Robots. Epson. Robots. Epson. The Innovation Principle

Transcription

1 Epson Robots Epson Robots The Innovation Principle

2 Contents º The three types of robot kinematics º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº º EZ modules º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº º Epson ProSix 6-axis robots º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº º Scara robots º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº PC based robot controllers 14: Options 15: Epson OP500RC controller º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Epson has the solution Epson Vision 17: Conveyor tracking º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Epson RC170 robot controller 20: Options º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Scope of delivery º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Epson RC+ development interface º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Feasibility studies º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Epson training º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Epson control commands º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº Contact º º ºº ºº ºº ºº ºººº ºº ºº ºº ººº ºº

3 Foreword They saw, cut, drill, guide, grind, install, move, assemble and put letterings on cakes as well. They work at breathtaking speeds, with enormous precision and extraordinary reliability. They never get tired even though they often work 24 hours a day, 365 days a year. Plain and simple they are the guarantor for the correct functioning of a modern industrial business, as we know it today. The talk is of industrial robots Epson industrial robots. It was the SEIKO Corporation that gave rise to them: The accuracy and speed requirements have now become so high since the first quartz watch was produced by SEIKO that production can only be guaranteed if robots are used. It never has been and never will be just a question of precision and speed but flexibility as well that is absolutely decisive with regard to the success or failure of an automation solution. The quality of Epson robot systems is both renowned and highly regarded. Epson robot systems are sub-divided into three categories. The first group are the so-called linear axis modules. These robots are the simplest and easiest to control, because they enable the simple combination of different linear axes to form a system that is suited to a particular application. The kinematics of the second group, the so-called Scara robots, are able to emulate the manoeuvrability of a human arm. The last group comprises the 6-axis robots. The six axes in these robots have six degrees of freedom and are especially well known for their use in the automotive industry. The advantage of using these robots lies in the fact that all arm movements and orientations, including the hands, can be reproduced. This means that a just a single machine is sufficient to complete a sequence of complex movements such as those needed to fit small or costly components.

4 A Comparison of Epson Robot Kinematics Linear axis system Linear axis systems are the simplest kinematics, as they can be programmed as a 1:1 Cartesian co-ordinates system. Epson linear axes, with a reach of up to 1,000 mm and a payload of up to 80 kg offer sufficient scope for heavy, protruding parts as well. Scara robot Scara robots are particularly suitable for handling and/or assembling workpieces at parallel levels thanks to their resemblance to a human arm. Another advantage is that they only have to move a single axis in order to lift a part up. Above all else, Epson Scara robots will impress you with their diversity in addition to their speed and precision. Reach ranges from 250 mm up to 850 mm, a payload of up to 20 kg and several configurations; they are always an excellent choice, even for complex requirements. 6-axis robots 6-axis robots are the most flexible because of their large number of degrees of freedom. As all axes are rotating, the robot has a nearly spherical working space around it. Epson 6-axis robots have been created for complex handling or assembly jobs using even small workpieces. Their high precision ensures that many complex working processes can be implemented reliably and quickly.

5 EZ modules RSz (same as RS, but fitted with a brake) Epson robot systems are generally known for their high accuracy even at high speeds. The EZ modules are no exception to this. Their high axial rigidity, even with large axes, as well as the most up-to-date technology are solutions that make Epson EZ modules both reliable and quick and simple. RS Epson EZ modules have been designed to fulfil the highest requirements of modern automation systems. This not only includes the exceptionally wide range of available modules but also the extraordinary high quality of each individual component. RM Scope of delivery EZ modules Control system Connection box 3 m signal cable 3 m power cable Energy chain ( ¹ ) Securing materials User cabling ¹ ) For matching module configuration RH Example: 4-axis configuration Axis/module specifications RH RM RS RSz Reach (mm) 400, 600, 800, 1, , 550, , 500, , 300, 400 (3) Max. speed (mm / s) 1,500 1,500 1, Repeat accuracy + / (μm) Payload (2) nom./max. (kg) 40 / / / / 15 Weight (kg) ) The payload depends on the configuration 3) For 3-axis systems only Combinations 1 axis 2 axis 3 axis 4 axis RH RH + RM RH + RM + RS RH + RM + RSz + RU (4) RM RM + RS RM + RS + RSz RM + RSz 4) RU is a rotating axis Other combinations are also available.

