Robot System

Safety and Installation

Read this manual first

Rev.4 EM196B3937F

Robot Controller RC90-B

Programming Software EPSON RC+ 7.0

Manipulator LS-B series

(LS20-B, LS10-B, LS6-B, LS3-B)
Robot System Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4
Robot System Safety and Installation
(RC90-B / EPSON RC+ 7.0)

Rev.4

Copyright  2018-2019 SEIKO EPSON CORPORATION. All rights reserved

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 i

FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the robot
system.
Please carefully read this manual and other related manuals before installing the
robot system.
Keep this manual handy for easy access at all times.

WARRANTY
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.

Product malfunctions resulting from normal handling or operation will be repaired

free of charge during the normal warranty period. (Please contact the supplier of
your region 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 robot system 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.

ii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or
trademarks of Microsoft Corporation in the United States and/or other countries.
Other brand and product names are trademarks or registered trademarks of the
respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above
respective operating systems. In some cases, Windows refers generically to
Windows 7, 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
Seiko Epson Corporation
3-3-5 Owa, Suwa-shi, Nagano, 392-8502
URL : http://global.epson.com/company/
: http://www.epson.jp/prod/robots/

Toyoshina Plant
Robotics Solutions Operations Division
6925 Toyoshina Tazawa,
Azumino-shi, Nagano, 399-8285
Japan
TEL : +81-(0)263-72-1530
FAX : +81-(0)263-72-1495

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 iii

SUPPLIERS (Country/Region)
North & South Epson America, Inc.
America
Factory Automation/Robotics
1650 Glenn Curtiss Street
Carson, CA 90746
USA
TEL : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : [email protected]

Europe Epson Deutschland GmbH

Robotic Solutions
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
TEL : +49-(0)-2159-538-1800
FAX : +49-(0)-2159-538-3170
E-MAIL : [email protected]
URL: : www.epson.de/robots

China Epson (China) Co., Ltd.

Factory Automation Division
4F, Tower 1, China Central Place,
81 Jianguo Road, Chaoyang District,
Beijing, 100025, PRC
TEL : +86-(0)-10-8522-1199
FAX : +86-(0)-10-8522-1120

Taiwan Epson Taiwan Technology & Trading Ltd.

Factory Automation Division
15F., No.100, Songren Rd., Sinyi Dist., Taipei City, 11073
Taiwan
TEL
: +886-(0)-2-8786-6688
FAX
: +886-(0)-2-8786-6600

iv Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 Korea Epson Korea Co., Ltd.
Marketing Team (Robot Business)
10F Posco P&S Tower, Teheranro 134(Yeoksam-dong)
Gangnam-gu, Seoul, 06235
Korea
TEL : +82-(0)-2-3420-6692
FAX : +82-(0)-2-558-4271

Southeast Asia Epson Singapore Pte. Ltd.

Factory Automation System
1 HarbourFront Place, #03-02,
HarbourFront Tower One,
Singapore 098633
TEL : +65-(0)-6586-5696
FAX : +65-(0)-6271-3182

India Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008
TEL : +91-80-3051-5000
FAX : +91-80-3051-5005

Japan Epson Sales Japan Corporation

Factory Automation Systems Department
29th floor, JR Shinjuku Miraina Tower, 4-1-6
Shinjuku, Shinjuku-ku, Tokyo 160-8801
Japan
TEL :+81-(0)3-5919-5257
FAX :+81-(0)3-5919-5402

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 v

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:

Controller manual / Manipulator manual (Maintenance section)

For California customers only

The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate.

vi Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Before Reading This Manual

NOTE TP port of RC90-B is for the Teach Pendant TP1 and TP2. Do not connect

 the followings to TP port of RC90. Connecting to the followings may result in

malfunction of the device since the pin assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3** series
Operator Panel OP1

NOTE For RC90-B, be sure to install the EPSON RC+7.0 to the development PC

 first, then connect the development PC and RC90-B with the USB cable.
If RC90-B and the development PC are connected without installing the
EPSON RC+7.0 to the development PC, [Add New Hardware Wizard]
appears. If this wizard appears, click the <Cancel> button.

NOTE 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.

NOTE
Security support for the USB memory:

 Make sure the USB memory is not infected with virus when connecting to the
Controller.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 vii

Control System Configuration
This manual explains with the following combinations of Controllers and
software.

RC90-B controller firmware

LS20-B****
Ver.7.4.5 or later
Before Ver.7.4.4 !!!
EPSON RC+ 7.0
Ver.7.4.5 or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.
7.4.5 or later.

RC90-B controller firmware

LS10-B****
Ver.7.4.2.1 or later
Before Ver.7.4.1 !!!
EPSON RC+ 7.0
Ver.7.4.2 or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.
7.4.2 or later.

RC90-B controller firmware

LS6-B****
Ver.7.4.3.1 or later
Before Ver.7.4.2 !!!
EPSON RC+ 7.0
Ver.7.4.3 or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.
7.4.3 or later.

RC90-B controller firmware

LS3-B****
Ver.7.4.4.2 or later
Before Ver.7.4.3 !!!
EPSON RC+ 7.0
Ver.7.4.4 or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0
Ver.7.4.4 or later.

viii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

China RoHS
This sheet and environmental protection use period label are based on the regulation
in China. These are not necessary to be concerned in other countries.

产品中有害物质的名称及含量
机器人型号名称 LS-B系列
有害物质
多溴 多溴
部件名称 铅 汞 镉 六价铬
联苯 二苯醚
(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)
机器人 × ○ ○ ○ ○ ○
电机 （执行器单元、电机单元） × ○ ○ ○ ○ ○
减速机单元 × ○ ○ ○ ○ ○
电磁制动器 × ○ ○ ○ ○ ○
同步皮带 ○ ○ ○ ○ ○ ○
电池单元
× ○ ○ ○ ○ ○
（电池、电池固定架、电池基板）
密封
（密封填料、油封、密封脂、垫片、 × ○ ○ ○ ○ ○
O型环）
润滑脂 ○ ○ ○ ○ ○ ○
电缆
× ○ ○ ○ ○ ○
（M/C电缆、连接电缆）
散热片 ○ ○ ○ ○ ○ ○
LED指示灯 ○ ○ ○ ○ ○ ○
电路板 × ○ ○ ○ ○ ○
外罩 ○ ○ ○ ○ ○ ○
滚珠丝杠花键 ○ ○ ○ ○ ○ ○
制动解除开关 × ○ ○ ○ ○ ○
伸缩罩 ○ ○ ○ ○ ○ ○
扎带 ○ ○ ○ ○ ○ ○
气管接头 × ○ ○ ○ ○ ○
选
相机安装板 × ○ ○ ○ ○ ○
件
本表格依据SJ/T 11364的规定编制。
○：表示该有害物质在该部件所有均质材料中的含量在GB/T 26572规定的限量要求以下。
×：表示该有害物质至少在该部件的某一均质材料中的含量超出GB/T 26572规定的限量要求。
本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。
产品环保使用期限的使用条件
关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注意
事项的条件下，从生产日期开始计算，在标志的年限内，本产品中含有的有害物质不会对环境造成严重污
染或对人身、财产造成严重损害。
附注： 本表格及环保使用期限标志依据中国的有关规定而制定，中国以外的国家/地区则无需关注。
Note: This sheet and environmental protection use period label are based on the regulation
in China. These are not necessary to be concerned in other countries.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 ix

 产品中有害物质的名称及含量
控制器型号名称 RC90-B系列
有害物质
多溴 多溴
部件名称 铅 汞 镉 六价铬
联苯 二苯醚
(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)
控制器 × ○ ○ ○ ○ ○
机壳 ○ ○ ○ ○ ○ ○
电路板 × ○ ○ ○ ○ ○
开关电源 × ○ ○ ○ ○ ○
风扇 × ○ ○ ○ ○ ○
线束 × ○ ○ ○ ○ ○
电源保护装置 × ○ ○ ○ ○ ○
存储卡 × ○ ○ ○ ○ ○
电池 ○ ○ ○ ○ ○ ○
连接器附件 × ○ ○ ○ ○ ○
电路板 × ○ ○ ○ ○ ○
接线 × ○ ○ ○ ○ ○
接线端子 × ○ ○ ○ ○ ○
紧急停止开关 × ○ ○ ○ ○ ○
TP1 × ○ ○ ○ ○ ○
TP2 × ○ ○ ○ ○ ○
墙面安装金属件 × ○ ○ ○ ○ ○
CK1 × ○ ○ ○ ○ ○
选 CV1 × ○ ○ ○ ○ ○
件 CV2 × ○ ○ ○ ○ ○
相机 × ○ ○ ○ ○ ○
延长管 × ○ ○ ○ ○ ○
GigE相机PoE转换器 × ○ ○ ○ ○ ○
GigE相机PoE交换集线器 × ○ ○ ○ ○ ○
GigE相机三脚架适配器 × ○ ○ ○ ○ ○
以太网交换机 × ○ ○ ○ ○ ○
USB选件密钥 × ○ ○ ○ ○ ○
VRT × ○ ○ ○ ○ ○
本表格依据SJ/T 11364的规定编制。
○：表示该有害物质在该部件所有均质材料中的含量在GB/T 26572规定的限量要求以下。
×：表示该有害物质至少在该部件的某一均质材料中的含量超出GB/T 26572规定的限量要求。
本产品中含有的有害物质的部件皆因全球技术发展水平限制而无法实现有害物质的替代。
产品环保使用期限的使用条件
关于适用于在中华人民共和国境内销售的电器电子产品的环保使用期限，在遵守该产品的安全及使用注
意事项的条件下，从生产日期开始计算，在标志的年限内，本产品中含有的有害物质不会对环境造成严
重污染或对人身、财产造成严重损害。
附注： 本表格及环保使用期限标志依据中国的有关规定而制定，中国以外的国家/地区则无需关注。
Note: This sheet and environmental protection use period label are based on the regulation
in China. These are not necessary to be concerned in other countries.

x Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Table of Contents

1. Safety 1
1.1 Conventions .............................................................................. 1
1.2 Design and Installation Safety ................................................... 2
1.2.1 Relevant Manuals .......................................................... 2
1.2.2 Designing a Safe Robot System .................................... 3
1.3 Operation Safety ....................................................................... 7
1.3.1 Safety-related Requirements ....................................... 10
1.3.2 Part Names / Arm Motion .............................................. 11
1.3.3 Operation Modes ......................................................... 15
1.4 Maintenance Safety................................................................. 16
1.5 Emergency Stop ...................................................................... 19
1.5.1 Free running distance in emergency............................ 19
1.5.2 How to Reset the Emergency Mode ............................ 24
1.6 Labels...................................................................................... 24
1.6.1 Controller ..................................................................... 25
1.6.2 Manipulator .................................................................. 26
1.7 Safety Features ....................................................................... 31
1.8 Lockout / Tagout ...................................................................... 34
Installing the Lockout Attachment............................................ 34
Padlock Size and Weight ........................................................ 35
Safety Precautions .................................................................. 35
1.9 Manipulator Specifications ...................................................... 36
1.10 Motion Range Setting by Mechanical Stops .......................... 43
1.11 End User Training .................................................................. 44

2. Installation 45
System Example .............................................................................. 46
2.1 Outline from Unpacking to Operation of Robot System ........... 47
2.2 Unpacking ............................................................................... 48
2.3 Transportation ......................................................................... 49
2.3.1 Transportation Precautions .......................................... 49
2.3.2 Manipulator Transportation .......................................... 50
2.4 Manipulator Installation ........................................................... 51
2.4.1 Installation Precautions ................................................ 51
2.4.2 Environment................................................................. 52
2.4.3 Noise level ................................................................... 53
2.4.4 Base Table ................................................................... 54
2.4.5 Installation Procedure .................................................. 55
2.5 Controller Installation............................................................... 58
2.5.1 Installation Precautions ................................................ 58
2.5.2 Environment................................................................. 59

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 xi

 Table of Contents

2.5.3 Installation ................................................................... 60

2.6 Connection to EMERGENCY Connector (Controller) .............. 62
2.6.1 Safety Door Switch and Latch Release Switch ............ 62
2.6.2 Safety Door Switch ...................................................... 63
2.6.3 Latch Release Switch .................................................. 64
2.6.4 Checking Latch Release Switch Operation.................. 65
2.6.5 Emergency Stop Switch ............................................... 65
2.6.6 Checking Emergency Stop Switch Operation .............. 66
2.6.7 Pin Assignments .......................................................... 67
2.6.8 Circuit Diagrams .......................................................... 68
2.7 Power Source .......................................................................... 70
2.7.1 Power Supply .............................................................. 70
2.7.2 AC Power Cable .......................................................... 71
2.7.3 M/C Power Cable Connection ..................................... 72
2.8 Connecting Manipulator and Controller ................................... 73
2.9 Power-on ................................................................................. 74
2.9.1 Power-on Precautions ................................................. 74
2.9.2 Power ON Procedure................................................... 75
2.10 Saving Default Status ............................................................ 75

3. First Step 76
3.1 Installing EPSON RC+ 7.0 Software ....................................... 76
3.2 Development PC and Controller Connection........................... 79
3.2.1 About Development PC Connection Port..................... 79
3.2.2 Precaution ................................................................... 80
3.2.3 Software Setup and Connection Check ....................... 80
3.2.4 Backup the initial condition of the Controller ................ 81
3.2.5 Disconnection of Development PC and Controller ....... 82
3.2.6 Moving the Robot to Initial Position.............................. 82
3.3 Writing your first program ........................................................ 86

4. Second Step 93
4.1 Connection with External Equipment....................................... 93
4.1.1 Remote Control............................................................ 93
4.1.2 Ethernet ....................................................................... 93
4.1.3 RS-232C (Option) ........................................................ 93
4.1.4 Analog I/O (Option) ...................................................... 93
4.2 Ethernet Connection of Development PC and Controller ........ 94
4.3 Connection of Option Teaching Pendant ................................. 94

xii Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

Table of Contents

5. General Maintenance 95
5.1 Schedule for Maintenance Inspection ..................................... 95
5.1.1 Manipulator .................................................................. 95
5.1.2 Controller ..................................................................... 98
5.2 Overhaul (Parts Replacement) ................................................ 99
5.3 Tightening Hexagon Socket Head Cap Bolts ........................ 101
5.4 Greasing................................................................................ 102
5.5 Handling and Disposal of Batteries ....................................... 104

6. Manuals 106
Software......................................................................................... 106
Software Options ........................................................................... 106
Controller ....................................................................................... 107
Controller Options .......................................................................... 107
Manipulator .................................................................................... 107

7. Directives and Norms 108

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 xiii

 Table of Contents

xiv Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1. Safety
Installation and transportation of robots 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.

