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Epson RS Series Maintenance Manual

Industrial robot: scara robot
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Industrial Robot: SCARA ROBOT
RS series
MAINTENANCE MANUAL
Rev.3
ENM226R5366F
Original instructions

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Summary of Contents for Epson RS Series

  • Page 1 Industrial Robot: SCARA ROBOT RS series MAINTENANCE MANUAL Rev.3 ENM226R5366F Original instructions...
  • Page 3 Industrial Robot: SCARA ROBOT RS series Maintenance Manual Rev.3 Seiko Epson Corporation 2021-2022 RS series Maintenance Rev.3...
  • Page 4 Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. MANUFACTURER CONTACT INFORMATION Contact information is described in “SUPPLIERS” in the first pages of the following manual: Robot System Safety Manual Read this manual first RS series Maintenance Rev.3...
  • Page 5 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. RS series Maintenance Rev.3...
  • Page 6 Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The RS series Manipulators can be used with the following combinations of Controllers and software. Controller Software Name Structure Control Unit RC700-A EPSON RC+ 7.0 Ver.7.1.2 or greater...
  • Page 7 - The method of firmware update and controller setting backup etc. EPSON RC+ 7.0 User’s Guide (PDF Manual) This manual describes general information about program development software. EPSON RC+ 7.0 SPEL+ Language Reference (PDF Manual) This manual describes the robot programming language “SPEL+”. Other Manual (PDF Manual) Manuals for each option are available.
  • Page 8 RS series Maintenance Rev.3...

  • Page 9: Table Of Contents

    4.2.2 Power Cable ..............34 4.2.3 User Cable ..............36 4.3 Replacing M/C Cable ..............37 5. Joint #1 ..............39 5.1 Replacing Joint #1 Motor ............40 5.2 Replacing Joint #1 Reduction Gear Unit ........44 5.3 Replacing J1 Belt ..............48 RS series Maintenance Rev.3...
  • Page 10 13.4 Calibration Procedure without using Calibration Wizard ... 105 14. Maintenance Parts List ........109 14.1 Common Parts ..............109 14.2 Parts by Environment Model ..........111 14.2.1 S: Standard-model ............ 111 14.2.2 C: Cleanroom-model ..........111 viii RS series Maintenance Rev.3...

  • Page 11: Rs Maintenance

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

  • Page 13: Safety Maintenance

    CAUTION improper function of the robot system. ■ When operating maintenance of manipulator, secure about 50 cm of empty space around the manipulator. RS series Maintenance Rev.3...

  • Page 14: General Maintenance

    8 months (2000 h) √ 9 months (2250 h) √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ √ 20000 h RS series Maintenance Rev.3...

  • Page 15: Inspection Point

    Also, if the break is not released even operated release the break, contact the supplier. Check whether unusual sound Check that there is no unusual sound or vibration when operating. or vibration occurs. If there is something wrong, contact the supplier. RS series Maintenance Rev.3...

  • Page 16: Overhaul (Parts Replacement)

    (such as when operated with the maximum motion speed and maximum acceleration / deceleration in continuous operation) applied on the Manipulator. 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 parts subject to maintenance (motors, reduction gear units, and timing belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
  • Page 17 (3) Select the folder where the information is stored. (4) Click <OK> to view the [Controller Status Viewer] dialog. (5) Select [Robot] from the tree menu on the left side (Dialog image: EPSON RC+ 7.0) For the parts subject to overhaul, refer to 14. Maintenance Parts List.

  • Page 18: Greasing

    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 grease on the ball screw spline unit can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.

  • Page 19: Greasing The Ball Screw Spline Unit

    Arm #2 effector. - Move the shaft to the lower limit manually Joint #3 while by selecting EPSON RC+ 7.0 menu - Break release switch [Tools] - [Robot Manager] - [Jog & Teach]. NOTE ...
  • Page 20 Run for about 5 minutes to spread the grease over the shaft. Turn OFF the controller. (10) Wipe off excess grease on the end of the spline nut and mechanical stop. End of the spline nut Figure: RS3-351* RS series Maintenance Rev.3...
  • Page 21 Clamp band effector. Lower bellows - Move the shaft to the upper limit manually while by selecting EPSON RC+ 7.0 menu - [Tools] - NOTE  [Robot Manager] - [Jog & Teach]. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 22 (13) After moving to the origin position, move the shaft up and down. To move up and down, use an operation program to move from the upper limit to the lower limit in low power mode. Run about 5 minutes to spread grease over the shaft. (14) Turn OFF the Controller. RS series Maintenance Rev.3...

