Epson VT Series User manual

6-Axis Robots
VT series
MANIPULATOR MANUAL
Rev.1 EM18YR3817F

MANIPULATOR MANUAL
VT series Rev.1

VT Rev.1 i
6-Axis ROBOT
VT series Manipulator Manual
Rev.1
Copyright 2018 SEIKO EPSON CORPORATION. All rights reserved.

ii VT Rev.1
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.
WARRANTY
The Manipulator 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 in 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 Manipulator or 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.

VT Rev.1 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.
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

iv VT Rev.1
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:
VT series manipulator manual
Maintenance: 18.4 Replacing the Lithium Battery

VT Rev.1 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The VT series Manipulators can be used with the following combinations of software.
VT6-A901S
Controller Firmware
Ver.7.4.53.0 or later
EPSON RC+ 7.0
Before Ver.7.3.2
!!!
Ver.7.4.3 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 following
versions 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 VT Rev.1

TABLE OF CONTENTS
VT Rev.1 vii
Setup & Operation
1. Safety 3
1.1 Conventions......................................................................................... 3
1.2 Design and Installation Safety............................................................. 4
1.3 Operation Safety.................................................................................. 5
1.4 Emergency Stop.................................................................................. 7
1.5 How to Move Arms with the Electromagnetic Brake........................... 9
1.5.1 Arm Motions............................................................................. 9
1.5.2 Release the Brake by the Software....................................... 10
1.6 Precaution for Operation in Low Power Status................................. 10
1.7 Labels................................................................................................ 11
2. Specifications 13
2.1 Features of VT series Manipulators.................................................. 13
2.2 Model Number................................................................................... 13
2.3 Part Names........................................................................................ 14
2.4 Outer Dimensions.............................................................................. 15
2.5 Standard Motion Range .................................................................... 17
2.6 System Example................................................................................ 19
2.7 Specifications .................................................................................... 20
2.8 How to Set the Model........................................................................ 23
3. Environments and Installation 24
3.1 Environmental Conditions ................................................................. 24
3.2 Base Table ........................................................................................ 25
3.3 Mounting Dimensions........................................................................ 26
3.4 Unpacking and Transportation.......................................................... 27
3.5 Installation Procedure........................................................................ 28
3.6 Power Supply .................................................................................... 29
3.6.1 Specifications......................................................................... 29
3.6.2 AC Power Cable.................................................................... 29
3.6.3 Breaker.................................................................................. 30
3.6.4 Grounding.............................................................................. 31
3.7 Connecting the Cables...................................................................... 32
3.7.1 Connection Example ............................................................. 32
3.7.2 Noise Countermeasures........................................................ 34
3.8 Relocation and Storage..................................................................... 35
3.8.1 Precautions for Relocation and Storage............................... 35
3.8.2 Relocation.............................................................................. 36
3.9 Checking the Basic Orientation......................................................... 38

TABLE OF CONTENTS
viii VT Rev.1
4. Setting of End Effectors 39
4.1 Attaching an End Effector..................................................................39
4.2 Attaching Cameras and Air Valves....................................................40
4.3 Weight and Inertia Settings................................................................41
4.3.1 Weight Setting........................................................................44
4.3.2 INERTIA Setting.....................................................................47
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3..............51
5. Motion Range 52
5.1 Motion Range Setting by Pulse Range (for All Joints).......................52
5.1.1 Max. Pulse Range of Joint #1................................................53
5.1.2 Max. Pulse Range of Joint #2................................................53
5.1.3 Max. Pulse Range of Joint #3................................................54
5.1.4 Max. Pulse Range of Joint #4................................................54
5.1.5Max. Pulse Range of Joint #6................................................54
5.1.6 Max. Pulse Range of Joint #6................................................55
5.2 Motion Range Setting by Mechanical Stops......................................56
5.2.1 Motion Range Setting of Joint #1...........................................56
5.2.2 Motion Range Setting of Joint #2...........................................57
5.2.3 Motion Range Setting of Joint #3...........................................58
5.3 Restriction of Manipulator Operation by Joint Angle Combination....59
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. Operation Mode & LED 63
6.1 Overview ............................................................................................63
6.2 Switch Operation Mode......................................................................63
6.3 Program Mode (AUTO)......................................................................64
6.3.1 What is Program Mode (AUTO)?...........................................64
6.3.2 Setup from EPSON RC+ 7.0..................................................64
6.4 Auto Mode (AUTO) ............................................................................65
6.4.1 What is Auto mode (AUTO)? .................................................65
6.4.2 Setup from EPSON RC+ 7.0..................................................65
6.4.3 Setup from Control Device.....................................................66
6.5 LED.....................................................................................................67
7. Development PC Connection Port 68
7.1 What is Development PC Connection Port........................................68
7.2 Precaution..........................................................................................69
7.3 Software Setup and Connection Check.............................................69
7.4 Disconnection of Development PC and Manipulator.........................70

