Epson LS20 Series Manipulator Manual
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Epson LS20 Series Manipulator Manual

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SCARA ROBOT
LS20 series
MANIPULATOR MANUAL
Rev.4
EM179R3533F

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  • Page 1 SCARA ROBOT LS20 series MANIPULATOR MANUAL Rev.4 EM179R3533F...
  • Page 3 SCARA ROBOT LS20 series Manipulator Manual Rev.4 Copyright  2016-2017 SEIKO EPSON CORPORATION. All rights reserved. LS20 Rev.4...
  • Page 4 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times. WARRANTY The Manipulator 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...
  • Page 5 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.
  • Page 6 Regarding battery disposal The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner.
  • Page 7 Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The LS20 series Manipulators can be used with the following combinations of Controllers and software. Robot Controller RC90 with the following label attached.
  • Page 8 LS20 Rev.4...

  • Page 9: Table Of Contents

    1.6 ACCELS Setting for CP Motions ............. 11 1.7 Warning Labels ..................12 2. Specifications 2.1 Features of LS20 series Manipulators ........... 14 2.2 Model Number ..................15 2.3 Part Names and Outer Dimensions ............16 2.3.1 LS20-804* ................... 16 2.3.2 LS20-A04* ..................
  • Page 10 TABLE OF CONTENTS 5. Motion Range 5.1 Motion Range Setting by Pulse Range (for All Joints) ......50 5.1.1 Max. Pulse Range of Joint #1 ............. 51 5.1.2 Max. Pulse Range of Joint #2 ............. 51 5.1.3 Max. Pulse Range of Joint #3 ............. 52 5.1.4 Max.
  • Page 11 TABLE OF CONTENTS 5. Arm #1 5.1 Replacing Joint #1 Motor ............... 87 5.2 Replacing Joint #1 Reduction Gear Unit ..........90 6. Arm #2 6.1 Replacing Joint #2 Motor ............... 94 6.2 Replacing Joint #2 Reduction Gear Unit ..........98 7.
  • Page 12 TABLE OF CONTENTS LS20 Rev.4...

  • Page 13: Setup & Operation

    Setup & Operation This volume contains information for setup and operation of the LS20 series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.

  • Page 15: Safety

    Setup & Operation 1. Safety 1. Safety Installation and transportation of manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables.

  • Page 16: Design And Installation Safety

    The following items are safety precautions for design personnel: ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system.

  • Page 17: Strength Of Ball Screw Spline

    Setup & Operation 1. Safety 1.2.1 Strength of Ball Screw Spline If a load exceeding the allowable value is applied to the ball screw spline, it may not work properly due to deformation or breakage of the shaft. If the ball screw spline is applied the load exceeding the allowable value, it is necessary to replace the ball screw spline unit.

  • Page 18: Operation Safety

    Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the Safety and Installation manual before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
  • Page 19 Setup & Operation 1. Safety ■ 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.

  • Page 20: Emergency Stop

    For the Safeguard system, do not use the circuit for E-STOP. For details of the Safeguard system, refer to the following manuals. EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions - Safeguard System Safety and Installation 2.6 Connection to EMERGENCY Connector...
  • Page 21 Setup & Operation 1. Safety To check brake problems, refer to the following manuals. Manipulator Manual Maintenance 2.1.2 Inspection While the Power is ON (Manipulator is operating) Safety and Installation 5.1.1 Manipulator - Inspection While the Power is ON (Manipulator is operating) Free running distance in emergency The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed.

  • Page 22: Emergency Movement Without Drive Power

    Setup & Operation 1. Safety 1.5 Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below: Arm #1 Push the arm by hand. Arm #2 Push the arm by hand.

  • Page 23: Accels Setting For Cp Motions

    Setup & Operation 1. Safety 1.6 ACCELS Setting for CP Motions To make the Manipulator move in CP motion, see the following and set ACCELS properly according to the tip load and the Z-axis height. Improper setting may cause following problems. NOTE ...

  • Page 24: Warning Labels

    Setup & Operation 1. Safety 1.7 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.
  • Page 25 Setup & Operation 1. Safety Label Location (Opposite side) (Opposite side) (Figure: LS20-804S) LS20 Rev.4...

  • Page 26: Specifications

    Setup & Operation 2. Specifications 2. Specifications 2.1 Features of LS20 series Manipulators The LS20 series Manipulators are advanced manipulators pursuing high speed and high cost-performance. The features of the LS20 series Manipulators are as follows: Resolver for the Position Detector It includes no electrical components;...

  • Page 27: Model Number

    Setup & Operation 2. Specifications 2.2 Model Number LS20-80 4 S Environment : Standard : Cleanroom Joint #3 stroke : 420 mm : Standard-Model : 390 mm : Cleanroom-Model (with bellows) Arm length 80 : 800 mm A0 : 1000 mm Payload 20 : 20 kg Environment...

