the brake release unit .....................................................156
6.2 Camera Plate Unit..............................................................................157
6.3 Tool Adapter (ISO Flange) .................................................................160
6.4 Adjustable Mechanical Stops.............................................................162
6.5 User Wires and Pneumatic Tubes .....................................................163

Table of Contents
C series Rev.2 xi
C12 Manipulator
1. Safety 167
1.1 Conventions....................................................................................... 167
1.2 Design and Installation Safety........................................................... 168
1.3 Operation Safety ............................................................................... 169
1.4 Emergency Stop................................................................................ 170
1.5 Safeguard.......................................................................................... 172
1.6 How to Move Arms with the Electromagnetic Brake......................... 173
1.6.1 Moving the Arm using the brake release unit........................ 174
1.6.2 Moving the Arm using the software....................................... 174
1.7 Precaution for Operation in Low Power Status................................. 174
1.8 Warning Labels.................................................................................. 175
1.9 Response for Emergency or Malfunction.......................................... 177
1.9.1 Collision ................................................................................. 177
1.9.2 Getting body caught in Manipulator ...................................... 177
2. Specifications 178
2.1 Model Number................................................................................... 178
2.2 Part Names and Motion Range of Each Arm.................................... 179
2.3 Outer Dimensions.............................................................................. 181
2.4 Standard Motion Range .................................................................... 182
2.5 Specifications .................................................................................... 183
2.5.1 Specifications Table............................................................... 183
2.5.2 Option .................................................................................... 183
2.6 How to Set the Model........................................................................ 184
3. Environment and Installation 185
3.1 Environmental Conditions ................................................................. 185
3.2 Unpacking, Transportation, and Relocation...................................... 186
3.3 Mounting Dimensions........................................................................ 189
3.3.1 Cable Backward Model ......................................................... 189
3.3.2 Cable Downward Model ........................................................ 190
3.4 Installation ......................................................................................... 191
3.5 Connecting the Cables...................................................................... 194
3.6 User Wires and Pneumatic Tubes..................................................... 196
Electrical wires .................................................................................. 197
Pneumatic tubes ............................................................................... 197
3.7 Checking the Basic orientation.......................................................... 198
4. End Effectors 199
4.1 Attaching an End Effector.................................................................. 199
4.2 Attaching Camera and Air Valves...................................................... 200
4.3 WEIGHT and INERTIA Settings........................................................ 201
4.3.1 WEIGHT setting..................................................................... 203

Table of Contents
xii C series Rev.2
4.3.2 INERTIA setting......................................................................206
4.4 Precautions for Auto Acceleration/Deceleration ................................211
5. Motion Range 212
5.1 Motion Range Setting by Pulse Range (for Each Joint)....................212
5.1.1 Max. Pulse Range of Joint #1 ................................................213
5.1.2 Max. Pulse Range of Joint #2 ................................................213
5.1.3 Max. Pulse Range of Joint #3 ................................................214
5.1.4 Max. Pulse Range of Joint #4 ................................................214
5.1.5 Max. Pulse Range of Joint #5 ................................................215
5.1.6 Max. Pulse Range of Joint #6 ................................................215
5.2 Motion Range Setting by Mechanical Stops......................................216
5.2.1 Motion Range Setting of Joint #1...........................................216
5.2.2 Motion Range Setting of Joint #2...........................................217
5.2.3 Motion Range Setting of Joint #3...........................................217
5.3 Restriction of Manipulator Operation by Joint Angle Combination....218
5.4 Coordinate System.............................................................................219
5.5 Changing the Robot ...........................................................................220
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
...................................................................... System of the Manipulator
...........................................................................................................221
6. Options 222
6.1 Brake Release Unit ............................................................................222
Power Cable.......................................................................................223
Mount the brake release unit .............................................................225
Remove the brake release unit..........................................................225
How to use the brake release unit .....................................................226
6.2 Camera Plate Unit..............................................................................227
6.3 Tool Adapter (ISO Flange) .................................................................230
6.4 Adjustable Mechanical Stops.............................................................231
6.5 User Wires and Pneumatic Tubes .....................................................232