  • Page 23: 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 RS series Maintenance Rev.3...

  • Page 24: Layout Of Maintenance Parts

    Ball screw spline unit Joint #4 reduction gear unit Joint #3 motor Z belt Brake release switch Joint #3 brake U1 belt (Figure: RS3-351S) Cleanroom-model Gasket Gasket Gasket Gasket Gasket Gasket Gasket Gasket Gasket Gasket Bellows (Figure: RS3-351C) RS series Maintenance Rev.3...

  • Page 25: Covers

    Tightening torque: 0.9 N⋅m (9.2 kgf⋅cm) Cable plate Base cover Arm #1 cover Arm #1 side cover Arm #1 side cover Arm #1 under cover J2 cover Arm #2 cover User plate Arm #2 maintenance cover Under cover RS series Maintenance Rev.3...

  • Page 26: Arm #1

    It needs to remove the Manipulator from the base table for the maintenance work. Be sure to remove the Manipulator form the base table by two or more personnel. For details, refer to RS series Manual Environments and Installation. RS series Maintenance Rev.3...

  • Page 27: Standard-Model

    For arm #1 side cover: 4-M4×15 For arm #1 side cover: 4-M4×15 For arm #1 under cover: 4-M4×8 J2 cover: 4-M4×8 (Truss) 3.1.2 Cleanroom-model Spacer Gasket Gasket Gasket Spacer Gaskets and spacers are installed to Cleanroom-model. RS series Maintenance Rev.3...

  • Page 28: Arm #2

    (1) Set the arm top cover to the arm and secure with the mounting bolts. Installation Gaskets are installed to the Cleanroom-model. (2) Mount the Arm #1 side cover. For details, refer to 3.1 Arm #1. RS series Maintenance Rev.3...

  • Page 29: Under Cover

    A gasket is installed to Cleanroom-model. 3.2.3 Arm #2 Maintenance Cover Unscrew the bolts securing the Arm #2 maintenance cover, and then pull the cover downward to remove it. Standard-model Cleanroom-model Gasket 4-M4×8 4-M4×8 Gasket is installed to the Cleanroom-model. RS series Maintenance Rev.3...

  • Page 30: Connector Plate

    Be sure to place the cables back to their original locations. Unscrew the connector plate mounting bolts and remove the plate. Standard-model Cleanroom-model Spacer 8-M4×10 8-M4×10 Gasket A gasket and spacer are installed to Cleanroom-model. RS series Maintenance Rev.3...

  • Page 31: Base Cover

    Unscrew the bolts securing the base cover to remove the base cover. Standard-model Cleanroom-model Connector plate Spacer 8-M4×10 Gasket Connector plate 4-M4×8 Base cover 4-M4×8 6-M4×10 Base cover 8-M4×10 6-M4×10 Spacer Gasket Spacer Gasket Gaskets and spacers are installed to the Cleanroom-model. RS series Maintenance Rev.3...

  • Page 32: User Plate

    RS3 RS4 Maintenance 3. Covers 3.5 User Plate Unscrew the user plate mounting bolts and remove the plate. Standard-model Cleanroom-model Gasket 4-M4×8 Spacer 4-M4×8 A gasket and spacer are installed to Cleanroom-model. RS series Maintenance Rev.3...

  • Page 33: Cable Unit

    The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, CAUTION or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system. RS series Maintenance Rev.3...