  • Page 28: Part Names And Outer Dimensions

    Setup & Operation 2. Specifications 2.3 Part Names and Outer Dimensions 2.3.1 LS20-804* LS20-804S (Standard-Model) Joint #3 / Joint #4 LED lamp Brake release switch Arm #2 Base Arm #1 Shaft Power cable Signal cable KC/KCs Mark User connector User connector (15-pin D-sub connector) Signature label (9-pin D-sub connector)
  • Page 29 Setup & Operation 2. Specifications LS20-804S (Standard-Model) LS20 Rev.4...
  • Page 30 Setup & Operation 2. Specifications LS20-804C (Cleanroom-Model) The following figures show the additional parts and specifications for Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Lower bellows Exhaust port LS20 Rev.4...
  • Page 31 Setup & Operation 2. Specifications LS20-804C (Cleanroom-Model) LS20 Rev.4...

  • Page 32: Ls20-A04

    Setup & Operation 2. Specifications 2.3.2 LS20-A04* LS20-A04S (Standard-Model) Joint #3 / Joint #4 LED lamp Brake release switch Arm #2 Base Arm #1 Shaft Power cable Signal cable KC/KCs Mark User connector User connector Signature label (15-pin D-sub connector) (9-pin D-sub connector) (Serial No.
  • Page 33 Setup & Operation 2. Specifications LS20-A04S (Standard-Model) LS20 Rev.4...
  • Page 34 Setup & Operation 2. Specifications LS20-A04C (Cleanroom-Model) The following figures show the additional parts and specifications for Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Lower bellows Exhaust port LS20 Rev.4...
  • Page 35 Setup & Operation 2. Specifications LS20-A04C (Cleanroom-Model) LS20 Rev.4...

  • Page 36: Specifications

    Setup & Operation 2. Specifications 2.4 Specifications Item LS20-804* LS20-A04* Arm #1, #2 800 mm 1000 mm Arm length Arm #1 350 mm 550 mm Arm #2 450 mm 450 mm Joints #1, #2 9940 mm/s 11250 mm/s Max. operating speed *1 Joint #3 2020 mm/s Joint #4...
  • Page 37 Setup & Operation 2. Specifications Item LS20-804S LS20-A04S LS20-804C LS20-A04C ± 132 Joint #1 ± 152 deg Max. Joint #2 420 mm 390 mm motion range Joint #3 ± 360 Joint #4 Joint #1 − 152918 to 808278 Max. Joint #2 ±...

  • Page 38: How To Set The Model

    The custom specifications may require a different configuration procedure; check the custom specifications number described on the MT label and contact us when necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.ｓ LS20 Rev.4...

  • Page 39: Environments And Installation

    Setup & Operation 3. Environments and Installation 3. Environments and Installation 3.1 Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions Ambient temperature...

  • Page 40: Base Table

    For environmental conditions regarding space when placing the Controller on the base table, refer to the Controller manual. ■ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the EPSON RC+ User’s Guide. WARNING LS20 Rev.4...

  • Page 41: Mounting Dimensions

    Setup & Operation 3. Environments and Installation 3.3 Mounting Dimensions The maximum space described in figures shows that the radius of the end effector is 60 mm or less. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space.
  • Page 42 Setup & Operation 3. Environments and Installation Cleanroom-Model: LS20-804C Center of Joint #3 Maximum space Motion range Area limited by mechanical stop Base mounting face LS20 Rev.4...

  • Page 43: Ls20-A04

    Setup & Operation 3. Environments and Installation 3.3.2 LS20-A04* Standard-Model: LS20-A04S Center of Joint #3 Maximum space Motion range Area limited by mechanical stop Base mounting face LS20 Rev.4...
  • Page 44 Setup & Operation 3. Environments and Installation Cleanroom-Model: LS20-A04C Center of Joint #3 Maximum space Motion range Area limited by mechanical stop Base mounting face LS20 Rev.4...

  • Page 45: Unpacking And Transportation

    Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation 3.4.1 Precautions for Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.

  • Page 46: Transportation

    Setup & Operation 3. Environments and Installation 3.4.2 Transportation Transport the Manipulator following the instructions below: (1) Attach the eyebolts to the upper back side of the Arm. (2) Turn the Arm #1 to face the front. (3) Fix the Arm #1 using the arm lock so that it cannot move. (4) Use the wire tie to fix the band for hoisting to the Arm #1.

  • Page 47: Installation Procedure

    Setup & Operation 3. Environments and Installation 3.5 Installation Procedure ■ 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 CAUTION installation table.

  • Page 48: Cleanroom-Model

    Setup & Operation 3. Environments and Installation (4) Remove the bolts securing the wire ties removed in step (2). Wire tie 3.5.2 Cleanroom-Model (1) Unpack it outside of the clean room. (2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall.

  • Page 49: Connecting The Cables

    Setup & Operation 3. Environments and Installation 3.6 Connecting the Cables ■ To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.

  • Page 50: User Wires And Pneumatic Tubes

    Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes ■ 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. CAUTION User electrical wires and pneumatic tubes are contained in the cable unit.

  • Page 51: Relocation And Storage

    Setup & Operation 3. Environments and Installation 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. The installation shall be performed by qualified installation personnel and should conform to all national and local codes. ■...

  • Page 52: Relocation

    Setup & Operation 3. Environments and Installation 3.8.2 Relocation ■ Install or relocate the Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. CAUTION LS20-804* : approx.

