Epson T-B Series User manual

SCARA ROBOT
T-B series
MANUAL
Rev.1 EM217R4788F

SCARA Robots
T-B series Manual Rev.1

T-B series Rev.1 i
SCARA ROBOT
T-B series Manual
Rev.1
Copyright 2021 SEIKO EPSON CORPORATION. All rights reserved.

ii T-B series Rev.1
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator and
the integrated 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.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to Windows 8, and Windows 10.
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.

T-B series Rev.1 iii
Regarding battery disposal
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:
Maintenance Manual
For California customers only
The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate

iv T-B series Rev.1
Before Reading This Manual
This section describes what you should know before reading this manual.
“T-B” and “T-B series” described in this manual are the following models.
T3-B series
T6-B series
T-B series Manipulators can use the Teach Pendant (TP2, TP3). Do not connect the other
devices to TP port except TP2 and TP3. Connecting other devices may result in malfunction
of the device since the pin assignments are different.
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 Manipulator.
If written T series in the reference information, read it as T-B series.
Features of T-B series Manipulators
The T-B series Manipulators are Controller integrated Manipulators.

NOTE

NOTE

NOTE

NOTE

NOTE

T-B series Rev.1 v
Structure of Robot System
The T-B series Manipulators can be used with the following combinations of software.
T3-B401S, T6-B602S
Controller Firmware
Ver.7.5.51.1 or later
EPSON RC+ 7.0 Ver.7.5.1 or earlier !!!
Ver.7.5.1A or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the robot system are
available.
!!!: Compatible Connection is OK. It is recommended to use the EPSON RC+ 7.0
Ver.7.5.1A or later. Display or control may not be operated properly.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON
RC+

vi T-B series Rev.1
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
T-B series Manual (PDF) (Controller integrated Manipulators)
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.
T-B series Maintenance Manual (PDF) (Controller integrated Manipulators)
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.
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
T-B series Rev.1 vii
Installation
1. Safety 3
1.1 Conventions......................................................................................... 3
2. Installation 4
2.1 System Example.................................................................................. 4
2.2 Unpacking............................................................................................ 5
2.3 Transportation ..................................................................................... 5
2.3.1 Transportation Precautions ..................................................... 5
2.3.2 Holding Position and Number of People to Transport
Manipulator.......................................................................................... 5
2.4 Environments and Installation ............................................................. 6
2.5 Connection to EMERGENCY Connector ............................................ 6
3. Power-On 7
3.1 Power supply, Power cable, Braker .................................................... 7
3.2 Power-ON Precautions........................................................................ 7
3.3 Power On Procedure........................................................................... 8
3.4 Saving the Factory Default.................................................................. 8
4. First Step 9
4.1 Installing EPSON RC+ 7.0 Software................................................... 9
4.2 Development PC and Manipulator Connection................................. 11
4.2.1 About Development PC Connection Port.............................. 12
4.2.2 Precautions............................................................................ 12
4.2.3 Software Setup and Connection Check ................................ 12
4.2.4 Backup the Initial Condition of the Manipulator..................... 13
4.2.5 Disconnection of Development PC and Manipulator ............ 13
4.2.6 Moving the Manipulator to Initial Position.............................. 14
4.3 Writing Your First Program................................................................ 17
5. Second Step 23
5.1 Connection with External Equipment ................................................ 23
5.1.1 Remote Control ..................................................................... 23
5.1.2 Ethernet ................................................................................. 23
5.2 Ethernet Connection of Development PC and Manipulator.............. 23
5.3 Connection of Option Teaching Pendant .......................................... 23

TABLE OF CONTENTS
viii T-B series Rev.1
T3-B T6-B Manipulator
1. Safety 27
1.1 Conventions .......................................................................................27
1.2 Design and Installation Safety ...........................................................28
Strength of the Ball Screw Spline ......................................................29
1.3 Operation Safety ................................................................................29
1.4 Emergency Stop.................................................................................31
1.5 Safeguard...........................................................................................33
1.6 Emergency Movement Without Drive Power.....................................34
1.7 ACCELS Setting for CP Motions........................................................35
1.8 Labels.................................................................................................36
1.9 Response for Emergency or Malfunction...........................................38
1.9.1 Collision..................................................................................38
1.9.2 Getting body caught in Manipulator .......................................38
2. Specifications 39
2.1 Model Number....................................................................................39
2.2 Part Names ........................................................................................40
2.2.1 T3-B........................................................................................40
2.2.2 T6-B........................................................................................41
2.3 Outer Dimensions ..............................................................................42
2.3.1 T3-B........................................................................................42
2.3.2 T6-B........................................................................................43
2.4 System Example ................................................................................44
2.5 Specifications .....................................................................................45
2.6 How to Set the Model.........................................................................45
3. Environments and Installation 46
3.1 Environmental Conditions ..................................................................46
3.2 Base Table .........................................................................................48
3.3 Mounting Dimensions.........................................................................49
3.4 Unpacking and Transportation...........................................................51
3.5 Installation Procedure ........................................................................52
3.6 Power Supply .....................................................................................53
3.6.1 Specifications .........................................................................53
3.6.2 AC Power Cable.....................................................................54
3.6.3 Breaker...................................................................................55
3.6.4 Power Unit..............................................................................56
3.7 Connecting the Cables.......................................................................57
3.8 Pneumatic Tubes ...............................................................................60
3.9 Relocation and Storage......................................................................62
3.9.1 Precautions for Relocation and Storage................................62
3.9.2 Relocation...............................................................................63