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.
WARNING

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.
CAUTION

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 1

1. Safety

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 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:

■ 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, and may
result in serious bodily injury and/or severe equipment damage to the robot
system.
■ The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
WARNING 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 the following manuals.

Please read this chapter carefully to understand safe installation procedures before
installing the robots and robotic equipment.
1.2.1 Relevant Manuals
Refer This manual : 2. Installation
Manipulator manual : Setup & Operation 3. Environment and Installation
 Controller manual : Setup & Operation 3. Installation

2 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.2.2 Designing a Safe Robot System

It is important to operate robots safely. It is also important for robot users to give
careful consideration to the safety of the overall robot system design.

This section summarizes the minimum conditions that should be observed when
using EPSON robots in your robot systems.

Please design and manufacture robot systems in accordance with the principles
described in this and the following sections.
Environmental Conditions
Carefully observe the conditions for installing robots and robot systems that are
listed in the “Environmental Conditions” tables included in the manuals for all
equipment used in the system.
System Layout
When designing the layout for a robot system, carefully consider the possibility of
error between robots and peripheral equipment. Emergency stops require
particular attention, since a robot will stop after following a path that is different
from its normal movement path. The layout design should provide enough
margins for safety. Refer to the manuals for each manipulator, and ensure that
the layout secures ample space for maintenance and inspection work.

When designing a robot system to restrict the area of motion of the robots, do so in
accordance with the methods described in each manipulator manual. Utilize both
software and mechanical stops as measures to restrict motion.
Install the emergency stop switch at a location near the operation unit for the robot
system where the operator can easily press and hold it in an emergency.

Do not install the controller at a location where water or other liquids can leak
inside the controller. In addition, never use liquids to clean the controller.
Disabling Power to the System using lock out / tag out
The power connection for the robot controller should be such that it can be locked
and tagged in the off position to prevent anyone from turning on power while
someone else is in the safeguarded area.
For further details, refer to the following section:

1.8 Lockout/Tagout

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 3

1. Safety

End Effector Design

Provide wiring and piping that will prevent the robot end effector from releasing
the object held (the work piece) when the robot system power is shut off.

Design the robot end effector such that its weight and moment of inertia do not
exceed the allowable limits. Use of values that exceed the allowable limits can
subject the robot to excessive loads. This will not only shorten the service life of
the robot but can lead to unexpectedly dangerous situations due to additional
external forces applied to the end effector and the work piece.

Design the size of the end effector with care, since the robot body and robot end
effector can interfere with each other.
Peripheral Equipment Design
When designing equipment that removes and supplies parts and materials to the
robot system, ensure that the design provides the operator with sufficient safety.
If there is a need to remove and supply materials without stopping the robot, install
a shuttle device or take other measures to ensure that the operator does not need to
enter a potentially dangerous zone.

Ensure that an interruption to the power supply (power shutoff) of peripheral

equipment does not lead to a dangerous situation. Take measures that not only
prevent a work piece held from being released as mentioned in “End effector
Design” but that also ensure peripheral equipment other than the robots can stop
safely. Verify equipment safety to ensure that, when the power shuts off, the area
is safe.
Remote Control
To prevent operation by remote control from being dangerous, start signals from
the remote controller are allowed only when the control device is set to REMOTE,
TEACH mode is OFF, and the system is configured to accept remote signals.
Also when remote is valid, motion command execution and I/O output are
available only from remote. For the safety of the overall system, however, safety
measures are needed to eliminate the risks associated with the start-up and
shutdown of peripheral equipment by remote control.
Emergency Stop
Each robot system needs equipment that will allow the operator to immediately
stop the system’s operation. Install an emergency stop device that utilizes
emergency stop input from the controller and all other equipment.

During the emergency stop, the power supplied to the motor for driving the robot
is shut off, and the robot is stopped due to the dynamic brake.

4 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Make sure that all external components that shut off the power in case of
emergency are turned OFF by the emergency stop circuit. Do not design to turn
OFF the robot controller by using outputs of all I/O boards. For example, if the
I/O board is faulty, the controller cannot turn OFF the power of external
components. The emergency stop on the controller is hardwired to disconnect the
motor power from the robot, but not the external power supplies.

For details of the Safeguard system, refer to the following section.

1.5 Emergency Stop
Safeguard System
To ensure safety, a safeguard system should be installed for the robot system.

When installing the safeguard system, strictly observe the following points:

Refer to each robot manual, and install the safeguard system outside the maximum
space. Carefully consider the size of the end effector and the work pieces to be
held so that there will be no error between the moving parts and the safeguard
system.

Manufacture the safeguard system to withstand calculated external forces (forces

that will be added during operation and forces from the surrounding environment).

When designing the safeguard system, make sure that it is free from sharp corners
and projections, and that the safeguard system itself is not dangerous.

Make sure that the safeguard system can only be removed by using a tool.

There are several types of safeguard devices, including safety doors, safety
barriers, light curtains, safety gates, and safety floor mats. Install the interlocking
function in the safeguard device. The safeguard interlock must be installed so
that the safeguard interlock is forced to work in case of a device failure or other
unexpected accident. For example, when using a door with a switch as the
interlock, do not rely on the switch’s own spring force to open the contact. The
contact mechanism must open immediately in case of an accident.

Connect the interlock switch to the safeguard input of the drive unit’s
EMERGENCY connector. The safeguard input informs the robot controller that
an operator may be inside the safeguard area. When the safeguard input is
activated, the robot stops immediately and enters pause status, as well as either
operation-prohibited status or restricted status (low power status).

Make sure not to enter the safeguarded area except through the point where the
safeguard interlock is installed.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 5

1. Safety

The safeguard interlock must be installed so that it can maintain a safe condition
until the interlock is released on purpose once it initiates. The latch-release input
is provided for the EMERGENCY connector on the Controller to release the latch
condition of the safeguard interlock. The latch release switch of the safeguard
interlock must be installed outside of the safeguarded area and wired to the
latch-release input.

It is dangerous to allow someone else to release the safeguard interlock by mistake

while the operator is working inside the safeguarded area. To protect the operator
working inside the safeguarded area, take measures to lock out and tag out the
latch-release switch.
Presence Sensing Device
The above mentioned safeguard interlock is a type of presence sensing device
since it indicates the possibility of somebody being inside the safeguard system.
When separately installing a presence sensing device, however, perform a
satisfactory risk assessment and pay thorough attention to its dependability.
Here are precautions that should be noted:

- Design the system so that when the presence sensing device is not
activated or a dangerous situation still exists that no personnel can go
inside the safeguard area or place their hands inside it.

- Design the presence sensing device so that regardless of the situation the
system operates safely.
- If the robot stops operating when the presence sensing device is activated,
it is necessary to ensure that it does not start again until the detected
object has been removed. Make sure that the robot cannot
automatically restart.
Resetting the Safeguard
Ensure that the robot system can only be restarted through careful operation from
outside the safeguarded system. The robot will never restart simply by resetting
the safeguard interlock switch. Apply this concept to the interlock gates and
presence sensing devices for the entire system.
Robot Operation Panel
When using the robot operation panel, it must be installed so as to operate the
robot system from outside the safeguard.

6 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■ Please carefully read the Safety-related Requirements before

operating the robot system. Operating the robot system without
understanding the safety requirements is extremely hazardous and
may result in serious bodily injury and/or severe equipment damage to
the robot system.

■ Do not enter the operating area of the Manipulator while the power to
the robot system is turned ON. Entering the operating area with the
power ON is extremely hazardous and may cause serious safety
problems as the Manipulator may move even if it seems to be stopped.

■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for
WARNING teaching even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted status (low speed
and low power) to secure the safety of an operator. However,
operating the robot system while someone is inside the safeguarded
area is extremely hazardous and may result in serious safety problems
in case that the Manipulator moves unexpectedly.

■ Immediately press the Emergency Stop switch whenever the

Manipulator moves abnormally while the robot system is operated.
Continuing operation of the robot system while the Manipulator moves
abnormally is extremely hazardous and may result in serious bodily
injury and/or severe equipment change to the robot system.

■ 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.
WARNING
DO NOT connect it directly to a factory power source.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 7

1. Safety

■ 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.

■ Do not connect or disconnect the motor connectors while the power to

WARNING
the robot system is turned ON. Connecting or disconnecting the
motor connectors with the power ON is extremely hazardous and may
result in serious bodily injury as the Manipulator may move
abnormally, and also may result in electric shock and/or malfunction of
the robot system.

■ Whenever possible, only one person should operate the robot system.
If it is necessary to operate the robot system with more than one
person, ensure that all people involved communicate with each other
as to what they are doing and take all necessary safety precautions.

■ Joint #1, #2, and #4:

If the joints are operated repeatedly with the operating angle less than
5 degrees, they may get damaged early because the bearings are
likely to cause oil film shortage in such situation. To prevent early
breakdown, move the joints larger than 50 degrees for about five to
CAUTION ten times a day.

Joint #3:
If the up-and-down motion of the hand is the following, move the joint
a half of the maximum stroke for five to ten times a day.
LS3-B : less than 32 mm
LS6-B : less than 40 mm
LS10-B : less than 50 mm
LS20-B : less than 50 mm

8 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

■ Oscillation (resonance) may occur continuously depending on the

combination of robot motion speed, Arm orientation, and end effector
load. Oscillation arises from natural oscillation frequency of the Arm
and can be controlled by following measures.

Changing Manipulator speed

Changing the teach points
CAUTION Changing the end effector load
■ 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.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 9

1. Safety

1.3.1 Safety-related Requirements

Specific tolerances and operating conditions for safety are contained in the
manuals for the robot, controller and other devices. Be sure to read those
manuals as well.

For the installation and operation of the robot system, be sure to comply with the
applicable local and national regulations.

Robot system safety standards and other examples are given in this chapter.
To ensure that safety measures are satisfied, also refer to these standards.

(Note: The following is a partial list of the necessary safety standards.)

EN ISO 10218-1 Robots and robotic devices -- Safety requirements for industrial
robots -- Part 1: Robots

EN ISO 10218-2 Robots and robotic devices -- Safety requirements for industrial
robots -- Part 2: Robot systems and integration

ANSI/RIA R15.06 American National Standard for Industrial Robots and Robot
Systems -- Safety Requirements

EN ISO 12100 Safety of machinery -- General principles for design -- Risk

assessment and risk reduction

EN ISO 13849-1 Safety of machinery -- Safety-related parts of control systems --

Part 1: General principles for design

EN ISO 13850 Safety of machinery -- Emergency stop function-- Principles for

design
Safety of machinery -- Positioning of safeguards with respect to the
EN ISO 13855
approach speeds of parts of the human body.

Safety of machinery -- Safety distances to prevent hazard zones

EN ISO 13857
being reached by upper and lower limbs.

EN ISO14120 Safety of machinery -- Guards -- General requirements for the

design and construction of fixed and movable guards

IEC 60204-1 Safety of machinery -- Electrical equipment of machines -- Part 1:

General requirements
EN 60204-1
CISPR11 Industrial, scientific and medical (ISM) radio-frequency equipment
-- Electromagnetic disturbance characteristics -- Limits and
EN55011
methods of measurement

IEC 61000-6-2 Electromagnetic compatibility (EMC) -- Part 6-2: Generic

standards -- Immunity for industrial environments
EN 61000-6-2

10 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.3.2 Part Names / Arm Motion

RC90-B
(8) (4) (18)

(Left side)
(5)
(1)

(3) (19)

(2)
(17)
(19)

(7) (9) (10) (11) (12) (13) (14) (15) (16) (6)

(1) POWER switch (11) TP port

(2) AC IN (12) Development PC connection port
(3) LED (13) Memory port
(4) Fan Filter (14) Trigger Switch
(5) Signature label (15) LAN (Ethernet communication) port
(6) Controller Number label (16) I/O connector
(7) Connection Check label (17) Standard RS-232C port
(8) M/C POWER connector (18) Option slot
(9) M/C SIGNAL connector (19) Cable Clamp
(10) EMERGENCY connector (20) Battery (Mounted inside the controller)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 11

1. Safety

LS20-B
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
Joint #2 Joint #1
(Rotation) (Rotation)
− −
+ +

Brake release switch

Arm #2

+
Joint #3
Shaft Arm #1 Base
(Up/Down) −
− +

Joint #4
(Rotation) (Figure: LS20−B804S)

When the system is placed in emergency mode, push the arm or joint of the
Manipulator by hand as shown below:

Arm #1 Push the arm by hand.

Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the
electromagnetic brake applied to the joint has been released.
Move the joint up/down while pressing the brake release switch.
Joint #4 The shaft cannot be rotated by hand until the electromagnetic
brake applied to the shaft has been released. Move the shaft
while pressing the brake release switch.
NOTE The brake release switch affects both Joints #3 and #4. When the brake

 release switch is pressed in emergency mode, the brakes for both Joints #3
and #4 are released simultaneously. Be careful of the shaft falling and
rotating while the brake release switch is pressed because the shaft may be
lowered by the weight of an end effector.

12 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

LS10-B
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
Joint #2
(Rotation)
−
+

Joint #3, #4
Brake release switch

Joint #1
(Rotation)
−
+
Arm #2

+
Joint #3 Arm #1
− Shaft
(Up/Down)
− +
(Figure: LS10−B702S)
Joint #4
(Rotation)

When the system is placed in emergency mode, push the arm or joint of the
Manipulator by hand as shown below:
Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the
electromagnetic brake applied to the joint has been released.
Move the joint up/down while pressing the brake release switch.
Joint #4 The shaft cannot be rotated by hand until the electromagnetic
brake applied to the shaft has been released. Move the shaft
while pressing the brake release switch.
NOTE The brake release switch affects both Joints #3 and #4. When the brake

 release switch is pressed in emergency mode, the brakes for both Joints #3
and #4 are released simultaneously. Be careful of the shaft falling and
rotating while the brake release switch is pressed because the shaft may be
lowered by the weight of an end effector.