  • Page 34: Replacing Cable Unit

    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 35 Connect the batteries to prevent the position data from losing. (6) Disconnect the connectors. Connectors X31, X32, X33, X41, XB33, XB34, X331, X341 (7) Remove the user plate, and it draws it out forward. For details, refer to 3.5 User Plate. RS series Maintenance Rev.3...
  • Page 36 (18) Push the cables and tubes drawn out before and disconnect the connectors from the hole of the under cover. (19) Disconnect the connectors except the battery connector. Ground wire Connectors X21, X22, X23, X30, XB22, XB23, X221, X231, XU10, XU20 (20) Remove the ground wire. RS series Maintenance Rev.3...
  • Page 37 (24) Remove the D-sub connector from the plate securing the cables. (25) Remove three air tubes. Wire tie Cut off two wire ties bundling the cables. (26) Pull out the cable unit 2 and air tubes. (Be careful about the connector not to be caught.) RS series Maintenance Rev.3...
  • Page 38 To prevent the cables and tube from falling off, pull Cable them out from the bottom side temporarily and apply grease (GPL-224) to the marked point. For the greasing point, refer to Step (1). RS series Maintenance Rev.3...
  • Page 39 Heat-shrinkable tube Greasing point Air tube ×3 (rough) Marking Ground wire 600mm (rough) (11) Insert the cables to the Arm #1. Be careful about the cable direction. Refer to the connector label in Step (1). Cable RS series Maintenance Rev.3...
  • Page 40 (22) Connect the connectors. Connectors X31, X32, X33, X41, XB33, XB34, X331, X341. For details, refer to 4.2 Wiring Diagrams. (23) Remove the spare batteries from XB13 and XB14. RS series Maintenance Rev.3...
  • Page 41 For details, refer to 3.1 Arm #1. (27) Install the Base cover. For details, refer to 3.4 Base Cover. (28) Connect the connector and install the connector plate. For derails, refer to 3.3 Connector Plate. (29) Perform the calibration of all axis. RS series Maintenance Rev.3...

  • Page 42: Wiring Diagrams

    RS3 RS4 Maintenance 4. Cable Unit 4.2 Wiring Diagrams 4.2.1 Signal Cable For the colors and symbols of the cables, refer to 4.2.2 Power Cable. Continues to the next page RS series Maintenance Rev.3...
  • Page 43 RS3 RS4 Maintenance 4. Cable Unit Continued from the previous page RS series Maintenance Rev.3...

  • Page 44: Power Cable

    RS3 RS4 Maintenance 4. Cable Unit 4.2.2 Power Cable Continues to the next page Code Cable color Code Cable color Black Pink Brown Green Violet Blue White Orange Yellow RS series Maintenance Rev.3...
  • Page 45 RS3 RS4 Maintenance 4. Cable Unit Continued from the previous page RS series Maintenance Rev.3...

  • Page 46: User Cable

    Cable color Black Brown Violet Green White Blue Yellow The following table shows the types of the cable unit. Environment Model name Code Note RS3-351* 1514474 RS4-551* 1547166 RS3-351* 1514475 Waterproof connector : D-sub RS4-551* 1548346 RS series Maintenance Rev.3...

  • Page 47: 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 connector connected to the battery was disconnected during cable replacement, NOTE ...
  • Page 48 (3) Connect the power cable and signal cable connectors to the controller. (4) Turn ON the Controller. (5) If the connectors (X61, X62, X63) fall off from the battery, execute the calibration for Joint #1. For details, refer to 13 Calibration. RS series Maintenance Rev.3...

  • Page 49: Joint #1

    After replacing the parts, it is necessary to match these origins. The process of aligning the two origins is called “Calibration”. Refer to 13. Calibration to perform the calibration. Joint #1 motor Joint #1 reduction gear unit (Figure : RS3-351S) RS series Maintenance Rev.3...

  • Page 50: Replacing Joint #1 Motor

    For details, refer to 3.4 Base Cover. (7) Loosen the J1 belt. Joint #1 motor unit 4-M4×15 Loosen four bolts on the Joint #1 motor unit. + Washer Slide the Joint #1 motor unit toward the Joint #1 side. Pulley J1 belt RS series Maintenance Rev.3...
  • Page 51 (9) Remove the pulley from the Joint #1 motor. 2-M5×8 set screw Brass bushing Pulley (10) Remove the motor plate from the Joint #1 motor. 4-M4×15 +washer Motor plate RS series Maintenance Rev.3...
  • Page 52 To do so, pass a suitable cord or string around the Joint #1 motor unit near its mounting plate. Then, pull the cord using a force gauge or similar tool to apply the specified tension shown in the Force gauge figure on the right. RS series Maintenance Rev.3...
  • Page 53 (7) Connect the following connectors. Connectors X10, X20, X30, X111, X121, X131 (8) Mount the connector plate. For details, refer to 3.3 Connector Plate. (9) Perform the calibration of Joint #1. For details refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 54: Replacing Joint #1 Reduction Gear Unit

