Epson VT Series User manual

6-Axis Robots
VT series
Maintenance Manual
Rev.2 EM221R5170F

V
T series Maintenance Manual Rev.2

VT series Maintenance Manual Rev.2 i
6-Axis Robots
VT series Maintenance Manual
Rev.2
Copyright 2021-2022 SEIKO EPSON CORPORATION. All rights reserved.

ii VT series Maintenance Manual Rev.2
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.

VT series Maintenance Manual Rev.2 iii
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.
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

iv VT series Maintenance Manual Rev.2
Before Reading This Manual
This section describes what you should know before reading this manual.
“T” and “VT series” described in this manual are the following models.
VT6L series
VT 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 Controller.
Features of VT series Manipulators
The VT series Manipulators are Controller integrated Manipulators.

NOTE

NOTE

NOTE

NOTE

VT series Maintenance Manual Rev.2 v
Structure of Robot System
The VT series Manipulators can be used with the following combinations of software.
Controller Firmware
VT6-A901S, VT6-A901C, VT6-A901P Ver.7.4.56.2 or later
VT6-A901S-DC Ver.7.4.57.1 or later
EPSON RC+ 7.0
Before Ver.7.4.6
!!!
Ver.7.4.7 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 version
or later. Display or control may not be operated properly.
EPSON RC+ 7.0 Ver.7.4.7
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 series Maintenance Manual Rev.2
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
VT series Manual (PDF)
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.
VT series Maintenance Manual (PDF)
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
VT series Maintenance Manual Rev.2 vii
VT6L Maintenance
1. Safety Maintenance 3
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 Tightening Hexagon Socket Head Cap Bolts...................................... 9
2.4 Matching Origins.................................................................................. 9
2.5 Layout of Maintenance Parts ............................................................ 10
3. Manipulator Structure 11
3.1 AC Specification Manipulator ............................................................ 11
3.2 DC Specification Manipulator............................................................ 13
4. Alarm 14
4.1 Maintenance ...................................................................................... 15
4.2 Maintenance Information................................................................... 16
4.2.1 How to Check the Maintenance Information ......................... 16
4.2.2 How to Edit the Maintenance Information ............................. 17
4.2.3 Alarm Notifying Method ......................................................... 18
4.2.4 How to Cancel the Alarm....................................................... 18
5. Backup and Restore 19
5.1 What is the Backup Controller Function............................................ 19
5.2 Backup Data Types ........................................................................... 19
5.3 Backup............................................................................................... 20
5.4 Restore .............................................................................................. 21
6. Firmware Update 24
6.1 Updating Firmware ............................................................................ 24
6.2 Firmware Upgrade Procedure........................................................... 24
6.3 Manipulator Recovery ....................................................................... 26
6.4 Firmware Initialization Procedure...................................................... 27
6.5 Adding Confirmation Steps by Strengthening Security of EtherNet
Connection......................................................................................... 29
7. Covers 33
7.1 Arm #1 Cover .................................................................................... 34
7.2 Arm #2 Cover .................................................................................... 36
7.3 Arm #3 Cover .................................................................................... 37

Table of Contents
viii VT series Maintenance Manual Rev.2
7.4 Arm #4 Cover 1 ..................................................................................38
7.5 Arm #4 Cover 2 ..................................................................................39
7.6 Power Cable Cover ............................................................................41
7.7 Connector Plate .................................................................................42
8. Cable 44
8.1 Replacing Cable Unit .........................................................................45
8.2 Insert or Pull out of Power Cable .......................................................61
9. Joint #1 62
9.1 Replacing Joint #1 Motor ...................................................................63
9.2 Replacing Joint #1 Reduction Gear Unit............................................68
9.3 Replacing Joint #1 Timing Belt ..........................................................69
10. Joint #2 74
10.1 Replacing Joint #2 Motor .................................................................75
10.2 Replacing Joint #2 Reduction Gear Unit..........................................82
10.3 Replacing Joint #2 Timing Belt ........................................................83
11. Joint #3 84
11.1 Replacing Joint #3 Motor .................................................................85
11.2 Replacing Joint #3 Reduction Gear Unit..........................................92
11.3 Replacing Joint #3 Timing Belt ........................................................93
12. Joint #4 94
12.1 Replacing Joint #4 Motor .................................................................95
12.2 Replacing Joint #4 Reduction Gear Unit........................................100
12.3 Replacing Joint #4 Timing Belt ......................................................101
13. Joint #5 105
13.1 Replacing Joint #5 Motor ...............................................................106
13.2 Replacing Joint #5 Reduction Gear Unit........................................110
13.3 Replacing Joint #5 Timing Belt ......................................................111
14. Joint #6 112
14.1 Replacing Joint #6 Motor ...............................................................113
14.2 Replacing Joint #6 Reduction Gear Unit........................................118
14.3 Replacing Joint #6 Timing Belt ......................................................119
15. AMP Board 120
15.1 Replacing AMP Board on Joint #1, #2, and #3..............................122