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1. Safety

LS3-B, LS6-B
The motion range of each arm is shown in the figure below. Take all
necessary safety precautions.
Joint #2
(Rotation)

Brake release switch

Joint #1
(Rotation)

Arm #2

Joint #3
(Up/Down)
Shaft Arm #1

Joint #4
(Rotation) (Figure: LS6-B602S)

When the system is placed in emergency mode, push the arm or joint of the
Manipulator by hand as shown below:
Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the
electromagnetic brake applied to the joint has been released.
Move the joint up/down while pressing the brake release switch.
Joint #4 LS3-B Rotate the shaft by hand.
LS6-B The shaft cannot be rotated by hand until the
electromagnetic brake applied to the shaft has been
released. Move the shaft while pressing the brake
release switch.

14 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

NOTE
LS3-B: The brake release switch is applied to Joint #3. When the brake release
 switch is pressed in emergency mode, the brake for Joint #3 is released.
Be careful of the shaft falling while the brake release switch is pressed
because the shaft may be lowered by the weight of an end effector.
LS6-B: The brake release switch is applied to both Joint #3 and Joint #4. When
the brake release switch is pressed in emergency mode, the brakes for both
Joints #3 and #4 are released simultaneously. Be careful of the shaft
falling and rotating while the brake release switch is pressed because the
shaft may be lowered by the weight of an end effector.

1.3.3 Operation Modes

The operation mode is defined as the single control point for the controller, therefore
you cannot use more than one operation mode at the same time.

There are four operation modes for the controller: AUTO, PROGRAM, TEACH, and
TEST.

- AUTO operation modes allow you to execute programs in the controller when
the safeguard is closed.
- PROGRAM operation mode allows you to execute and debug programs when
the safeguard is closed.
- TEACH operation mode allows you to jog and teach the robot at slow speed
while inside the safeguarded area.
- TEST operation mode allows you to execute a program at slow speed while the
safeguard is opened.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 15

1. Safety

1.4 Maintenance Safety

Please read this section, Maintenance of the Manipulator manual, Maintenance of
the Controller manual, and other related manuals carefully to understand safe
maintenance procedures before performing any maintenance.
Only authorized personnel who have taken the safety training should be allowed to
maintain the robot system. The safety training is the program for the industrial
robot operator that follows the laws and regulations of each nation.
The personnel who have taken the safety training acquire knowledge of industrial
robots (operations, teaching, etc.), knowledge of inspections, and knowledge of
related rules/regulations. Only personnel who have completed the robot
system-training and maintenance-training classes held by the manufacturer, dealer,
or locally-incorporated company should be allowed to maintain the robot system.

■ Do not remove any parts that are not covered in this manual. Follow
the maintenance procedure strictly as described in this manual,
Maintenance of the Manipulator manual, and Maintenance of the
Controller 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 though it seems to be stopped.

■ When you check the operation of the Manipulator after replacing parts,
WARNING
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 switches 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.

16 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

■ Be sure to connect the AC power cable to a power receptacle. DO

NOT connect it directly to a factory power source. To shut off power to
the robot system, disconnect the power plug from the power source.
Performing any work while connecting the AC power cable to a factory
power source is extremely hazardous and may result in electric shock
and/or malfunction of the robot system.

■ 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
WARNING 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.) 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.

■ Carefully use alcohol, liquid gasket, and adhesive following respective

instructions and also instructions below. Careless use of alcohol, liquid
gasket, or adhesive may cause a fire and/or safety problems.

- Never put alcohol, liquid gasket, or adhesive close to fire.

- Use alcohol, liquid gasket, or adhesive while ventilating the room.
- Wear protective gear including a mask, protective goggles, and
CAUTION oil-resistant gloves.
- If alcohol, liquid gasket, or adhesive gets on your skin, wash the area
thoroughly with soap and water.
- If alcohol, liquid gasket, or adhesive gets into your eyes or mouth,
flush your eyes or wash out your mouth with clean water thoroughly,
and then see a doctor immediately.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 17

1. Safety

■ Wear protective gear including a mask, protective goggles, and

oil-resistant gloves during grease up. If grease gets into your eyes,
mouth, or on your skin, follow the instructions below.
If grease gets into your eyes:
Flush them thoroughly with clean water, and then see a doctor
immediately.
If grease gets into your mouth:
If swallowed, do not induce vomiting. See a doctor immediately.
If grease just gets into your mouth, wash out your mouth with
CAUTION water thoroughly.
If grease gets on your skin:
Wash the area thoroughly with soap and water.

■ 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 you do not feel hot when
you touch it. Then perform teaching or maintenance.

18 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.5 Emergency Stop

1.5.1 Free running distance in emergency
If the Manipulator moves abnormally during operation, immediately press the
Emergency Stop switch. The motor power will be turned OFF, and the arm
motion by inertia will be stopped with the electromagnetic brake and dynamic
brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the
Manipulator is running normally. Pressing the switch during the operation makes
the brakes work. This will shorten the life of the brakes due to the worn friction
plates.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

To place the robot system in emergency mode during normal operation, press the
Emergency Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop
switch circuit.

Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations such as “Safeguard
Open”, make sure to stop the Manipulator using the E-STOP switch of the
Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating,
following problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like
while the Manipulator is operating, make sure to check the following points after
power restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to Maintenance: 13.
Calibration in the manipulator manual.
Manipulator manuals contain information on the Emergency Stop. Please also
read the descriptions in the manual and use the robot system properly.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 19

1. Safety

Before using the Emergency Stop switch, be aware of the followings.

- The Emergency Stop (E-STOP) switch should be used to stop the
Manipulator only in case of emergencies.
- To stop the Manipulator operating the program except in emergency, use
Pause (halt) or STOP (program stop) commands
Pause and STOP commands do not turn OFF the motors. Therefore, the
brake does not function.
- For the Safeguard system, do not use the circuit for E-STOP.

For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide

2. Safety - Installation and Design Precautions - Safeguard System
Safety and Installation
2.6 Connection to EMERGENCY Connector

To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
5.1.1 Manipulator - Inspection While the Power is ON
(Manipulator is operating)

20 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Free running distance

The Manipulator in operation cannot stop immediately after the Emergency Stop
switch is pressed.
The free running time/angle/distance of the Manipulator are shown below.
However, remember that the values vary depending on following conditions.
Weight of the end effector Weight Accel
Weight of work piece Speed Operating pose etc.

Approximate time and distance of the free running are as follow:

LS20-B
Conditions for Measurement
LS20-B**4*
Accel Setting 100
Speed Setting 100
Load [kg] 20
Weight setting 20

Start point of
operation

Joint #1 Target point

Point where the
emergency
stop signal is
input

Stop point
Joint #2

Controller RC90-B
Manipulator LS20-B804* LS20-BA04*
Free Joint #1 + Joint #2 [s] 0.60 0.65
running
Joint #3 [s] 0.3
time
Free Joint #1 [deg] 65 85
running Joint #2 [deg] 63 55
angle Joint #1 + Joint #2 [deg] 120 125
Free
running Joint #3 [mm] 50
distance

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 21

1. Safety

LS10-B
Conditions for Measurement
LS10-B****
Accel Setting 100
Speed Setting 100
Load [kg] 10
Weight setting 10

Start point of
operation

Joint #1 Target point

Point where the
emergency
stop signal is
input

Stop point
Joint #2

Controller RC90-B
Manipulator LS10-B60** LS10-B70** LS10-B80**
Free Joint #1 + Joint #2 [s] 0.7 0.9 0.7
running
time Joint #3 [s] 0.2
Free Joint #1 [deg] 35 75 65
running Joint #2 [deg] 115 105 55
angle Joint #1 + Joint #2 [deg] 120 135 90
Free
running Joint #3 [mm] 50
distance

22 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

LS3-B, LS6-B
Conditions for Measurement
LS6-B*02* LS3-B401*
Accel Setting 100 100
Speed Setting 100 100
Load [kg] 6 3
Weight setting 6 3

Start point of
operation

Joint #1 Target point

Point where the
emergency
stop signal is
input

Joint #2 Stop point

Controller RC90-B
Manipulator LS6-B502* LS6-B602* LS6-B702* LS3-B401*
Free Joints #1+#2 [s] 0.4 0.7 0.7 0.4
running
Joint #3 [s] 0.2 0.1
time
Free Joint #1 [deg] 42 100 85 110
running Joint #2 [deg] 42 45 50 20
angle Joints #1+#2 [deg] 84 130 135 130
Free
running Joint #3 [mm] 90 20
distance

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 23

1. Safety

1.5.2 How to Reset the Emergency Mode

Select EPSON RC+ [Tools] – [Robot Manager] – [Control Panel] tab, and then
click <Reset>.
The Control Panel page contains buttons for basic robot operations, such as
turning motors on/off and homing the robot. It also shows status for Emergency
Stop, Safeguard, Motors, and Power.

1.6 Labels
Labels are attached around the locations of the Controller and Manipulator where
specific dangers exist.
Be sure to comply with descriptions and warnings on the labels to operate and
maintain the Robot System safely.
Do not tear, damage, or remove the labels. Use meticulous care when handling
those parts or units to which the following labels are attached as well as the nearby
areas:

24 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.6.1 Controller
Location Label Note
Residual voltage exists. To avoid
electric shock, do not open the cover
A while the Power is ON, or for 300
seconds after the Power is OFF.

Disconnect and lockout main power

before performing maintenance and
B repair.

TP port of RC90-B is for the Teach

Pendant TP1 and TP2. Do not connect
the followings to TP port of RC90.
Connecting to the followings may result in
malfunction of the device.
C
OPTIONAL DEVICE dummy plug,
OP500, OP500RC, JP500, TP-3** series,
and OP1
Refer to 4.3 Connection of Option
Teaching Pendant.

Hazardous voltage exists while the

Manipulator is ON. To avoid electric
D shock, do not touch any internal electric
parts.

A D

D B

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 25

1. Safety

1.6.2 Manipulator
LS20-B
Location Label Note
Before loosening the base mounting
screws, hold the arm and secure it
tightly with a band to prevent hands or
fingers from being caught in the
A Manipulator.
For installation and transportation of
robots, follow the directions in this
manual.

Do not enter the operation area while

the Manipulator is moving. The
robot arm may collide against the
B operator. This is extremely
hazardous and may result in serious
safety problems.

Hazardous voltage exists while the

Manipulator is ON. To avoid electric
C shock, do not touch any internal
electric parts.

You can catch your hand or fingers

between the shaft and cover when
bringing your hand close to moving
D parts.
Manipulators with bellows do not have
this label for no danger of your hand
or fingers being caught

Only authorized personnel should

perform sling work and operate a
crane and a forklift.
When these operations are performed
E by unauthorized personnel, it is
extremely hazardous and may result
in serious bodily injury and/or severe
equipment damage to the robot
system.

26 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Be careful of the shaft falling and

rotating while the brake release
F switch is pressed because the shaft
may be lowered by the weight of the
end effector.

Location Signature plate Note

G Manipulator’s serial No.

LS20-B

(Figure: LS20-B804S)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 27

1. Safety

LS10-B, LS6-B, LS3-B

Location Label Note
Before loosening the base mounting
screws, hold the arm and secure it tightly
with a band to prevent hands or fingers
A from being caught in the Manipulator.
For installation and transportation of
robots, follow the directions in this
manual.

Do not enter the operation area while the

Manipulator is moving. The robot arm
may collide against the operator. This
B is extremely hazardous and may result
in serious safety problems.

Hazardous voltage exists while the

Manipulator is ON. To avoid electric
C shock, do not touch any internal electric
parts.

You can catch your hand or fingers

between the shaft and cover when
bringing your hand close to moving
D parts.
Manipulators with bellows do not have
this label for no danger of your hand or
fingers being caught

Location Signature plate Note

E Manipulator’s serial No.

28 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

LS10-B

(Figure: LS10-B702S)

LS6-B

(Figure: LS6-B602S)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 29

1. Safety

LS3-B

(Figure: LS3-B401S)

30 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.7 Safety Features

The robot control system supports safety features described below. However, the
user is recommended to strictly follow the proper usage of the robot system by
thoroughly reading the attached manuals before using the system. Failure to read
and understand the proper usage of the safety functions is highly dangerous.

Among the following safety features, the Emergency Stop Switch and Safety Door
Input are particularly important. Make sure that these and other features function
properly before operating the robot system.

For details, refer to the 2.6.1 Safety Door Switch and Latch Release Switch.

Emergency Stop Switch

The EMERGENCY connector on the Controller has expansion Emergency Stop
input terminals used for connecting the Emergency Stop switches.
Pressing any Emergency Stop switch can shut off the motor power immediately
and the robot system will enter the Emergency Stop condition.
Stop category of Emergency Stop input: Category 0 (refer to Safety Standard
IEC60204-1)

Safety Door Input

In order to activate this feature, make sure that the Safety Door Input switch is
connected to the EMERGENCY connector at the Controller.
When the safety door is opened, normally the Manipulator immediately stops the
current operation, and the status of Manipulator power is operation-prohibited
until the safety door is closed and the latched condition is released. In order to
execute the Manipulator operation while the safety door is open, you must change
the mode selector key switch on the Teach Pendant to the “Teach” mode.
Manipulator operation is available only when the enable switch is on. In this
case, the Manipulator is operated in low power status.
Stop category of Safety door input: Category 1 (refer to Safety Standard
IEC60204-1)

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 31

1. Safety

Low Power Mode

The motor power is reduced in this mode.
Executing a power status change instruction will change to the restricted (low
power) status regardless of conditions of the safety door or operation mode. The
restricted (low power) status ensures the safety of the operator and reduces the
possibility of peripheral equipment destruction or damage caused by careless
operation.

