Epson RT3B-401SS User guide

This manual contains precautions for the correct use of the robot system.
Please carefully read this manual before installing the robot system.
Keep this manual handy for easy access at all times and reread it when you find anything
unclear.
Original instructions
Robot System
Safety Manual
Read this manual first
Rev.4 EM221B5110F

Robot System
Safety Manual Read this manual first Rev.4

Safety Manual Rev.4 i
Robot System
Safety Manual
Rev.4
Copyright 2021-2022 SEIKO EPSON CORPORATION. All rights reserved

ii Safety Manual Rev.4
FOREWORD
Thank you for purchasing our robot products.
This manual contains precautions for the correct use of the robot system.
Please carefully read this manual and other related manuals before installing the
robot system.
Keep this manual handy for easy access at all times and reread it when you find
anything
unclear.
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.

Safety Manual Rev.4 iii
EU Directive Compliance Precautions (Official Language)
In the EU official languages, the manual for this product is only available in English.
Précautions de conformité à la directive UE (langue officielle)
Dans les langues officielles de l'UE, le manuel de ce produit n'est disponible qu'en
anglais.
Precauzioni relative alla conformità alla direttiva UE (lingua ufficiale)
Nelle lingue ufficiali dell'UE, il manuale di questo prodotto è disponibile solo in
inglese.
Maßnahmen zur Einhaltung der Anforderungen der EU-Richtlinie
(Offizielle Sprache)
In den offiziellen Sprachen der EU ist das Benutzerhandbuch für dieses Produkt nur
in Englisch verfügbar.
Precauciones de cumplimiento de las directivas UE (idioma oficial)
En los idiomas oficiales de la UE, el manual de este producto solo está disponible
en inglés.
Precauções de Conformidade com a Diretiva da UE (Idioma Oficial)
Nos idiomas oficiais da UE, o manual deste produto está disponível apenas em
inglês.
Opmerkingen over overeenstemming met de EU-richtlijn (officiële taal)
In de officiële EU-talen is de handleiding voor dit product alleen beschikbaar in het
Engels.

iv Safety Manual Rev.4
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
Seiko Epson Corporation
3-3-5 Owa, Suwa-shi, Nagano, 392-8502
URL
:global.epson.com/company/
: www.epson.jp/prod/robots/
Toyoshina Plant
Manufacturing Solutions Operations Division
6925 Toyoshina Tazawa,
Azumino
-shi, Nagano, 399-8285
J
apan
TEL
: [phone]
FAX
: [phone]

Safety Manual Rev.4 v
IMPORTERS
Importer for the EU
EPSON EUROPE B.V.
Azie building, Atlas ArenA, Hoogoorddreef
5, 1101 BA
Amsterdam Zuidoost The Netherlands
TEL
: [phone]
FAX
: [phone]
Importer for the UK
EPSON (U.K.) LIMITED
Westside, London Road, Hemel Hempstead, Hertfordshire,
HP3 9TD, U. K
TEL
: [phone]
FAX
: [phone]
CONTACT INFORMATION
SUPPLIERS (Country/Region)
North & South
America
Epson America, Inc.
Factory Automation/Robotics
3131 Katella Ave., Los Alamitos, CA 90720,
U.S.A
TEL
: [phone]
FAX
: [phone]
E-MAIL
: [e-mail]
Europe
Epson Deutschland GmbH
Robotic Solutions
Otto
-Hahn-Str.4
D
-40670 Meerbusch
Germany
TEL
: [phone]
FAX
: [phone]
E-MAIL
: [e-mail]
URL
: www.epson.de/robots

vi Safety Manual Rev.4
China
Epson (China) Co., Ltd.
Factory Automation Division
4F,
Tower 1, China Central Place,
81 Jianguo Road,
Chaoyang District,
Beijing, 100025, PRC
TEL
: [phone]
FAX
: [phone]
Taiwan
Epson Taiwan Technology & Trading Ltd.
Factory Automation Division
15F., No.100, Son
g Ren Road., Sinyi Dist., Taipei City, 11073
Taiwan
TEL
: [phone]
FAX
: [phone]
Korea
Epson Korea Co., Ltd.
Marketing Team (Robot Business)
10F Posco Tower, Teheranro 134(Yeoksam
-dong)
Gangnam
-gu, Seoul, 06235
Korea
TEL
: [phone]
FAX
: [phone]
Southeast Asia
Epson Singapore Pte. Ltd.
Factory Automation System
438B Alexandra Road,
Block B Alexandra TechnoPark, #04
-01/04,
Singapore 119968
TEL
: [phone]
FAX
: [phone]

Safety Manual Rev.4 vii
India
Epson India Pvt. Ltd.
Sales & Marketing (Factory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008
TEL
: [phone]
FAX
: [phone]
Japan
Epson Sales Japan Corporation
Factory Automation Systems Department
29th floor, JR Shinjuku Miraina Tower, 4
-1-6
S
hinjuku, Shinjuku-ku, Tokyo 160-8801
Japan
TEL
:[phone]
FAX
:[phone]

viii Safety Manual Rev.4
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations
of each country.
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.