    (2) Remove the Joint #1 motor unit. Removal Execute the removal steps from (1) to (5) in 5.1 Replacing Joint #1 Motor. (3) Remove the air tube, D-sub cable, ground wire on the J1 cable plate. Cut off the wire tie. RS series Maintenance Rev.3...
  • Page 55 Do not try to pull out the cables forcibly. Otherwise, connectors may be stuck, disconnected, or connector pins may fall off. (8) Remove the Arm #1. 12-M6×20 (9) Remove the reduction gear unit from the base. 16-M4×20 Be sure to keep the O ring (S65A). O ring (S65A) RS series Maintenance Rev.3...
  • Page 56 J1 ring. O ring 12-M4×30 (11) Remove the J1 flange (with Metallic pipe). (S90A) 2-M2×6 Be sure to keep the O ring (S90A). J1 ring falling-off- prevention screw J1 flange Reduction gear unit RS series Maintenance Rev.3...
  • Page 57 Follow the steps in 4.1 Cable Unit - Installation (1) - (9). (10) Secure the Joint #1 motor and mount the cover. Follow the steps in 5.1 Replacing Joint #1 Motor - Installation (4) - (8). (11) Mount the Manipulator to the base table. RS series Maintenance Rev.3...

  • Page 58: Replacing J1 Belt

    J1 belt (1) Mount the J1 belt to the pulley of the Joint #1 side. Installation (2) Mount the J1 motor unit. Follow the steps in 5.1 Replacing Joint #1 Motor - Installation (3) - (9). RS series Maintenance Rev.3...

  • Page 59: Joint #2

    After replacing the parts, it is necessary to match these origins. The process of aligning the two origins is called “Calibration”. Refer to 13. Calibration to perform the calibration. Joint #2 motor Joint #2 reduction gear unit (Figure: RS3-351S) RS series Maintenance Rev.3...

  • Page 60: Replacing Joint #2 Motor

    Connectors X21, X221, XB22 (Hold the clip to 4-M4×5 + washer remove.) (4) Loosen the J2 belt. Loosen four bolts securing the Joint #2 motor unit. Slide the Joint #2 motor unit toward the Joint #2 side. J2 belt Pulley RS series Maintenance Rev.3...
  • Page 61 Washer Joint #2 motor unit (6) Remove the pulley from the Joint #2 motor. Pulley brass bushing 2-M5×8 set screw (7) Remove the motor plate from the Joint #2 motor. 4-M5×12 Motor plate RS series Maintenance Rev.3...
  • Page 62 When securing the unit, make sure that the motor unit can move by hand, and it will not tilt when pulled. If the unit is secured too loose or too Washer tight, the belt will not have the proper tension. Joint #2 motor unit RS series Maintenance Rev.3...
  • Page 63 (7) Mount the Arm #1 cover. For details, refer to 3.1 Arm #1. (8) Mount the Arm #1 under cover. For details, refer to 3.1 Arm #1. (9) Perform the calibration of Joint #2. For details refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 64: Replacing Joint #2 Reduction Gear Unit

    Remove the air tubes from the user plate. Press the ring of fittings of the air tube to pull it out (ø6×2, ø4×1）. Be sure to remember the cable location to connect them to the original position. Pull out the air tubes from the upper side of Joint #2. RS series Maintenance Rev.3...
  • Page 65 (15) Pull out the cables (except air tube) to downward from Joint #1. Pull out cables in order of size (smaller cables first). Do not try to pull out the cables forcibly. Otherwise, connectors may be stuck, disconnected, or connector pins may fall off. RS series Maintenance Rev.3...
  • Page 66 Be sure to keep the O ring (S71A). O ring (S71A) 16-M3×20 J2 flange (17) Remove the reduction gear unit. Be sure to keep the O ring (S53A). O ring (S53A) Reduction gear unit 11-M3×25 1-M3×30 + Nut RS series Maintenance Rev.3...
  • Page 67 (9) Insert the air tube to Arm #2 upper side. J2 ring Put the cables from above. (10) Connect the air tube to the user plate and mount the user plate. For details, refer to 3.5 User Plate. RS series Maintenance Rev.3...
  • Page 68 (14) Mount the Arm #1 under cover and J2 cover. For details, refer to 3.1 Arm #1. (15) Secure the Joint #2 motor and mount the cover. Follow the steps in 6.1 Replacing Joint #2 Motor - Installation (4) - (8). RS series Maintenance Rev.3...

