E Safety r5

Robot System
Safety Manual
Read this manual first
Rev.5 ENM226B5426F
Original instructions
This manual contains precautions for the correct use of the robot system.
Please carefully read this manual before installing the robot system.
Keep this manual handy for easy access at all times and reread it when you find anything
unclear.
Robot System Safety Manual Read this manual first Rev.5
Robot System
Safety Manual
Rev.5
Seiko Epson Corporation 2021-2022
Safety Manual Rev.5 i

FOREWORD
Thank you for purchasing our robot products.
This manual contains precautions 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 and reread it when you find
anything
unclear.
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its
compliance with
our high performance standards. Please note that the basic performance of the
product will not be exhibited if our robot system is used outside of the usage
conditions and product specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be
sure to comply with safety precautions on this manual to use our robot system safety
and correctly.
ii Safety Manual Rev.5

EU Directive Compliance Precautions (Official Language)
In the EU official languages, the manual for this product is only available in English.
Précautions de conformité à la directive UE (langue officielle)

Dans les langues officielles de l'UE, le manuel de ce produit n'est disponible qu'en
anglais.
Precauzioni relative alla conformità alla direttiva UE (lingua ufficiale)

Nelle lingue ufficiali dell'UE, il manuale di questo prodotto è disponibile solo in
inglese.
Maßnahmen zur Einhaltung der Anforderungen der EU-Richtlinie

(Offizielle Sprache)
In den offiziellen Sprachen der EU ist das Benutzerhandbuch für dieses Produkt nur
in Englisch verfügbar.
Precauciones de cumplimiento de las directivas UE (idioma oficial)

En los idiomas oficiales de la UE, el manual de este producto solo está disponible
en inglés.
Precauções de Conformidade com a Diretiva da UE (Idioma Oficial)

Nos idiomas oficiais da UE, o manual deste produto está disponível apenas em
inglês.
Opmerkingen over overeenstemming met de EU-richtlijn (officiële taal)

In de officiële EU-talen is de handleiding voor dit product alleen beschikbaar in het
Engels.
Safety Manual Rev.5 iii

TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or
trademarks of Microsoft Corporation in the United States and/or other countries.
Other brand and product names are trademarks or registered trademarks of the
respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any
comments regarding its contents.
MANUFACTURER
3-3-5 Owa, Suwa-shi, Nagano, 392-8502

URL : global.epson.com/company/
: www.epson.jp/prod/robots/
Toyoshina Plant
Manufacturing Solutions Operations Division
6925 Toyoshina Tazawa,
Azumino-shi, Nagano, 399-8285
Japan
TEL : +81-(0)263-72-1530
FAX : +81-(0)263-72-1685
iv Safety Manual Rev.5

IMPORTERS
Importer for the EU EPSON EUROPE B.V.
Azie building, Atlas ArenA, Hoogoorddreef 5, 1101 BA
Amsterdam Zuidoost The Netherlands
TEL : +31-20-314-5000
FAX : +31-20-314-5010
Importer for the UK EPSON (U.K.) LIMITED

Westside, London Road, Hemel Hempstead, Hertfordshire,
HP3 9TD, U. K
TEL : +44-1442-261144
FAX : +44-1442-227227
CONTACT INFORMATION
SUPPLIERS (Country/Region)
North & South Epson America, Inc.
America
Factory Automation/Robotics
3131 Katella Ave., Los Alamitos, CA 90720,
U.S.A
TEL : +1-562-981-3840
FAX : +1-562-981-5220
E-MAIL : [email protected]
Safety Manual Rev.5 v

Europe Epson Deutschland GmbH
Manufacturing Solutions
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
TEL : +49-(0)-2159-538-1800
FAX : +49-(0)-2159-538-3170
URL : www.epson.de/robots
China Epson (China) Co., Ltd.
Robotics Division
4F, Tower 1, China Central Place,
81 Jianguo Road, Chaoyang District,
Beijing, 100025, PRC
TEL : +86-(0)-10-8522-1199
FAX : +86-(0)-10-8522-1125
vi Safety Manual Rev.5

Taiwan Epson Taiwan Technology & Trading Ltd.
Manufacturing Solutions Business Unit

15F, No.100, Song Ren Road, Sinyi Dist. Taipei City 11073,
Taiwan, R.O.C.
TEL : +886-(0)-2-8786-6688
FAX : +886-(0)-2-8786-6600
URL : https://www.epson.com.tw/robot-tech#
INQUIRY : https://www.epson.com.tw/contactrobot
WEB PAGE
Korea Epson Korea Co., Ltd.

MS Business Team
10F Posco Tower Yeoksam, Teheranro 134(Yeoksam-dong)
Gangnam-gu, Seoul, 06235
Korea
TEL : +82-(0)-2-3420-6632
FAX : +82-(0)-2-558-4271
URL : www.epson.co.kr
Southeast Asia Epson Singapore Pte. Ltd.

Factory Automation System
438B Alexandra Road,
Block B Alexandra TechnoPark, #04-01/04,
Singapore 119968
TEL : +65-(0)-6586-5500
FAX : +65-(0)-6271-7066
Safety Manual Rev.5 vii

India Epson India Pvt. Ltd.
Sales & Marketing (Factory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008
TEL : +91-80-4566-5000
FAX : +91-80-4566-5005
Japan Epson Sales Japan Corporation

JR Shinjuku Miraina Tower, 4-1-6
Shinjuku, Shinjuku-ku, Tokyo 160-8801
Japan
Implementation and Business negotiation support
TEL : +81-(0)3-5919-5257
Engineering and Repair support
TEL : +81-(0)42-847-3035
URL : www.epson.jp/products/robots/
viii Safety Manual Rev.5

DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations
of each country.
Regarding battery disposal

The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For European Union customers only
The crossed out wheeled bin label that can be found on your product indicates that
this product and incorporated batteries should not be disposed of via the normal
household waste stream. To prevent possible harm to the environment or human
health please separate this product and its batteries from other waste streams to
ensure that it can be recycled in an environmentally sound manner. For more details
on available collection facilities please contact your local government office or the
retailer where you purchased this product. Use of the chemical symbols Pb, Cd or
Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to

DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries
and accumulators and repealing Directive 91/157/EEC and legislation transposing
and implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the
possibility of recycling your product.
Safety Manual Rev.5 ix