  • Page 53: Setting Of End Effectors

    Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. ■ If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF.

  • Page 54: Attaching Cameras And Valves

    Setup & Operation 4. Setting of End Effectors Layouts - When you operate the manipulator with an end effector, the end effector may interfere with the Manipulator because of the outer diameter of the end effector, the size of the work piece, or the position of the arms.

  • Page 55: Weight And Inertia Settings

    Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable weight capacity (end effector and work piece) in LS20 series is 10 kg at the default rating, 20 kg at the maximum. When the load (weight of the end effector and work piece) exceeds the rating, change the setting of Weight parameter.
  • Page 56 Setup & Operation 4. Setting of End Effectors <Example> A “1 kg” camera is attached to the end of the LS20 series arm (550 mm away from the rotation center of Joint #2) with a load weight of “1 kg”.

  • Page 57: Inertia Setting

    Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable moment of inertia of load for a LS20 series Manipulator is 0.05 kgm the default rating and 0.45 kgm at the maximum.
  • Page 58 Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable eccentric quantity of load in LS20 series is 0 mm at the default rating and 200 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of Inertia command.
  • Page 59 Setup & Operation 4. Setting of End Effectors Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with work piece). The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and (c).
  • Page 60 Setup & Operation 4. Setting of End Effectors (a) Moment of inertia of a rectangular parallelepiped Rectangular parallelepiped’s center of gravity Rotation center Mass (m) + m × L (b) Moment of inertia of a cylinder Cylinder’s center of gravity Rotation center + m ×...

  • Page 61: Precautions For Auto Acceleration/Deceleration Of Joint #3

    Setup & Operation 4. Setting of End Effectors 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster. When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to reduce acceleration/deceleration.

  • Page 62: Motion Range

    Manipulator does not move. The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the Range command from the [Command Window].) LS20 Rev.4...

  • Page 63: Max. Pulse Range Of Joint #1

    Setup & Operation 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive (+) direction on the X-coordinate axis. When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).

  • Page 64: Max. Pulse Range Of Joint #3

    Setup & Operation 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

  • Page 65: Motion Range Setting By Mechanical Stops

    Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.

  • Page 66: Setting The Mechanical Stops Of Joints #1 And #2

    Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.
  • Page 67 The angle of Joint #1 is set from –110 degrees to +110 degrees. The angle of Joint #2 is set from -125 degrees to +125 degrees. Execute the following commands from the [Command Window]. EPSON >JRANGE 1, ' Sets the pulse range of Joint #1...

  • Page 68: Setting The Mechanical Stop Of Joint #3

    Setup & Operation 5. Motion Range 5.2.2 Setting the Mechanical Stop of Joint #3 This method applies only to the Standard-model manipulator ( LS20-**4S NOTE  For the Cleanroom-model ( the motion range set with the Joint #3 mechanical LS20-**4C), stop cannot be changed.
  • Page 69 ** For the Joint #3 resolution, refer to the section Setup & Operation 2.4 Specifications. Execute the following command from the [Command Window]. Enter the EPSON calculated value in X. >JRANGE 3,X,0 ' Sets the pulse range of Joint #3 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.

  • Page 70: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator (For Joints #1 And #2)

    The maximum physical range is based on the position of the mechanical stops. Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the XYLim command from the [Command Window].) 5.4 Standard Motion Range...

  • Page 71: Maintenance

    Maintenance This volume contains maintenance procedures with safety precautions for LS20 series Manipulators.

  • Page 73: Safety Maintenance

    Maintenance 1. Safety Maintenance 1. Safety Maintenance Please read this chapter, this manual, and other relevant manuals carefully to understand safe maintenance procedures before performing any routine maintenance. Only authorized personnel who have taken safety training should be allowed to maintain the robot system.

  • Page 74: General Maintenance

    Maintenance 2. General Maintenance ■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure.

  • Page 75: Inspection Point

    Maintenance 2. General Maintenance 2.1.2 Inspection Point Inspection While the Power is OFF (Manipulator is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Check looseness or backlash of Manipulator mounting bolts √...

  • Page 76: Overhaul (Parts Replacement)

    However, it may vary depending on usage condition and degree of the load (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator. For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the NOTE ...
  • Page 77 The manipulator operation hours can be checked in [Controller Status Viewer] dialog -[Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.

  • Page 78: Greasing

    Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gear units need greasing regularly. Only use the grease specified in the following table. ■ Keep enough grease in the Manipulator. Operating the Manipulator with insufficient grease will damage sliding parts and/or result in insufficient function of the Manipulator.
  • Page 79 Normal grease Discolored grease Perform greasing at 50 km of operation for the first time of greasing. For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the NOTE  recommended replacement time for the grease on the ball screw spline unit can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.

  • Page 80: Tightening Hexagon Socket Head Cap Bolts

    Then, follow the steps below to display the pulse values and record them. Execute the following command from the [Command Window]. EPSON >PULSE PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls LS20 Rev.4...

  • Page 81: Layout Of Maintenance Parts

    Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts Standard-model Cable unit Ball screw spline unit LED lamp Joint #4 motor Brake release Joint #3 motor switch Joint #2 motor Joint #1 reduction gear unit Joint #1 motor Power cable U belt Signal cable Z belt...