6 ProSix 6-axis robots Ceiling mount The 6-axis robot is, due to its large number of degrees of freedom, always an excellent choice where handling or assembly on levels that are not parallel to each other is required. All six degrees of freedom of the 6-axis robot are rotating, providing a nearly spherical work area around the robot. Axes 1, 2 and 3 of a 6-axis robot are called the base axes and axes 4, 5 and 6 are known as the hand axes. Wall mount The robot uses the first three axes to traverse into the required position and uses the other three axes to orientate the toolpiece. ProSix mounting dimensions Category Through holes in the pedestal PS3 4 x Ø 11 mm, hole spacing 195 x 195 PS3L 4 x Ø 11 mm, hole spacing 195 x 195 PS5 4 x Ø 11 mm, hole spacing 195 x 195 Standard mount Movement radius and dimensions (see Table) A2+ H A4 A4+ A6 A6+ A3+ A5+ A2 J I K L F G A3 A5 P-point A1+ P-range P-point B C P-range A1 D E You will find the CAD files at:

7 6-axis robot for assembly and handling jobs 6-axis robot for assembly and handling jobs with a large reach 6-axis robot for high-speed assembly and handling jobs with a payload of up to 6 kg PS3 PS3L ( ¹ ) PS5 Reach (mm) Max. speed Axis 1 ( /s) Axis 2 Axis Axis 4 Axis 5 Axis Repeat accuracy (mm) Payload nom./max. (kg) 2 / 3 2 / 5 3 / 6 Moment of inertia Axis 4 (kg x m² ) Axis 5 Axis Max. torque Axis 4 (Nm) Axis 5 Axis Working area + / A1 ( ) A2 A / / / / / / / / / 72 A4 A5 A / / / / / / / / / 360 Dimensions (mm) B C D E F G H I J K L Installation options Floor Floor, wall, ceiling Floor, wall, ceiling User cabling Safety regulations Ambient conditions 16 electrical, 2 pneumatic (6 mm) CE, EN775, EN , EN55011, EN , EN60950; UL- version available 0 45 C, 20 80% humidity (non-condensing), 0.5 G vibration Option: Brake release unit External controller box for releasing or locking the axis brakes separately, for manual axis movement ¹ ) Also available as a protected version Please ask us for other special solutions (geometry, environmental conditions, etc.)

8 Scara robots The kinematics for the Scara robots were developed at the start of the 70s and it was found during assembly work testing that the most frequent movements could be realised using four axes. The advantage of a Scara robot as compared to other kinematics systems (e.g. 6-axis robots) is that it only needs to move a single axis (the Z-axis) for the lifting processes. This means that Scara robot construction is uncomplicated - and very reliable. The advantages of Scara when compared to other kinematics clearly prevail wherever it is possible to handle parts at a specific level. This is why Scara robots form the backbone of many manufacturing operations in modern production plants. E2 series (sub-divided into four categories) Compact Standard Large Heavy duty Payload (nom./max.) 1 / 3 kg 2 / 5 kg 2 / 5 kg 2 / 20 kg Reach 1 st + 2 nd arm 250 mm mm mm mm mm mm 85 (1) Z-axis length ( ³ ) 120 mm mm mm mm 3 Versions Standard Clean-room Multimount S C M ( ² ) 1) Long 2nd arm 2) For reach 35 (350 mm) only 3) The usable Z-axis length is shortened by 20 mm and by 50 mm for E2H version for clean-room machine Name syntax E2 C S L H Category Reach 1 st + 2 nd arms 1 3 Z-axis length SM S C M CM Version = Example: Payload up to 5 kg, 450 mm arm length, 320 mm Z-axis, Pedestal mounting = E2 S 45 3 S