  • Page 69: Replacing J2 Belt

    Follow the steps in 6.1 Replacing Joint #2 Motor - Installation (3) - (6). (4) Follow the steps in 6.2 Replacing Joint #2 Reduction Gear Unit - Installation (11) - (13). (5) Follow the steps in 6.1 Replacing Joint #2 Motor - Installation (7) - (9). RS series Maintenance Rev.3...

  • Page 70: Joint #3

    After replacing the parts, it is necessary to match these origins. The process of aligning the two origins is called “Calibration”. Refer to 13. Calibration to perform the calibration. Joint #3 motor Z belt Joint #3 brake (Figure : RS3-351S) RS series Maintenance Rev.3...

  • Page 71: Replacing Joint #3 Motor

    (7) Cut off the wire tie bundling the motor cables to the Joint #3 motor. Remember the cable layout so that the cables can be reconnected correctly after replacement. (8) Disconnect the following connectors. Connectors X331, X31, X32 (Hold the clip to remove.) Connector XB33 RS series Maintenance Rev.3...
  • Page 72 Remove the pulley and motor plate. (12) There is a brass bushing in one of the set screw Z pulley M5 bushing holes. Be careful not to lose it. (12) 2-M5×8 Brake hub set screw RS series Maintenance Rev.3...
  • Page 73 Unit adjust the position. Disk (5) Put the Joint # 3 motor unit in the arm. 4-M4×15 Motor cable must face to the right side of the + Washer arm. Joint #3 motor unit RS series Maintenance Rev.3...
  • Page 74 For details, refer to 3.2 Arm #2. (12) Install the Arm #1 side cove. For details, refer to 3.1 Arm #1. (13) Perform the calibration of Joint #3. For details on the calibration method, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 75: Replacing The Timing Belt

    (3) Set the Joint #3 motor unit in the arm so that motor cable faces toward the right side of arm. Secure the Joint #3 motor unit and mount the cover. Follow the steps in 7.1 Replacing Joint #3 Motor - Installation (5) - (13). RS series Maintenance Rev.3...

  • Page 76: Replacing The Brake

    Head Cap Bolts. Electromagnetic (1) Remove the Joint #3 motor. Brake Follow the steps in 7.1 Replacing Joint #3 Motor - Removal (1) - (13). Removal (2) Remove the brake from the brake plate. 2-M3×8 Brake plate RS series Maintenance Rev.3...
  • Page 77 Brake Unit manually adjust the position. Disk (5) Secure the Joint #3 motor unit and mount the cover. Follow the steps in 7.1 Replacing Joint #3 Motor - Installation (5) - (13). RS series Maintenance Rev.3...

  • Page 78: Joint #4

    After replacing the parts, it is necessary to match these origins. The process of aligning the two origins is called “Calibration”. Refer to 13. Calibration to perform the calibration. Joint#4 motor U axis U axis belt reduction gear unit (Figure: RS3-351S) RS series Maintenance Rev.3...

  • Page 79: Replacing Joint #4 Motor

    Connector X341, X41 (Hold the clip to remove.) Connector XB34 (9) Remove the U belt. 3-M4×15 + washer Remove four bolts securing the Joint #4 motor unit. Slide the motor unit toward the end of arm. Joint #4 motor unit RS series Maintenance Rev.3...
  • Page 80 (Use two diagonal holes from the motor mounting holes. See the photo.) RS series Maintenance Rev.3...
  • Page 81 Loosely secure the Joint #4 motor unit to Arm #2 so that the motor unit can be moved NOTE  by hand, and it will not tilt when pulled. If the unit is secured too loose or too tight, the belt will not have the proper tension. RS series Maintenance Rev.3...
  • Page 82 For details, refer to 3.2 Arm #2. (10) Install the Arm #1 side cover. For details, refer to 3.1 Arm #1. Perform the calibration of Joint #4. For details on the calibration method, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 83: Replacing The Timing Belt

