Table of Contents
Safety and Installation (RC700 / EPSON RC+ 7.0) Rev.22 xiii
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 ································································· 8
1.3.1 Safety-related Requirements ······································ 10
1.3.2 Part Names / Arm Motion ·········································· 11
1.3.3 Operation Modes ····················································· 35
1.4 Maintenance Safety ··························································· 36
1.5 Emergency Stop ······························································· 39
1.5.1 Free running distance in emergency ···························· 43
1.5.2 How to reset the emergency mode ······························ 53
1.6 Labels ············································································· 54
1.6.1 Controller ······························································· 54
1.6.2 Manipulator ···························································· 57
1.7 Safety Features ································································ 72
1.8 Manipulator Specifications ·················································· 75
1.9 Motion Range Setting by Mechanical Stops ·························· 122
1.10 End User Training ·························································· 142
2. Installation 143
System Example ···································································· 144
2.1 Outline from Unpacking to Operation of Robot System ············ 148
2.2 Unpacking ····································································· 149
2.2.1 Unpacking Precautions ··········································· 149
2.3 Transportation ································································ 150
2.3.1 Transportation Precautions ······································ 150
2.3.2 Manipulator Transportation ······································ 151
2.4 Manipulator Installation ····················································· 158
2.4.1 Installation Precautions ··········································· 158
2.4.2 Environment ························································· 159
2.4.3 Noise level ··························································· 161
2.4.4 Base Table ··························································· 162
2.4.5 Installation Procedure ············································· 166
2.5 Control Unit and Drive Unit Installation ································· 182
2.5.1 Environment ························································· 182
2.5.2 Installation···························································· 184
2.5.3 Wall Mounting Option ············································· 185