9 Multimount Ceiling Example: Multimount Multimount Holder fitted to the top Multimount Wall Multimount Holder fitted to the bottom Standard version Pedestal mounting E2C351S E2S553S E2L853S E2H853S All machines are also available as UL versions. ª

10 Nowadays there are very special production requirements regarding the working radius, payload and the cycle-time. There are many versions of Epson s E2 series robots available to you ranging from small, superfast robots up to very large, powerful package. With working radii ranging from mm, vertical lifting up to 340 mm and payloads of up to 20 kg. It s your decision with our E2 series you will always have the optimum conditions to ensure efficient production. A3 I H G F A4 A4 B A2 A2 C E D A1 A1 D E I J Scara mounting dimensions Category Through holes in the pedestal E2C 4 x Ø 9 mm, hole spacing 120 x 120 E2C Multimount 4 x Ø 8.5 mm, hole spacing 174 x 70 E2S 4 x Ø 10 mm, hole spacing 150 x 150 E2S Multimount 4 x Ø 10 mm, hole spacing 190 x 80 E2L / E2H 4 x Ø 16 mm, hole spacing 200 x 200 º You will find the CAD files at:

11 All machines are also available as UL versions including an emergency-off switch. E2C251 E2C351 E2S45 x ( ¹ ) E2S55 x ( ¹ ) E2S65 x ( ¹ ) E2L653 E2L853 E2H853 Reach (mm) Axes Max. speed + / ( / s) Axes 1+ 2 (mm/ s) Axis 3 ( / s) Axis 4 2,900 1,100 2,600 3,600 1,100 2,600 5,400 1,100 1,870 6,000 1,100 1,870 6,300 1,100 1,870 5,200 1,100 1,870 6,100 1,100 1,870 5,266 1,100 1,870 Repeat accuracy + / (mm) Axes 1+ 2 (mm) Axis 3 ( ) Axis Payload nom./max. (kg) 1 / 3 1 / 3 2 / 5 2 / 5 2 / 5 2 / 5 2 / 5 2 / 20 Moment of inertia (kg x m² ) (nom.) Axis 4 (max.) Axis Insertion force (N) Working area + / ( ) A1 + / ( ) A2 (mm) A3 (mm) Clean-room A3 + / A / / / / / / Dimensions (mm) B C D E F G / / / H I User cabling Safety regulations Ambient conditions ¹ ) X = Z-axis length: 1 = 170 mm, 3 = 320 mm 15 electrical (1 A), 3 pneumatic (6/4 mm) CE Declaration of Conformity for all models, UL-version available 5 40 C, 10 80% humidity (non-condensing) Please ask us about other special solutions (geometry, environmental conditions, etc.)

12 RC 520 Modular controller , axis drive unit 6-axis drive unit RC 420 Compact controller ,

13 PC based robot controllers Our Epson PC based robot controllers are distinguished by their tremendous flexibility. The open design enables you to integrate unique upgrades just by plugging PC boards into the robot controller. This means that Epson PC based robot controllers can also act as the control unit for a production cell. RC 520 Modular controller RC 420 Compact controller Case/version 19 industrial PC 19 industrial PC PCI/ISA slots 7 x ISA, 4 x PCI 3 x ISA, 2 x PCI, 1 x ISA / PCI CPU Intel P3 (850 MHz) Intel Celeron (850 MHz) Memory 128 MByte PC100 SD Ram 128 MByte PC100 SD Ram Hard-disc 40 GB 2.5 removable disc 40 GB 2.5 removable disc Floppy 3.5 integrated / CD-ROM drive 3.5 integrated Ports 2 x RS-232, 1 x Centronics Port 1 x 10/100 base-t Ethernet 2 x USB Vers x RS-232, 1 x Centronics Port 1 x 10/100 base-t Ethernet 2 x USB Vers. 1.1 Operating system MS Windows Embedded MS Windows Embedded Development environment Epson RC+ Epson Spel+ high level language Epson RC+ Epson Spel+ high level language Safety Emergency-off, redundant emergency-off circuit, redundant door interlock circuit, speed and torque overload cut-outs, dynamic axis brakes, internal memory monitoring, automatic Teach-in mode, slow traversing, On/Off contactor. Connection ratings VAC 50 / 60 Hz Drive Unit: VAC 2,000 W, depending on the robot model VAC 50 / 60 Hz 2,000 W, depending on the robot model, UPS fitted as standard item. Interface Weight Dimensions (W x D x H in mm) Standard 16 inputs / 16 outputs, expandable up to 240 inputs and 240 outputs, Ethernet I/O. Option: Profibus/Devicenet Control system: 17 kg Drive Unit: 14 kg Control system: 482 x 450 x 177 Drive unit (4-axis): 480 x 448 x 99 Drive unit (6-axis): 480 x 470 x 99 Standard 16 inputs / 16 outputs, expandable up to 144 inputs and 144 outputs, Ethernet I/O. Option: Profibus/Devicenet Control system: 18 kg Control system: 483 x 470 x 189 Ambient conditions 5 40 C, 10 80% relative humidity, non-condensing