For Taiwanese customers only
Please separate used batteries from other waste streams to ensure that it can be
recycled in an environmentally sound manner. For more details on available
collection facilities please contact your local government office or the retailer where
you purchased this product.
For California customers only

The lithium batteries in this product contain
Perchlorate Material - special handling may apply,
See www.dtsc.ca.gov/hazardouswaste/perchlorate.
x Safety Manual Rev.5

Table of Contents
Table of Contents
Safety of This Product........................................................................ 1

Usage and Purpose of This Product.......................................... 1
Installation Environment ............................................................ 1
Residual Risk ............................................................................ 2
Declaration of Conformity .......................................................... 2
Safety Requirements ................................................................. 2
Safety Precautions ............................................................................. 4
Conventions .............................................................................. 4
Precautions for Unpacking, Transportation, and Relocation...... 4
Precautions for Design and Installation ..................................... 5
Precautions for Operation ........................................................ 11
Precautions for Maintenance................................................... 15
Warning labels......................................................................... 17
Controller ........................................................................ 18
Manipulator ..................................................................... 23
For GX series .................................................................. 50
Safety Features ....................................................................... 55
Emergency Stop Switch .................................................. 55
Safety Door Input ............................................................ 55
Protection Features ................................................................. 56
Low Power Mode ............................................................ 56
Dynamic Brake................................................................ 56
Motor Overload Detection ............................................... 56
Irregular Motor Torque (out-of-control Manipulator) Detection
....................................................................................... 56
Motor Speed Error Detection .......................................... 56
Positioning Overflow - Servo Error - Detection................ 56
Speed Overflow - Servo Error - Detection....................... 57
CPU Irregularity Detection .............................................. 57
Memory Check-sum Error Detection ............................... 57
Overheat Detection at the Motor Driver Module .............. 57
Relay Deposition Detection ............................................. 57
Over-Voltage Detection ................................................... 57
Power Supply Voltage Drop Detection ............................ 57
Temperature Anomaly Detection ..................................... 57
Fan Malfunction Detection .............................................. 57
Training ............................................................................................ 58
Training Held by Persons in Charge of Safety Management ... 58
Knowledge and Training You Need for Operating the Robot
System .................................................................................... 59
Safety Manual Rev.5 xi

Table of Contents
The Manuals of This Product .................................................. 60

Manual Types .................................................................................. 60
How to Read the Manuals ....................................................... 62
Installing the Software and Manuals ....................................... 62
Outline from Unpacking to Operation of Robot System ................... 63
China RoHS ..................................................................................... 64
xii Safety Manual Rev.5

Safety of This Product

Usage and Purpose of This Product
The usage and purpose of this product is transporting and assembling parts in an
isolated safety area.
Installation Environment
For using the robot system function properly and safely, a suitable environment is
required. Install the robot system in a location meets the following conditions.
Item Condition
Ambient Installation 5 to 40°C
temperature VT, T, T-B, LS-B, G, C,
GX,
−20 to 60°C
Transportation RC700-D, RC700-A,
or Storage RC700, RC90-B
−25 to 55°C RS
0 to 45°C N
VT, LS-B, G, RS, C8,
Ambient relative 10 to 80%
C12, GX
humidity Installation T, T-B, N, C4,
(no condensation) 20 to 80% RC700-D, RC700-A,
RC700, RC90-B
VT, T, T-B, LS-B, G,
RS, C, GX,
Transportation 10 to 90%
RC700-D, RC700-A,
or Storage
RC700, RC90-B
10 to 80% N
Fast transient
1 kV or less (signal wire)
burst noise
Electrostatic noise 4 kV or less
Elevation 1000 m or less VT, T, T-B, LS-B, G, RS, C, N
RC700-A, RC700, RC90-B
GX
2000 m or less
RC700-D
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 shock or vibration
- Keep away from sources of electric noise
- Keep away from explosive area
- Keep away from a large quantity of radiation
Safety Manual Rev.5 1

Residual Risk
For the residual risk of our Manipulator or controller, check the warnings or cautions
in each item of each chapter.
Declaration of Conformity
For the directives and standards of each country which this product complies with,
check the attached Declaration of Conformity.
Safety Requirements
Specific tolerances and operating conditions for safety are contained in the manuals
for the Manipulator, 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 systems safety standards and other
examples are given in this chapter. Therefore, to ensure that safety measures are
complete, please refer to the other standards listed as well.
(Note: The following is only a partial list of the necessary safety standards.)
ISO 10218-1 Robots and robotic devices -- Safety requirements for industrial
robots -- Part 1: Robots
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
ISO 12100 Safety of machinery -- General principles for design -- Risk

assessment and risk reduction
ISO 13849-1 Safety of machinery -- Safety-related parts of control systems -- Part

1: General principles for design
ISO 13850 Safety of machinery -- Emergency stop function-- Principles for

design
ISO 13855 Safety of machinery -- Positioning of safeguards with respect to the

approach speeds of parts of the human body.
ISO 13857 Safety of machinery -- Safety distances to prevent hazard zones

being reached by upper and lower limbs.
2 Safety Manual Rev.5

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
CISPR11 Industrial, scientific and medical (ISM) radio-frequency equipment

-- Electromagnetic disturbance characteristics -- Limits and
methods of measurement
IEC 61000-6-2 Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards

-- Immunity for industrial environments

Safety Precautions
Safety Precautions
This chapter describes precautions for using the robot system safely. Before using
the robot system, be sure to read the descriptions.
In the descriptions of this chapter, the word “Controller” indicates Drive Unit as
well.
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
Precautions for Unpacking, Transportation, and Relocation

Unpacking, transportation, and relocation of Manipulator and robotic equipment
shall be performed by personnel who has taken robot system training held by us and
suppliers and should conform to all national and local codes. Follow the safety
precautions below.
■ When transporting the Manipulator, please transport it with a dolly
etc. as it was delivered. Do not carry with the end effector or
peripherals attached. Loss of balance can cause the Manipulator to
fall, it is extremely hazardous and may result in serious bodily injury
and/or severe equipment damage to the robot system.
■ Only qualified personnel should perform sling work and operate a
crane or forklift. When these operations are performed by unqualified
WARNING personnel, it is extremely hazardous and may result in serious bodily
injury and/or severe equipment damage to the robot system.
■ 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 Precautions
■ People involved in the work should wear personal protective

equipment such as a helmet when transporting. Also, make sure there
are no other people around.
WARNING
■ Avoid excessive vibration or shock during Manipulator transporting.

