Epson RC620 Series Setup guide

RC620
Safety and Installation
Read this manual first
Rev.8 EM121B2281F

.8RC620 Safety and Installation Rev

RC620 Safety and Installation Rev.8 i
C620 Safety and Installation R
ev.8
Copyright ©2009-2012 SEIKO EPSON CORPORATION. All rights reserved.
R

ii RC620 Safety and Installation Rev.8
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Operator
Panel.
Please carefully read this manual and other related manuals before installing the
robot system.
Keep this manual handy for easy access at all times.
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):
1. Damage or malfunction caused by improper use which is not described i
n
the manual, or careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the robot system associated equipment is used outside of the usage
conditions and product specifications described in the manuals, this
warranty is void.
2. 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.
3. We cannot foresee all possible dangers and consequences. Therefore, this
manual cannot warn the user of all possible hazards.

RC620 Safety and Installation Rev.8 iii
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

iv RC620 Safety and Installation Rev.8
MANUFACTURER & SUPPLIER
Japan & Others SEIKO EPSON CORPORATION
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano,
399-0295 JAPAN
TEL : [phone]
FAX : [phone]
SUPPLIERS
North & South America EPSON AMERICA, INC.
Factory Automation/Robotics
18300 Central Avenue, Carson, CA 90746 USA
TEL : [phone]
FAX : [phone]
E-MAIL : [email protected]
Europe EPSON DEUTSCHLAND GmbH
Factory Automation Division
Otto-Hahn-Str.4, D-40670 Meerbusch, Germany
TEL : [phone]
FAX : [phone]
E-MAIL : [email protected]
China EPSON China Co., Ltd
Factory Automation Division
7F, Jinbao Building No. 89 Jinbao Street
Dongcheng District, Beijing
China, 100005
TEL : [phone]
FAX : [phone]

RC620 Safety and Installation Rev.8 v
Taiwan EPSON Taiwan Technology & Trading Ltd.
Factory Automation Division
14F, No.7, Song Ren Road, Taipei 110
Taiwan, ROC
TEL : [phone]
FAX : [phone]
Southeast Asia
India
Epson Singapore Pte Ltd.
Factory Automation System
1 HarbourFrontPlace, #03-02
HarbourFront Tower one, Singapore
098633
TEL : [phone]
FAX : [phone]
Korea EPSON Korea Co, Ltd.
Marketing Team (Robot Business)
11F Milim Tower, 825-22
Yeoksam-dong, Gangnam-gu, Seoul, 135-934
Korea
TEL : [phone]
FAX : [phone]

For Customers in the European Union
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:
Controller manual / Manipulator manual (Maintenance section)
vi RC620 Safety and Installation Rev.8

RC620 Safety and Installation Rev.8 vii
Before Reading This Manual
Do not connect TP1 to the following Robot Controllers. Connecting to
the following Robot Controllers may result in malfunction of the device
since the pin assignments are different.
RC90 / RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
Be careful of the operating instructions of the TP1 when connecting it to
the Robot
Controller RC180, it is different from the explanation in this manual.
When using the TP1 with the RC180, refer to theRC180 Option Teach
Pendant TP1.
Do not connect the followings to the TP port of RC620. Connecting to
the followings may result in malfunction of the device since the pin
assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Operator Panel OP1
Jog Pad JP500
Teaching Pendant TP-3**
Teach Pendant TP2
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 Controller.

viii RC620 Safety and Installation Rev.8
TABLE OF CONTENTS
1. Safety 1
1.1 Conventions································································ 1
1.2 Design and Installation Safety ···································· 2
1.3 Operation Safety························································· 3
1.4 Maintenance Safety ·················································· 10
1.5 Emergency Stop ······················································· 13
1.6 Labels ······································································· 13
1.7 Safety Features ························································ 30
2. Installation 33
System Example ······························································· 34
2.1 Outline from Unpacking to Operation of Robot System·· 36
2.2 Unpacking································································· 37
2.3 Transportation··························································· 38
2.4 Manipulator Installation············································· 46
2.5 Controller Installation ················································ 63
2.6 Connecting to EMERGENCY Connector······················ 68
2.7 AC power cable ························································ 79
2.8 Drive Unit Connection··············································· 80
2.9 Drive Unit Configuration············································ 81
2.10 Connecting Manipulator and Controller ·················· 82
2.11 Power-on··································································· 84
3. First Step 86
3.1 Installing EPSON RC+ 5.0 Software························· 86
3.2 Writing your first program·········································· 93
4. Second Step 100
4.1 Connection with External Equipment ······················ 100
4.2 Connection and Display Language of Option TP1··········· 101

RC620 Safety and Installation Rev.8 ix
5. General Maintenance 102
5.1 Schedule for Maintenance Inspection··················102
5.2 Inspection Point··············································104
6. Manuals 111
7. Directives and Norms 113

x RC620 Safety and Installation Rev.8

1. Safety
RC620 Safety and Installation Rev.8 1
1. Safety
Installation and transportation of robots and robotic equipment shall be performed
by qualified personnel 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.
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.