14 PC based controller options Expansion I/O board Epson PG motion board Field-bus board Product Description Hardware Expansion I/O board Epson PG motion system Field-bus board 32 additional inputs and outputs are available per extension card. Several cards can be fitted (depends on the controller being used). NPN, PNP switching is also possible. You can also use the Epson PG Motion System to control robots constructed from external components. It supports both servo and stepper motors. Expansion board for connecting up to or installing in a field-bus network. The card can be configured as either master or slave. Bus-systems available are Profibus and Devicenet; mixed operation is also possible. Software Epson VB-Guide Epson Code Reading Epson Conveyor Tracking Epson Ethernet I/O License Epson Security Guide Active-X control for easy and practical interlinking of your application to external software. Enables OCR-A/OCR-B recognition as well as 1D and 2D codes. Epson Code Reading is only available in conjunction with Epson Vision. Supports the conveyor belt tracking using Vision system or sensors. Several conveyors can be controlled simultaneously. A conveyor tracking kit includes: PG Board, cable, 2 terminal blocks, software. Enables Opto 22 components to be connected up. For practical assigning of rights for different users. Furthermore it includes an extensive protocol function for monitoring your plant.

15 Epson OP500RC controller Full control over the on-site robot in a single unit Product Cable sets / Terminal blocks Std. RC 420 I/O cable Description one end open, 3 m, 6 m JOG & Teach Panel All of the axes are controlled using the touchscreen controls. Traversing path settings (short, medium, long, and continuous). Traversing path co-ordinate system selection (World, Joint, Tool, local). Traversing speed settings. Point Editor Panel Individual teach-in points. Positions can be defined in absolute dimensions. Point files are easy to process. Motion Control Panel Std. RC 520 I/O cable Interlock circuit cable Ext. I/O cable kit Power & signal cable Power & signal cable for 6-axis robot OP-500RC extension cable one end open, 3 m, 6 m one end open, 3 m, 6 m 100 pin, i.e. 2 x 50 pin, 2 m Board, 2 x terminal blocks Signal cable with straight plug. Choose power cable with straight or angled plug 3 m ( ¹ ), 5 m ( ¹ ), 10 m ( ¹ ), 20 m (2) 3 m, 5 m, 10 m ¹ ) Option choices: Straight plug Angled on the manipulation end only Both ends angled 2) Straight plugs only 2 m (gives 5 m total cable length) 7 m (gives 10 m total cable length) Traverse to separate points. Traversing command selection (Jump, Go, Move). Movement limits selection (Limz). Robot Control Panel Switch motors On and Off. Switchable motor power. Robot, arm and tool selection. Return to start position push-button. I/O Command Panel Inputs and outputs can be reset using push-buttons. Free Joints Panel Each of the Scara axes can be switched on separately (movement). User Page Makes it easy to define your own user interface.

