Epson T-B Series User manual

SCARA ROBOT
T-B series
MAINTENANCE MANUAL
Rev.1 EM217R4792F

T
-B series Maintenance Manual Rev.1

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

ii T-B series Maintenance Manual 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

T-B series Maintenance Manual Rev.1 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
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 Maintenance Manual 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 Maintenance Manual 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 Maintenance Manual 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 Maintenance Manual Rev.1 vii
T3-B T6-B Maintenance
1. Safety Maintenance 3
1.1 Conventions......................................................................................... 3
1.2 Maintenance Precautions.................................................................... 4
2. General Maintenance 5
2.1 Maintenance Inspection ...................................................................... 5
2.1.1 Schedule for Maintenance Inspection ..................................... 5
2.1.2 Inspection Point ....................................................................... 6
2.2 Overhaul (Parts Replacement)............................................................ 7
2.3 Greasing .............................................................................................. 9
2.4 Tightening Hexagon Socket Head Cap Bolts.................................... 12
2.5 Matching Origins................................................................................ 12
2.6 Layout of Maintenance Parts ............................................................ 13
3. Manipulator Structure 14
4. Alarm 16
4.1 Maintenance ...................................................................................... 17
4.2 Maintenance Information................................................................... 18
4.2.1 How to View the Maintenance Information............................ 18
4.2.2 How to Edit the Maintenance Information ............................. 19
4.2.3 Alarm Notifying Method ......................................................... 20
4.2.4 How to Cancel the Alarm....................................................... 20
5. Backup and Restore 21
5.1 What is the Backup Controller Function............................................ 21
5.2 Backup Data Types ........................................................................... 21
5.3 Backup............................................................................................... 22
5.4 Restore .............................................................................................. 23
6. Firmware Update 26
6.1 Updating Firmware ............................................................................ 26
6.2 Firmware Upgrade Procedure........................................................... 26
6.3 Manipulator Recovery ....................................................................... 29
6.4 Firmware Initialization Procedure...................................................... 30
6.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection ................................................................................................. 32
7. Covers 36
7.1 Arm Top Cover .................................................................................. 38
7.2 Arm Bottom Cover............................................................................. 39

Table of Contents
viii T-B series Maintenance Manual Rev.1
7.3 Power Cable Cover ............................................................................39
7.4 Connector Plate .................................................................................40
7.5 Power Unit Cover ...............................................................................42
7.6 Base Side Cover ................................................................................43
7.7 User Plate...........................................................................................44
8. Cable 45
8.1 Replacing Cable Unit .........................................................................46
8.2 Insert or Pull out of Power Cable .......................................................54
9. Joint #1 55
9.1 Replacing Joint #1 Motor ...................................................................56
9.2 Replacing Joint #1 Reduction Gear Units..........................................70
10. Joint #2 73
10.1 Replacing Joint #2 Motor .................................................................74
10.2 Replacing Joint #2 Reduction Gear Units........................................80
11. Joint #3 83
11.1 Replacing Joint #3 Motor .................................................................84
11.2 Replacement of the timing belt ........................................................93
11.3 Replacing the Brake.........................................................................94
11.4 Checking the Timing Belt Tension (Z Belt) ......................................95
12. Joint #4 96
12.1 Replacing Joint #4 Motor .................................................................98
12.2 Replacement of the timing belt ......................................................104
12.2.1 U2 Belt (T6-B) ....................................................................105
12.2.2 U1 Belt (T6-B) ....................................................................110
12.2.3 U Belt (T3-B) ......................................................................111
12.3 Checking the Timing Belt Tension .................................................112
13. Ball Screw Spline Unit 113
14. Lithium Battery, SD Card, Boards, and Filter 116
14.1 Replacing the CPU/DPB Boards....................................................117
14.2 Replacing the Lithium Battery........................................................120
14.3 Replacing the SD Card ..................................................................121
14.4 Replacing the Power Board ...........................................................122
14.5 Fieldbus I/O....................................................................................124

Table of Contents
T-B series Maintenance Manual Rev.1 ix
15. LED Lamp Unit 126
16. RESET Switch 128
17. Calibration 129
17.1 About Calibration........................................................................... 129
17.2 Calibration Procedure.................................................................... 130
17.3 Accurate Calibration of Joint #2 .................................................... 140
17.4 Reference: Calibration Procedure Without Using Calibration Wizard
.................................................................................................................. 142
18. Error Code Table 146
19. Maintenance Parts List 146
19.1 T3-B............................................................................................... 147
19.2 T6-B............................................................................................... 148

Table of Contents
xT-B series Maintenance Manual Rev.1

T3-B T6-B Maintenance
This volume contains maintenance procedures with safety precautions for T-B series Manipulators.