    (7) Cut off the wire tie used for binding the motor cables to the Joint #3, #4 motor. Remember the cable location to connect them to the original position. (8) Remove the following connectors: Connector X331, X31, X32, X341, X41 (Hold the clip to remove.) Connector XB33, XB34 RS series Maintenance Rev.3...
  • Page 84 U belt U pulley (13) Remove the belt. 3-M4×12 + washer Remove the bolts securing the spline plate. Hold up the spline plate and pull the U belt upward from the shaft. U belt Spline plate RS series Maintenance Rev.3...
  • Page 85 Force gauge 4-M4×15 + washer M4 wrench (7) Set the Joint #3 motor unit to Arm #2 so that the 4-M4×15 motor cables face to the right side of arm. + washer Joint #3 motor unit RS series Maintenance Rev.3...
  • Page 86 For details, refer to 3.2 Arm #2. (14) Install the Arm #1 side cover. For details, refer to 3.1 Arm #1. (15) Perform the calibration of Joint #4. For details on the calibration method, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 87: Replacing The Reduction Gear Unit

    U axis plate). Installation (2) Mount the reduction gear unit to the Joint #4 motor and secure to Arm #2. Follow the steps in 8.1 Replacing Joint #4 Motor – Installation (1)-(12). RS series Maintenance Rev.3...

  • Page 88: Bellows

    Clamp band (small) Mechanical stop (6) Push up the bellows, Bellows and remove the bearing case and the baring from the shaft. (7) Pull the bellows, rubber sheet and clamp band from the shaft. Bearing case Mechanical stop RS series Maintenance Rev.3...
  • Page 89 Apply the - Mating point of the bearing inner race liquid gasket here - Inside of the bearing base (5) Mount the bearing and the bearing case. Bearing case Mechanical stop (6) Mount the mechanical stop. RS series Maintenance Rev.3...
  • Page 90 Joint #4. Make sure that the bellows can expand and contract smoothly without any excessive force. (9) Turn OFF the Controller and peripheral equipment. (10) Attach the end effector. (11) Connect the wires and tubes to the end effector. RS series Maintenance Rev.3...

  • Page 91: Ball Screw Spline Unit Replacement

    Controller. After replacing the parts, it is necessary to match these origins. The process of aligning the two origins is called “Calibration”. Refer to 13. Calibration to perform the calibration. RS series Maintenance Rev.3...
  • Page 92 (8) Cut off the wire tie banding motor cables to the motors of Joints #3, #4. Be sure to remember the cable layout to connect the cables to the original position. (9) Disconnect the following connectors. Connectors X331, X31, X32, X341, X41 (Hold the clip to remove.) Connector XB33, XB34 RS series Maintenance Rev.3...
  • Page 93 (14) Remove the U belt and Z belt. + washer Remove the bolts securing the spline plate. Hold the spline plate upward and pull the U belt and Z belt out of the shaft. Z belt U belt Spline plate RS series Maintenance Rev.3...
  • Page 94 For details, refer to 3.2.Arm #2. (16) Remove the nut mounting screws of the ball screw spline shaft on the underside of Arm #2. 4-M4×12 (17) Pull the ball screw spline unit out of Arm #2. RS series Maintenance Rev.3...
  • Page 95 Check that the motor unit can be moved by hand, and it will not tilt when pulled. If the NOTE  unit is secured too loose or too tight, the belt will not have the proper tension. RS series Maintenance Rev.3...
  • Page 96 Check that the motor unit can be moved by hand, and it will not tilt when pulled. If the  unit is secured too loose or too tight, the belt will not have the proper tension. RS series Maintenance Rev.3...
  • Page 97 (19) Install the end effector, and connect wires and tubes to the end effector. (20) This step is only for Cleanroom-model. Install the bellows. For details, refer to 9. Bellows. (21) Perform the calibration of Joints #3 and #4. For details, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 98: Lithium Battery

    Controller is energized. If warnings of voltage reduction occur, replace the lithium metal battery even if it has not reached the above product life. RS series Maintenance Rev.3...
  • Page 99 RS3 RS4 Maintenance 11. Lithium Battery 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 100: Replacing The Battery Unit (Lithium Battery)

    To do so, select 2 points (poses) or more from the registered points (poses) and move the Manipulator to the points (poses). (6) If the Manipulator does not move to the points (poses) correctly, perform the calibration of all joints and axes. For details, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 101: Replacing The Battery Board

    (4) Mount the base cover and connector plate. For details, refer to 3.3 Connector Plate and 3.4 Base Cover. (5) Turn ON the Controller. (6) Perform the calibration of all joints. For details, refer to 13. Calibration. RS series Maintenance Rev.3...

  • Page 102: Led Lamp

    Pass the cable through the LED mounting hole and connect the following connector. Connector X22 (2) Secure the LED to the Arm #1. (3) Connect connector X22. (4) Mount the Arm #1 under cover. For details, refer to 3.1 Arm #1 Cover. RS series Maintenance Rev.3...