Excessive vibration or shock may cause equipment damage to and/or
malfunction of the Manipulator.
■ When removing the anchor bolts, support the Manipulator to prevent
falling. Removing the anchor bolts without supporting the Manipulator
may get hands or feet caught as the Manipulator will fall.
■ Do not remove the wire tie securing the arm until you finish the
CAUTION installation. You may get your hands caught in the Manipulator when
the wire tie is removed before completing the installation.
■ To transport the Manipulator, secure it to the delivery equipment, or
transport it while following the method and number of people
described in Manipulator manual. If there is an area where holding is
restricted, do not hold that area.
Precautions for Design and Installation

The robot system should be designed and installed by personnel who has taken robot
system training held by us and suppliers. Also, follow the safety precautions below.
■ Personnel who design and/or construct the robot system with this
product must read this manual 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 robot system must be used within the environmental conditions
described in their respective manuals. This product has been designed
and manufactured strictly for use in a normal indoor environment.
WARNING 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.

Safety Precautions
■ When designing or installing a robot system, wear at least the following

protective gear. Working without protective gear may cause serious
safety problems.
- Work clothes suitable for work
- Helmet
- Safety shoes
■ This product is intended for transporting and assembling parts in an
isolated safety area. Be sure to install a safeguard by referring the
standards described in “Safety Requirements” in this manual to ensure
safety. Failure to install a safeguard may be extremely hazardous and
may result in serious bodily injury and/or severe equipment damage to
the robot system.
■ 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. (I.E. the condition where the
switch is disabled) (Example: Tape is put around the switch to hold it
closed.) Operating the robot system when the switch is not functioning
properly is extremely hazardous and may cause serious safety
problems as the Safety Door input cannot fulfill its intended function.
■ Be sure to install an emergency stop device that allows the operator to
stop the system immediately. Failure to install an emergency stop
device may be extremely hazardous may result in serious bodily injury
WARNING and/or severe equipment damage to the robot system.
■ When connecting an emergency stop or a safety input signal such as a
Safety Door to the EMERGENCY connector, make sure that the
emergency stop of the teach pendant connected to the TP port works.
■ Install the Manipulator at a location with enough 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 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.
Set the distance between the safeguard and the tool or workpiece
according to ISO10218-2. For the free running time and free running
distance, refer to the manipulator manual “Appendix B: Time and
Distance of Free Running in Emergency” and “Appendix C: Time and
Distance of Free Running When Safeguard Is Opened”.
■ 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.

Safety Precautions
■ Keep away from the Manipulator while the power is ON if you have not
taken a training. 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. In addition, establish a safe
working procedure to prevent danger due to unexpected movement of
the Manipulator or wrong operation by the operator, and work according
to the procedure.
■ 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.
■ 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.
■ Do not use Manipulator near the equipment developing strong
WARNING
electromagnetic forces. It may cause malfunction or failures with
Manipulator.
■ Do not use Manipulator where there is a risk of Electromagnetic
Interference, Electro-Static Discharge, Radio-Frequency Interference.
It may cause malfunction with Manipulator.
■ Do not use Manipulator in a place exposed to flammable liquids such
as flammable gases, flammable dust, gasoline, and solvents that may
explode or catch fire. There is a risk of injury, serious accident
including death, or fire.
■ Do not close your hand or fingers to moving part of Manipulator. There
is a risk of getting injured by pinching your hands.
■ Do not install the robot controller upside down or at an angle.
■ For protection model:
Connect the power cable connecter and the signal cable connector to
the connector plate immediately after the Manipulator installation. The
Manipulator without connecting them cannot ensure IP65. Also, it may
result in electric shock and/or malfunction of the robot system as it.

Safety Precautions
■ Be sure to use a power plug or disconnecting device for the power

cable. Do not connect it directly to the factory power supply.
■ Do not open the cover(s) of the Controller or the Manipulator except
while maintaining it. Opening the cover(s) of the Controller is extremely
hazardous and may result in electric shock even when its main power
is OFF because of the inside high voltage charge unit.
■ Make sure that the power to the robot system is turned OFF before
connecting or disconnecting any cables. Connecting or disconnecting
any cables with the power ON is extremely hazardous and may result
in electric shock and/or malfunction of the Controller.
■ Be sure to connect the cables with securely protected the high voltage
unit to the Controller 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.
■ When connecting the plug to fit the outlet in your factory, make sure
that it is done by qualified personnel. When connecting the plug, be
sure to connect the earth wire of the AC power cable colored
green/yellow on the Controller to the earth terminal of the factory power
WARNING supply. The equipment must always be grounded properly to avoid the
risk of electric shock.
■ Use an earth leakage breaker on the AC power cable of the Controller
and T/VT series to avoid the electric shock and circuit breakdown.
■ The installation of options should be performed by personnel who has
taken robot system training held by us and suppliers. Before installing,
always make sure that the main power of the robot system is turned
OFF and that the power plug is disconnected. Performing any
installation procedure while the main power is ON or the high voltage
charged area is not discharged completely is extremely hazardous and
may result in electric shock and/or cause serious safety problems.
■ When opening the front side of the Controller, make sure to disconnect
the power plug. Touching the power supply terminal block inside the
Controller while the power supply is ON is extremely hazardous and
may result in electric shock and/or cause serious safety problems.
■ Grounding the Manipulator is done by connecting with the Controller
(for T/VT series, connected with power cable). Be sure to install the
controller and connect the cables. If the ground wire is improperly
connected to ground, it may result in the fire or electric shock.