TABLE OF CONTENTS
VT Rev.1 ix
8. Memory Port 71
8.1 What is Controller Status Storage Function?.................................... 71
8.2 Before Using Controller Status Storage Function............................. 71
8.2.1 Precautions............................................................................ 71
8.2.2 Adoptable USB Memory........................................................ 72
8.3 Controller Status Storage Function................................................... 72
8.3.1 Controller Status Storage...................................................... 72
8.3.2 Load Data with EPSON RC+ 7.0 .......................................... 73
8.3.3 Transfer with E-mail............................................................... 74
8.4 Details of Data................................................................................... 75
9. LAN (Ethernet Communication) Port 76
9.1 What is the LAN (Ethernet Communication) Port............................. 76
9.2 IP Address......................................................................................... 76
9.3 Changing Manipulator IP Address.................................................... 77
9.4 Connection of Development PC and Manipulator with Ethernet...... 78
9.5 Disconnection of Development PC and Manipulator with Ethernet.. 80
10. TP Port 81
10.1 What is the TP Port?....................................................................... 81
10.2 Teach Pendant Connection............................................................. 81
11. Options 82
11.1 Camera Plate Unit........................................................................... 82
11.2 Tool Adapter (ISO flange)............................................................... 84
11.3 Adjustable Mechanical Stops.......................................................... 85
11.4 External Wiring Kit........................................................................... 85
12. EMERGENCY 86
12.1 Safeguard Switch and Latch Release Switch................................. 87
12.1.1 Safeguard Switch ................................................................ 87
12.1.2 Latch Release Switch.......................................................... 87
12.1.3 Checking Latch Release Switch Operation......................... 88
12.2 Emergency Stop Switch Connection............................................... 88
12.2.1 Emergency Stop Switch...................................................... 88
12.2.2 Checking Emergency Stop Switch Operation..................... 89
12.2.3 Recovery from Emergency Stop......................................... 89
12.3 Pin Assignments.............................................................................. 90
12.4 Circuit Diagrams.............................................................................. 91
12.4.1 Example 1:
External emergency stop switch typical application............. 91
12.4.2 Example 2: External safety relay typical application........... 92

TABLE OF CONTENTS
xVT Rev.1
13. Standard I/O Connector 93
13.1 Input Circuit......................................................................................93
13.1.1 Typical Input Circuit Application...........................................94
13.1.2 Typical Input Circuit Application 2........................................94
13.1.3 Pin Assignments of Input Circuit..........................................95
13.2 Output Circuit...................................................................................95
13.2.1 Typical Output Circuit Application 1.....................................96
13.2.2 Typical Output Circuit Application 2.....................................96
13.2.3 Pin Assignments of Output Circuit.......................................97
13.3 I/O Cable Product Procedure...........................................................98
13.3.1 I/O Cable Connecting Method..............................................98
13.3.2 How to Fix the I/O Cable......................................................98
14. I/O Remote Settings 99
14.1 I/O Signal Description ....................................................................100
14.1.1 Remote Input Signals.........................................................100
14.1.2 Remote Output Signals......................................................104
14.2 Timing Specifications.....................................................................107
14.2.1 Precautions for Remote Input Signals...............................107
14.2.2 Timing Diagram for Operation Execution Sequence.........107
14.2.3 Timing Diagram for Program Execution Sequence...........107
14.2.4 Timing Diagram for Safety Door Input Sequence..............108
14.2.5 Timing Diagram for Emergency Stop Sequence...............108
15. SD Card Slots 109
16. RESET Switch 110
17. Fieldbus I/O 111

TABLE OF CONTENTS
VT Rev.1 xi
Maintenance
1. Safety Maintenance 115
2. General Maintenance 116
2.1 Maintenance Inspection .................................................................. 116
2.1.1 Schedule for Maintenance Inspection................................. 116
2.1.2 Inspection Point................................................................... 117
2.2 Overhaul (Parts Replacement)........................................................ 118
2.3 Tightening Hexagon Socket Head Cap Bolts.................................. 120
2.4 Matching Origins.............................................................................. 120
2.5 Layout of Maintenance Parts .......................................................... 121
3. Manipulator Structure 122
4. Alarm 123
4.1 Maintenance.................................................................................... 124
4.2 Maintenance Information................................................................. 125
4.2.1 How to Check the Maintenance Information....................... 125
4.2.2 How to Edit the Maintenance Information........................... 126
4.2.3 Alarm Notifying Method....................................................... 127
4.2.4 How to Cancel the Alarm..................................................... 127
5. Backup and Restore 128
5.1 What is the Backup Controller Function.......................................... 128
5.2 Backup Data Types......................................................................... 128
5.3 Backup............................................................................................. 129
5.4 Restore............................................................................................ 130
6. Firmware Update 133
6.1 Updating Firmware.......................................................................... 133
6.2 Firmware Upgrade Procedure......................................................... 133
6.3 Manipulator Recovery ..................................................................... 135
6.4 Firmware Initialization Procedure.................................................... 136
7. Covers 138
7.1 Arm #1 Cover .................................................................................. 139
7.2 Arm #2 Cover .................................................................................. 140
7.3 Arm #3 Cover .................................................................................. 141
7.4 Arm #4 Cover 1 ............................................................................... 142
7.5 Arm #4 Cover 2 ............................................................................... 143
7.6 Power Cable Cover......................................................................... 145
7.7 Connector Plate............................................................................... 146