  • Page 103: Calibration

    Jog Motion The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] tab to use the [Jog & Teach] page.

  • Page 104: 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.
  • Page 105 (2) Confirm the warning message and click the <Yes> button. (3) Move the joint to calibrate manually to approximate zero position (Joint #1: 90 deg.), as shown in the dialog. After moving the joint click the <Next> button. RS series Maintenance Rev.3...
  • Page 106 Arm 0 pulse position of Joint #4: position where the flat surface (or groove in mechanical stop) on the shaft faces toward the inside of Arm #2 0 pulse Groove View from this direction Flat surface RS series Maintenance Rev.3...
  • Page 107 * This window will disappear when the Controller starts up. (6) Select the reference point to use for calibration, and click the <Next> button. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. RS series Maintenance Rev.3...
  • Page 108 (8) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. (9) Click the <Next> button. (10) The manipulator moves to the reference point. Click the <Execute> button. Input JUMP P0:z(0). ↑ Point selected in step (6) RS series Maintenance Rev.3...
  • Page 109 RS3 RS4 Maintenance 13. Calibration (11) Confirm the message and click the <Yes> button. (12) After the manipulator moves to the reference point, click the <Next> button. (13) Jog to the accurate reference position. RS series Maintenance Rev.3...
  • Page 110 (16) Execute the procedures 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. Click the <Yes> button. RS series Maintenance Rev.3...
  • Page 111 RS3 RS4 Maintenance 13. Calibration ii. Jog to the accurate reference position. iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. RS series Maintenance Rev.3...
  • Page 112 RS3 RS4 Maintenance 13. Calibration iv. Click the <Next> button. (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. RS series Maintenance Rev.3...

  • Page 113: Accurate Calibration Of Joint #2

    · Switching the arm orientation between right and left at a given point · Using the Pallet command · Executing CP control (such as liner or circular interpolation) · Using the Local command · Pose data specified with relative coordinates <Example: P1+X(100) > · Vision Guide camera calibrations RS series Maintenance Rev.3...
  • Page 114 (6), (11). (12) Move the manipulator to other point data and make sure it moves to the correct position. Teach some more points if required. * Delete the two points taught for the Joint #2 calibration. RS series Maintenance Rev.3...

  • Page 115: Calibration Procedure Without Using Calibration Wizard

    RS3 RS4 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 13.2 Calibration Procedure.
  • Page 116 Arm 0 pulse position of Joint #4: position where the flat surface (or groove in mechanical stop) on the shaft 0 pulse faces toward the inside of Arm #2 View from Groove this direction Flat surface RS series Maintenance Rev.3...
  • Page 117 Joint #3 >calib 3 Joint #4 >calib 3, 4 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 in the [Control Panel] to free all joints. Now, you can move arms by hands.
  • Page 118 (6)-1 Move the Manipulator to another point to confirm that it moves to the same position. If it does not move to the same position, re-calibrate using another point. You must set the point again if reproducibility cannot be assured through calibration. RS series Maintenance Rev.3...

  • Page 119: Maintenance Parts List

    R13B031238 S53A (Ball Screw － － Spline) Grease SK-1A For purchasing the grease, please (Reduction contact the supplier of your region. － － Gear Unit) GPL-224 － － (Cable) Oil seal unit (Arm #2) 1514476 R13B031239 RS series Maintenance Rev.3...
  • Page 120 2015. Regarding purchase of the grease, please contact the following manufacturers. If there is anything unclear, please contact the supplier of your region Product name Manufacturer THK AFB-LF Grease THK CO., LTD. https://www.thk.com/ Harmonic Grease SK-1A Harmonic Drive Systems Inc. https://www.harmonicdrive.net/ https://www.chemours.com/en/brands-and- Krytox®GPL-224 Chemours products RS series Maintenance Rev.3...

  • Page 121: Parts By Environment Model

    April 2015. Regarding purchase of liquid gasket, please contact the following manufacturers. If there is anything unclear, please contact our suppliers. Product name Manufacturer KE-3497-W Shin-Etsu Chemical Co., Ltd. https://www.shinetsusilicone-global.com/ RS series Maintenance Rev.3...
  • Page 122 RS3 RS4 Maintenance 14. Maintenance Parts List RS series Maintenance Rev.3...

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