Table of Contents
VT series Maintenance Manual Rev.2 ix
15.2 Replacing AMP Board on Joint #4 ................................................ 124
15.3 Replacing AMP Board on Joint #5 and #6.................................... 126
16. LED Plate 127
16.1 Replacing LED Plate ..................................................................... 128
17. Felt Sheet 129
17.1 Replacing Joint #1 Felt Sheet ....................................................... 130
17.2 Replacing Joint #2 Felt Sheet ....................................................... 131
17.3 Replacing Joint #3 Felt Sheet ....................................................... 132
18. Controller Unit 133
18.1 Replacing Controller Unit .............................................................. 134
18.1.1 Standard, Cleanroom Model ............................................. 135
18.1.2 Protection Model................................................................ 138
18.2 Replacing Power Board................................................................. 143
18.3 Replacing CPU/DPB Board........................................................... 144
18.4 Replacing Lithium Battery ............................................................. 147
18.5 Replacing Cooling Fan.................................................................. 147
18.6 Replacing SD Card........................................................................ 148
18.6.1 Standard, Cleanroom Model ............................................. 148
18.6.2 Protection Model................................................................ 149
18.7 Fieldbus I/O ................................................................................... 150
18.7.1 Standard, Cleanroom model ............................................. 151
18.7.2 Protection Model................................................................ 152
18.8 RESET Switch............................................................................... 171
19. Calibration 173
19.1 Overview........................................................................................ 173
19.2 Calibration Procedures.................................................................. 176
20. Error Code Table 180
21. Maintenance Parts List 181
22. Option Parts List 184

Table of Contents
xVT series Maintenance Manual Rev.2

VT6L Maintenance
This volume contains maintenance procedures with safety precautions for VT series Manipulators.

VT6L Maintenance 1. Safety Maintenance
VT series Maintenance Manual Rev.2 3
1. Safety Maintenance
Please read this chapter, this manual, and other relevant manuals carefully to understand
safe maintenance procedures before performing any routine maintenance.
Only the personnel who have taken maintenance training held by us or suppliers should
be allowed to maintain the robot system.
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.

VT6L Maintenance 1. Safety Maintenance
4VT series Maintenance Manual Rev.2
WARNING
■
Do not
remove any parts that are not covered in this manual. Follow the
maintenance procedure strictly as described 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 it seems to be
stopped
.
■
When you check the operation of the Manipula
tor 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 power cable to a power plug.
DO NOT connect it directly to a factory power source.
■
Before
performing any replacement procedure, turn OFF the Controller 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
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric 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.

VT6L Maintenance 2. General Maintenance
VT series Maintenance Manual Rev.2 5
2. General Maintenance
This chapter describes maintenance inspections and procedures. Performing maintenance
inspections and procedures properly is essential for preventing trouble and ensuring safety.
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
√
h = hour

VT6L Maintenance 2. General Maintenance
6VT series Maintenance Manual Rev.2
2.1.2 Inspection Point
Inspection Item
Inspection Point
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 #1 to #6
√√√√√
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 Point
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 “VT Series Manual Regular Inspection 2.3
Tightening Hexagon Socket Head Cap Bolts
” and tighten them to the proper
torque.
Check looseness of connectors. 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 arm does not fall when in MOTOR OFF.
If the arm
falls when in MOTOR OFF and the brake is not released, 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.
Check the power supply behavior.
Turn OFF and ON the power supply, and check that it starts without any error.
Check behavior of the emergency
stop button and safeguard.
With the motor turned ON, operate the emergency stop button and the
safeguard to check that the motor turns OFF.

VT6L Maintenance 2. General Maintenance
VT series Maintenance Manual Rev.2 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 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.
Reference: 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

VT6L Maintenance 2. General Maintenance
8VT series Maintenance Manual Rev.2
The Manipulator operation hours can be checked in [Controller Status Viewer] dialog box -
[Motor On Hours].
(1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog
box.
(2) Click the <View Controller Status> button to open the [Browse For Folder] dialog
box.
(3) Select the folder where the information is stored.
(4) Click <OK> to view the [Controller Status Viewer] dialog box.
(5) Select [Robot] from the tree menu on the left side.
For the parts subject to overhaul, refer to “21. Maintenance Parts List”.
For details of replacement of each part, refer to each chapter.
Please contact the supplier of your region for further information.