  • Page 82: Covers

    Maintenance 3. Covers 3. Covers All procedures for removing and installing covers in maintenance are described in this chapter. ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 83: Arm Top Cover

    Maintenance 3. Covers 3.1 Arm Top Cover ■ Do not remove the arm top cover forcibly. Removing the cover forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

  • Page 84: Arm Bottom Cover

    Maintenance 3. Covers 3.2 Arm Bottom Cover Unscrew the Arm Bottom Cover mounting bolts and then remove the cover. M4 Truss Tightening torque: 0.45 N⋅m Be careful of the end effector. When the end NOTE  effector is installed, the Arm Bottom Cover may Truss: not be removed from the shaft.

  • Page 85: Connector Plate

    Maintenance 3. Covers 3.4 Connector Plate ■ Do not remove the connector plate forcibly. Removing the connector plate forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

  • Page 86: Connector Sub Plate

    Maintenance 3. Covers 3.5 Connector Sub Plate ■ Do not remove the connector sub plate forcibly. Removing the connector sub plate forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

  • Page 87: Cable

    Controller is turned OFF. When the battery connectors are disconnected, the position data will be lost, and EPSON RC+ will display an error when the Controller is turned ON. If the error occurs, execute the calibration of all joints and axes.
  • Page 88 Maintenance 4. Cable Cable unit (Figure: LS20-804S) ■ If the connectors have been disconnected during the replacement of the cable unit, be sure to reconnect the connectors to their proper positions. Refer to the block diagrams. Improper connection of the connectors may result in improper function of the robot system.
  • Page 89 Maintenance 4. Cable Cable Unit (1) Turn ON the Controller and change the motor to OFF status (MOTOR OFF). Removal (2) Press and hold the brake release switch to let the shaft down. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. The brake release switch is applied to both Joints #3 and Joint #4.
  • Page 90 Maintenance 4. Cable (13) Remove the ground wire from the Arm #2. (14) Cut off the wire tie binding the cables in the Arm side. Remove the following parts. Nylon clip, saddle, ferrite core Removed parts will be used again. Be careful not to lose them. Cables are wrapped in a silicon sheet for protection.
  • Page 91 Maintenance 4. Cable Cable Unit (1) Pass the new cables through the cable duct unit. Turn the fitting to secure the cables. Installation Secure the signal connector X20 to the resolver board. (2) Pass the cables in the Duct Plate side through the Duct Plate and nut and turn the fittings to secure the cables.

  • Page 92: Wiring Diagrams

    Maintenance 4. Cable 4.2 Wiring Diagrams 4.2.1 Signal Cable LS20 Rev.4...

  • Page 93: Power Cable

    Maintenance 4. Cable 4.2.2 Power Cable LS20 Rev.4...

  • Page 94: User Cable

    Maintenance 4. Cable 4.2.3 User Cable D-sub 9pin D-sub 9pin Color Color D-sub 15pin D-sub 15pin Color Color L/BR L/BR L/BR L/BR Y/BR Y/BR Y/BR Y/BR Abbreviation of the color Color Abbreviation White Black Green Yellow Violet Brown Blue The following table shows the types of the use cable. Model name Model type Code...

  • Page 95: Replacing M/C Cable

    Controller is turned OFF. When the battery connectors are disconnected, the position data will be lost, and EPSON RC+ will display an error when the Controller is turned ON. If the error occurs, execute the calibration of all joints and axes.
  • Page 96 Maintenance 4. Cable ■ If the connectors have been disconnected during the replacement of the cable unit, be sure to reconnect the connectors to their proper positions. Refer to the block diagrams. Improper connection of the connectors may result in improper function of the robot system.
  • Page 97 Maintenance 4. Cable (5) Remove the ferrite core on the signal cable. Ferrite core The part will be used again. Be careful not NOTE  to lose it. Signal cable (6) Disconnect the connectors. Each connector has a unique number. Each connector has a different shape.

  • Page 98: Arm #1

    Maintenance 5. Arm #1 5. Arm #1 ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 99: Replacing Joint #1 Motor

    Maintenance 5. Arm #1 5.1 Replacing Joint #1 Motor Name Quantity Note Maintenance AC Servo Motor (750 W) 1646493 parts width across flats: 2.5 mm For M5 set screw width across flats: 4 mm For M5 screw Hexagonal wrench width across flats: 5 mm For M6 screw width across flats: 6 mm For M8 screw...
  • Page 100 Maintenance 5. Arm #1 (7) Loosen the motor mounting screws on the Joint #1 Motor Unit Joint #1 motor flange and remove the motor unit There is an O-ring in the assembly position of the motor and Joint #1 flange. Be sure to keep the O-ring.
  • Page 101 Maintenance 5. Arm #1 (1) Put the O-ring on the motor mounting Joint #1 motor Motor Flange surface and mount the motor flange. Installation O-ring Joint #1 Motor 4-M5×18 + Plane Washer (2) Apply grease (SK-1A) to the between the End face of Waveform Generator waveform generator and motor.