16 Epson Vision Your advantages Powerful software tools Recognises turned or overlapping parts as well. Position, shape or size measurements easy to implement. Can also be used in difficult ambient conditions. All Vision components are sturdy industrial versions. Screen with Vision image Fast optimisation for different lighting conditions.various histogram functions for precise optimisation of the object colour. Easy calibration An integrated wizard will help you with the step-by-step procedure regardless if it is for a fixed or mobile camera. Can be fully integrated in the RC+ development environment No additional, complicated editing required. Simple drag and drop programming. Easy data exchange between robot programs and Vision thanks to the program commands (VRun, VGet). 8 mm 16 mm 25 mm Different focal lengths are available. 50 mm Continuous or discrete image captures Permanent or asynchronously triggered (internal or external). Select between different focal lengths for the lens Several lens focal lengths are available to meet the different requirements. Your options A B C D E F G H I J K L M N O P Q R S T U V W X Y Z a b c d e f g h i j k l m n o p q r s t u v w x y z! $ % & / ( ) =? [ ] + * # < >, ;. : - Integrated code and text recognition. Control the robot to grip separated bulk goods or sporadic pieces. Also supports conveyor tracking. 1D or 2D code processing (e.g. EAN or data matrix). OCR-A/OCR-B text recognition. Different resolution cameras are available. From 640 x 480 up to 1024 x 768 pixels. It is also possible to select from cameras that use different resolutions. A total of up to 12 cameras can be used; these can be mounted in either fixed positions or as mobile units. The Epson Vision system can be fully integrated in a development environment. No additional editing programs are needed.

17 Conveyor tracking Conveyor tracking and picking up from moving conveyors Picking up from a moving conveyor is also called conveyor tracking and many industries could not imagine life without robot controlled automation. This process can be controlled using an image processing system or magnetic or other types of sensor. Epson s conveyor tracking system supports both camera controlled as well as sensor controlled systems. Epson s conveyor tracking system can also be used with any suitable conveyors. This is important for supply systems, which have to overcome height differences.

18 Epson RC170 robot controller Epson RC170 robot controller with option box Epson RC170 6-axis version robot controller

19 Epson RC170 robot controller The Epson RC170 robot controller was the first robot controller produced by Epson and to have both Scara, as well as 6-axis robot controllers fitted in the same housing. However, the 4-axis version is virtually the same size as a sheet of DIN A4 paper yet it is just as diverse and reliable as other familiar products from Epson. There is a range of interesting options available for the Epson RC170 robot controller; You will always realise the optimum controller fundamentals with the Epson RC170 robot controller, whether its with a field-bus board, a newly developed teaching pendant or a new, ergonomically optimised operating pendant. However, programming the RC170 remains easy, it is just as powerful as the other familiar members of the Epson controller family and is programmed using an external computer instead of the controller itself. Therefore you can write programs from the comfort of your desk. In addition to this, the programming is network capable and ideal for large projects, which have to be maintained by many developers. The RC170 programming environment is available in English, German and French, just like the previous versions. Dimensions (W x D x H in mm) CPU Memory Programming environment Program language Scara version: 300 x 170 x axis upgrade ( ¹ ) : 75 x 130 x 240 Option box ( ¹ ) : 55 x 130 x 240 Intel Celeron, in stand-alone version 64 MB Flash RAM, 128 KB battery buffered SRAM Epson RC+ Epson SPEL+ Program options VB-Guide, Epson Vision, External Control Point Motion (ECP) 2) Inputs/outputs 24/16, expandable up to 152/144 Program Points Interfaces Main connection Consumption Weight Max. 4 MB code, corresponds to approx. 200 K program steps Up to 1,000 points per point file RS-232C (optional, max. 8 Ports), Ethernet, Field-bus slave (optional), 2 x USB for connecting up a PC and a USB stick, max. 152/144 I /Os 230 / 240V, single phase 1,300 VA, depending on the manipulator connected to it 7 kg (Scara version), 9 kg (6-axis version) Ambient temperature 5 40 C Humidity 20 80% non condensing ¹ ) The option enlarges the controller 2) For 6-axis robots only ª