Dynamic Brake
The dynamic brake circuit includes relays that short the motor armatures.
The dynamic brake circuit is activated when there is an Emergency Stop input or
when any of the following errors is detected: encoder cable disconnection, motor
overload, irregular motor torque, motor speed error, servo error (positioning or
speed overflow), irregular CPU, memory check-sum error and overheat condition
inside the Motor Driver Module.

Motor Overload Detection

The dynamic brake circuit is activated when the system detects that the load on the
motor has exceeded its capacity.

Irregular Motor Torque (out-of-control manipulator) Detection

The dynamic brake circuit is activated when irregularity with motor torque (motor
output) is detected (in which case the Manipulator is out of control).

Motor Speed Error Detection

The dynamic brake circuit is activated when the system detects that the motor is
running at incorrect speed.

Positioning Overflow -Servo Error- Detection

The dynamic brake circuit is activated when the system detects that the difference
between the Manipulator’s actual position and commanded position exceeds the
margin of error allowed.

Speed Overflow -Servo Error- Detection

The dynamic brake circuit is activated when the Manipulator’s actual speed is
detected to mark an overflow (the actual speed is outside the nominal range) error.

32 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

CPU Irregularity Detection

Irregularity of CPU that controls the motor is detected by the watchdog timer.
The system CPU and the motor controlling CPU inside the Controller are also
designed to constantly check each other for any discrepancies. If a discrepancy is
detected, the dynamic brake circuit is activated.

Memory Check-sum Error Detection

The dynamic brake circuit is activated when a memory check-sum error is
detected.

Overheat Detection at the Motor Driver Module

The dynamic brake circuit is activated when the temperature of the power device
inside the Motor Driver module is above the nominal limit.

Relay Deposition Detection

The dynamic brake circuit is activated when relay deposition is detected.

Over-Voltage Detection
The dynamic brake circuit is activated when the voltage of the Controller is above
the normal limit.

AC Power Supply Voltage Drop Detection

The dynamic brake circuit is activated when the drop of the power supply voltage
is detected.

Temperature Anomaly Detection

The temperature anomaly is detected.

Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 33

1. Safety

1.8 Lockout / Tagout

Lockout / tagout is a method to prevent anyone from turning ON the robot system
by mistake while someone else is within the safeguarded area for maintenance or
repair.
When performing maintenance and repair, lockout and tagout using the following
procedure. Use the lockout attachment for RC90-B.

Installing the Lockout Attachment

(1) Turn OFF the POWER switch and place the lockout attachment on the
POWER switch.
Insert the pin in the holes under the retractable actuator.
Pin

Lockout
Attachment
Hole

Push the pin in the

direction of arrows, and
POWER
insert the pin in the holes.
switch

(2) Turn the lockout (3) Install the lockout (4) Slide the pin to
attachment. attachment on the switch. the lock position.

Lock position

34 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Padlock Size and Weight

The padlock is not supplied with the lockout attachment and must be supplied by
the user.
The total weight of the padlock can be a maximum of 45 g.
Make sure the padlock weight does not exceed 45 g, otherwise the POWER switch
may be damaged.

Applicable Padlock

Safety Precautions

When using the padlock, do not use the controller where it is subject to vibration
or shock, otherwise failure or damage may result.
Do not apply force of more than 50N on the lockout attachment; otherwise the
lockout attachment will be damaged.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 35

1. Safety

1.9 Manipulator Specifications

LS20-B
Item LS20-B804* LS20-BA04*
Arm #1, #2 800 mm 1000 mm
Arm length Arm #1 350 mm 550 mm
Arm #2 450 mm
Joints #1, #2 9940 mm/s 11250 mm/s
Max.
Joint #3 2020 mm/s
operating speed *1
Joint #4 1400 deg/s
Joints #1, #2 ± 0.025 mm
Repeatability Joint #3 ± 0.01 mm
Joints #1, #2 ± 0.01 deg.
Rated 10 kg
Payload (Load)
Max. 20 kg
Joint #4 allowable Rated 0.05 kg·m2
moment of inertia *2 Max. 1.00 kg·m2
Joint #1 0.000275 deg/pulse
Joint #2 0.000439 deg/pulse
Resolution
Joint #3 0.00148 mm/pulse
Joint #4 0.001046 deg/pulse
Shaft diameter ø 25 mm
Hand
Through hole ø 18 mm
200 × 200 mm
Mounting hole
4 × ø16
Weight (cables not included) 48 kg : 105.8 lb. 51 kg : 112.5 lb.
Driving method All joints AC servo motor
Joint #1 750 W
Motor Joint #2 520 W
rated capacity Joint #3 520 W
Joint #4 150 W
Installation
Option Cleanroom *3
environment
Joint #3 down force 250 N
15 pin: D-sub, 9 pin: D-sub
Installed wire for customer use
Equivalent to 8 pin (RJ45) Cat.5e

36 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Item LS20-B804* LS20-BA04*

Installed pneumatic 2 pneumatic tubes (ø8 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
tube for customer use 2 pneumatic tube (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
Ambient Temp. 5 to 40 °C (with minimum temperature variation)
Environmental Ambient
requirements relative 10 to 80 % (no condensation)
humidity
Noise level *4 LAeq = 70 dB (A) or less
Speed 1 ~ (5) ~ 100
Accel *5 1 ~ (10) ~ 120
Assignable Value SpeedS 1 ~ (50) ~ 2000
( ) Default values AccelS 1 ~ (200) ~ 10000
Fine 0 ~ (1250) ~ 65535
Weight 0,450 ~ (10,450) ~ 20,450
CE Mark
EMC Directive, Machinery Directive
Safety standard KC Mark / KCs Mark
ANSI/RIA R15.06-2012
NFPA 79 (2007 Edition)

Item LS20-B804S LS20-BA04S LS20-B804C LS20-BA04C

Joint #1 ± 132 deg.
Max. Joint #2 ± 152 deg.
motion range Joint #3 420 mm 390 mm
Joint #4 ± 360 deg.
Joint #1 − 152918 ~ 808278
Max. Joint #2 ± 345885
pulse range Joint #3 −283853 ~ 0 −263578~0
Joint #4 ± 344064

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 37

1. Safety

LS10-B

Item LS10-B60** LS10-B70** LS10-B80**

Arm #1, #2 600 mm 700 mm 800 mm
Arm length Arm #1 225 mm 325 mm 425 mm
Arm #2 375 mm
Joints #1, #2 9100 mm/s 9800 mm/s 10500 mm/s
Max.
Joint #3 1100 mm/s
operating speed *1
Joint #4 2500 deg/s
Joints #1, #2 ± 0.02 mm ± 0.025 mm
Repeatability Joint #3 ± 0.01 mm
Joint #4 ± 0.01 deg
Rated 5 kg
Payload (Load)
Max. 10 kg
Joint #4 allowable Rated 0.02 kg·m2
moment of inertia *2 Max. 0.3 kg·m2
Joint #1 0.000275 deg/pulse
Joint #2 0.000439 deg/pulse
Resolution
Joint #3 0.000740 mm/pulse
Joint #4 0.001674 deg/pulse
Shaft diameter ø 25 mm
Hand
Through hole ø 18 mm
150 × 150 mm
Mounting hole
4-M8
Weight (cables not included) 22 kg (48.5lb) 22 kg (48.5lb) 23 kg (50.7lb)
Driving method All joints AC servo motor
Joint #1 520 W
Motor Joint #2 520 W
rated capacity Joint #3 200 W
Joint #4 150 W
Installation
Option Cleanroom *3
environment
Joint #3 down force 200 N
15 (15 pin: D-sub)
Installed wire for customer use
Equivalent to 8 pin (RJ45) Cat.5e
Installed pneumatic 2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
tube for customer use 1 pneumatic tube (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
Environmental Ambient Temp. 5 to 40 °C (with minimum temperature variation)

38 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Item LS10-B60** LS10-B70** LS10-B80**

requirements Ambient relative
10 to 80 % (no condensation)
humidity
Noise level *4 LAeq = 70 dB (A) or less
Speed 1 ~ (4) ~ 100
Accel *5 1 ~ (10) ~ 120
Assignable Value SpeedS 1 ~ (50) ~ 2000
( ) Default values AccelS 1 ~ (200) ~ 25000
Fine 0 ~ (1250) ~ 65535
Weight 0,375 ~ (5,375) ~ 10,375
CE Mark
EMC Directive, Machinery Directive
Safety standard KC Mark / KCs Mark
ANSI/RIA R15.06-2012
NFPA 79 (2007 Edition)

Item LS10-B**2S LS10-B**2C LS10-B**3S LS10-B**3C

Joint #1 ± 132 deg
Max. Joint #2 ± 150 deg
motion range Joint #3 200 mm 170 mm 300 mm 270 mm
Joint #4 ± 360 deg
Joint #1 − 152918 ~ 808278
Max. Joint #2 ± 341334
pulse range Joint #3 − 270336 ~ 0 − 229786 ~ 0 − 405504 ~ 0 − 364954 ~ 0
Joint #4 ± 215040

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 39

1. Safety

LS3-B, LS6-B

Item LS3-B401* LS6-B502* LS6-B602* LS6-B702*

Arm #1, #2 400 mm 500 mm 600 mm 700 mm
Arm length Arm #1 225 mm 225 mm 325 mm 425 mm
Arm #2 175 mm 275 mm
Joints #1, #2 7200 mm/s 7120 mm/s 7850 mm/s 8590 mm/s
Max.
Joint #3 1100 mm/s 1100 mm/s
operating speed *1
Joint #4 2600 deg/s 2000 deg/s
Joints #1, #2 ± 0.01 mm ± 0.02 mm
Repeatability Joint #3 ± 0.01 mm ± 0.01 mm
Joint #4 ± 0.01 deg ± 0.01 deg
Rated 1 kg 2 kg
Payload (Load)
Max. 3 kg 6 kg
Joint #4 allowable Rated 0.005 kg·m 2
0.01 kg·m2
moment of inertia
*2 Max. 0.05 kg·m2 0.12 kg·m2

Joint #1
0.000439 0.000275
(deg/pulse)
Joint #2
0.000439 0.000439
(deg/pulse)
Resolution
Joint #3
0.000799 0.000814
(mm/pulse)
Joint #4
0.001927 0.001465
(deg/pulse)
Shaft
ø 16 mm ø 20 mm
Hand diameter
Through hole ø 11 mm ø 14 mm
120 × 120 mm
135 × 120 mm 150 × 150 mm
Mounting hole
(Either is fine)
4-M8
18 kg
Weight (cables not included) 14 kg (31 lb.) 17 kg (37.5lb.)
(39.7lb.)
Driving method All joints AC servo motor
Joint #1 200 W 200 W
Motor Joint #2 100 W 200 W
rated capacity Joint #3 100 W 100 W
Joint #4 100 W 100 W

40 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

Item LS3-B401* LS6-B502* LS6-B602* LS6-B702*

Installation
Option Cleanroom *3
environment
Joint #3 down force 100 N
15 (15 pin: D-sub)
Installed wire for customer use
Equivalent to 8 pin (RJ45) Cat.5e
Installed pneumatic 2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
tube for customer use 1 pneumatic tube (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)
Ambient Temp. 5 to 40 °C (with minimum temperature variation)
Environmental Ambient
requirements relative 10 to 80 % (no condensation)
humidity
Noise level *4 LAeq = 70 dB (A) or less
Speed 1 ~ (4) ~ 100 1 ~ (5) ~ 100
Accel *5 1 ~ (10) ~ 120 1 ~ (10) ~ 120
Assignable
SpeedS 1 ~ (50) ~ 2000 1 ~ (50) ~ 2000
Value
AccelS 1 ~ (200) ~ 25000 1 ~ (200) ~ 25000
() Default values
Fine 0 ~ (1250) ~ 65535 0 ~ (1250) ~ 65535
Weight 0,175 ~ (1,175) ~ 3,175 0,275 ~ (2,275) ~ 6,275
CE Mark
EMC Directive, Machinery Directive
Safety standard KC Mark / KCs Mark
ANSI/RIA R15.06-2012
NFPA 79 (2007 Edition)

Item LS3-B401S LS3-B401C LS6-B*02S LS6-B*02C

Joint #1 ± 132 deg. ± 132 deg.
Max. Joint #2 ± 141 deg. ± 150 deg.
motion range Joint #3 150 mm 120 mm 200 mm 170 mm
Joint #4 ± 360 deg. ± 360 deg.
Joint #1 − 95574 ~ 505174 − 152918 ~ 808278
Max. Joint #2 ± 320854 ± 341334
pulse range Joint #3 −187734 ~ 0 −150187 ~ 0 −245760 ~ 0 −245760 ~ 0
Joint #4 ± 186778 ± 245760

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 41

1. Safety

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: In the case where the center of gravity is at the center of Joint #4.
If the center of gravity is not at the center of Joint #4, set the parameter using INERTIA setting.
*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm
cover interior together. A crack or other opening in the base unit can cause loss of negative air
pressure in the outer part of the arm, which can cause increased dust emission.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level : Class ISO 4 (ISO14644-1)

Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter: ø8 mm)
Recommended exhaust flow rate: approx. 1000 cm3/s (Normal)
*4: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed,
maximum acceleration, and duty 50%.
Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50
mm above the base-installed surface.
*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the manipulator continuously
with the large Accel setting may shorten the product life remarkably.

42 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 1. Safety

1.10 Motion Range Setting by Mechanical Stops

Mechanical stops physically limit the absolute area that the Manipulator can move.

Both Joints #1 and #2 have threaded holes in the positions corresponding to the
angle for the mechanical stop settings. Install the bolts in the holes
corresponding to the angle that you want to set.

