Page 1 SCARA ROBOT LS-B series MAINTENANCE MANUAL Rev.1 EM216R4716F...
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 LS-B series Maintenance Rev.1...
Page 5 For other countries, please contact your local government to investigate the possibility of recycling your product. The battery removal/replacement procedure is described in the following manuals: Maintenance Manual LS-B series Maintenance Rev.1...
Page 6 Controller : RC90-B Software : LS6-B : EPSON RC+ 7.0 Ver.7.4.3 or later LS6-B602S-V1* : EPSON RC+ 7.0 Ver.7.5.0 R3 or later * LS6-B602S-V1 is high speed model manipulator of LS6-B602S. This manual describes information on LS6-B602S-V1 which is different from LS6-B602S.
Page 7 The manual is primarily intended for people who design robot systems or do programming. RC90 series Maintenance Manual (PDF) LS-B series Maintenance Manual (PDF) This manual describes the details of maintenance etc. The manual is intended for people who perform maintenance.
Page 8 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 9: Table Of Contents
6.2 Replacing Joint #2 Reduction Gear Unit ..........48 7. Joint #3 7.1 Replacing Joint #3 Motor ............... 53 7.2 Replacing the Timing Belt ..............57 7.3 Replacing the Brake ................61 7.4 Checking the Timing Belt Tension (Z Belt) ..........65 LS-B series Maintenance Rev.1...
Page 10 2.1.2 Inspection Point ................. 125 2.2 Overhaul (Parts Replacement) ............. 126 2.3 Greasing ....................128 2.4 Tightening Hexagon Socket Head Cap Bolts ........131 2.5 Matching Origins ................... 131 2.6 Layout of Maintenance Parts ..............132 viii LS-B series Maintenance Rev.1...
Page 11 8.3 Replacing the Brake ................200 8.4 Checking the Timing Belt Tension (U1, U2 Belts) ........ 203 9. Bellows 10. Ball Screw Spline Unit Replacement 11. Boards 11.1 Replacing the Converter Board ............210 11.2 Replacing the Control Board .............. 212 LS-B series Maintenance Rev.1...
Page 12 4.2.2 Power Cable ................259 4.2.3 User Cable ................260 4.2.4 Color of Cables................261 4.3 Replacing M/C Cable ................262 5. Joint #1 5.1 Replacing Joint #1 Motor ..............268 5.2 Replacing Joint #1 Reduction Gear Unit ..........272 LS-B series Maintenance Rev.1...
Page 13 11.2 Replacing the Control Board .............. 329 12. LED Lamp 13. Calibration 13.1 About Calibration ................331 13.2 Calibration Procedure................. 332 13.3 Accurate Calibration of Joint #2 ............342 13.4 Calibration Procedure without using Calibration Wizard ....344 14. Maintenance Parts List LS-B series Maintenance Rev.1...
Page 14 TABLE OF CONTENTS LS-B series Maintenance Rev.1...
Page 15: Ls3-B, Ls6-B Manipulator
LS3-B LS6-B Maintenance This volume contains maintenance procedures with safety precautions for Manipulators.
Page 17: Safety Maintenance
CAUTION improper function of the robot system. ■ When operating maintenance of manipulator, secure about 50 cm of empty space around the manipulator. LS-B series Maintenance Rev.1...
Page 18: General Maintenance
√ 9 months (2250 h) √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ √ 20000 h h = hour LS-B series Maintenance Rev.1...
Page 19: Inspection Point
Also, if the break is not released even operated release the break, contact the supplier. Check that there is no unusual sound or vibration when operating. Check whether unusual sound or vibration occurs. If there is something wrong, contact the supplier. LS-B series Maintenance Rev.1...
Page 20: Overhaul (Parts Replacement)
RC90 series Maintenance Manual 6. Alarm Note: The recommended replacement time for the maintenance parts is when it reaches the L10 life (time until 10% failure probability). In the [Maintenance] dialog box, the L10 life is displayed as 100%. LS-B series Maintenance Rev.1...
Page 21 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 22: Greasing
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. For details, refer to the following manual. RC90 series Maintenance Manual 6. Alarm...
Page 23 Joints #3 and #4 are released. Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of the end effector. Turn OFF the Controller. LS-B series Maintenance Rev.1...
Page 24 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: LS6-B LS-B series Maintenance Rev.1...
Page 25: 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 LS-B series Maintenance Rev.1...
Page 26: Layout Of Maintenance Parts
Joint #1 motor Power cable Signal cable *: Joint #4 brake (LS6-B only) Cleanroom-model (with optional bellows) For the Cleanroom-model, the following parts are added to the Standard-model. Bellows Clamp Band Clamp Band Bellows Clamp Band LS-B series Maintenance Rev.1...
Page 27: Covers
Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous and may result in electric shock and/or malfunction of the robot system. User Plate Arm Top Cover Connector Plate Connector Sub Plate Arm Bottom Cover LS-B series Maintenance Rev.1...
Page 28: Arm Top Cover
Arm Top Cover. NOTE  When bellows are installed to the manipulator, install the Arm Top Cover and then set the upper bellows. For bellows installation, refer to 9. Bellows. LS-B series Maintenance Rev.1...
Page 29: Arm Bottom Cover
Arm Bottom Cover. When bellows are installed to the manipulator, remove or pull down the lower bellows and then remove the arm bottom cover. For bellows removal, refer to 9. Bellows. LS-B series Maintenance Rev.1...
Page 30: Connector Plate
If there is a kink in the air tube, air flow is blocked while the manipulator is operating and may cause a trouble. Put the air tube along the left side wall as shown in the picture. GOOD: Curved BAD: Bended LS-B series Maintenance Rev.1...