TABLE OF CONTENTS
T-B series Rev.1 ix
4. Setting of End Effectors 65
4.1 Attaching an End Effector.................................................................. 65
4.2 Attaching Cameras and Valves......................................................... 67
4.3 Weight and Inertia Settings ............................................................... 68
4.3.1 Weight Setting ....................................................................... 68
4.3.2 Inertia Setting......................................................................... 72
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ............. 76
5. Motion Range 77
5.1 Motion Range Setting by Pulse Range (for All Joints)...................... 77
5.1.1 Max. Pulse Range of Joint #1 ............................................... 78
5.1.2 Max. Pulse Range of Joint #2 ............................................... 78
5.1.3 Max. Pulse Range of Joint #3 ............................................... 79
5.1.4 Max. Pulse Range of Joint #4 ............................................... 79
5.2 Motion Range Setting by Mechanical Stops ..................................... 80
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ................ 80
5.2.2 Setting the Mechanical Stop of Joint #3................................ 82
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2)............................. 84
5.4 Standard Motion Range .................................................................... 84
6. Operation Mode & LED 85
6.1 Overview............................................................................................ 85
6.2 Switch Operation Mode..................................................................... 85
6.3 Program Mode (AUTO) ..................................................................... 86
6.3.1 What is Program Mode (AUTO)? .......................................... 86
6.3.2 Setup from EPSON RC+ 7.0................................................. 86
6.4 Auto Mode (AUTO)............................................................................ 87
6.4.1 What is Auto mode (AUTO)?................................................. 87
6.4.2 Setup from EPSON RC+ 7.0................................................. 87
6.4.3 Setup from Control Device .................................................... 88
6.5 LED.................................................................................................... 89
7. Development PC Connection Port 90
7.1 What is Development PC Connection Port....................................... 90
7.2 Precaution ......................................................................................... 91
7.3 Software Setup and Connection Check............................................ 91
7.4 Disconnection of Development PC and Manipulator ........................ 92
8. Memory Port 93
8.1 What is Controller Status Storage Function?.................................... 93
8.2 Before Using Controller Status Storage Function............................. 93
8.2.1 Precautions............................................................................ 93

TABLE OF CONTENTS
xT-B series Rev.1
8.2.2 Adoptable USB Memory.........................................................93
8.3 Controller Status Storage Function....................................................94
8.3.1 Controller Status Storage.......................................................94
8.3.2 Load Data with EPSON RC+ 7.0 ...........................................95
8.3.3 Transfer with E-mail ...............................................................96
8.4 Details of Data....................................................................................97
9. LAN (Ethernet Communication) Port 98
9.1 What is the LAN (Ethernet Communication) Port ..............................98
9.2 IP Address..........................................................................................98
9.3 Changing Manipulator IP Address .....................................................99
9.4 Connection of Development PC and Manipulator with Ethernet.....100
9.5 Disconnection of Development PC and Manipulator with Ethernet.101
10. TP Port 102
10.1 What is the TP Port?......................................................................102
10.2 Teach Pendant Connection ...........................................................102
11. EMERGENCY 103
11.1 Safeguard Switch and Latch Release Switch................................103
11.1.1 Safeguard Switch ...............................................................104
11.1.2 Latch Release Switch.........................................................104
11.1.3 Checking Latch Release Switch Operation .......................105
11.2 Emergency Stop Switch Connection .............................................105
11.2.1 Emergency Stop Switch.....................................................105
11.2.2 Checking Emergency Stop Switch Operation....................106
11.2.3 Recovery from Emergency Stop ........................................106
11.3 Pin Assignments ............................................................................107
11.4 Circuit Diagrams.............................................................................108
11.4.1 Example 1: External emergency stop switch typical
application ........................................................................................108
11.4.2 Example 2: External safety relay typical application..........109
12. Standard I/O Connector 110
12.1 Input Circuit ....................................................................................110
12.1.1 Typical Input Circuit Application 1: Source Type ...............111
12.1.2 Typical Input Circuit Application 2: Sink Type....................112
12.1.3 Pin Assignments of Input Circuit ........................................113
12.2 Output Circuit .................................................................................114
12.2.1 Typical Output Circuit Application 1: Sink Type (NPN)......115
12.2.2 Typical Output Circuit Application 2: Source Type (PNP) .116
12.2.3 Pin Assignments of Output Circuit .....................................116
12.3 I/O Cable Product Procedure.........................................................117