Safety Precautions
■ Before wiring, turn OFF the Controller and related equipment, and then
pull up a warning sign (e.g. DO NOT TURN ON THE POWER.). Wiring
with the power ON is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.
■ When with the brake release unit or the external short connector:
When connecting / replacing the brake release unit or the external
short connector, turn OFF the power to the Controller and the brake
release unit. Inserting and removing the connector while the power is
ON may result in electrical shock.
■ Do not touch the terminals. It may cause electric shock, product
damage, or malfunction.
■ For DC specification Manipulator:
WARNING
When using DC specification Manipulator, do not connect to AC
power source.
Connecting to AC power source is extremely hazardous and may
result in electric shock and/or malfunction of the robot system.
■ For DC specification Manipulator:
When using DC specification Manipulator and connecting to DC
power source such as battery, be careful of polarity. If connecting
Manipulator cable to wrong polarity, it may result in malfunction of
the robot system. For details on connection, refer to each
Manipulator manual.
■ The serial number of the Manipulator that should be connected is

indicated on the Connection Check Label on the Controller. Connect
the Controller and the Manipulator correctly. Improper connection
between the Controller and the Manipulator may cause not only
improper function of the robot system but also safety problems.
■ When using remote I/O, always make sure of the followings. Using the
robot system under unsatisfactory conditions may cause malfunction of
the system and/or safety problems.
- Assign remote functions to inputs/outputs correctly and wire
CAUTION correctly when setting up remote I/O signals.
- Make sure that the functions correspond to the correct input/output
signals before turning ON the system.
- When verifying the robot system operation, prepare for failures with
initial settings or wiring. If the Manipulator functions unusually by
the failures with initial settings or wiring, press the Emergency Stop
switch immediately to stop the Manipulator.

Safety Precautions
■ The Manipulator must be installed to avoid interference with buildings,

structures, utilities, other machines and equipment that may create a
trapping hazard or pinch points.
■ Oscillation (resonance) may occur during operation depending on
rigidity of the installation table. If the oscillation occurs, improve rigidity
of the table or change the speed or acceleration and deceleration
settings.
■ 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.
■ Wall mounting and ceiling mounting:
When mounting the Manipulator on a wall or ceiling, secure the
Manipulator to the wall or ceiling that has enough strength and
rigidity. Mounting the Manipulator on a wall or ceiling that has
insufficient strength and rigidity is extremely hazardous and may
result in serious bodily injury and/or severe equipment damage to
the robot system as the Manipulator may fall or vibrate.
■ Wall mounting and ceiling mounting:
When mounting the Manipulator on a wall or ceiling, for safety
purposes, attach the support to the Manipulator base to prevent the
CAUTION Manipulator from falling. If the Manipulator falls, it is extremely
hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system.
■ When cleaning the Manipulator, do not rub it strongly with alcohol or
benzene.
It may lose luster on the coated face.
■ Be careful not to let machining dust, wire cut wastes or contamination
get inside the robot controller. They can cause malfunctions and fire.
■ Do not subject the connector to shocks or loads when connecting

cables.
■ Do not pull the cables forcibly when disconnecting cables.
■ Make sure that the serial numbers on each equipment match. Improper
connection may not only cause improper function of the robot system
but also safety problems.
■ 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.

Safety Precautions
If the Manipulator is operated without connecting the brake release
unit or the external short connector, the brakes cannot be released,
and it may cause damage on them.
After using the brake release unit, be sure to connect the external
short connector to the Manipulator, or check connection of the
connector for the brake release unit.
CAUTION
■ Install the controller at a height of 0.4 to 2m above the floor to maintain
easily.
■ Install a power-off switch at a height of 0.6 to 1.9m.
Precautions for Operation

The following items are safety precautions for qualified Operator personnel:
■ 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.
■ When the Manipulator stops for unknown reasons during automatic
operation, never approach the Manipulator. If you need to approach
the Manipulator, press the Emergency Stop switch or turn OFF the
main power before approaching. When turning OFF the main power,
be careful not to create a new hazard.
■ When you abort a program and restart the robot system during
automatic operation, be sure not to create a new hazard in peripherals,
then start the program.
■ Before operating the robot system, make sure that no one is inside the
WARNING safeguarded area. When the Manipulator moves unexpectedly, it may
result in serious safety problems.
■ For teaching and start-up work, set the robot system in teach mode.
After placing the Emergency Stop switch in a position to press any
time, work. The Manipulator may move unexpectedly due to wrong
operation, it may result in serious safety problems.
■ 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.

Safety Precautions
■ 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. (I.E. the condition where the
switch is disabled) (Example: Tape is put around the switch to hold it
closed.) Operating the robot system when the switch is not functioning
properly is extremely hazardous and may cause serious safety
problems as the Safety Door input cannot fulfill its intended function.
■ If a person is caught or trapped in the manipulator due to a malfunction
or abnormality, use the brake release function to move the manipulator
and escape.
SCARA robot:
For joints without electromagnetic brakes, just move them by hand.
For joints with brakes (Joint #3 only, or Joints #3 and #4), with the
main power of the controller turned on, press the brake release
switch on the Manipulator to move the Manipulator by hand.
6-Axis robot:
With brake release unit:
Use the brake release unit to release the electromagnetic brake of
the Manipulator and operate the Manipulator by your hand. Be
careful of the arm falling and rotation due to its own weight.
Without brake release unit:
WARNING Release the electromagnetic brake of the Manipulator from the
EPSON RC+ command window and move the Manipulator by your
hand. Be careful of the arm falling and rotation due to its own weight.
■ If mounting Manipulator on the mobile platform (Cartesian coordinate
robot, wheeled platform, AGV, etc.) and pressing Emergency Stop
switch to stop Manipulator, be sure to design the system that the
mobile platform also stops. If the mobile platform does not stop and it
keeps moving, it is extremely hazardous and may result in serious
bodily injury and/or severe equipment damage to the robot system,
and may cause serious safety problems.
■ Do not operate Manipulator when the mobile platform (Cartesian
coordinate robot, wheeled platform, AGV, etc.) is moving. When using
Manipulator, it must be surrounded by the safeguards. Operating
Manipulator while the mobile platform is moving may result in serious
bodily injury and/or severe equipment damage to the robot system.
■ Do not touch Manipulators or controllers when operating. They can get
hot in operation and can cause burns.
■ When working inside the safeguard, use the teaching operation mode
(low speed, low power).