T3-B T6-B Maintenance 1. Safety Maintenance
T-B series Maintenance Manual Rev.1 3
1. Safety Maintenance
Please read this chapter, this manual, and other relevant manual carefully to understand safe
maintenance procedures before performing any maintenance.
Only personnel who has taken maintenance training held by us and suppliers should be
allowed to perform the maintenance of robot system.
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 serious injury
or death 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.

T3-B T6-B Maintenance 1. Safety Maintenance
4T-B series Maintenance Manual Rev.1
1.2 Maintenance Precautions
WARNING
■
Do not
remove any parts and maintenance that are not covered in this manual.
Improper removal of parts or improper maintenance may not only cause improper
function of the robot system but also serious safety problems.
■
Keep away from the Manipulator while
the power is ON if you have not taken the
training courses. Do not enter the operating area while the power is ON. Entering
the operating area with the power ON is extremely hazardous and may cause
serious safety problems as the Manipulator may move even i
t seems to be
stopped.
■
When you check the operation of the Manipulator after replacing parts, be sure to
check it while you are outside of the safeguarded area. Checking the operation of
the Manipulator while you are inside of the safeguarded area may
cause serious
safety problems as the Manipulator may move unexpectedly.
■
Before operating the robot system, make sure that both the Emergency Stop
switches and safeguard switch function properly. Operating the robot system when
the switches do not
function properly is extremely hazardous and may result in
serious bodily injury and/or serious damage to the robot system as the switches
cannot fulfill their intended functions in an emergency.
WARNING
■
To shut off power to the robot system,
disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle. DO NOT
connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the robot system and
related equipment, and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in electric shock and/or malfunction of the robot system.
■
Be sure to
connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) Damaged cables, disconnection, or contact failure is extremely
hazardous and may result in elect
ric shock and/or improper function of the robot
system.
CAUTION
■
Manipulator may be warmed up due to motor heat or similar causes. Do not touch
the Manipulator until temperature falls. Also, make sure the temperature of the
Manipulator falls and is
not hot when you touch it. Then perform teaching or
maintenance.
■
When performing maintenance on the Manipulator, secure an empty space of
about 50 cm around the Manipulator.

T3-B T6-B Maintenance 2. General Maintenance
T-B series Maintenance Manual Rev.1 5
2. General Maintenance
Performing maintenance inspections and procedures properly is essential for preventing
trouble and ensuring safety. This chapter describes maintenance inspections and procedures.
Be sure to perform the maintenance inspections in accordance with the schedule.
2.1 Maintenance Inspection
2.1.1 Schedule for Maintenance Inspection
Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual.
The inspection points are added every stage. If the Manipulator is operated for 250 hours or
longer per month, the inspection points must be added every 250 hours, 750 hours, 1500
hours, and 3000 hours operation.
Inspection Point
Daily
inspection
Monthly
inspection
Quarterly
inspection
Biannual
inspection
Annual
inspection
Overhaul
(replacement)
1 month (250 h)
Inspect every day
√
2 months (500 h)
√
3 months (750 h)
√
√
4 months (1000 h)
√
5 months (1250 h)
√
6 months (1500 h)
√
√
√
7 months (1750 h)
√
8 months (2000 h)
√
9 months (2250 h)
√
√
10 months (2500 h)
√
11 months (2750 h)
√
12 months (3000 h)
√
√
√
√
13 months (3250 h)
√
… … … … … … …
(20000 h) √