Joints #3 can be set to any length less than the maximum stroke.
LS3-B, LS6-B, LS10-B

Mechanical stop of Joint #3

(Lower limit mechanical stop)

Mechanical stop of Mechanical stop of

Joint #2 (Adjustable) Joint #1 (Fixed)

(Do not move the Mechanical stop of Joint #2

upper limit mechanical (Fixed)
stop.)
Mechanical stop of Joint #1
(Adjustable)

LS20-B
Mechanical stop of Joint #3
(Lower limit mechanical stop)

(Mechanical stop of
Mechanical stop of Joint #1)*
Joint #2 (Adjustable)

(Mechanical stop of Joint #2)*

(Do not move the upper
limit mechanical stop.) Mechanical stop of
Joint #1 (Adjustable)

*: There are no mechanical stops (fixed) for LS20-B.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 43

1. Safety

1.11 End User Training

Persons in charge of safety management should confirm that the operators who
program, operate, and maintain the robot and robot system take proper training and
have expertise to conduct the work safely.
Training should include at least the following:
- Study of regulation safety procedures, and safety-related recommendations by
robot manufacturers and system designers.
- Clear explanation of the work involved.
- Description of all control equipment required for the work and their functions.
- Explanation of potential hazards involved in the work.
- Work safety procedures and specific methods of avoiding potential hazards.
- Safety device and interlock function testing and confirmation methods are
working properly.

44 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 2. Installation

2. Installation
This chapter contains precautions for safe and accurate installation of the robot
system.
The workflow for installing the robot system is described in 2.1 Outline from
Unpacking to Operation of Robot System. For unpacking, transportation, and
installation, refer to the respective section and the Manipulator and Controller
manuals.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 45

2. Installation

System Example

PLC (Sequencer) Operation panel Motion Controller

RC90-B
Option
Standard
Expansion I/O Board
Standard I/O
Remote I/O Fieldbus
Ethernet PROFIBUS-DP
RS-232C DeviceNet
CC-Link
EtherNet/IP
PROFINET
EtherCAT

Analog I/O Board RS-232C Board

EUROMAP67 Board PG Board

LS-B series
USB 2.0
or
Ethernet
PC

TP1
Windows *1 (Option)

EPSON RC+ 7.0

TP2
Software
(Option)

Option

*1 EPSON RC+ 7.0 supports the following OS Requires preparation

Windows 7 Professional Service Pack 1 by users
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)

46 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 2. Installation

2.1 Outline from Unpacking to Operation of Robot System

2. Installation Unpacking

Transportation

Installation

Power-on

Yes
Error?
No

Procedures to install the Robot system

and turn ON the power properly

3. First Step

Procedures to install EPSON RC+7.0

to the development PC and enable the
operation of the robot system

4. Second Step
Manual information to connect or
setup the equipment and options

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 47

2. Installation

2.2 Unpacking
Installation and transportation of robots and robotic equipment shall be performed
by qualified personnel and should conform to all national and local codes.
Using a cart or similar equipment, transport the Manipulator in the same
conditions as it was delivered. Observe the following when unpacking the
Manipulator.

Transportation procedure
: Only authorized personnel should perform sling work and operate a crane or
forklift. When these operations are performed by unauthorized personnel, it
is extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system.
Vibration at transportation
: Avoid excessive vibration or shock during Manipulator transporting.
Excessive vibration or shock may cause equipment damage to and/or
malfunction of the Manipulator.
Anchor bolt
: When removing the anchor bolts, support the Manipulator to prevent falling.
Removing the anchor bolts without supporting the Manipulator may get
hands, fingers, or feet caught as the Manipulator will fall.
Wire tie
: Do not remove the wire tie securing the arm until you finish the installation.
You may get your hands caught in the Manipulator when the wire tie is
removed before completing the installation.

48 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 2. Installation

2.3 Transportation
Installation and transportation of robots and robotic equipment shall be performed
by qualified personnel and should conform to all national and local codes.

2.3.1 Transportation Precautions

Transportation procedure
: Using a cart or similar equipment, transport the Manipulator in the same
conditions as it was delivered. Observe the following when unpacking
the Manipulator.
Only authorized personnel should perform sling work and operate a crane
or forklift. When these operations are performed by unauthorized
personnel, it is extremely hazardous and may result in serious bodily
injury and/or severe equipment damage to the robot system.
Vibration at transportation
: Avoid excessive vibration or shock during Manipulator transporting.
Excessive vibration or shock may cause equipment damage to and/or
malfunction of the Manipulator.

Anchor bolt
: When removing the anchor bolts, support the Manipulator to prevent
falling.
Removing the anchor bolts without supporting the Manipulator may get
hands, fingers, or feet caught as the Manipulator will fall.
Wire tie
: Do not remove the wire tie securing the arm until you finish the
installation.
You may get your hands caught in the Manipulator when the wire tie is
removed before completing the installation.
Hoisting procedure
: Stabilize the Manipulator with your hands when hoisting it. Unstable
hoisting is extremely hazardous and may results in serious bodily injury
and/or severe equipment damage to the robot system as the fall of the
Manipulator.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 49

2. Installation

2.3.2 Manipulator Transportation

LS3-B, LS6-B, LS10-B
To transport the Manipulator, secure it to the delivery equipment or hold the areas
indicated in gray in the figure (bottom of Arm #1 and bottom of the base) by hand
and have at least 2 people.
When holding the bottom of the base by hand, be very careful not to get your
hands or fingers caught.

LS3-B401*: approx. 14 kg : 31 lb.

LS6-B502*: approx. 17 kg : 37.5 lb.

LS6-B602*: approx. 17 kg : 37.5 lb.
LS6-B702*: approx. 18 kg : 39.7 lb.

LS10-B60** : approx. 22 kg :48.5 lb.

LS10-B70** : approx. 22 kg :48.5 lb.
(Figure: LS6-B)
LS10-B80** : approx. 23 kg :50.7 lb.

LS20-B
To transport the Manipulator, secure it to the delivery equipment or have at least 2
people to hold it by hand. Also, do not hold the bottom of the base (the shaded
area in the figure). Holding the area by hand is extremely hazardous and may
cause your hands and fingers caught.
Do not hold the metal duct and the resin duct when transporting the Manipulator.
Doing so may damage them.

Resin duct

Metal duct

LS20-B804* : approx. 48 kg: 105.8 lb.

(Figure: LS20-B) LS20-BA04* : approx. 51 kg: 112.5 lb.

50 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 2. Installation

2.4 Manipulator Installation

Installation and transportation of robots and robotic equipment shall be performed
by qualified personnel and should conform to all national and local codes.
2.4.1 Installation Precautions

Safeguard installation
: 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.
Space between safeguard and Manipulator
: Install the Manipulator at a location with sufficient space so that a tool or
a work piece on the end effector does not reach a wall or a safeguard
when the Manipulator extends its arm fully while holding a work piece.
Installing the Manipulator at a location with insufficient space is
extremely hazardous and may result in serious bodily injury and/or
severe equipment damage to the robot system as a tool or a work piece
may collide with a wall and a safeguard.
Manipulator check before installation
: Before installing and operating the Manipulator, make sure that all parts
of the Manipulator are in place and have no external defects. Missing
or defective parts may cause improper operation of the Manipulator.
Improper operation of the Manipulator is extremely hazardous and may
result in serious bodily injury and/or severe equipment damage to the
robot system.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 51

2. Installation

2.4.2 Environment
A suitable environment is necessary for the robot system to function properly and
safely. Be sure to install the robot system in an environment that meets the
following conditions:
Item Conditions
Ambient temperature * 5 to 40°C (with minimum temperature variation)
Ambient relative humidity 10 to 80% (no condensation)
First transient burst noise 2 kV or less
Electrostatic noise 4 kV or less
Environment - Install indoors.
- Keep away from direct sunlight.
- Keep away from dust, oily smoke, salinity,
metal powder or other contaminants.
- Keep away from flammable or corrosive
solvents and gases.
- Keep away from water.
- Keep away from shocks or vibrations.
- Keep away from sources of electric noise.

Manipulators are not suitable for operation in harsh environments such as painting
areas, etc. When using Manipulators in inadequate environments that do not
meet the above conditions, please contact us.

Special Environmental Conditions

The surface of the Manipulator has general oil resistance. However, if your
requirements specify that the Manipulator must withstand certain kinds of oil,
please consult your distributor.

Rapid change in temperature and humidity can cause condensation inside the
Manipulator.
If your requirements specify that the Manipulator handles food, please consult
your distributor to check whether the Manipulator will damage the food or not.

The Manipulator cannot be used in corrosive environments where acid or alkaline

is used. In a salty environment where the rust is likely to gather, the Manipulator
is susceptible to rust.

52 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4

 2. Installation

■ Use an earth leakage breaker on the AC power cable of the Controller

to avoid electric shock and circuit breakdown caused by short circuit.
Prepare the earth leakage breaker that pertains the Controller you are
WARNING using.
For details, refer to the Controller manual.

When cleaning the Manipulator, do not rub it strongly with alcohol or

benzene.
CAUTION It may lose luster on the coated face.

2.4.3 Noise level

Noise level by movement of manipulator.

LS-B series manipulators: LAeq = 70 dB (A) or less

Operating conditions
Rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.

Measurement point
Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 53

2. Installation

2.4.4 Base Table

A base table for anchoring the Manipulator is not supplied. Please make or
obtain the base table for your Manipulator. The shape and size of the base table
differs depending on the use of the robot system. For your reference, we list
some Manipulator table requirements here.
The base table must not only be able to bear the weight of the Manipulator but also
be able to withstand the dynamic movement of the Manipulator when it operates at
maximum acceleration. Ensure that there is enough strength on the base table by
attaching reinforcing materials such as crossbeams.
The torque and reaction force produced by the movement of the Manipulator are
as follows:
LS20-B LS10-B LS6-B LS3-B
Max. Reaction torque 1000 N·m 550 N·m 350 N·m 250 N·m
on the horizontal plate
Max. Horizontal 7500 N 3200 N 1700 N 1000 N
reaction force
Max. Vertical reaction 2000 N 1500 N 1500 N 1000 N
force

The threaded holes required for mounting the Manipulator base are as follows:
LS3-B, LS6-B, LS10-B: M8
LS20-B: M12

Use mounting bolts with specifications conforming to ISO898-1 property class:

10.9 or 12.9.

The plate for the Manipulator mounting face should be 20 mm thick or more and
made of steel to reduce vibration. The surface roughness of the steel plate should
be 25 μm or less.

The table must be secured on the floor or wall to prevent it from moving.

The Manipulator must be installed horizontally.

When using a leveler to adjust the height of the base table, use a screw with M16
diameter.

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 2. Installation

2.4.5 Installation Procedure

NOTE When the Manipulator is Clean-model, unpack it outside of the clean room.

 Secure the Manipulator not to fall, and then wipe off the dust on the Manipulator
with a little alcohol or distilled water on a lint-free cloth. After that, transport the
Manipulator in the cleanroom. Connect an exhaust tube to the exhaust port after
installation.
LS3-B, LS6-B, LS10-B

■ Transport or install LS3-B, LS6-B, LS10-B Manipulator with two or

more people.
The Manipulator weights are as follows. Be careful not to get hands,
fingers, or feet caught and/or have equipment damaged by a fall of the
Manipulator.
LS3-B401*: approx. 14 kg : 31 lb.
LS6-B502*: approx. 17 kg : 37.5 lb.
CAUTION LS6-B602*: approx. 17 kg : 37.5 lb.
LS6-B702*: approx. 18 kg : 39.7 lb.
LS10-B60** : approx. 22 kg : 48.5 lb.
LS10-B70** : approx. 22 kg : 48.5 lb.
LS10-B80** : approx. 23 kg : 50.7 lb.

(1) Secure the base to the base table

with four bolts.
NOTE


4-M8×25
Use bolts with specifications
Spring
conforming to ISO898-1 Property Washer
Class: 10.9 or 12.9.
Plane Washer

Tightening torque: Screw Hole

(depth 20 mm)
32.0 N·m (326 kgf·cm)
10 mm

(2) Using nippers, cut off the wire tie

binding the shaft and arm retaining
bracket on the base.
Bolt
: M4
(3) Remove the bolts securing the wire
ties removed in step (2).

Remove the protection sheet for Bolt: M4

transportation which is attached to
the arm. Wire tie

NOTE


Make sure to remove the wire tie for protection of mechanical stop.

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 55

2. Installation

LS20-B

■ Transport or install LS20-B Manipulator with two or more people.

The Manipulator weights are as follows. Be careful not to get hands,
fingers, or feet caught and/or have equipment damaged by a fall of the
Manipulator.
CAUTION LS20-B804* : approx. 48 kg: 105.8 lb.
LS20-BA04* : approx. 51 kg: 112.5 lb.

(1) Secure the base to the base table

with four bolts.
NOTE

 Use bolts with specifications

conforming to ISO898-1
Property Class: 10.9 or 12.9.

Tightening torque:
4-M12×40
73.5 N·m (750 kgf·cm)
Spring
Washer
Plane Washer
Screw Hole
(depth:
20 mm or more)
18.5 mm

(2) Using nippers, cut off the wire tie

binding the arm. Remove the
bolt.

Wire tie

Bolt: M4

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 2. Installation

(3) Remove the screw for fixing the arm.

The removed screw will be necessary
NOTE when transporting the Manipulator.

 Keep it with the arm lock which is

supplied at shipment.
Be careful not to lose the screw.

Do not remove the mechanical stop.

Mechanical stop
M10×65

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2. Installation

2.5 Controller Installation

2.5.1 Installation Precautions
Environment conditions
: The Controller must be used within the environmental conditions
described in their manuals. This product has been designed and
manufactured strictly for use in a normal indoor environment.
Using the product in the environment that exceeds the conditions
may not only shorten the life cycle of the product but also cause
serious safety problems.
For Cleanroom installation
: The Controller is not designed for clean-room specification. If it
must be installed in a clean room, make sure to install it in the
proper enclosure with adequate ventilation and cooling.
Installation procedure
: Before performing any installation 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.
Cable
: 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.) The unnecessary strain on
the cables may result in damage to the cables, disconnection, and/or
contact failure.
Damaged cables, disconnection, or a contact failure is extremely
hazardous and may result in electric shock and/or improper
function of the system.

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 2. Installation

2.5.2 Environment
In order to optimize the robot system’s performance for safety, the Controller must
be placed in an environment that satisfies the following conditions:
NOTE - The Controller is not designed for clean-room specification. If it

 must be installed in a clean room, be sure to install it in a proper

enclosure with adequate ventilation and cooling.
- Install Controller in a location that allows easy connection /
disconnection of cables.