  • Page 102: Replacing Joint #1 Reduction Gear Unit

    Maintenance 5. Arm #1 5.2 Replacing Joint #1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator, Flexspline, Circular spline For details of the reduction gear unit, refer to Maintenance: 14.
  • Page 103 Maintenance 5. Arm #1 Joint #1 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit when it is unpacked. O-ring Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 104 Maintenance 5. Arm #1 16-M5×30 (5) Secure the Top plate to the circular spline. Loosely fasten all bolts in a crisscross pattern so that the bolts will be fastened evenly. Then, using a torque wrench, tighten each bolt securely Top Plate in a crisscross pattern at the torque specified in Reduction Gear Unit...

  • Page 105: Arm #2

    Maintenance 6. Arm #2 6. Arm #2 ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 106: Replacing Joint #2 Motor

    Maintenance 6. Arm #2 6.1 Replacing Joint #2 Motor Name Quantity Note Maintenance AC Servo Motor (600W) 1646494 Parts width across flats: 2.5 mm For M5 set screw Hexagonal wrench width across flats: 4 mm For M5 screw Cross-point screwdriver (#2) For M4 screw Tools Torque wrench...
  • Page 107 Maintenance 6. Arm #2 (7) Disconnect the connectors X221 and X21. (Hold the claw to remove.) (8) Remove the screws mounting the motor unit Joint #2 and then remove the Joint #2 motor unit Motor Unit from the Arm #2. 4-M5×20 To pull out the motor smoothly, move the Arm #2 slowly by hand while pulling the...
  • Page 108 Maintenance 6. Arm #2 (1) Mount the motor flange on the Joint #2 motor. Joint #2 Motor Motor Flange Installation 2-M5×15 Joint #2 Motor End face of Waveform Generator (2) Mount the waveform generator on the Joint #2 End face of Motor shaft motor.
  • Page 109 (8) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (9) Check if the Joint #2 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.

  • Page 110: Replacing Joint #2 Reduction Gear Unit

    Maintenance 6. Arm #2 6.2 Replacing Joint #2 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator, Flexspline, Circular spline For details of the reduction gear unit, refer to Maintenance: 14.
  • Page 111 Maintenance 6. Arm #2 Joint #2 (1) Turn ON the Controller. Reduction (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure Gear Unit to keep enough space and prevent the end effector hitting any peripheral equipment. Removal The brake release switch is applied to both Joints #3 and Joint #4.
  • Page 112 Maintenance 6. Arm #2 Joint #2 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit when it is unpacked. O-ring Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 113 Maintenance 6. Arm #2 (5) Set the O-ring removed in the removal step (6) into the O-ring groove of the Arm #1 and install the flexspline on Arm #2 the Arm #1. Reduction Gear Unit A: 16-M5×30 O-ring B: 8-M5×45+8-M5 plain washer C: 4-M4×20+4-M4 plain washer Loosely secure all bolts in a crisscross pattern so that the bolts will be...

  • Page 114: Arm #3

    Maintenance 7. Arm #3 7. Arm #3 ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 115: Replacing Joint #3 Motor

    Maintenance 7. Arm #3 7.1 Replacing Joint #3 Motor Name Quantity Note Maintenance AC Servo Motor (400 W) 1682340 parts width across flats: 2 mm For M4 set screw Hexagonal wrench width across flats: 4 mm For M5 screw Spanner width across flats: 7 mm For M4 bolt, M4 nut Cross-point screwdriver (#2)
  • Page 116 Maintenance 7. Arm #3 (7) Remove the bolts fixing the Joint #3 motor unit Joint #3 and pull the unit up to remove. Motor Unit The washers for slotted holes will be used again when installing the Z belt. Be careful not to lose them.
  • Page 117 Maintenance 7. Arm #3 (1) Mount the pulley to the Joint #3 motor. Pulley Joint #3 motor M4×4 M4x6 Set screw Secure the pulley where the pulley end face Installation +M4 Bushing Set Screw touches the motor shaft end face. Joint #3 Motor Tighten one of the set screws vertically on the flat...
  • Page 118 (7) Install the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (8) Check if the Joint #3 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.

  • Page 119: Replacing The Timing Belt

    Maintenance 7. Arm #3 7.2 Replacing the Timing Belt Name Quantity Note Maintenance Z belt 1618727 parts width across flats: 2.5 mm For M3 screw Hexagonal wrench width across flats: 3 mm For M4 screw Cross-point screwdriver (#2) For M3, M4 screws Tools Torque wrench Nippers...
  • Page 120 Maintenance 7. Arm #3 (6) Disconnect the following connectors. Connectors: X31, X231 (Hold the claw to remove.) (7) Remove the User Plate. For details, refer to Maintenance: 3.6 User Plate. Joint #3 (8) Remove the screws for the Joint #3 motor Motor Unit unit and pull out the Joint #3 motor unit.
  • Page 121 Maintenance 7. Arm #3 (1) Pass a new Z belt through the shaft. Z belt Spline Plate Installation (2) Lower the spline plate with the Z belt placed around the spline plate pulley. Secure the spline plate with 3 screws. 3-M4×15 Z Belt Shaft...
  • Page 122 Maintenance 7. Arm #3 (6) Apply the proper tension to the Z belt, and Joint #3 Motor Unit then secure the Joint #3 motor unit. Z belt tension: 93 N (9.5 ± 0.75 kgf) Axial tension (if being pulled): 186 N To apply tension to the Joint #3 motor unit, NOTE M4 Bolt...