Safety Manual Rev.4 ix
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.
For California customers only
The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate.

x Safety Manual Rev.4

Table of Contents
Safety Manual Rev.4 xi
Table of Contents
Safety of This Product........................................................................ 1
Usage and Purpose of This Product.......................................... 1
Installation Environment ............................................................ 1
Residual Risk ............................................................................ 2
Declaration of Conformity.......................................................... 2
Safety Requirements................................................................. 2
Safety Precautions............................................................................. 4
Conventions .............................................................................. 4
Precautions for Unpacking, Transportation, and Relocation...... 4
Precautions for Design and Installation ..................................... 5
Precautions for Operation ........................................................11
Precautions for Maintenance................................................... 15
Warning labels......................................................................... 17
Controller ........................................................................ 18
Manipulator ..................................................................... 23
For T-B series ................................................................. 48
For GX series.................................................................. 52
Safety Features....................................................................... 57
Emergency Stop Switch.................................................. 57
Safety Door Input............................................................ 57
Protection Features................................................................. 58
Low Power Mode ............................................................ 58
Dynamic Brake................................................................ 58
Motor Overload Detection ............................................... 58
Irregular Motor Torque (out-of-control Manipulator) Detection
....................................................................................... 58
Motor Speed Error Detection .......................................... 58
Positioning Overflow - Servo Error - Detection................ 58
Speed Overflow - Servo Error - Detection....................... 58
CPU Irregularity Detection .............................................. 59
Memory Check-sum Error Detection............................... 59
Overheat Detection at the Motor Driver Module.............. 59
Relay Deposition Detection............................................. 59
Over-Voltage Detection................................................... 59
Power Supply Voltage Drop Detection ............................ 59
Temperature Anomaly Detection..................................... 59
Fan Malfunction Detection .............................................. 59

Table of Contents
xii Safety Manual Rev.4
Training............................................................................................ 60
Training Held by Persons in Charge of Safety Management... 60
Knowledge and Training You Need for Operating the Robot
System.................................................................................... 61
The Manuals of This Product .................................................. 62
Manual Types .................................................................................. 62
How to Read the Manuals....................................................... 64
Installing the Software and Manuals ....................................... 64
Outline from Unpacking to Operation of Robot System ................... 65
China RoHS..................................................................................... 66

Safety of This Product
Safety Manual Rev.4 1
Safety of This Product
Usage and Purpose of This Product
The usage and purpose of this product is transporting and assembling parts in an
isolated safety area.
Installation Environment
For using the robot system function properly and safely, a suitable environment is
required. Install the robot system in a location meets the following conditions.
Item
Condition
Ambient
temperature
Installation
5 to 40°C
Transportation
or Storage
−20 to 60°C
VT, T, T-B, LS-B, G, C,
GX,
RC700-D, RC700-A,
RC700, RC90-B
−25 to 55°C
RS
0 to 45°C
N
Ambient relative
humidity
(no condensation)
Installation
10 to 80%
VT, LS-B, G, RS, C8,
C12, GX
20 to 80%
T, T-B, N, C4,
RC700-D, RC700-A,
RC700, RC90-B
Transportation
or Storage
10 to 90%
VT, T, T-B, LS-B, G,
RS, C, GX,
RC700-D, RC700-A,
RC700, RC90-B
10 to 80%
N
Fast transient
burst noise
1 kV or less (signal wire)
Electrostatic noise
4 kV or less
Elevation
1000 m or less
VT, T, T-B, LS-B, G, RS, C, N
RC700-A, RC700, RC90-B
2000 m or less
GX
RC700-D
Environment
- Install indoors
- Keep away from direct sunlight
- Keep away from dust, oily smoke, salinity, metal powder
or other contaminants
- Keep away from flammable or corrosive solvents and
gases
- Keep away from water
- Keep away from shock or vibration
- Keep away from sources of electric noise
- Keep away from explosive area
- Keep away from a large quantity of radiation

Safety of This Product
2 Safety Manual Rev.4
Residual Risk
For the residual risk of our Manipulator or controller, check the warnings or cautions
in each item of each chapter.
Declaration of Conformity
For the directives and standards of each country which this product complies with,
check the attached Declaration of Conformity.
Safety Requirements
Specific tolerances and operating conditions for safety are contained in the manuals
for the Manipulator, 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.)
ISO 10218-1
Robots and robotic devices -- Safety requirements for industrial
robots -- Part 1: Robots
ISO 10218-2
Robots and robotic devices -- Safety requirements for industrial
robots -- Part 2: Robot systems and integration
ANSI/RIA R15.06
American National Standard for Industrial Robots and Robot
Systems -- Safety Requirements
ISO 12100
Safety of machinery -- General principles for design -- Risk
assessment and risk reduction
ISO 13849-1
Safety of machinery -- Safety-related parts of control systems -- Part
1: General principles for design
ISO 13850
Safety of machinery -- Emergency stop function-- Principles for
design
ISO 13855
Safety of machinery -- Positioning of safeguards with respect to the
approach speeds of parts of the human body.
ISO 13857
Safety of machinery -- Safety distances to prevent hazard zones
being reached by upper and lower limbs.