Item Condition
Ambient temperature 5 to 40 °C (with minimal variation)
Ambient relative humidity 20% to 80% (with no condensation)
First transient burst noise 2 kV or less (Power supply wire)
1 kV or les (Signal wire)
Electrostatic noise 4 kV or less
Base table Use a base table that is at least 100 mm off the
floor. (Placing the Controller directly on the
floor could allow dust penetration leading to
malfunction.)

If the Controller must be used in an environment that does not fulfill the conditions
mentioned above, take adequate countermeasures. For example, the Controller
may be enclosed in a cabinet with adequate ventilation and cooling.
- Install indoors only.
- Place in a well-ventilated area.
- Keep away from direct sunlight and radiation heat.
- Keep away from dust, oily mist, oil, salinity, metal powder or other
contaminants.
- Keep away from water.
- Keep away from shocks or vibrations.
- Keep away from sources of electronic noise
- Keep away from strong electric or magnetic fields.

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2. Installation

2.5.3 Installation
Install the Controller on a flat surface such as wall, floor, and controller box in the
direction shown in (A) to (C).

(A) Flat mounting

(B) Upright mounting (C) Rack mounting

* The rubber foot needs to be replaced. * Rack-mount plate is required.

NOTE For Controller installation to the Controller box or the base table, process screw hole

 drilling as follows.
463 mm

133.35 mm

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 2. Installation

Ensure the air flow around the supply and exhaust ports, and install the Controller
while leaving space from other equipment or walls as below.

Air flow of the Fan

200 mm

100 mm

50 mm 50 mm

100 mm
Excluding the installation side such as base table

Air with higher temperature than the ambient air (about 10 °C) is blown out from
the exhaust port of the Controller.
Do not place the heat sensitive devices near the exhaust port.

Route the cables to pull out from the front side of the Controller.

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2. Installation

2.6 Connection to EMERGENCY Connector (Controller)

NOTE The details of safety requirements for this section are described in the User’s
 Guide 2. Safety. Please refer to them to keep the robot system safe.
■ Not only when turning on the device, but also changing use
environment such as add options or replace parts for maintenance,
CAUTION make sure that the emergency stop or safety door work properly.

Connect a safeguard switch or Emergency Stop switch to the Controller

EMERGENCY connector for safety.

When nothing is connected to the EMERGENCY connector, Controller does not

operate normally.
■ Before connecting the connector, make sure that the pins are not bent.
Connecting with the pins bent may damage the connector and result in
CAUTION malfunction of the robot system.

EMERGENCY connecter

2.6.1 Safety Door Switch and Latch Release Switch

The EMERGENCY connector has input terminals for the Safety Door switch and
the Emergency Stop switch. Be sure to use these input terminals to keep the
system safe.
Connector Standard
EMERGENCY connector D-sub 25 Pin (male)
(Controller side) Mounting style #4-40

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 2. Installation

2.6.2 Safety Door Switch

■ The interlock of the Safety Door must be functioning when the robot
system is operated. Do not operate the system under the condition
that the switch cannot be turned ON/OFF (e.g. covering the switch with
tape). Operating the robot system when the switch is not functioning
WARNING
properly is extremely hazardous and may cause serious safety
problems as the Safety Door input cannot fulfill its intended function.

In order to maintain a safe working zone, a safeguard must be set up around the
Manipulator. The safeguard must have an interlock switch at the entrance to the
working zoon. The Safety Door that is described in this manual is one of the
safeguards and an interlock of the Safety Door is called a Safety Door switch.
Connect the Safety Door switch to the Safety Door input terminal on the
EMERGENCY connector.
The Safety Door switch has safety features such as temporary hold-up of the
program or the operation-prohibited status that are activated whenever the Safety
Door is opened.
Observe the following in designing the Safety Door switch and the Safety Door.

- For the Safety Door switch, select a switch that opens as the Safety Door
opens, and not by the spring of the switch itself.

- The signal from the Safety Door (Safety Door input) is designed to input to
two redundant signals. If the signals at the two inputs differ by two seconds
or more, the system regards it as a critical error. Therefore, make sure that
the Safety Door switch has two separate redundant circuits and that each
connects to the specified pins at the EMERGENCY connector on the
Controller.

- The Safety Door must be designed and installed so that it does not close
accidentally.

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2. Installation

2.6.3 Latch Release Switch

The controller software latches the following conditions:
- The safety door is open.
- The operation mode is “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that
cancels the latched conditions.

Open : The latch release switch latches conditions that the safety door is
open or the operation mode is “TEACH”.

Closed : The latch release switch releases the latched conditions.

NOTE When the latched TEACH mode is released while the safety door is open, the

 status of Manipulator power is operation-prohibited because the safety door is

open at that time.
To execute a Manipulator operation, close the safety door again, and then close the
latch release input.

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 2. Installation

2.6.4 Checking Latch Release Switch Operation

NOTE


Refer to 3.2 Development PC and Controller Connection and connect the
development PC and Controller before checking the function.
After connecting the safety door switch and latch release switch to the
EMERGENCY connector, be sure to check the switch operation for safety by
following the procedures described below before operating the Manipulator.
(1) Turn ON the Controller while the safety door is open in order to boot the
controller software.
(2) Make sure that “Safety” is displayed on the EPSON RC+ 7.0 status bar.
(3) Close the safety door, and turn ON the switch connecting to the latch release
input.
Make sure that the “Safety” is dimmed on the status bar.

The information that the safety door is open can be latched by software based on
the latch release input condition. To cancel the condition, close the safety door,
and then close the safety door latch release input.

Open : The latch release switch latches condition that the safety door is open.

Closed : The latch release switch does not latch the condition that the safety
door is open.
NOTE

 The latch release input also functions to acknowledge the change of TEACH
mode.
In order to change the latched condition of the TEACH mode, turn the mode
selector key switch on the Teach Pendant to “Auto”. Then, close the latch release
input.

2.6.5 Emergency Stop Switch

If it is desired to create an external Emergency Stop switch in addition to the
Emergency Stop on the Teach Pendant and Operator Panel, make sure to connect
such Emergency Stop switch to the Emergency Stop input terminal on the
EMERGENCY connector.
The Emergency Stop switch connected must comply with the related safety
standards (such as IEC60947-5-5) and the following:
- It must be a push button switch that is “normally closed”.
- A button that does not automatically return or resume.
- The button must be mushroom-shaped and red.
- The button must have a double contact that is “normally closed”.

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2. Installation

NOTE The signal from the Emergency Stop switch is designed to use two redundant

 circuits. If the signals at the two circuits differ by two seconds or more, the
system recognizes it as a critical error. Therefore, make sure that the Emergency
Stop switch has double contacts and install the switch by referring to the
Controller Manual RC90 Setup & Operation: Circuit Diagrams.

2.6.6 Checking Emergency Stop Switch Operation

NOTE Refer to 3.2 Development PC and Controller Connection and connect the
 development PC and Controller before checking the function.
Once the Emergency Stop switch is connected to the EMERGENCY connector,
continue the following procedure to make sure that the switch functions properly.
For the safety of the operator, the Manipulator must not be powered ON until the
following test is completed.

(1) Turn ON the Controller to boot the controller software while pressing the
Emergency Stop switch.

(2) Make sure that E-STOP LED of the controller is lighting.

(3) Make sure that “EStop” is displayed on EPSON RC+ 7.0 status bar.

(4) Release the Emergency Stop Switch.

(5) Select EPSON RC+ 7.0-[Tools]-[Robot Manager]-[Control Panel] and click

the <Reset> button to execute the RESET command.

(6) Make sure that E-STOP LED is turned OFF and that “EStop” is dimmed on
the main window status bar.

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 2. Installation

2.6.7 Pin Assignments

The EMERGENCY connector pin assignments are as follows:
Pin Pin
Signal Function Signal Function
No. No.
Emergency Stop switch Emergency Stop switch
1 ESW11 14 ESW21
contact (1) *3 contact (2) *3
Emergency Stop switch Emergency Stop switch
2 ESW12 15 ESW22
contact (1) *3 contact (2) *3
Emergency Stop circuit 1
3 ESTOP1+ 16 ESTOP2+ Emergency Stop circuit 2 (+)*4
(+)*4
Emergency Stop circuit 1
4 ESTOP1− 17 ESTOP2− Emergency Stop circuit 2 (-)*4
(-)*4
*1
5 Not used 18 SDLATCH1 Safety Door Latch Release
*1
6 Not used 19 SDLATCH2 Safety Door Latch Release
7 SD11 Safety Door input (1) *2 20 SD21 Safety Door input (2) *2
*2
8 SD12 Safety Door input (1) 21 SD22 Safety Door input (2) *2
9 24V +24V output 22 24V +24V output
10 24V +24V output 23 24V +24V output
11 24VGND +24V GND output 24 24VGND +24V GND output
12 24VGND +24V GND output 25 24VGND +24V GND output
13 Not used
*1 Do not connect anything to these pins.
*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2 are
different for two or more seconds. They must be connected to the same switch with two
sets of contacts.
*3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and
Emergency Stop switch contact 2 are different for two or more seconds. They must be
connected the same switch with two sets of contacts.
*4 Do not apply reverse voltage to the Emergency Stop circuit.
Emergency Stop switch output rated load +30 V 0.3 A or under 1-2, 14-15 pin
Emergency Stop rated input voltage range +24 V ±10%
3-4, 16-17 pin
Emergency Stop rated input current 37.5 mA ±10% / +24V input
Safety Door rated input voltage range +24 V ±10%
7-8, 20-21 pin
Safety Door rated input current 10 mA / +24 V input
Latch Release rated input voltage range +24 V ±10%
18-19 pin
Latch Release rated input current 10 mA / +24 V input
NOTE The total electrical resistance of the Emergency Stop switches and their circuit should

 be 1 Ω or less.
 The 24 V output is for emergency stop. Do not use it for other
purposes. Doing so may result in system malfunction.
 Do not apply reverse voltage to the Emergency Stop circuit.
CAUTION Doing so may result in system malfunction.

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2. Installation

2.6.8 Circuit Diagrams

Example 1: External emergency stop switch typical application

Controller External Emergency

Stop switches
+24V
9

Emergency 10
Stop switch of 22
an Operation
23
Unit (TP)
1
2

14

15
ESTOP1+ 3
+5V
ESTOP2+ 16

Main Circuit
Control Be careful of
the direction of
voltage
application
+ −
Motor Driver +

ESTOP1−
AC Input 4
ESTOP2− 17
Emergency 11
Stop detection
12

24

25 External
+24V
7
Safety Door input 1
8

20

Safety Door input 2

21

18

Latch release input

19

External +24V
NOTE:+24V GND Latch release input Close :Latch off
GND
+ 5V GND Open :Latch on

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 2. Installation

Example 2: External safety relay typical application

Controller External +24V
Fuse
+24V
9
Emergency 10
Stop switch of 22
an Operation
Unit (TP) 23
1 External
+24V
2 GND

14
15
External
3 +24V
+5V
16

External safety relay

Main Circuit (The above diagram
Control is simplified for
representation.)
* For the protection of the
emergency stop circuit,
the fuse’s capacity
+ - should be as follows:
+ - Meets the capacity of
Motor Driver the external safety
relay
- 0.4A or less

AC Input 4
17
Emergency 11
Stop detection
12 External
+24V
24 GND
25 External
+24V
7
Safety Door input 1
8

20
Safety Door input 2
21

18
Latch Release input
19

External +24V
NOTE:+24V GND Latch release input Close :Latch off GND
+ 5V GND Open :Latch on

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2. Installation

2.7 Power Source

2.7.1 Power Supply
Ensure that the power meets the following specifications.

Item Specification
Voltage 200 to 240 VAC
Input voltage should be with in ±10 % of the rated
voltage.
Phase Single phase
Frequency 50/60 Hz
Momentary
10 ms Or less
Power Interrupt
Rated Capacity Max. 2.5 kVA
Actual power consumption depends on the model,
motion, and load of the Manipulator.
For approximate power consumption of each model, refer
to the following values.
LS20-B : 2.4 kVA
LS10-B : 1.8 kVA
LS6-B : 1.1 kVA
LS3-B : 1.0 kVA
Refer to the Manipulator manual for rated capacity of the
Manipulator motor.
Peak Current When power is turned ON: approximately 70 A (2 ms)
When motor is ON: approximately 50 A (2 ms)
Leakage Current Max. 10 mA
Ground Resistance 100 Ω or less
Install an earth leakage circuit breaker or a circuit breaker in the AC power cable
line at 15 A or less rated electric current. Both should be a two-pole disconnect
type.
If you install an earth leakage circuit breaker, make sure to use an inverter type
that does not operate by induction of a 10 kHz or more leakage current. If you
install a circuit breaker, please select one that will handle the above mentioned
“peak current”.
The power receptacle should be installed near the equipment and should be easily
accessible.

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 2. Installation

2.7.2 AC Power Cable

■ Make sure that operations are done by a qualified personal.

■ Be sure to connect the earth wire (green/yellow) of the AC power
cable to the earth terminal of the factory power supply. The
equipment must be grounded properly at all times to avoid the risk of
electric shock.
■ Always use a power plug or a disconnecting device for power
WARNING
connecting cable. Never connect the Controller directly to the
factory power supply.
■ Select the plug or a disconnecting device which conform safety
standards for nations.

Item Specification
Black, Black
AC power wire (2 cables)
or Black, White
Ground wire Green / Yellow
Cable length 3m
Terminal M4 round solderless terminal

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2. Installation

2.7.3 M/C Power Cable Connection

(1) Mount the M/C Power Cable as shown in the

picture and form the cables.

(2) Set the M/C Power Cable in the clamp for the
M/C Power Cable.

(3) Mount the cover for the M/C Power Connector.

(4) Secure the cover with the screw.