TABLE OF CONTENTS
T-B series Rev.1 xi
12.3.1 I/O Cable Connecting Method........................................... 117
12.3.2 How to Fix the I/O Cable ................................................... 117
13. Hand I/O Connector 118
13.1 Power Supply Specifications......................................................... 118
13.2 Input Circuit ................................................................................... 119
13.2.1 Typical Input Circuit Application 1: Sourse Type .............. 119
13.2.2 Typical Input Circuit Application 2: Sink Type................... 119
13.3 Output Circuit................................................................................. 120
13.3.1 Typical Output Circuit Application 1: Sink Type (NPN)..... 120
13.3.2 Typical Output Circuit Application 2: Source Type (PNP). 120
13.4 Pin Assignments............................................................................ 121
13.5 How to Control Hand I/O ............................................................... 121
14. I/O Remote Settings 123
14.1 I/O Signal Description.................................................................... 124
14.1.1 Remote Input Signals ........................................................ 124
14.1.2 Remote Output Signals ..................................................... 128
14.2 Timing Specifications .................................................................... 132
14.2.1 Precautions for Remote Input Signals............................... 132
14.2.2 Timing Diagram for Operation Execution Sequence ........ 132
14.2.3 Timing Diagram for Program Execution Sequence........... 132
14.2.4 Timing Diagram for Safety Door Input Sequence ............. 133
14.2.5 Timing Diagram for Emergency Stop Sequence............... 133
15. SD Card Slots 134
16. Fieldbus I/O 135
17. Restrictions 136
17.1 Commands Cannot Use................................................................ 136
17.2 Commands Cause Motion Error If Specifying RS-232C............... 136
17.3 Commands Cause Error................................................................ 136
17.3.1 6-axis Robot Command..................................................... 136
17.3.2 Conveyor Tracking Commands......................................... 137
17.3.3 PG Commands .................................................................. 138
17.3.4 R-I/O Commands............................................................... 138
17.3.5 Force Sensing Commands................................................ 138
17.3.6 Robot Control Commands................................................. 138
17.3.7 Other (FineDist) ................................................................. 138
17.3.8 Other (HealthCalcPeriod) .................................................. 139
17.3.9 Other (ChDisk)................................................................... 139

TABLE OF CONTENTS
xii T-B series Rev.1
17.4 Restrictions of Functions................................................................139
17.4.1 TP3 .....................................................................................139
17.4.2 Loop Processing.................................................................139
17.4.3 Camera Searching by CV1/CV2 ........................................140
17.4.4 Restore the Data of Backup Controller Function ...............140
18. Error Code List 141
Regular Inspection
1. Regular Inspection for T3-B T6-B Manipulator 145
1.1 Inspection.........................................................................................145
1.1.1 Schedule for Inspection........................................................145
1.1.2 Inspection Point....................................................................146
1.2 Overhaul (Parts Replacement) ........................................................147
1.3 Greasing...........................................................................................147
1.4 Tightening Hexagon Socket Head Cap Bolts ..................................150
Appendix
Appendix A: Specifications 153
T3-B Specifications ..........................................................................153
T6-B Specifications ..........................................................................156
Appendix B: Time and Distance of Free Running in Emergency 159
T3-B Time and Distance of Free Running in Emergency................160
T3-B401S: J1 ...................................................................................160
T3-B401S: J2 ...................................................................................160
T3-B401S: J3 ...................................................................................160
T6-B Time and Distance of Free Running in Emergency................161
T6-B602S: J1 ...................................................................................161
T6-B602S: J2 ...................................................................................161
T6-B602S: J3 ...................................................................................161
Appendix C: Time and Distance of Free Running When Safeguard Is Opened163
T3-B Time and Distance of Free Running When Safeguard Is Opened
..........................................................................................................164
T3-B401S: J1 ...................................................................................164
T3-B401S: J2 ...................................................................................164
T3-B401S: J3 ...................................................................................164
T6-B Time and Distance of Free Running When Safeguard Is Opened
..........................................................................................................165
T6-B602S: J1 ...................................................................................165
T6-B602S: J2 ...................................................................................165

TABLE OF CONTENTS
T-B series Rev.1 xiii
T6-B602S: J3 .................................................................................. 165
Appendix D: Open Source Software License 167

TABLE OF CONTENTS
xiv T-B series Rev.1

Installation
This volume describes the flow from unpacking to operation, and designing the robot system.

Installation 1. Safety
T-B series Rev.1 3
1. Safety
Unpacking, transportation and installation 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 “Safety Manual” before installing the robot system or before connecting cables
and check the safety considerations.
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.

Installation 2. Installation
4 T-B series Rev.1
2. Installation
2.1System Example
T3-B / T6-B
Standard
Standard I/O
Remote I/O
Ethernet
Hand I/O
USB (for save)
USB (for development)
ModBus
Fieldbus
Slave
Option
(Illustration: T3-B401S)
*1 EPSON RC+ 7.0 supports the following OS
Windows 8.1 Pro (EPSON RC+7.0 Ver.7.1.0 or later)
Windows 10 Pro (EPSON RC+7.0 Ver.7.2.0 or later)
*2 Either teaching pendant is available.
*3 If connecting to T3-B/T6-B Manipulator, dedicated convert cable is necessary.