Safety Precautions
■ To shut off power to the robot system, disconnect the power plug from
the power source.
■ Do not open the cover(s) of the Controller or the Manipulator except
while maintaining it. Opening the cover(s) of the Controller is extremely
hazardous and may result in electric shock even when its main power
is OFF because of the inside high voltage charge unit.
WARNING
■ Do not touch or operate the robot controller with wet hands. Touching
or operating with wet hands may cause an electric shock or
malfunction.
■ When operating the Manipulator, make sure that:

- No one is inside the safety guard of the Manipulator
- The Manipulator and related equipment are not in an abnormal state
■ 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.
■ SCARA robot
Joint #1, #2, and #4:
If the joints are operated repeatedly with the operating angle less
than 5 degrees, the Manipulator may get damaged early due to the
bearings are not being covered with grease during movement. To
prevent early breakdown, move each joint larger than 50 degrees for
about once an hour.
Joint #3:
If the up-and-down motion of the hand is less than 10 mm, move the
joint a half of the maximum stroke for about once an hour.
CAUTION
■ 6-Axis robot
Each Joint:
If the joints are operated repeatedly with the operating angle less
than 5 degrees, the Manipulator may get damaged early due to the
bearings are not being covered with grease during movement. To
prevent early breakdown, move each joint larger than 30 degrees for
about once an hour.
■ Vibration (resonance) may occur continuously depending on the
combination of robot motion speed, Arm orientation, and end effector
load of the Manipulator. Vibration arises from natural vibration
frequency of the Arm and can be controlled by following measures.
- Changing the Manipulator speed
- Changing the teach points
- Changing the end effector load

Safety Precautions
■ When mounting Manipulator on the mobile platform, be sure to stop

Manipulator while the mobile platform is in operation. Manipulator
stops when motors on all axes are turned OFF (servo free status). If
you cannot turn OFF the motor, set power mode to “Low” and perform
exclusive control of mobile platform and Manipulator so that they do
not move simultaneously.
■ 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.
■ SCARA robot:
While pressing the brake release switch, be careful of the arm
falling and rotation of the hand due to its own weight. It may cause
pinching of fingers, damage to the manipulator, or malfunction.
■ 6-Axis robot:
Normally, release the brake of joints one by one. Take extra care if
you need to release the brakes of two or more joints
simultaneously. Releasing the brakes of two or more joints
simultaneously may result in hands or fingers being caught and/or
equipment damage to or malfunction of the Manipulator as the arms
of the Manipulator may move in unexpected directions.
CAUTION
■ 6-Axis robot:
After releasing the brake, the arm may fall by its own weight or
move to the unexpected direction. Make sure to prepare a
countermeasure to prevent the arm from falling and check the
operation environment is safe.
■ 6-Axis robot:
Before releasing the brake, be sure to keep the Emergency Stop
switch handy so that you can immediately press the Emergency
Stop switch. Otherwise, you cannot immediately stop the arm falling
due to an erroneous operation. The arm falling may cause
equipment damage to and/or malfunction of the Manipulator.
If the Manipulator is operated without connecting the brake release
unit or the external short connector, the brakes cannot be released,
and it may cause damage on them.
After using the brake release unit, be sure to connect the external
short connector to the Manipulator, or check connection of the
connector for the brake release unit.

Safety Precautions
Precautions for Maintenance

Read this chapter carefully to understand safe maintenance procedures before
performing any maintenance.
Only personnel who has taken maintenance training held by us and suppliers should
be allowed to perform the maintenance of robot system.
■ Do not remove any parts unless otherwise instructed by maintenance
manual. Follow the maintenance procedure strictly as described.
Improper removal of parts or improper maintenance may cause not
only malfunction of the robot system but serious safety problems.
■ If you have not received training, keep away from the Manipulator while
the power is ON. Do not enter the operating area while the power is
ON. Entering the operating area with the power ON is extremely
hazardous and may cause serious safety problems as the Manipulator
may move even it seems to be stopped. In addition, establish a safe
working procedure to prevent danger due to unexpected movement of
the Manipulator or wrong operation by the operator, and work
according to the procedure.
■ When you check the operation of the Manipulator after replacing parts,
be sure to check it while you are outside of the safeguarded area.
Checking the operation of the Manipulator while you are inside of the
safeguarded area may cause serious safety problems as the
WARNING Manipulator may move unexpectedly.
■ Before operating the robot system, make sure that both the Emergency
Stop switches and safeguard switch function properly. Operating the
robot system when the switches do not function properly is extremely
hazardous and may result
in serious bodily injury and/or serious damage to the robot system as
the switches cannot fulfill their intended functions in an emergency.
■ When touching the terminal on the outside of the controller or
connector for maintenance, turn OFF the Controller and shut off power
supply to prevent electric shock.
■ Be sure to shut off the power supply before cleaning or tightening the
terminal screws. Failure to shut off all phases may result in electric
shock, product damage, or malfunction.

Safety Precautions
■ To shut off power to the robot system, disconnect the power plug from
the power source.
■ Before performing any replacement procedure, display a sign (ex.
“Work in progress”), turn OFF the robot system 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 connector while the power is
ON. The manipulator may malfunction which is extremely hazardous.
Also, when you work while the power is ON, it may result in electric
WARNING shock or malfunction.
■ Be sure to connect the cables with securely protected the high voltage
unit to the Controller 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.) It may result in damage to the cables,
disconnection, and/or contact failure. These are 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 instructions below. Careless use of alcohol, liquid
gasket, or adhesive may cause a fire and/or safety problem.
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 oil-
resistant gloves.
CAUTION
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 Precautions
■ 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 water
thoroughly.
CAUTION 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.
■ Secure about 50 cm of spaces around the Manipulator when
performing maintenance of Manipulator.
Warning labels
Warning labels and 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.

Safety Precautions
Controller
Location Warning label Note

Hazardous voltage exists while the
Manipulator is ON.
Do not open the cover for 300
1 seconds after the Power is OFF.
There is a risk of electric shock due
to the residual voltage. Disconnect
and lockout main power before
performing maintenance and repair.
Residual voltage exists. To avoid
electric shock, do not open the
A cover while the Power is ON, or for
5 minutes after the Power is OFF.

Safety Precautions

Disconnect and lockout main power
before performing maintenance and
repair.
Do not connect the followings to the

TP port of the controller. Connecting
to the followings may result in
malfunction of the device because pin
1
assignments are different.
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
C Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1
2
D Hazardous voltage exists while the

Manipulator is ON.