  • Page 123: Replacing The Brake

    Maintenance 7. Arm #3 7.3 Replacing the Brake Name Quantity Note Maintenance Electromagnetic brake 1499588 parts width across flats: 1.5 mm For M3 set screw Hexagonal wrench width across flats: 3 mm For M4 screw width across flats: 4 mm For M5 screw Tools Torque wrench...
  • Page 124 Maintenance 7. Arm #3 Joint #3 (7) Remove the bolts fixing the Joint #3 motor unit. Motor Unit The washers for slotted holes will be used again when installing the Z belt. Be careful not to lose them. 3-M5×20+washer for slotted hole (8) Remove the Joint #3 motor from the motor 4-M5×15...
  • Page 125 Maintenance 7. Arm #3 (1) Mount the brake to the brake plate. Joint #3 brake Installation Brake 3-M3×8 (2) Mount the brake hub to the pulley of the Joint #3 motor unit. Joint #3 Motor Fix the brake hub while aligning it to the Pulley end face of the pulley.

  • Page 126: Checking The Timing Belt Tension

    Maintenance 7. Arm #3 7.4 Checking the Timing Belt Tension Name Quantity Note For details of usage and measurement methods of the tension Sonic tension meter Tool meter, refer to the instruction manual of the tension meter. Joint #3 (1) Enter appropriate setting values to the sonic tension meter. Belt tension Unit mass M Width W...

  • Page 127: Arm #4

    Maintenance 8. Arm #4 8. Arm #4 ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 128: Replacing Joint #4 Motor

    Maintenance 8. Arm #4 8.1 Replacing Joint #4 Motor Name Quantity Note Maintenance AC Servo Motor (150 W) 1646520 parts width across flats: 1.5 mm For M3 set screw Hexagonal wrench width across flats: 3 mm For M4 screw width across flats: 4 mm For M5 screw Tools Spanner...
  • Page 129 Maintenance 8. Arm #4 (7) Remove the Joint #4 motor unit from the 2-M4×12 Joint #4 Motor reduction gear unit. Remove the bolts securing the Joint #4 motor on the reduction gear unit. Remove the cover of the hole for fixing the Hole for fixing motor shaft on the side of the reduction gear, the motor shaft...
  • Page 130 Maintenance 8. Arm #4 (1) Mount the ring to the Joint #4 motor. Joint #4 motor Installation Install the ring leaving 0.5 mm from the Ring motor. 2-M3×8 Note that if there is no space between the Set Screw motor and the ring, friction may occur as the Bushing motor rotates and it may cause damage on it.
  • Page 131 (6) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (7) Check if the Joint #4 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.

  • Page 132: Replacing The Timing Belt

    Maintenance 8. Arm #4 8.2 Replacing the Timing Belt Name Quantity Note Maintenance U belt (Width 30 mm) 1618729 parts width across flats: 3 mm For M4 screw Hexagonal wrench width across flats: 4 mm For M5 screw Spanner width across flats: 7 mm Cross-point screwdriver (#2) For M3, M4 screws Tools...
  • Page 133 Maintenance 8. Arm #4 U belt (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 134 Maintenance 8. Arm #4 (1) Hold up the spline plate and set the U belt U belt 3-M4×15 around the U2 pulley. Installation Spline Plate Make sure the gear grooves of the belt are Z belt fit into those of the pulleys completely. (2) Hold up the spline plate and set the Z belt around the Z2 pulley.
  • Page 135 Maintenance 8. Arm #4 (6) Loosely secure the Joint #4 motor unit to Joint #4 Motor Unit the Arm #2. Make sure the teeth of the timing belt are engaged with those of the pulley. At this point, make sure that the Joint #4 NOTE ...
  • Page 136 Maintenance 8. Arm #4 (12) Execute the calibration for Joint #3, 4. For details on the calibration method, refer to Maintenance: 13. Calibration. LS20 Rev.4...

  • Page 137: Replacing The Brake

    Maintenance 8. Arm #4 8.3 Replacing the Brake The Joint #4 of LS20 series uses the brake-equipped motor. If the brake needs to be NOTE  replaced, replace the motor. For details, refer to Maintenance: 8.1 Replacing Joint #4 Motor.

  • Page 138: Replacing The Reduction Gear Unit

    Maintenance 8. Arm #4 8.4 Replacing the Reduction Gear Unit Name Quantity Note Maintenance Reduction Gear Unit 1493783 parts width across flats: 3 mm For M4 screw Hexagonal wrench width across flats: 4 mm For M5 screw For M4 hexagon head bolt Spanner width across flats: 7 mm and M4 hexagon nut...
  • Page 139 Maintenance 8. Arm #4 (1) Mount the plate to the new reduction gear unit. Joint #4 4-M5×18 Reduction Gear Joint #4 Unit Reduction Gear Unit Installation Plate (2) Install the U pulley. Joint #4 Reduction Gear Unit Pulley 6-M4×15 (3) Mount the Joint #4 motor to the reduction gear unit.