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 2. Installation

2.8 Connecting Manipulator and Controller

Before Connection
: Before connecting the connector, make sure that the pins are not bent.
Connecting with the pins bent may damage the connector and result in
malfunction of the robot system.
Connecting procedure
: Before performing any connecting 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.
Cable
: 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.) 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.
Connection
: When connecting the Manipulator and the Controller, make sure that the serial
numbers on each equipment match. Improper connection between the
Manipulator and Controller may not only cause improper function of the robot
system but also safety problems.
The serial number of supported Manipulator is labeled on the controller.
Wiring
: Only authorized or certified personnel should be allowed to perform wiring.
Wiring by unauthorized or uncertified personnel may result in bodily injury
and/or malfunction of the robot system.
For Cleanmodel
: When the Manipulator is a Clean-model, use it with an exhaust system.
For details, refer to the Manipulator manual.

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2. Installation

Connect the power cable and the signal connector of the M/C cable to the Controller
as shown below.

Signal connector
Power connector

2.9 Power-on
2.9.1 Power-on Precautions
Manipulator check
: Before operating the Manipulator, make sure that all parts of the Manipulator
are in place and have no external defects. Missing or defective parts may
cause improper operation of the Manipulator. Improper operation of the
Manipulator is extremely hazardous and may result in serious bodily injury
and/or severe equipment damage to the robot system.
Shipping bolts and jigs check before turning ON
: Before turning ON the power after installation, be sure to remove the shipping
bolts and jigs from the Manipulator. Turning ON the power while the
shipping bolts and jigs are attached may result in equipment damage to the
Manipulator.
Power activation
: Anchor the Manipulator before turning ON the power to or operating the
Manipulator. Turning ON the power to or operating the Manipulator that is
not anchored is extremely hazardous and may result in serious bodily injury
and/or severe equipment damage to the robot system as the Manipulator may
fall down.
When supplying the power again
: When supplying the power to the controller again, turn OFF the controller and
wait for 5 seconds or more. Then, turn ON the controller again.

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2.9.2 Power ON Procedure

(1) Check the M/C power cable connection.
(2) Check the M/C signal cable connection.
(3) Check the EMERGENCY connector connection.
(4) Connect the TP bypass plug to the TP port of the RC90 Controller.
(5) Connect the AC power cable to the power supply socket.
(6) Turn ON the POWER switch of the RC90-B Controller.
(7) The PROGRAM LED blinks approximately 30 seconds after Controller
starts up normally.
If the ERROR LED is turned ON or blinking, check connection in step (1) to
(5) and turn ON the power again.
If the ERROR LED is still ON or blinking, contact the supplier in your
region.

(6)
(7)

(1) (5)
(2) (3) (4)

2.10 Saving Default Status

The Controller is already setup with the purchased robot(s) at shipment. However,
just in case, we recommend saving the default controller status. A USB memory is
necessary to save the controller status.
For the procedure of controller status storage, refer to Robot controller manual
RC90/RC90-B (EPSON RC+ 7.0): Setup & Operation 6.1 What is Controller Status
Storage Function?.

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3. First Step

3. First Step
This section indicates the procedure to install the development PC EPSON RC+,
and execute simple program after connecting the development PC and Controller
with a USB.
Make sure that the Robot system is installed safely by following the description in
1. Safety and 2. Installation. Then, operate the Robot system in the following
procedures.

3.1 Installing EPSON RC+ 7.0 Software

The EPSON RC+ 7.0 software needs to be installed on your development PC.

(1) Insert the EPSON RC+ 7.0 Setup DVD in the DVD drive.
(2) The following dialog will be displayed. Click <Next>.

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 3. First Step

(3) Enter your user name and company name and click <Next>.

(4) Select the drive where you want to install EPSON RC+ 7.0 and click
<Next>.
NOTE

 The installation directory is called EpsonRC70. This cannot be changed.

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3. First Step

(5) The dialog for selecting the options to be installed will be displayed. Check
the options you want to install and click <Next>.

(6) The dialog to review the settings will be displayed. If you are satisfied with
the settings, click <Next>.

(7) If required, install “Windows Installer” and “Microsoft .NET Framework 3.5”
on your system. This may take several minutes.
NOTE Adobe Reader needs to be installed on your PC in order to view the EPSON

 RC+ 7.0 manuals. If the installer cannot find Adobe Reader on your
system, it will be installed at this time. Follow the instructions in the
Adobe installer. Do not restart the system after the Adobe Reader
installation has completed.
(8) After the installation has completed, restart your computer.
The EPSON RC+ 7.0 software installation is now completed.
78 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4
 3. First Step

3.2 Development PC and Controller Connection

Connect the development PC and the USB port for connection (USB B series
connector).

Development PC connection Port

NOTE - For other details of development PC and Controller connection, refer to

 -
EPSON RC+ 7.0 User’s Guide: PC to Controller Communications Command.

For RC90-B, be sure to install the EPSON RC+7.0 to the development PC first,
then connect the development PC and RC90-B with the USB cable.
If RC90-B and the development PC are connected without installing the
EPSON RC+7.0 to the development PC, [Add New Hardware Wizard] appears.
If this wizard appears, click the <Cancel> button.

3.2.1 About Development PC Connection Port

Development PC connection port supports following USB.
- USB2.0 HighSpeed/FullSpeed (Speed auto selection, or FullSpeed mode)
- USB1.1 FullSpeed
Interface Standard: USB specification Ver.2.0 compliant
(USB Ver.1.1 upward compatible)
Connect the Controller and development PC by a USB cable to develop the robot
system or set the Controller configuration with the EPSON RC+ 7.0 software
installed in the development PC.
Development PC connection port supports hot plugging. Insertion and removal
of the cables while the power of the development PC and the Controller are ON is
available. However, the manipulator stops when the USB cable is removed while
the Controller and the development PC are connected.

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3. First Step

3.2.2 Precaution
When connecting the development PC and the Controller, make sure of the
following.
- Connect the development PC and the Controller with 5 m or shorter USB
cable.
Do not use the USB hub or extension cable.
- Make sure that no other devices except development PC is used for
development PC connection port.
- Use PC or USB cable that supports USB2.0 HighSpeed mode to operate in
USB2.0 HighSpeed mode.
- Do not pull or bend the cable strongly.
- Do not allow unnecessary strain on the cable.
- When development PC and the Controller is connected, do not insert or
remove other USB devices from the development PC. Connection with the
Controller may disconnect.

3.2.3 Software Setup and Connection Check

The following is the steps of connecting the development PC and the Controller.
(1) Make sure that the EPSON RC+ 7.0 is installed on the Controller connected to
the development PC.
(Install the software when it is not installed.)
(2) Connect the development PC and the Controller by the USB cable.
(3) Turn ON the Controller.
(4) Start the software EPSON RC+ 7.0.
(5) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications]
to display the [PC to Controller Communications] dialog.

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 3. First Step

(6) Select the “No.1 USB” and click the <Connect> button.
(7) After development PC and the Controller connection is completed, “Connected”
is displayed in the [Connection status:]. Make sure that “Connected” is
displayed and click the <Close> button to close the [PC to Controller
Communications] dialog.

Connection of the development PC and the Controller is completed. Now robot

system can be used from EPSON RC+ 7.0.

3.2.4 Backup the initial condition of the Controller

Backup the Controller data configured before shipment.
Project and system configuration backup procedure:
(1) From the [Project] menu, select [Copy].
(2) Change the [Destination Drive] to an arbitrary drive.
(3) Click <OK>. The project will be copied to the external media.
(4) From the [Tools] menu, select [Controller].
(5) Click on the <Backup Controller> button.
(6) Select the arbitrary drive.
(7) Click <OK>. The system configuration will be backed up on the external
media.

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3. First Step

3.2.5 Disconnection of Development PC and Controller

Disconnection of the development PC and the Controller is indicated.
(1) Select the EPSON RC+ 7.0 menu-[Setup]-[PC to Controller Communications]
to display the [PC to Controller Communications] dialog.
(2) Click the <Disconnect> button.
Controller and the development PC is disconnected and USB cable can be
removed.

NOTE If the USB cable is removed while the Controller and the development PC are
 connected, the Manipulator stops. Be sure to click the <Disconnect> button in
the [PC to Controller Communications] dialog before removing the USB cable.

3.2.6 Moving the Robot to Initial Position

Robot can be operated by the following methods other than creating and executing
the program.

Manual operation
Jog motion by the Teach Pendant
Command execution from the EPSON RC+
Jog motion from the EPSON RC+

This section explains about following methods.

A: Manual operation
B: Command execution from the EPSON RC+
C: Jog motion from the EPSON RC+

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 3. First Step

A: Manual operation
Move the non-excited robot manually.

Joints with no electromagnetic brake can be moved manually.

Joints with the brakes (Joint #3 only, or Joints #3 and #4) can be moved manually
while the break release switch on the manipulator is being pressed with the
controller ON.

B: Command execution from the EPSON RC+

Move the robot by exciting the robot motors and executing the command.

Following explains the example of moving all joints to the 0 pulse positions by
specifying the pulse for each joint.

(1) Start the EPSON RC+ 7.0.

Double click the <EPSON RC+ 7.0> icon on the desktop.
(2) Open the command window.
EPSON RC+ 7.0 menu-[Tools]-[Command Window]
(3) Execute the following command in [Command Window].
>Motor On
>Go Pulse (0,0,0,0)

For position and posture of Manipulator at 0 pulse position, refer to Motion

Range in the Manipulator manuals.

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3. First Step

C: Jog motion from the EPSON RC+

Move the robot by exciting the motors and operating from the Jog & Teach
window of the EPSON RC+.

(1) Start the EPSON RC+ 7.0.

Double click the <EPSON RC+ 7.0> icon on the desktop.
(2) Create a new project.
1. Select [New] from the [Project] Menu. The [New Project] dialog box
will be displayed.

2. Type a project name in the [New Project Name] box.

(e.g. FirstApp)

3. Click the <OK> button and create the new project.

(3) Open the robot manager.
EPSON RC+ 7.0 menu-[Tools]-[Robot Manager].

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 3. First Step

(4) Turn ON the motors.

Check that the [Control Panel] tab is open. Click the <MOTOR ON>
button.

(5) Move the manipulator with Jog motion.

1. Select [Jog & Teach] tab.

2. Select “Joint” in [Jogging]-<Mode>.

3. Move the manipulator by joint by clicking J1-J4 jog keys.
Manipulator can be moved by setting to other modes or setting the jog
distance.

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3. First Step

3.3 Writing your first program

After installing the Controller, Manipulator, and EPSON RC+ 7.0 software on
your PC, follow the instructions below to create a simple application program so
that you will become more familiar with the EPSON RC+ 7.0 development
environment.

1. Start EPSON RC+ 7.0

Double-click the EPSON RC+ 7.0 icon on the desktop.

2. Create a new project

(1) Select [New] from the [Project] Menu. The [New Project] dialog box
will be displayed.

(2) Type a project name in the [New Project Name] box.

(e.g. FirstApp)
(3) Click the <OK> button and create the new project.
When the new project is created, a program called Main.prg is created.
The window titled Main.prg will be displayed with a cursor flashing in
the upper left corner.

Now you are ready to start entering your first program.

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 3. First Step

3. Edit the program

Type the following program lines in the Main.prg edit window.
Function main
Print "This is my first program."
Fend

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3. First Step

4. Run the program

(1) Press F5 to run the program. (F5 is the hot key for the [Run Window]
selection of the [Run] Menu). You will see the Status window
located at the bottom of the main window showing the build
operation status.
(2) During project build, your program is compiled and linked. Then
communications is established with the controller and project files
are sent to the controller. If there are no errors during build, the
Run window will appear.

(3) Click the Start button on the Run window to run the program.
(4) The messages like the following will be displayed in the status
window.
19:32:45 Task main started

19:32:45 All tasks stopped

On the Run window, you will see the output of the print statement.

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 3. First Step

Now let's teach some robot points and modify the program to move the robot.

5. Teach robot points

(1) Make sure that it is safe to operate the robot. Click the <Robot
Manager> button on the toolbar to display the [Robot Manager]
window.

(2) Click the [Control Panel] tab.

Then, click the <Motor On> button to turn on the robot motors.
You will be prompted to confirm the operation.
(3) Click <Yes> to continue.

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3. First Step

(4) Click the [Jog & Teach] tab.

(5) Click the <Teach> button in the lower right corner to teach point P0.
You will be prompted for a point label and description.
(6) Click the <+Y> jog button to jog the robot in +Y direction. Hold
the button down to keep jogging. Move the robot until it reaches
the middle of the work envelope.
(7) Click the <-Z> button to lower the Z axis of the robot.
(8) Select “P1” in the [Point (P)] dropdown list which is next to the
<Teach> button. The current point is set to P1.
(9) Click the <Teach> button. You will see a confirmation message to
teach the point.
(10) Click the <Yes> button.
(11) Click the <+X> button to jog the robot in the +X direction.
(12) Select “P2” in the [Point (P)] dropdown list which is next to the
<Teach> button. The current point is set to P2.

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 3. First Step

(13) Click the <Teach> button. You will see a confirmation message to
teach the point.
(14) Click the <Yes> button.
(15) Click the <Save Project> toolbar button to save the changes.

6. Modify the program to include robot motion commands

(1) Insert three new Go statements into the Main.prg program as shown
below:
Function main
Print "This is my first program."
Go P1
Go P2
Go P0
Fend
(2) Press F5 to display the Run window.
(3) Click the <Start> button to execute the program.
The robot will move to the points you taught.

7. Modify the program to change speed of robot motion commands

(1) Insert the Power, Speed, and Accel commands as shown in the
program below:
Function main
Print "This is my first program."
Power High
Speed 20
Accel 20, 20
Go P1
Go P2
Go P0
Fend
(2) Press F5 to display the Run window.
(3) Click the <Start> button to execute the program.
The robot will move to each of the points you taught at 20% speed,
acceleration, and deceleration. The Power High statement executes
the program to operate the robot with increased speed and
acceleration.

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3. First Step

8. Backup the project and system configuration

Even though this is only a sample project, we will backup the project and
controller configuration. Backup can be done easily with EPSON RC+
7.0. It is important that you keep regular backups of your applications on
an external media such as a USB memory key.

Follow the steps below to back up the project and system configuration:

(1) Select the EPSON RC+ 7.0 menu - [Project] - [Copy].

(2) Change the [Destination Drive] to an arbitrary drive.

(3) Click <OK>. The project will be copied to the external media.