20 RC170 options Epson TP1 The new Epson teach pendant for the Epson RC170 robot controller has been designed for challenging teaching tasks especially with 6-axis robots. The clear sub-division of the keyboard according to the task makes easy, ergonomic operation possible. Epson teach pendant for the new RC170 robot controller, the Epson TP1. Epson OP1 The new Epson OP1 operator pendant makes an uncomplicated and easy to program user interface available for use. Epson OP1 operator pendant for easy operation even with complex systems. Hardware Software Field-bus board ECP External Control Point licence (1) RS232 board VB Guide Lite licence I/O 32/32 board 1) For 6-axis robots only º

21 Scope of delivery The following accessories are part of the standard Epson robot scope of delivery and do not have to be purchased as additional options. RC 420 controller RC 520 controller RC 170 controller 1 x manipulator 1 x manipulator 1 x manipulator 3 m power cable 3 m signal cable 3-button PC mouse PC keyboard Emergency-Off plug D ummy connector for optical device connection Plug for standard I / O 50-pin Sub-D 2x plugs for 15-pin Sub-D Windows Embedded licence Windows Embedded Quickstart Software dongle including licence Driver CD Epson RC+ CD Back-up disc Manual: Control system Manipulator Programming User guide 3 m power cable 3 m signal cable 3-button PC mouse PC keyboard Emergency-Off plug D ummy connector for optical device connection Plug for standard I / O 50-pin Sub-D 2x plugs for 15-pin Sub-D Windows Embedded licence Windows Embedded Quickstart Software dongle including licence Driver CD Epson RC+ CD Back-up disc Manual: Control system Manipulator Programming User guide 3 m power cable 3 m signal cable Emergency-Off plug D ummy connector for optical device connection Plug for standard I / O 50-pin Sub-D Driver CD Epson RC+ 5.0 CD Manual: Control system Manipulator Programming User guide Z-axis maintenance grease (1) Z-axis maintenance grease (1) Z-axis maintenance grease (1) Motion cable Slot bracket 3m power cable Drive unit(s) 1) For Scara robots only

22 Epson RC+ development interface Flexible control architecture Epson is number one when it comes to the development of controllers based on industrial PCs. Epson s SPEL+ robot programming language is not only especially easy to learn but it is also extremely powerful. Epson s RC+ programming environment provides you with all the tools that you need for fast and efficient development of robot programs. Development interface Integrated source code debugger Integrated project management system Syntax Colouring Open structure also enables you to connect into an external programming environment (e.g. Active-X, VB, MFC). Online help text Has many upgrade options An integrated I/O monitor immediately provides the current status of all inputs and outputs. Complex functions such as Vision and conveyor tracking are already integrated within the interface. A variety of communication paths: Direct Ethernet I/O, Profibus, DeviceNet, serial, TCP/IP, I/O hand-shake are available as an option Macro editor Label editor Integrated security and flexibility Interrupt handler programmable reactions to interrupt conditions. Its own error handler can be launched for multiple error conditions. Variables timing right up to point reached status. It is possible to process the next command before the actual robot point is reached. All of the robot s movement commands can be interrupted, but this depends on the on a specific condition (e.g. an input being set). The acceleration and speed can be modified using simple software commands whilst the program is running. This means that the robot runs at optimum efficiency in any operating state.

23 Syntax colouring, powerful debugger, inputting help and a freely defined interface all help your development. Task 1 Robot 1 Task 2 Robot 2 Task 3 Robot 3 Task 4 Vision System Task 5 Feeder Task n Display Even complex tools such as the Vision editor are integrated seamlessly into the Epson RC+ system. Multi-tasking for decoupled execution of several, independent tasks.