Table of Contents
C series Rev.2 xiii
Regular Inspection
1. Regular Inspection for C4 Manipulator 231
1.1 Inspection .......................................................................................... 231
1.1.1 Schedule for Inspection......................................................... 231
1.1.2 Inspection Point..................................................................... 232
1.2 Overhaul (Parts Replacement).......................................................... 234
1.3 Greasing ............................................................................................ 234
1.4 Tightening Hexagon Socket Head Bolts ........................................... 234
2. Regular Inspection for C8 Manipulator 235
2.1 Inspection .......................................................................................... 235
2.1.1 Schedule for Inspection......................................................... 235
2.1.2 Inspection Point..................................................................... 236
2.2 Overhaul (Parts Replacement).......................................................... 238
2.3 Greasing ............................................................................................ 238
2.4 Tightening Hexagon Socket Head Bolts ........................................... 238
3. Regular Inspection for C12 Manipulator 239
3.1 Inspection .......................................................................................... 239
3.1.1 Schedule for Inspection......................................................... 239
3.1.2 Inspection Point..................................................................... 240
3.2 Overhaul (Parts Replacement).......................................................... 242
3.3 Greasing ............................................................................................ 242
3.4 Tightening Hexagon Socket Head Bolts ........................................... 242
Appendix
Appendix A: Specifications 245
C4 Specifications .............................................................................. 245
C8 Specifications .............................................................................. 248
C12 Specifications ............................................................................ 252
Appendix B: Time and Distance of Free Running in Emergency 255
C4 Time and Distance of Free Running in Emergency .................... 256
C8 Time and Distance of Free Running in Emergency .................... 260
C12 Time and Distance of Free Running in Emergency .................. 272
Appendix C: Time and Distance of Free Running When Safeguard Is
Opened 274
C4 Time and Distance of Free Running When Safeguard Is Opened275
C8 Time and Distance of Free Running When Safeguard Is Opened279
C12 Time and Distance of Free Running When Safeguard Is Opened291

Table of Contents
xiv C series Rev.2

C4 Manipulator
This volume contains information for setup and operation of the Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.

C4 Manipulator 1. Safety
C series Rev.2 3
1. Safety
Unpacking and transportation of the Manipulators and robotic equipment shall be performed
by personnel who has taken robot system training held by us and suppliers and should
conform to all national and local codes.
Please read this manual and other related manuals before installing the robot system or
before connecting cables.
Keep this manual handy for easy access at all times and reread it when you find anything
unclear.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
WARNING
This symbol indicates that a danger of possible serious injury or
death exists if the associated instructions are not followed
properly.
WARNING
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.

C4 Manipulator 1. Safety
4 C series Rev.2
1.2 Design and Installation Safety
This product is intended for transporting and assembling parts in a safely isolated area.
Design and installation of robot system shall be performed by personnel who has taken robot
system training held by us and suppliers.
To ensure safety, a safeguard must be installed for the robot system. For details on the
safeguard, refer to the Installation and Design Precautions in the Safety chapter of the
EPSON RC+ User’s Guide.
The following items are safety precautions for design personnel:
WARNING
■
Personnel who design and/or construct the robot system with this product must
read
“Safety Manual”. Designing and/or constructing the robot system without
understanding the safety requirements is extremely hazardous, and may result in
serious bodily injury and/or severe equipment damage to the robot system.
■
The Manipulator and the Controller must be used
within the environmental
conditions described in their respective manuals. This product has been designed
and manufactured strictly for use in a normal indoor environment. Using the
product in an environment that exceeds the specified environmental conditi
ons
may not only shorten the life of the product but may also cause serious safety
problems.
■
The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation
requirements may
not only shorten the life of the product but also cause serious safety problems.
■
When designing or installing a robot system, wear at least the following protective
gear. Working without protective gear may
cause serious safety problems.
Work clothes suitable for work
Helmet
Safety shoes
Further precautions for installation are described in “3. Environment and Installation”.
Please read this chapter carefully to understand safe installation procedures before installing
the robots and robotic equipment.