Safety Precautions

A label with the battery type.
1
The product name, model name, serial

number, information which laws and
regulations are supported, product
specifications, manufacturer, importer,
2 - date of manufacture, country of
manufacture, etc. are listed.
For details, see the label affixed to

the product.
3 Serial number of Controller are printed.
Labeling position: RC90-B Control Unit

C1 A1
2

Safety Precautions
Labeling position: RC700 Control Unit

C1 A1
2
Labeling position: RC700-A Control Unit

C1 A1
Labeling position: RC700-D Control Unit

C1 A1

Safety Precautions
Labeling position: RC700-A-UL/RC700-D-UL Control Unit

C2 A2 B
2
Labeling position: RC700DU / RC700DU-A Drive Unit

A2
2
Labeling position: RC700DU-A-UL Drive Unit

A2 B

Safety Precautions
Manipulator

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 Manipulator.
For installation and transportation
of robots, follow the directions of
each robot manuals.
To avoid the Manipulator from

falling, support the Manipulator
before removing the base
mounting screws.
For installation and transportation
of robots, follow the directions of
each robot manuals.

Safety Precautions

Do not enter the operation area
while the Manipulator is moving.
The robot arm may collide against
the operator. This is extremely
hazardous and may result in
serious safety problems.
Hazardous voltage exists while

the Manipulator is ON.

Safety Precautions

You can catch your hand or
fingers between the shaft and
cover when bringing your hand
close to moving parts.
Manipulators with bellows do not
have this label since there is no
danger of being your hand or
fingers caught.
You can catch your hand or

fingers when bringing your hand
D close to moving parts.

Safety Precautions

When releasing the brakes, be
careful of the arm falling and
rotation due to its own weight.
This label is attached on the
Manipulator and optional brake
release unit as well.
When releasing the brakes, be

careful of the arm falling / rotation
due to its own weight.

Safety Precautions

Only authorized personnel should
perform sling work and operate a
crane.
When these operations are
performed by unauthorized
personnel, it is extremely
serious bodily injury and/or severe
equipment damage to the robot
system.

Safety Precautions

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

Safety Precautions

HOT
Be careful not to burn yourself.
Do not connect the followings to the

TP port of the controller that
attached this label. Connecting to
the followings may result in
malfunction of the device because
pin assignments are different.
H
OPTIONAL DEVICE dummy plug
Operation Pendant OP500
Operator Pendant OP500RC
Jog Pad JP500
Teaching Pendant TP-3**
Operator Panel OP1
Location Label Note

The product name, model name,
serial number, information which
laws and regulations are supported,
product specifications,
1 manufacturer, importer, date of
-
manufacture, country of
manufacture, etc. are listed.
For details, see the label affixed to
the product.

Safety Precautions
Location of Labels: G1
1 A
B C
C
(UL: F)
(UL: B)

Safety Precautions
Common
A D
D
C E
Table Top Mounting

1 B
C
G
Multiple Mounting
B
C 1

Safety Precautions
Common
E
C
D
D
Table Top Mounting:
F C
B
A 1
Ceiling Mounting
1 F
B A C
Wall Mounting
C
1 F
C
B A

Safety Precautions
Location of Labels: G10/G20

Common
E C
D
D
Table Top Mounting:

F
B
C
(UL: F) A
1
Ceiling Mounting
F
B
C
(UL: F) A
1
Wall Mounting
1 F
(UL: F)
B
A

Safety Precautions
Location of Labels: LS3-B
D 1
A
C 1
C
D
B
C
D
A
1

Safety Precautions
A
C
B C

Safety Precautions
E C
F A

Safety Precautions
Location of Labels: T3
D
C
D H
A C C
C
1
B
C C

Safety Precautions
Location of Labels: T6
C
D
D
H
C C
A C
1
B

Safety Precautions
Location of Labels: T3-B
D
C
D H
A C C
C
1
B
C C

Safety Precautions
Location of Labels: T6-B
D C
D
H
C C
A C
1
B

Safety Precautions
Location of Labels: RS3
C C
C A
C
B B
(UL: F)
E
D

Safety Precautions
Location of Labels: RS4
C C
C A
B B
(UL: F)
(Figure: RS3-351*)

Safety Precautions
Location of Labels: C4
C
C
C C
1
E B
A F
E: This label is attached on the UL-approved Manipulators and the optional brake release unit as
well.

Safety Precautions
C
C8-A1401*B
C
C G
C C
D
C C
F E 1
C G B
C8-A1401**
A
well.

Safety Precautions
C
C
C12-A1401*B
C
C G
C C
D
C
F E C
1
G
B
C12-A1401**
A
well.

Safety Precautions
Location of Labels: N2
C
E C C
G
A
C
B C
G G
C D
C
C
well.

Safety Precautions
Location of Labels: N6-A850***
C C
G
C C
C
G
G D 1
B A
E
well.

Safety Precautions
Location of Labels:N6-A1000**
G
C
G
C C
G D
E
1
F
B
A
C
G
well.

Safety Precautions
Location of Labels: VT
C
C
E 1
B
C
A
F VT6-A901S/C
VT6-A901P
C

Safety Precautions
For GX series
Position Warning label NOTE
Hazardous voltage exists while the

A
Manipulator is ON.
The surface of the Manipulator is hot

B during and after operation, and there is a
risk of burns.
Position Warning label NOTE

The product name, model name, serial number,
information which laws and regulations are supported,
1 - product specifications, manufacturer, importer, date of
manufacture, country of manufacture, etc. are listed.
Refer to the attached label for more details.
2 Indicates position of break release button.
3 Indicates position of screw hole for eyebolt mounting

Safety Precautions
Location of Labels GX4

Common (Arm 2)
2
B2
Table Top Mounting
1 B1 A
Table Top Mounting (Cable Downward Model)
B1 A
1

Safety Precautions
Multiple Mounting
B1
1

Safety Precautions
Location of Labels GX8

Common (Arm 2)
2
B2
Table Top Mounting
A 3
B2
1

Safety Precautions
Table Top Mounting (Cable Downward Model)
B2 3
1
3
A
Wall Mounting
A
B2
Ceiling Mounting
B2
A
1

Safety Precautions
Safety Features
The following safety features which robot system has are particularly important.
Make sure that these and other features function properly before operating the robot
system.
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.
Use Emergency Stop Switch that has safety features more than PLd.
Safety features of Emergency Stop Input : Reference Standards ISO13849-1:2015
Category3, PLd
Stop category of Emergency Stop Input : Reference Standards IEC60204-1:2016
Category0: RC90-B, RC700, RC700-A,
T, T-B, VT
Category 1: RC700-D
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. Turning on the
Manipulator is available only when the enable switch is on. In this case, the
Manipulator is operated in low power status.
Use Emergency Stop Switch that has safety features more than PLd.
Safety features of Safety Door Input : Reference Standards ISO13849-1:2015

Category3, PLd
Stop category of Safety Door Input : Reference Standards IEC60204-1: 2016
Category1
Even when using a light curtain as a safety door, keep the operation-prohibited status
until the latched condition is released, as with the safety door.