  • Page 140: Checking The Timing Belt Tension

    Maintenance 8. Arm #4 8.5 Checking the Timing Belt Tension Name Quantity Note For details of usage and measurement methods of the tension Sonic tension meter Tool meter, refer to the instruction manual of the tension meter Joint #4 (1) Enter appropriate setting values to the sonic tension meter. Belt tension Unit mass M Width W...

  • Page 141: Bellows

    Maintenance 9. Bellows 9. Bellows NOTE The bellows are provided in a unit of two pieces. The shape varies between the upper  and lower bellows. A large amount of dust is emitted when replacing the bellows. Take the Manipulator to an outer room such as the room in front of the clean room’s entrance, or take the necessary countermeasures to prevent dust emission before removing the bellows.
  • Page 142 Maintenance 10. Ball Screw Spline Unit Bellows (1) To attach the upper bellows, move the shaft to its lower limit. Installation To attach the lower bellows, move the shaft to its upper limit. To move the shaft up/down, press and hold the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.

  • Page 143: Ball Screw Spline Unit

    Maintenance 10. Ball Screw Spline Unit 10. Ball Screw Spline Unit ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 144: Standard-Model (S Type)

    Maintenance 10. Ball Screw Spline Unit 10.1.1 Standard-model (S type) Cover the surrounding area such as the end effector and peripheral equipment in case the grease drips. (1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF) (2) Move the arm to a position where Joint #3 can be moved in full stroke. (3) Move the shaft to its upper limit manually while pressing the brake release switch.

  • Page 145: Cleanroom-Model

    Maintenance 10. Ball Screw Spline Unit 10.1.2 Cleanroom-model Cover the surrounding area such as the end effector and peripheral equipment in case the grease drips. Upper Part (1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF) of the Shaft (2) Move the arm to a position where Joint #3 can be moved in full stroke.
  • Page 146 Maintenance 10. Ball Screw Spline Unit (11) Secure the bellows. To attach the upper bellows, move the shaft to its lower limit. To attach the lower bellows, move the shaft to its upper limit. To move the shaft up/down, press and hold the brake release switch. Attach the mounting part of the bellows until it touches the cylindrical part of the cover.

  • Page 147: Replacing The Ball Screw Spline Unit

    Maintenance 10. Ball Screw Spline Unit 10.2 Replacing the Ball Screw Spline Unit A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving NOTE  down due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 148 Maintenance 10. Ball Screw Spline Unit (8) Remove three screws mounting the spline plate. 3-M4×15 (9) Remove four screws mounting the spline nut. 4-M5×15 (10) Pull out the following toward the Arm #2 upper side. Ball screw spline unit, Z belt, U belt LS20 Rev.4...
  • Page 149 Maintenance 10. Ball Screw Spline Unit Ball Screw (1) Insert a new ball screw spline unit in the Arm #2. Spline Unit (2) Secure the spline nut from the bottom side of Installation the Arm #2. 3-M4×15 4-M5×15 (3) Mount the following. Joint #3 motor unit, Joint #4 motor unit, U belt, Z belt For details, refer to Maintenance: 7.1 Replacing Joint #3 Motor s.

  • Page 150: Lithium Battery

    Maintenance 11. Lithium Battery and Boards 11. Lithium Battery and Boards ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
  • Page 151 NOTE For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the  recommended replacement time for the battery can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.

  • Page 152: Replacing The Battery Unit (Lithium Battery)

    Maintenance 11. Lithium Battery and Boards 11.1 Replacing the Battery Unit (Lithium Battery) Turn OFF the controller. Battery unit (lithium battery) Remove the Connector Plate. Removal For details, refer to Maintenance: 3.4 Connector Plate. Remove the resolver plate from the connector plate. Be careful not to disconnect the battery connector.

  • Page 153: Replacing The Resolver Board

    Maintenance 11. Lithium Battery and Boards 11.2 Replacing the Resolver Board After battery board and parts have been replaced (motors, reduction gear units, timing belts, ball screw spline unit, etc.), the manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the controller.
  • Page 154 Maintenance 11. Lithium Battery and Boards (1) Attach the hear-transfer sheet on Resolver Board Installation the surface without connectors of a new resolver board. Be sure to attach the sheet on the correct surface. (2) Match the projections on the resolver board and the holes on the resolver plate so that the heat dissipation sheet does not come off, and then fix them.

  • Page 155: Replacing The Control Board

    Maintenance 11. Lithium Battery and Boards 11.3 Replacing the Control Board (1) Turn OFF the controller. Control Board Removal (2) Remove the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (3) Disconnect the connector X35. (4) Remove the Control board. Control Board 3-M3×8 Pan head screw (Small)

  • Page 156: Led Lamp

    Maintenance 12. LED Lamp 12. LED Lamp ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 157: Calibration

    Manipulator. ■ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to EPSON RC+ User’s Guide: 2.4 Installation and Design Precautions. ■ Before operating the robot system, make sure that no one is inside the safeguarded area.