Safety of This Product
Safety Manual Rev.4 3
ISO14120
Safety of machinery -- Guards -- General requirements for the
design and construction of fixed and movable guards
IEC 60204-1
Safety of machinery -- Electrical equipment of machines -- Part 1:
General requirements
CISPR11
Industrial, scientific and medical (ISM) radio-frequency equipment
-- Electromagnetic disturbance characteristics --
Limits and
methods of measurement
IEC 61000-6-2
Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards
-- Immunity for industrial environments

Safety Precautions
4 Safety Manual Rev.4
Safety Precautions
This chapter describes precautions for using the robot system safely. Before using
the robot system, be sure to read the descriptions.
In the descriptions of this chapter, the word “Controller” indicates Drive Unit as
well.
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.
Precautions for Unpacking, Transportation, and Relocation
Unpacking, transportation, and relocation of Manipulator 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. Follow the safety
precautions below.
WARNING
■
When transporting the Manipulator, please
transport it with a dolly
etc. as it was delivered.
Do not carry with the end effector or
peripherals attached. Loss of balance can cause the Manipulator to
fall, it is extremely hazardous and may result in serious bodily injury
and/or severe equipment damage to the robot system.
■
Only qualified personn
el should perform sling work and operate a
crane or forklift. When these operations are performed by unqualified
personnel, it is extremely hazardous and may result in serious bodily
injury and/or severe equipment damage to the robot system.
■
Stabilize the Manipulator with your hands when hoisting it. Unstable
hoisting is extremely hazardous and may results in serious bodily
injury and/or severe equipment damage to the robot system as the
fall of the Manipulator.

Safety Precautions
Safety Manual Rev.4 5
WARNING
■
People
involved in the work should wear personal protective
equipment such as a helmet when transporting. Also, make sure there
are no other people around.
CAUTION
■
Avoid excessive vibration or shock during Manipulator transporting.
Excessive vibration or shock may cause equipment damage to and/or
malfunction of the Manipulator.
■
When removing the anchor bolts, support the Manipulator to prevent
falling. Removing the anchor bolts without supporting the Manipulator
may get hands or feet caugh
t as the Manipulator will fall.
■
Do not remove the wire tie securing the arm until you finish the
installation. You may get your hands caught in the Manipulator when
the wire tie is removed before completing the installation.
■
To transport the
Manipulator, secure it to the delivery equipment, or
transport it while following the method and number of people
described in Manipulator manual. If there is an area where holding is
restricted, do not hold that area.
Precautions for Design and Installation
The robot system should be designed and installed by personnel who has taken robot
system training held by us and suppliers. Also, follow the safety precautions below.
WARNING
■
Personnel who design and/or construct the robot system with
this
product must read this manual 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 res
ult in serious bodily
injury and/or severe equipment damage to the robot system.
■
The robot system must be used within the environmental conditions
described in their respective manuals. This product has been designed
and manufactured strictly for use i
n 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.
■
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.

Safety Precautions
6 Safety Manual Rev.4
WARNING
■
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
■
This product is intended for transporting and assembling parts in an
isolated safety area. Be sure to install a safeguard
by referring the
standards described in “
Safety Requirements” in this manual to ensure
safety. Failure to install a safeguard may be e
xtremely hazardous and
may result in serious bodily injury and/or severe equipment damage to
the robot system.
■
The interlock of the Safety Door must be functioning when the robot
system is operated. Do not operate the system under the condition that
th
e switch cannot be turned ON/OFF. (I.E. the condition where the
switch is disabled) (Example: Tape is put around the switch to hold it
closed.) Operating the robot system when the switch is not functioning
properly is extremely hazardous and may cause seri
ous safety
problems as the Safety Door input cannot fulfill its intended function.
■
Be sure to install an emergency stop device that allows the operator to
stop the system immediately. Failure to install an emergency stop
device may be
extremely hazardous may result in serious bodily injury
and/or severe equipment damage to the robot system.
■
When connecting an emergency stop or a safety input signal such as a
Safety Door to the EMERGENCY connector, make sure that the
emergency stop of the teach pendant connected to the TP port works.
■
Install the Manipulator at a location with enough space so that a tool or
a work piece on the end effector does not reach a wall or a safeguard
when the Manipulator extends its arm
while holding a work piece.
Installing the Manipulator at a location with insufficient space is
extremely hazardous and may result in serious bodily injury and/or
severe equipment damage to the robot system as a tool or a work
piece may collide with a wall
and a safeguard.
Set the distance between the safeguard and the tool or workpiece
according to ISO10218
-2. For the free running time and free running
distance, refer to the manipulator manual “Appendix B: Time and
Distance of Free Running in Emergency” an
d “Appendix C: Time and
Distance of Free Running When Safeguard Is Opened”.
■
Anchor the Manipulator before turning ON the power to or operating the
Manipulator. Turning ON the power to or operating the Manipulator that
is not anchored is extremely hazardous and may result in serious bodily
injury and/or severe equipment damage to the robot system as the
Manipulator may fall.