Safety Precautions
Protection Features
The robot control system supports protection features described below. However,
these features are prepared for unexpected occurrence.
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.

Safety Precautions
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.
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 (or
Manipulator when you use T/VT series) is above the normal limit.
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 of the Controller (or Manipulator when you use T/VT series)
anomaly is detected.
Fan Malfunction Detection

Malfunction of the fan rotation speed is detected.

Training
Training
Training Held by Persons in Charge of Safety Management
Persons in charge of safety management should confirm that the operators who
program, operate, and maintain the Manipulator and robot system take proper
training. Also confirm that the operators 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.

Training
Knowledge and Training You Need for Operating the Robot System
Contents Knowledge and training you need
About robot system Take “Safety program for the industrial robot
operator” * that follows the laws and regulations of
each nation.
* “Safety program for the industrial robot operator”
must include:
- Knowledge of industrial robots.
- Knowledge of operations and teaching industrial
robots
- Knowledge of inspections.
- Knowledge of related rules/regulations.
Transportation procedure
To be qualified to perform sling work and operate a
(Sling work and operate a crane or crane or forklift
forklift)
Installing Power plug

To have expertise and skills for installing Power plug
(e.g. when installing power plug to for factory
the power socket of the factory.)
Installing Power cable To have expertise and skills for installing Power cable
Mounting option board or wall

mounting option to controller
Installing Fieldbus I/O module for To take maintenance training held by us and suppliers
T/VT series
Maintenance the robot system

The Manuals of This Product

Manual Types
The following are typical manual types for this product and an outline of the
descriptions.
Safety Manual (book, PDF)

This manual contains safety information for all people who handle this product. The
manual also describes the process from unpacking to operation and the manual you
should look at next.
Read this manual first.
- Safety precautions regarding robot system and residual risk
- Declaration of conformity
- Training
- Flow from unpacking to operation
RC700 series Manual (PDF): RC700, RC700-A

RC700-D Manual (PDF)
RC90 series Manual (PDF)
This manual explains the installation of the entire robot system and the
specifications and functions of the controller. The manual is primarily intended for
people who design robot systems.
- The installation procedure of the robot system (specific details from unpacking
to operation)
- Daily inspection of the controller
- Controller specifications and basic functions
xx series Manual (PDF) (xx: Manipulator series name)

This manual describes the specifications and functions of the Manipulator. The
manual is primarily intended for people who design robot systems.
- Technical information, functions, specifications, etc. required for the
Manipulator installation and design
- Daily inspection of the Manipulator

Status Code/Error Code List (PDF)

This manual contains a list of code numbers displayed on the controller and
messages displayed in the software message area. The manual is primarily intended
for people who design robot systems or do programming.
RC700 series Maintenance Manual (PDF): RC700, RC700-A

RC90 series Maintenance Manual (PDF)
xx series Maintenance Manual (PDF) (xx: Manipulator series name)
This manual describes the details of maintenance etc. The manual is intended for
people who perform maintenance.
- Daily inspection
- Replacement and repair of maintenance parts
- The method of firmware update and controller setting backup etc.
Manuals about Maintenance for RC700-D series does not come with the products.
Only authorized personnel who have taken maintenance training held by the
manufacturer or dealer should be allowed to perform the robot maintenance. Please
contact the supplier of your region for more information.
EPSON RC+ 7.0 User’s Guide (PDF)

This manual describes general information about program development software.
EPSON RC+ 7.0 SPEL+ Language Reference (PDF)

This manual describes the robot programming language “SPEL+”.
Other Manual (PDF)

Manuals for each option are available.

How to Read the Manuals

The PDF manuals can be browsed on EPSON RC+ software.
To browse the PDF manuals on your PC,
select EPSON RC+ 7.0-[Help]-[PDF Manual].
(Click <Start>-[Program]-[EPSON RC+ 7.0] from the Windows desktop.)
Installing the Software and Manuals

(1) Insert the EPSON RC+ 7.0 Setup DVD which provided with products in the
DVD drive. Follow the instructions on the screen to enter information and
select the drive to install.
(2) When the dialog for selecting options is displayed, make sure [Manuals] is
checked, and then proceed to the next step.
NOTE
NOTE
■ The installation may take several minutes.

■ Manuals are provided in PDF. To refer to the manual, use the pre-
installed PDF viewer in Windows, or install a PDF viewer such as
Adobe Acrobat Reader.
(3) When the completion screen is displayed, the installation is complete.
NOTE
 ■ If you check the message asking you to restart, restart your PC.

Outline from Unpacking to Operation of Robot System
Outline from Unpacking to Operation of Robot System

This section describes outline from unpacking to operation of robot system.
1.Unpacking
2.Transportation
3.Installation
4.Power-on
5.Settings of EPSON RC+ 7.0
(First Step - For the first)
6.Connection and settings of peripherals and options
(Second Step – For the next)
Refer to the following PDF manuals for the details of 1 to 6 from your robot system.
RC700 series Manual (RC700, RC700-A)
RC700-D Manual
RC90 series Manual
T series Manual
T-B series Manual
VT series Manual
For how to read the manual, refer to the following.
This manual “The Manuals of This Product”
When an error occurs, pay attention to the followings.

NOTE
The error number displayed on the Controller or teach pendant can be a tip to find

NOTE
the cause of the abnormality. When an error occurs, be sure to write down the error
number and reset the error by referring to “Status Code / Error Code List”.
 When an abnormality is caused by our robot system and exceeds the range that the
customer can handle, please contact our service department (supplier).

China RoHS
China RoHS
This sheet and Environment Friendly Use Period label on the product are based on
the laws and regulations in China. These are not applicable outside of China.