  • Page 158: Calibration Procedure

    13.2 Calibration Procedure EPSON RC+ has a wizard for calibration. This section indicates the calibration using the calibration wizard of EPSON RC+. The same calibration procedure is used for each joint. The follow the steps below are calibration using Joint #1. Follow the steps below to calibrate other joints.
  • Page 159 Maintenance 13. Calibration (1) Start the calibration wizard. Select EPSON RC+ 7.0 menu - [Setup] to display the [System Configuration] dialog. Select [Robots]-[Robot**] to display [Calibration]. iii. Select the joint and click the <Calibrate…> button. (2) Confirm the warning message and click the <Yes> button.
  • Page 160 Maintenance 13. Calibration 0 pulse position of Joint #1: position aligned with X-axis in Robot coordinate system 0 pulse − 0 pulse 0 pulse position of Joint #2: position where Arms #1 and #2 − are in a straight line (Regardless of the Joint #1 direction.) 0 pulse position of Joint #3:...
  • Page 161 Maintenance 13. Calibration (4) Click the <Yes> button to reset the encoder. * This window will disappear when the Controller starts up. (5) Reboot the Controller. * This window will disappear when the Controller starts up. (6) Select the reference point to use for calibration, and click the <Next> button. Select a point from the current points to use for checking the accuracy.
  • Page 162 Maintenance 13. Calibration (8) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. Before operating the robot, open the [Control Panel] and click on the <Motor ON> button.
  • Page 163 Maintenance 13. Calibration (10) The manipulator moves to the reference point. Click the <Execute> button. Input JUMP P0:z(0). ↑ Point selected in step (6) (11) Confirm the message and click the <Yes> button. (12) After the manipulator moves to the reference point, click the <Next> button. LS20 Rev.4...
  • Page 164 Maintenance 13. Calibration (13) Jog to the accurate reference position. (14) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. * Position Joint #2 only and move Joint #3 to around 0 pulse. LS20 Rev.4...
  • Page 165 Maintenance 13. Calibration (15) Click the <Next> button. (16) Execute the procedure in “Calibration Using Right / Left Arm Orientations” to accurately calibrate Joint #2. Go on to the step (17) for the other joints calibration. i. Move to another point that has different pose (from righty to lefty) using Jump command.
  • Page 166 Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS20 Rev.4...
  • Page 167 Maintenance 13. Calibration (17) Calibration is complete. Click the <Finish> button. (18) Move the manipulator to other points and check if it can move without problems. Teach points where appropriate. LS20 Rev.4...

  • Page 168: Accurate Calibration Of Joint #2

    Maintenance 13. Calibration 13.3 Accurate Calibration of Joint #2 When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately. If the accuracy of Joint #2 is not obtained through the steps in the section Maintenance: NOTE ...
  • Page 169 Maintenance 13. Calibration Calibration Using Right / Left Arm Orientations (1) Check the point data for calibration Use a point you can easily verify the accuracy within the work envelop of both right and left arm. Then, check the number of points you want to use. (2) Open the Tools menu | Robot Manager | Control Panel and click the MOTOR ON.

  • Page 170: Calibration Procedure Without Using Calibration Wizard

    Maintenance 13. Calibration 13.4 Calibration Procedure without using Calibration Wizard This section indicates the calibration without using the calibration wizard of EPSON RC+. NOTE  For details of calibration using the calibration wizard, refer to Maintenance: 13.2 Calibration Procedure. When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately.
  • Page 171 Arm #2. 0 pulse Set Screws − Flat Surface (3)-3 Connect EPSON RC+ to the Controller. Select a robot to be calibrated. Input as below in the [Command Window] and execute it. (This example uses “robot 1”.) > robot 1...
  • Page 172 Joint #3 >calib 3 Joint #4 >calib 3, 4 5. Calibration (Accurate Positioning) (5)-1 Turn ON the motors from the EPSON RC+ menu -[Tools]-[Robot Manager]-[Control Panel]. (5)-2 Click the <Free All> button to free all joints from servo control. Now, you can move arms by hands.
  • Page 173 Maintenance 13. Calibration (5)-4 Create the data from the calibration point data. Enter and execute the following command in [Command Window]. (In this example, P1 is used as the calibration point data.) > Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1,3), Ppls(P1,4) (5)-5 Move the joint to the specified point using a motion command. For example, when the specified point data is “P1”, execute “Jump P1:Z(0)”...

  • Page 174: Maintenance Parts List

    Maintenance 14. Maintenance Parts List 14. Maintenance Parts List Reference: Overhaul Part Name Code Note Maintenance LS20-804* 1646486 800 mm Cable Unit LS20-A04* 1646485 1000 mm Joint #1 750 W 1646493  Joint #2 1646494 600 W  AC Servo Motor Joint #3 1682340 400 W...
  • Page 175 Maintenance 14. Maintenance Parts List *1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator Waveform generator This waveform generator consists of an ellipsoidal cam with ball...
  • Page 176 Maintenance 14. Maintenance Parts List LS20 Rev.4...

This manual is also suitable for:

Ls20-804sLs20-804cLs20-a04sLs20-a04cLs20-804 seriesLs20-a04 series

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