(4) Select the EPSON RC+ 7.0 menu - [Tools] - [Controller].

(5) Click on the <Backup Controller> button.

(6) Select the arbitrary drive.

(7) Click <OK>. The system configuration will be backed up on the

external media.

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 4. Second Step

4. Second Step
After operating the robot system as instructed in 3. First Step, setup other
functions as necessary.
This section shows the manuals which contains information of necessary settings
and setting procedure.
(For details of the manuals, refer to 6. Manuals.)

4.1 Connection with External Equipment

4.1.1 Remote Control
EPSON RC+ 7.0 User’s Guide
Remote Control
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 12. I/O Remote Set Up

I/O
EPSON RC+ 7.0 User’s Guide
I/O Setup
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 11. I/O Connector
Setup & Operation: 13.2 Expansion I/O Board (Option)

Fieldbus I/O (Option)

ROBOT CONTROLLER RC700 / RC90 Option Fieldbus I/O Board

4.1.2 Ethernet
EPSON RC+ 7.0 User’s Guide
Ethernet Communication
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 7. LAN (Ethernet) Port

4.1.3 RS-232C (Option)

EPSON RC+ 7.0 User’s Guide
RS-232C Communication
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 13.4 RS-232C Board

4.1.4 Analog I/O (Option)

ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 13.5 Analog I/O Board

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4. Second Step

4.2 Ethernet Connection of Development PC and Controller

EPSON RC+ 7.0 User’s Guide
Ethernet Communication
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 7. LAN (Ethernet) Port

4.3 Connection of Option Teaching Pendant

Robot Controller RC90/RC90-B (EPSON RC+ 7.0) manual
Setup & Operation: 8. TP Port
ROBOT CONTROLLER RC700 / RC90 Option Teach Pendant TP1
Function & Installation: 3. Installation
ROBOT CONTROLLER RC700 / RC90 Option Teach Pendant TP2
Function & Installation: 3. Installation

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 5. General Maintenance

5. 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.

5.1 Schedule for Maintenance Inspection

5.1.1 Manipulator
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
Overhaul
Daily Monthly Quarterly Biannual Annual
(replacement)

1 month (250 h) √
2 months (500 h) √
3 months (750 h) √ √
4 months (1000 h) √
5 months (1250 h) √
Inspect every day

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) √
…

20,000 h √
h = hour

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5. General Maintenance

Inspection While the Power is OFF (Manipulator is not operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual
Check motion range Each joint √
Check whether unusual
sound or vibration Whole √ √ √ √ √
occurs
Measure the accuracy
repeatedly by a gauge
Whole √
Turn ON and OFF the
Brake Release switch
and check the sound of
the electromagnetic Brake √ √ √ √ √
brake
If there is no sound,
replace the brake

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 5. General Maintenance

Inspection While the Power is ON (Manipulator is operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual
End effector
√ √ √ √ √
Check looseness or mounting bolts
backlash of Manipulator
√ √ √ √ √
bolts/screws mounting bolts
Tighten them if Each arm locking
√ √ √ √ √
necessary bolts
(For the tightening Bolts/screws
√
torque, refer to around shaft
Tightening Hexagon Bolts/screws
Socket Head Cap securing motors,
√
Bolts) reduction gear
units, etc.
External connectors
Check looseness of
on Manipulator
connectors √ √ √ √ √
(on the connector
If the connectors are
plates etc.)
loosen, push it
Manipulator cable
securely or tighten √ √ √ √
unit
External
Visually check for
appearance of √ √ √ √ √
external defects
Manipulator
Clean up if necessary
External cables √ √ √ √
Check for bends or
improper location
Safeguard etc. √ √ √ √ √
Repair or place it
properly if necessary
Check tension of
Base,
timing belts √ √
Inside of Arm
Tighten it if necessary
Grease conditions Refer to 5.4 Greasing.
Battery Refer to 5.5 Handling and Disposal of Batteries

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5. General Maintenance

5.1.2 Controller
Part Fan filter Fan Battery
Content Cleaning Replacement Replacement Replacement
Code - R13B60511 R13B060510 R13B060003
Quantity - 1 1 1
More than once a When the filter When the error Every 5 years,
month is gets deteriorated 515 occurs, or or when the
Maintenance recommended when the error 511 occurs
interval abnormal noise
occurs
The temperature The robot The error 9015 The error 9011
inside the Controller system may not occurs and the occurs and the
may get too high operate properly robot system may robot system
Possible
and the robot due to dust or stop. may stop.
malfunction if
system may not the like.
maintenance is
operate properly.
not performed
The error may occur
due to reduction of
the fun rotation.
Duration
5 minutes 5 minutes 20 minutes 15 minutes
(reference)
Reference:
7.1 7.1 7.2 7.3
Controller Manual
Fan Filter Fan Filter Fan Battery
Maintenance
Expected product
- - 30,000 hours -
life

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 5. General Maintenance

5.2 Overhaul (Parts Replacement)

■ 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
CAUTION
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. (When operated with the maximum motion speed and
maximum acceleration / deceleration in continuous operation) However, it may
vary depending on usage condition and the load applied on the Manipulator.

NOTE 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 of the EPSON RC+ 7.0.

For details, refer to the following manual.

Robot Controller RC90/RC90-B Maintenance 6. 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%.

The manipulator operation hours can be checked in [Controller Status Viewer]

dialog -[Motor On Hours].
(1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools]
dialog.
(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.

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5. General Maintenance

(5) Select [Robot] from the tree menu on the left side.

For the parts subject to overhaul, refer to Manipulator manual: Maintenance

section: Maintenance Parts List.

For details of replacement of each part, refer to the Manipulator manual:

Maintenance section.

Please contact the distributors of your region for further information.

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 5. General Maintenance

5.3 Tightening Hexagon Socket Head Cap Bolts

Hexagon socket head cap bolts are used in places where mechanical strength is
required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.)
These bolts are fastened with the tightening torques shown in the following table.
When it is necessary to refasten these bolts in some procedures in this manual
(except special cases as noted), use a torque wrench so that the bolts are fastened
with the appropriate tightening torques as shown below.

Bolt Tightening Torque

M2.5 1.4 N⋅m (14 kgf⋅cm)
M3 2.0 N⋅m (21 kgf⋅cm)
M4 4.0 N⋅m (41 kgf⋅cm)
M5 8.0 N⋅m (82 kgf⋅cm)
M6 13.0 N⋅m (133 kgf⋅cm)
M8 32.0 N⋅m (326 kgf⋅cm)
M10 58.0 N⋅m (590 kgf⋅cm)
M12 100.0 N⋅m (1,020 kgf⋅cm)

Refer below for the set screw.

Set Screw Tightening Torque
M3 0.7 N⋅m (7.1 kgf⋅cm)
M4 2.5 N⋅m (26 kgf⋅cm)
M5 3.9 N⋅m (40 kgf⋅cm)

The bolts aligned on a circumference should be fastened in a crisscross pattern as

shown in the figure below.
1 Do not fasten all bolts securely at one time.
5 8 Divide the number of times that the bolts are
Bolt hole fastened into two or three and fasten the bolts
securely with a hexagonal wrench. Then,
3 4
use a torque wrench so that the bolts are
fastened with tightening torques shown in the
7 6
table above.
2

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5. General Maintenance

5.4 Greasing
The ball screw spline and reduction gear units need greasing regularly. Only use
the grease specified.

This section contains information of the parts requiring lubrication and greasing
intervals. For details of the lubrication procedure, refer to the Manipulator
manual.

■ Keep enough grease in the Manipulator. Operating the Manipulator

with insufficient grease damages the sliding parts resulting in
insufficient Manipulator performance. It may also require a lot of time
and money for repair.

■ If grease gets into your eyes, mouth, or on your skin, follow the
instructions below.

If grease gets into your eyes:

Flush them thoroughly with clean water, and then see a doctor
immediately.
CAUTION
If grease gets into your mouth:
If swallowed, do not induce vomiting. See a doctor immediately.
If grease just gets into your mouth, wash out your mouth with water
thoroughly.

If grease gets on your skin

Wash the area thoroughly with soap and water.

Greasing part Greasing Interval

Joint #1 Reduction gear units
Overhaul timing
Joint #2 Reduction gear units
At 100 km of operation
Joint #3 Ball screw spline unit
(50 km for first greasing)

Joint #1, 2 reduction gear units

As a rough indication, perform greasing at the same timing as overhaul.
However, the timing may vary depending on usage condition and the load applied
on the Manipulator (such as when operated with the maximum motion speed and
maximum acceleration / deceleration in continuous operation).

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 5. General Maintenance

Joint #3 Ball screw spline unit

The recommended greasing interval is at 100 km of operation.
However, greasing timing also can be checked from the grease condition.
Perform greasing if the grease is discolored or becomes dry as shown in the photos
below.

Normal grease Discolored grease

Perform greasing at 50 km of operation for the first time of greasing.

NOTE The recommended replacement time for the grease can be checked in the

 [Maintenance] dialog box of the EPSON RC+ 7.0.

For details, refer to the following manual.

Robot Controller RC90/RC90-B Maintenance 6. Alarm

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5. General Maintenance

5.5 Handling and Disposal of Batteries

■ Use meticulous care when handling the lithium battery. Improper
handling of the lithium battery as mentioned below is extremely
hazardous, and may result in heat generation, leakage, explosion, or
inflammation, and may cause serious safety problems.
・Battery Charge ・Deformation by Pressure
・Disassembly ・Short-circuit (Polarity; Positive/Negative)
・Incorrect Installation ・Heating (85°C or more)
・Exposing to Fire ・Soldering the terminal of the lithium battery
CAUTION ・Forced Discharge directly
■ When disposing the battery, consult with the professional disposal
services or comply with the local regulation.
Spent battery or not, make sure the battery terminals are insulated.
If the terminal contacts with the other metals, it may short and result
in heat generation, leakage, explosion, or inflammation.

■ Do not connect or disconnect the motor connectors while the power

to the robot system is turned ON. Connecting or disconnecting the
motor connectors with the power ON is extremely hazardous and
may result in serious bodily injury as the Manipulator may move
abnormally, and also may result in electric shock and/or malfunction
of the robot system.
■ 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
WARNING 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.

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 5. General Maintenance

Robot Controller
Before starting battery replacement, turn on the controller for approximately one
minute. Perform the replacement within 10 minutes to prevent data loss.
Make sure to use the designated lithium battery.

NOTE The recommended replacement time for the battery can be checked in the

 [Maintenance] dialog box of the EPSON RC+ 7.0.

For details, refer to the following manual.
Robot Controller RC90/RC90-B Maintenance 6. Alarm
The battery may run out if it passes the recommended replacement time.

Be sure to use the designated lithium battery.

Be sure to set the correct polar when installing the battery.

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6. Manuals

6. Manuals
This section describes contents of each manual.
The manuals below are provided in PDF format for using the robot system.
To read the PDF manuals on a PC, select EPSON RC+ 7.0-[Help]-[PDF Manual].
(Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.)

Software
EPSON RC+ 7.0 User’s Guide
This manual contains information on the Robot system and program development
software.
- Safety
- Robot System Operation and Configuration
- Operation of Program Development Software EPSON RC + GUI
- SPEL+ Language and Application
- Configuration of Robot, I/O, Communication

EPSON RC+ 7.0 SPEL+ Language Reference

This manual contains information on the SPEL+ programming language.
- Details of the commands
- Error Messages
- Precaution of EPSON RC+ 4.0, 5.0, 6.0 Compatibility

Software Options
Followings manuals contain information on the software options and commands.
- RC+ API 7.0
- Vision Guide 7.0 Hardware & Setup
- Vision Guide 7.0 Software
- Vision Guide 7.0 Properties & Results Reference
- GUI Builder 7.0
- Remote Control Reference

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 6. Manuals

Controller
ROBOT CONTROLLER RC90/RC90-B (EPSON RC+ 7.0)
This manual indicates descriptions of the Robot Controller RC90/RC90-B and
Robot system.
- Safety
- Specification, Installation, Operation, and Setup
- Backup and Restore
- Maintenance
- Verifying Robot System Operation
- Error Codes

Controller Options
This manual indicates descriptions of the Controller option.
- PG Motion System
- Fieldbus I/O
- Teach Pendant TP1
- Teach Pendant TP2

Manipulator
SCARA ROBOT LS-B series manipulators
The manipulator manuals contain information on SCARA robots: LS20-B, LS10-B,
LS6-B, LS3-B series manipulators.
- Safety
- Specification, Installation, Setting
- Maintenance
- Calibration

Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4 107

7. Directives and Norms

7. Directives and Norms

These products conform to the following directives and norms.
For more details of controller and manipulator, please refer to each manual.

Product Name Model

Controller RC90-B
Manipulator LS-B series

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 7. Directives and Norms

Name Definition
Directive 2006/42/EC Directive 2006/42/EC of the European Parliament and of the
Council of 17 May 2006 on machinery, and amending
Directive 95/16/EC
Directive 2014/30/EU Directive 2014/30/EU of the European Parliament and of the
Council of 26 February 2014 on the harmonisation of the
laws of the Member States relating to electromagnetic
compatibility (recast).
EN ISO 12100 (2010) Safety of machinery -- General principles for design -- Risk
assessment and risk reduction
EN ISO 10218-1 (2011) Robots and robotic devices -- Safety requirements for
industrial robots -- Part 1: Robots
EN 60204-1 Safety of machinery -- Electrical equipment of machines --
(2006/A1:2009) Part 1: General requirements
EN ISO 13849-1 (2015) Safety of machinery -- Safety -- related parts of control
* systems -- Part 1: General principles for design
EN ISO 13850 (2015) Safety of machinery -- Emergency stop function-- principles
for design
EN 55011 (2009) Industrial, scientific and medical (ISM) radio-frequency
equipment -- Electromagnetic disturbance characteristics --
Limits and methods of measurement
EN 61000-6-2 (2005) Electromagnetic compatibility (EMC) -- Part 6-2: Generic
standards -- Immunity for industrial environments

*Emergency stop circuit category3, PL d

Safety Door circuit category3, PL d

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7. Directives and Norms

110 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4