China RoHS
产品中有害物质的名称及含量
C4 C8 C12 G1 G3 G6 G10 G20 LS-B
机器人型号名称适用系列
GX4 GX8 T T-B VT RS3 RS4 N2 N6 系列
有害物质
C4 C8 C12
G1 G6
G3 G10 G20
GX4
GX8
LS-B
T
VT
RS3 RS4
N2 N6
六价多溴多溴
部件名称铅汞镉
T-B
铬联苯二苯醚
(Pb) (Hg) (Cd) (Cr(VI)) (PBB) (PBDE)
机械手臂 × ○ ○ ○ ○ ○
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、电池板）
密封（密封垫
圈、油封、润
× ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √ √ √
滑脂封、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 × ○ ○ ○ ○ ○ - √ √ √ √ √ - - √ -
FPC单元 × ○ ○ ○ ○ ○ - - - - - - - - - √
扎带 ○ ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √ √ √
原点标记 ○ ○ ○ ○ ○ ○ - - - - - - - - - √
气管接头 × ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √ √ √
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本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 Environment Friendly Use Period label on the product are based on the laws and
regulations in China. These are not applicable outside of China.

China RoHS
C4 C8 C12 G1 G3 G6 G10 G20 LS-B
机器人型号名称 GX4 GX8 T T-B VT RS3 RS4 N2 N6 适用系列
系列
有害物质
C4
C8 C12
G1
G3 G6 G10 G20
GX4 GX8
LS-B
T
VT
RS3 RS4
N2
N6
六价多溴多溴
T-B
铅汞镉
铬联苯二苯醚
部件名称
制动解除单元 × ○ ○ ○ ○ ○ √ √ - - - - - - - √ √
相机安装板 × ○ ○ ○ ○ ○ √ √ - √ √ √ √ √ √ √ √
PS兼容板
× ○ ○ ○ ○ ○ √ - - - - - - - - √ √
（工具适配器）
底座侧固定金属
× ○ ○ ○ ○ ○ √ √ - - - - - - - - -
件
可调机械挡块 × ○ ○ ○ ○ ○ √ √ - - - - - √ - - -
MC短接连接
× ○ ○ ○ ○ ○ - √ - - - - - - - √ √
器
用户接头套件 × ○ ○ ○ ○ ○ √ √ - - - - - - - √ -
选用户连接器套
× ○ ○ ○ ○ ○ √ √ - - - - - - - √ √
件件
原点调整板 × ○ ○ ○ ○ ○ - - - - - - - - - √ -
地面支架 × ○ ○ ○ ○ ○ - - - - - - - - - √ -
配线引导装置 × ○ ○ ○ ○ ○ - - - - - - - - - √ -
兼容板 × ○ ○ ○ ○ ○ - - - - - - √ - - - -
相机板单元 × ○ ○ ○ ○ ○ - - - - - - - √ - - -
外部配线配套元
× ○ ○ ○ ○ ○ - - - - - - - √ - - -
件
工具适配器
× ○ ○ ○ ○ ○ - √ - - √ - - √ - √ √
(ISO法兰)
力传感器 × ○ ○ ○ ○ ○ √ √ - √ √ - - - √ √ √
关于适用于在中华人民共和国境内销售的本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。

China RoHS
RC700 RC700-A RC700DU RC700DU-A
控制器型号名称适用系列
RC700-D RC90-B T T-B VT系列
有害物质
RC700
RC700-A
RC700-D
RC700DU
RC700DU-A
RC90-B
VT
部件名称铅汞镉六价铬多溴联苯多溴二苯醚
T-B
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 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
布线单元 × ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √
接线端子 × ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √
紧急停止开关 × ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √
TP1 × ○ ○ ○ ○ ○ √ √ - - - √ - -
TP2 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
TP3 × ○ ○ ○ ○ ○ - √ √ - - - √ √
墙面安装金属件 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
Hot Plug Kit × ○ ○ ○ ○ ○ - √ √ - - - √ √
CK1 × ○ ○ ○ ○ ○ √ √ √ - - √ - -
CV1 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
CV2 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
选
件相机 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
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 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
力传感器
× ○ ○ ○ ○ ○ √ √ √ - - - - -
I/F(FC1,FC2)
USB选件密钥 × ○ ○ ○ ○ ○ √ √ √ - - √ √ √
VRT × ○ ○ ○ ○ ○ √ √ √ √ √ √ √ √

China RoHS
关于适用于在中华人民共和国境内销售的本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。

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Robot System

Seiko Epson Corporation 2021-2022

Safety Manual Rev.5 i

ii Safety Manual Rev.5

Précautions de conformité à la directive UE (langue officielle)

Precauzioni relative alla conformità alla direttiva UE (lingua ufficiale)

Maßnahmen zur Einhaltung der Anforderungen der EU-Richtlinie

Precauciones de cumplimiento de las directivas UE (idioma oficial)

Precauções de Conformidade com a Diretiva da UE (Idioma Oficial)

Opmerkingen over overeenstemming met de EU-richtlijn (officiële taal)

Safety Manual Rev.5 iii

3-3-5 Owa, Suwa-shi, Nagano, 392-8502

iv Safety Manual Rev.5

Importer for the UK EPSON (U.K.) LIMITED

Safety Manual Rev.5 v

China Epson (China) Co., Ltd.

vi Safety Manual Rev.5

Manufacturing Solutions Business Unit

Korea Epson Korea Co., Ltd.

Southeast Asia Epson Singapore Pte. Ltd.

Safety Manual Rev.5 vii

Japan Epson Sales Japan Corporation

viii Safety Manual Rev.5

Regarding battery disposal

For European Union customers only

This information only applies to customers in the European Union, according to

Safety Manual Rev.5 ix

For California customers only

x Safety Manual Rev.5

Safety of This Product........................................................................ 1

Safety Manual Rev.5 xi

The Manuals of This Product .................................................. 60

xii Safety Manual Rev.5

Safety of This Product

Safety Manual Rev.5 1

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

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

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

ISO 13855 Safety of machinery -- Positioning of safeguards with respect to the

ISO 13857 Safety of machinery -- Safety distances to prevent hazard zones

2 Safety Manual Rev.5

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

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

CISPR11 Industrial, scientific and medical (ISM) radio-frequency equipment

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

Safety Manual Rev.5 3

This symbol indicates that a danger of possible serious injury

This symbol indicates that a danger of possible harm to people

This symbol indicates that a danger of possible harm to people

Precautions for Unpacking, Transportation, and Relocation

4 Safety Manual Rev.5

■ People involved in the work should wear personal protective

■ Avoid excessive vibration or shock during Manipulator transporting.

Precautions for Design and Installation

Safety Manual Rev.5 5

■ When designing or installing a robot system, wear at least the following

6 Safety Manual Rev.5

Safety Manual Rev.5 7