1. Safety
1.2 Design and Installation Safety
Only trained personnel should design and install the robot system. Trained
personnel are defined as those who have taken robot system training held by the
manufacturer, dealer, or local representative company, or those who understand the
manuals thoroughly and have the same knowledge and skill level as those who
have completed the training courses.
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:
■Personnel who design and/or construct the robot system with this
product must read the Safety chapter in the EPSON RC+ User’s
Guide to understand the safety requirements before designing and/or
constructing the robot system. 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 conditions may not only shorten
the life cycle of the product but may also cause serious safety
problems.
WARNING
■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 cycle of the
product but also cause serious safety problems.
Further precautions for installation are mentioned in the following manuals.
Please read this chapter carefully to understand safe installation procedures before
installing the robots and robotic equipment.
Relevant Manuals
Refer

This manual : 2. Installation
Manipulator manual : Setup & Operation 3. Environment and Installation
Controller manual : Setup & Operation 3. Installation
2 RC620 Safety and Installation Rev.8

1. Safety
RC620 Safety and Installation Rev.8 3
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
■Please carefully read the Safety-related Requirements in the Safety
chapter of the EPSON RC+ User’s Guide before operating the robot
system. Operating 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.
■Do not enter the operating area of the Manipulator while the power to
the robot system is turned ON. Entering the operating area with the
power ON is extremely hazardous and may cause serious safety
problems as the Manipulator may move even if it seems to be stopped.
■Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for
teaching even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted status (low
speeds and low power) to secure the safety of an operator. However,
operating the robot system while someone is inside the safeguarded
area is extremely hazardous and may result in serious safety problems
in case that the Manipulator moves unexpectedly.
WARNING
■Immediately press the Emergency Stop switch whenever the
Manipulator moves abnormally while the robot system is operated.
Continuing the operating the robot system while the Manipulator
moves abnormally is extremely hazardous and may result in serious
bodily injury and/or severe equipment change to the robot system.
WARNING
■Be sure to connect the AC power cable to a power receptacle. DO
NOT connect it directly to a factory power source. To shut off power
to the robot system, pull out the power plug from the power source.
Performing any work while connecting the AC power cable to a factory
power source is extremely hazardous and may result in electric shock
and/or malfunction of the robot system.

1. Safety
4 RC620 Safety and Installation Rev.8
Safety-related Requirements
Specific tolerances and operating conditions for safety are contained in the
manuals for the robot, controller and other devices. Be sure to read those
manuals as well.
For the installation and operation of the robot system, be sure to comply with the
applicable local and national regulations.
Robot systems safety standards and other examples are given in this chapter.
Therefore, to ensure that safety measures are complete, please refer to the other
standards listed as well.
(Note: The following is only a partial list of the necessary safety standards.)
ENISO12100-1
ENISO12100-2
Safety of machinery - Basic concepts, general principles for design
Part 1. Basic terminology, methodology
Part 2. Technical principles and specifications
ENISO14121 Safety of machinery Principles for risk assessment
EN13849-1 Safety of machinery-Safety related parts of control systems
ENISO13850 Safety of machinery – Emergency stop – principles for design
ENISO13855 Safety of machinery - Positioning of safeguards with respect to the
approach speeds of parts of the human body.
ENISO13857 Safety of machinery - Safety distances to prevent hazard zones being
reached by upper and lower limbs.
ENISO 14120
(EN953)
General requirements for design and construction of guards
ISO10218 Robots for industrial environments -- Safety requirements
ANSI
/RIA R15.06
American National Standard; Industrial Robots and Robot Systems -
Safety Requirements
IEC204-1
(EN60204-1)
Safety of machinery - Electrical equipment of machines
Part 1. Specification for general requirements
EN55011 Limits and methods of measurement of radio disturbance characteristic of
industrial scientific and medical (ISM) radio frequency equipment.
EN61000-6-2 Electromagnetic compatibility (EMC)
Part 6-2: Generic standards - Immunity for industrial environments

1. Safety
RC620 Safety and Installation Rev.8 5
Part Names and Arm Motion
G series
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
+
-
+
-
+
-
+
-
Joint #3
(Up/Down)
Joint #4
(Rotate)
Arm #1
Arm #2
Shaft
(Figure of G6553S)
Joint #2
(Rotate)
Joint #1
(Rotate)

1. Safety
RS series
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
Joint #2
(rotating)
Joint #1
(rotating)
Joint #3
(up and down)
Base
Joint #4
(rota ting)
+
−
+
−
+
−
+
−
Shaft
Arm #1
Arm #2
(Figure of RS3-351*)
6 RC620 Safety and Installation Rev.8

1. Safety
RC620 Safety and Installation Rev.8 7
PS series
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
J1+
Joint #1
J1−
J2+J2−
J3+
J3−
J4+
J4−J5−
J5+J6+
J6−
Arm #2 (Lower Arm)
Arm #3
Arm #4
Joint #6
Joint #3
Joint #4
Arm #1
Joint #5
Arm #6
Upper Arm (Arms #3 to #6)
Arm #5
LED Lamp
(This lamp lights up
while the motors are ON.)
Joint #2
Arm Motion
Joint #1 : The whole Manipulator revolves.
Joint #2 : The lower arm swings.
Joint #3 : The upper arm swings.
Joint #4 : The wrist revolves.
Joint #5 : The wrist swings.
Joint #6 : The wrist rotates.
(Figure of PS3)
Base

1. Safety
C3 series
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
8 RC620 Safety and Installation Rev.8
Joint #1
Base
J1−
J1+
J2+J2−
J3−
J4−
J4+
J5−
J5+
J6−
J6+
Arm #1
A
rm
#
2
(Lower Arm)
Arm #4
Joint #6
Joint #3
Joint #4
Joint #5
Arm #6
Joint #2
Arm #5
J3+
LED Lamp
This lamp lights up
while the motors are ON.
Upper Arm (Arms #3 to #6)
Arm #3
Joint Motion
Joint #1 : The whole Manipulator revolves.
Joint #2 : The lower arm swings.
Joint #3 : The upper arm swings.
Joint #4 : The wrist revolves.
Joint #5 : The wrist swings.
Joint #6 : The wrist rotates.