24 Feasibility studies As a result of a feasibility study of your working processes, Epson will be able to provide you with the know-how gained from more than 20-years of building robots. Instead of theoretical simulations, with all their imponderabilities, we are able to provide you with a simulation using real robots and the most realistic environment possible. You can select from the following performance catalogue to meet your needs: Integrated security and flexibility Analyse the production processes. Optimise the production processes with regard to cycle times or other parameters. Cycle time testing using real robots. Document the process performance in word, images and film. Programming support for particularly complex or time critical runs. If desired, you can also receive support in the setting up of your system from a partner belonging to Epson s integrator network. Y+ Center of axis #2 R 495 R 450 R 235 R 156 X+ R 136 R 90

25 Epson training Training is a question of individuality. Everyone takes to new knowledge in a different way and this is why the training is especially efficient, as it enables us to take a look at the individual characteristics of the participants in a special way. Epson s training courses are open to a relatively small number of participants only and this means that there is ample time to deal with any special questions and theory and practical training remain hand-in-hand. Training Programming Although the Epson programming language is one of the simplest yet most powerful programming languages on the market, thanks to its similarity to BASIC, fundamental and individually-tuned training forms the basis for efficient and reliable setting up of a robotics cell. You can select from the following training catalogue to suit your ambitions: Software training Basic programming training Vision programming training Conveyor tracking programming training Field-bus and I/O programming training Individual programming training your very specific problems can be looked into here. Training Service & Support Any system can fail, even the best and most reliable. If a system fails you have to minimise the consequences, such as production downtime, etc.; a decisive factor in this case is the reaction time between failure and restart of the system. Even though Epson service is already able to provide excellent reaction times, the quickest reaction time possible can be realised by having well trained staff already working in-house. For this reason we offer you a range of training courses, which are all aimed at making your staff ready to handle any emergency case. Service and maintenance training Epson robots basic service Epson robots basic maintenance Epson Scara robot service Epson 6-axis robot service Epson controller service If desired different training modules can always be combined. For example, Vision programming can be combined with Epson Scara Robot Servicing training.

26 Epson control commands Movement commands = 90 = 90 Jump The Jump command can be used to increase the approximate positioning speed. = 90 = 90 Jump3 The Jump3 command can be used to increase the approximate positioning speed. The start and end points must not have the same orientation when the Jump3 command is used. P1 P2 PTP run (1) Current is applied to all of the motors during the whole of the movement. Therefore the trajectory cannot be fully predicted, but it is always the same. A PTP run is fast. P1 P2 CP run (2) The motors are controlled during a CP run so that the tool centre point (or a relevantly defined point) always moves along a defined trajectory. A CP run is precise. 1) PTP = Point to Point 2) CP = Continuous Path

27 The check starts before the downward movement Stop is above the target position Target position Sense Input conditions, which were set up in advance by a SENSE command, will be checked immediately prior to the arm starting its downward non-stop movement. The robot will be stopped above the target position ( approach point ) if the condition is fulfilled. Arm stopped Condition fulfilled Till The speed will be immediately reduced and the arm will be stopped if the input conditions, which were set up in advance by a TILL command, are fulfilled whilst the arm is moving. This feature is used in particular to reduce the cycle time as the arm moves during the sampling. Example: Pallet P P2 Pallet number Pallet level definition Number of columns Number of lines Pallet 1, P1, P2, P3, 3, 4 = Pallet definition Jump pallet (1, 4) = 1. palett, 4. nest P3 The pallet need not necessarily lie in one of the coplanar base levels. The pallet need not necessarily be square.

28 Europe EPSON DEUTSCHLAND GmbH Otto-Hahn-Straße Meerbusch, Germany Tel.: +49 (0) 2159 / Fax: +49 (0) 2159 / robot.infos@epson.de U S A EPSON AMERICA, Inc Central Avenue Carson, CA 90746, USA Tel: Fax: info@robots.epson.com Asien SEIKO EPSON Corp Fujimi, Fujimi-machi, Suwa gun Nagano-ken, Japan Tel: Fax: epsonrb@exepson.co.jp This brochure is subject to alterations; we are not responsible for any printing errors; we retain the right to make procedural modifications without giving prior notice.