T3-B T6-B Maintenance 2. General Maintenance
6T-B series Maintenance Manual Rev.1
2.1.2 Inspection Point
Inspection Item
Inspection Item
Inspection Place
Daily
Monthly
Quarterly
Biannual
Annual
Check looseness or backlash of
bolts/screws.
End effector mounting bolts
√
√
√
√
√
Manipulator mounting bolts
√
√
√
√
√
Check looseness of connectors.
External connectors on
Manipulator (on the connector
plates etc.)
√√√√√
Visually check for external defects.
Clean up if necessary.
External appearance of
Manipulator
√√√√√
External cables
√
√
√
√
Check for bends or improper
location. Repair or place it properly if
necessary.
Safeguard etc. √√√√√
Check the brake operation
Brake for arm #3
√√√√√
Check whether unusual sound or
vibration occurs.
Whole √√√√√
Check the power supply behavior.
Controller
-
-
-
-
√
Check behavior of the emergency
stop button and safeguard.
Emergency stop button
-
-
-
-
√
Safeguard
- - - - √
Inspection Method
Inspection Item
Inspection Method
Check looseness or backlash of
bolts/screws.
Use a hexagonal wrench to check that
the end effector mounting bolts
and the Manipulator mounting bolts are not loose.
When the bolts are loose, refer to “2.4 Tightening Hexagon Socket Head
Bolts” and tighten them to the proper torque.
Check that connectors are not loose. Check that connectors are not loose.
When the connectors are loose, reattach it not to come off.
Visually check for external defects.
Clean up if necessary.
Check the appearance of the Manipulator and clean up if necessary.
Check the appearance of the cable, and if it is scratched, check that there
is no cable disconnection.
Check for bends or improper location.
Repair or place it properly if necessary.
Check that the safeguard, etc. are located properly.
If the location is improper, place it properly.
Check the brake operation
Check that the shaft does not fall when in MOTOR OFF.
If the shaft falls when in MOTOR OFF and the brake is not released,
contact the supplier.
If the brake is not released when releasing the brake, contact the supplier.
Check whether unusual sound or
vibration occurs.
Check that there is no unusual sound or vibration when operating.
If there is something wrong, contact the supplier.

T3-B T6-B Maintenance 2. General Maintenance
T-B series Maintenance Manual Rev.1 7
2.2 Overhaul (Parts Replacement)
CAUTION
■
If you do not overhaul properly, it
may have a serious impact on safety.
■
Overhaul timing is based on an assumption that all joints are operated for equal
distance. If a particular joint has a high duty or high load, it is recommended to
overhaul all joints (as many as possible)
before exceeding 20,000 operation hours
with the joint as a basis.
The parts for the manipulator joints may cause accuracy decline or malfunction due to
deterioration of the manipulator resulting from long term use. In order to use the manipulator
for a long term, it is recommended to overhaul the parts (parts replacement).
The time between overhauls is 20,000 operation hours of the Manipulator as a rough
indication.
However, it may vary depending on usage condition and degree of the load (such as when
operated with the maximum motion speed and maximum acceleration / deceleration in
continuous operation) applied on the Manipulator.
For the EPSON RC+ 7.0 the recommended replacement time for the parts subject to
maintenance (motors, reduction gear units, and timing belts) can be checked in the
[Maintenance] dialog box.
Refer to “4. Alarm”.
NOTE:
The recommended replacement time for the maintenance parts is when it reaches the L10
life (time until 10% failure probability).
In the [Maintenance] dialog box, the L10 life is displayed as 100%.

NOTE

T3-B T6-B Maintenance 2. General Maintenance
8T-B series Maintenance Manual Rev.1
The manipulator operation hours can be checked in [Controller Status Viewer] dialog -
[Motor On Hours].
(1) Select the EPSON RC+ 7.0 menu-[Tools]-[Controller] to display the [Controller
Tools] dialog box.
(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
(3) Select the folder where the information is stored.
(4) Click <OK> to view the [Controller Status Viewer] dialog.
(5) Select [Robot] from the tree menu on the left side.
For the parts subject to overhaul, refer to “19. Maintenance Parts List”.
For details of replacement of each part, refer to each section.
Please contact the supplier of your region for further information.