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T4884 INFO: Steps to convert an Epson C3 six axis robot from table-mount to ceiling mount

Article ID: T4884
Date: 2/10/12
Product: EPSON C3 Robot

Steps to convert an Epson C3 six axis robot from table-mount to ceiling mount

Please refer to the C3 Robot Manual included in your Epson RC+ software:

Help pull-down menu – Manuals – C3 Robot Manual

Or download the latest PDF version from our website at robots.epson.com – Support – Downloads – Manuals

There are no mechanical changes to make when switching a C3 robot from table to ceiling-mount.  However, there are important changes to make in the Epson RC+ software and other important considerations to be aware of.

First, do a controller backup in case you wish to return to your original configuration.  To create a controller backup, open your Epson RC+ software and select:

Tools pull-down menu – Controller – click the Backup Controller button and click the OK button (keep the default location).

The next step is to back up your robot calibration data.  When you change the robot type in Epson RC+, the controller treats this as a new robot and all calibration data is lost.  To back up the robot calibration data, open your Epson RC+ software and select:

Setup pull-down menu – ControllerRobotCalibration.  Click the Save Cal button, then the Save button (keep the default directory location).

After backing up your calibration data, change the robot type from table-mount to ceiling-mount.  Please refer to the C3 Robot Manual to get the new model number as shown in the screenshot below:

 

To change the robot model, open your Epson RC+ software and select:

Setup pull-down menu – ControllerRobotModel

Select your new model number from the pull-down menu.  For example, if you currently have a C3-A601S table-mount robot, you will be changing your robot model to a C3-A601SR.  If you have a cleanroom model, you will be changing to a C3-A601CR.

Click the Apply button.  The controller will restart.  Leave the Setup Controller dialogue box open.

Now, verify the robot serial number and reload the calibration data by completing the following steps:

While still in the Setup Controller dialogue box, select Robot Configuration.  Verify the name of the robot is mnp01 and input the correct serial number of the robot (if not already loaded).  Leave the Setup Controller dialogue box open.

Next, select Robot Calibration.  Click the Load Cal button and select the saved calibration file (.MPD file) from the default location.  Click the Open button to import the saved calibration data. 

Click the Close button to exit the Setup Controller dialogue box.

The final step is to make another controller backup to back up the new configuration.  Each backup has its own unique time/date stamp, and will not overwrite existing backups.  To create a controller backup, open your Epson RC+ software and select:

Tools pull-down menu – Controller – click the Backup Controller button and click the OK button (keep the default location).

The C3 robot and controller are now figured for ceiling-mount.  However, there are some important considerations to be aware of:

Z axis motion is now reversed.  Positive and negative direction when jogging the robot are now opposite for the Z axis.  Please refer to the following screenshot:

When a table-mount C3 robot is jogged in the +Z direction, it moves away from its base.  When configured as a ceiling-mount robot, the +Z direction is towards the base as shown above.  Also, the +/- motion labels on each joint of the robot are now reversed as well.  Be aware of these changes when jogging the robot, teaching points, and programming motion.

 



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Last Updated
10th of February, 2012

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