TABLE OF CONTENTS
xii VT Rev.1
8. Cable 147
8.1 Replacing Cable Unit .......................................................................148
8.2 Insert or Pull out of Power Cable.....................................................164
9. Joint #1 165
9.1 Replacing Joint #1 Motor.................................................................166
9.2 Replacing Joint #1 Reduction Gear Unit..........................................170
9.3 Replacing Joint #1 Timing Belt........................................................171
10. Joint #2 176
10.1 Replacing Joint #2 Motor...............................................................177
10.2 Replacing Joint #2 Reduction Gear Unit........................................183
10.3 Replacing Joint #2 Timing Belt ......................................................184
11. Joint #3 185
11.1 Replacing Joint #3 Motor...............................................................186
11.2 Replacing Joint #3 Reduction Gear Unit........................................192
11.3 Replacing Joint #3 Timing Belt ......................................................193
12. Joint #4 194
12.1 Replacing Joint #4 Motor...............................................................195
12.2 Replacing Joint #4 Reduction Gear Unit........................................200
12.3 Replacing Joint #4 Timing Belt ......................................................201
13. Joint #5 205
13.1 Replacing Joint #5 Motor...............................................................206
13.2 Replacing Joint #5 Reduction Gear Unit........................................210
13.3 Replacing Joint #5 Timing Belt ......................................................211
14. Joint #6 212
14.1 Replacing Joint #6 Motor...............................................................213
14.2 Replacing Joint #6 Reduction Gear Unit........................................217
14.3 Replacing Joint #6 Timing Belt ......................................................218
15. AMP Board 219
15.1 Replacing AMP Board on Joint #1, #2, and #3..............................221
15.2 Replacing AMP Board on Joint #4.................................................223
15.3 Replacing AMP Board on Joint #5 and #6.....................................224

TABLE OF CONTENTS
VT Rev.1 xiii
16. LED Plate 225
16.1 Replacing LED Plate..................................................................... 226
17. Felt Sheet 227
17.1 Replacing Joint #2 Felt Sheet....................................................... 228
17.2 Replacing Joint #3 Felt Sheet....................................................... 229
18. Controller Unit 230
18.1 Replacing Controller Unit .............................................................. 231
18.2 Replacing Power Board................................................................. 235
18.3 Replacing CPU/DPB Board........................................................... 236
18.4 Replacing Lithium Battery............................................................. 238
18.5 Replacing Cooling Fan.................................................................. 239
18.6 Replacing SD Card........................................................................ 240
19. Calibration 241
19.1 Overview........................................................................................ 241
19.2 Calibration Procedures.................................................................. 244
20. Restrictions 248
20.1 Commands Cannot Use................................................................ 248
20.2 Commands Cause Motion Error If Specifying RS-232C............... 248
20.3 Commands Cause Error................................................................ 249
20.3.1 Conveyor Tracking Commands......................................... 249
20.3.2 PG Commands.................................................................. 250
20.3.3 R-I/O Commands............................................................... 250
20.3.4 Force Sensing Commands................................................ 250
20.3.5 Other (FineDist)................................................................. 250
20.3.6 Other (HealthCalcPeriod).................................................. 250
20.3.7 Other (ChDisk)................................................................... 250
20.4 Restrictions of Functions............................................................... 251
20.4.1 TP3.................................................................................... 251
20.4.2 Loop Processing................................................................ 251
20.4.3 Camera Searching by CV1/CV2........................................ 252
20.4.4 Restore the Data of Backup Controller Function.............. 252
21. Error Code Table 253
22. Maintenance Parts List 254
AppendixA: Open Source Software License 257

TABLE OF CONTENTS
xiv VT Rev.1

Setup & Operation
This volume
contains information for setup and operation of the
VT
series Manipulators.
Please read this volume
thoroughly before setting up and
operating the Manipulators.

Setup & Operation 1. Safety
VT Rev.1 3
1. Safety
Installation and transportation of manipulators 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 associa
ted 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.

Setup & Operation 1. Safety
4 VT Rev.1
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 and maintenance training classes
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:
WARNING
■
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, may result in serious bodily injury and/or
se
vere
equipment damage to the robot system, and may cause serious safety
problems.
■
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 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.
■
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 Setup & Operation: 3. Environments
and Installation. Please read this chapter carefully to understand safe installation
procedures before installing the robots and robotic equipment.