Page 31: Connector Sub Plate
Be sure to place the cables back to their original locations. Unscrew the Connector Sub Plate mounting bolts and remove the plate. Refer to LS-B series Manual – LS3-B LS6-B Manipulator 3.6 Connector Connecting the Cables. Sub Plate...
Page 32: Cable
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. LS-B series Maintenance Rev.1...
Page 33: Replacing Cable Unit
For M4 screw Spanner width across flats: 5 mm For D-sub connector removal Tools Nut screwdriver width across flats: 5 mm For D-sub connector removal Torque wrench Nippers For cutting wire tie Material Wire tie Cable unit LS-B series Maintenance Rev.1...
Page 34 Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 35 (4) Remove the Connector Sub Plate from the Connector Plate. For details, refer to 3.4 Connector Sub Plate (5) Disconnect M/C cable. For details, refer to LS-B series Manual – LS3-B LS6-B Manipulator 3.6 Connecting the Cables - Connect and disconnect M/C cable. (6) Remove the Connector Plate.
Page 36 Rotate the nut to remove it, and pull out the cables from the (17) User Plate. (18) Rotate the cable duct fittings to remove the nut that secures to the Base, and pull out the cables from the Base. (18) LS-B series Maintenance Rev.1...
Page 37 For the details, refer to 3.5 User Plate. (9) Connect the connectors. Connectors: X22, X33,X42, X43, X44, X51, BR, X221, X231, X241 (10) As with the wire tie cut off at the removal step (11), bind the cables with a new wire tie. LS-B series Maintenance Rev.1...
Page 38 For details, refer to 3.1 Arm Top Cover. Execute the calibration for all joints but the Joint #1. If the connector falls off from the battery board, execute the calibration for all axes. For details, refer to 13 Calibration. LS-B series Maintenance Rev.1...
Page 39: Wiring Diagrams
LS3-B LS6-B Maintenance 4. Cable 4.2 Wiring Diagrams 4.2.1 Signal Cable LS3-B LS-B series Maintenance Rev.1...
Page 40 LS3-B LS6-B Maintenance 4. Cable LS6-B LS-B series Maintenance Rev.1...
Page 41: Power Cable
LS3-B LS6-B Maintenance 4. Cable 4.2.2 Power Cable LS3-B/LS6-B LS-B series Maintenance Rev.1...
Page 42: User Cable
The following table shows the codes and cable colors indicated in the pin assignments. 4.2.1 Signal Cable 4.2.2 Power Cable 4.2.3 User Cable Code Cable color Black White Green Yellow Brown Blue Violet Orange Pink Sky blue LS-B series Maintenance Rev.1...
Page 43: Replacing M/C Cable
LS3-B/LS6-B series does not have batteries. Position data is memorized by the motor.  When replacing cables, calibration is not necessary. Name Qty. Note 3 m: R12NZ9010B Maintenance M/C Cable 5 m: R12NZ9010C parts 10 m: R12NZ9010D Flathead screwdriver Tools Torque wrench M/C cable LS-B series Maintenance Rev.1...
Page 44 (4) Slide the plate to remove it from the base. NOTE  Do not pull the M/C cable after removing the plate. M/C cables are connected by the connectors. Doing so may result in disconnection of the cables. LS-B series Maintenance Rev.1...
Page 45 If you cannot disconnect it, push the connector once, and then disconnect it by pushing the clip. Do not pull the cables. Doing so may result in disconnection. Do not remove the M/C cable form the plate. LS-B series Maintenance Rev.1...
Page 46 Slide the plate until it will be parallel to the base table. Be careful not to tighten the screws with the cables get caught on the plate. (4) Connect the following connectors to the controller. Power cable connector Signal cable connector (5) Turn ON the Controller. LS-B series Maintenance Rev.1...
Page 47 Correct direction is where the letters: WARNING of warning label of electric shock will be parallel to the base table. If the plate is installed in wrong direction, the cables inside the Manipulator will be twisted and may result in disconnection. Correct: Cables are not twisted Wrong: Cables are twisted LS-B series Maintenance Rev.1...
Page 48: 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 execute the calibration. Joint #1 reduction gear unit Joint #1 motor LS-B series Maintenance Rev.1...
Page 49: Replacing Joint #1 Motor
4-M3×20 NOTE  Do not remove the bolts indicated by arrows. NOTE  There is an O-ring between the Joint #1 unit and the arm. Be sure to keep the O- ring. LS3-B: CO0547A LS6-B: CO0551A LS-B series Maintenance Rev.1...
Page 50 Joint #1 Motor Motor Flange (8) For LS6-B only: O-ring Remove the motor mounting screws to remove the motor flange and O-ring (CO0538A). Joint #1 Motor LS3-B does not have a motor flange. NOTE  4-M4 washer 4-M4×12 LS-B series Maintenance Rev.1...
Page 51 NOTE Waveform Generator  End Face of Motor Shaft As a guide, make sure that the end face of the motor shaft and the end face of 21.7 mm the waveform generator match. Motor Flange Motor LS-B series Maintenance Rev.1...
Page 52 (7) Mount the Connector Plate. For details, refer to 3.3 Connector Plate. (8) Check if the Joint #1 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 53: Replacing Joint #1 Reduction Gear Unit
(1) Remove the Joint #1 motor unit. Reduction Follow the removal steps in 5.1 Replacing Joint #1 Motor. Gear Unit Removal (2) Remove the reduction gear unit from the Bolts Joint #1 flange. Reduction Gear Unit LS3-B: 16-M3×20 Flange LS6-B: 16-M4×25 LS-B series Maintenance Rev.1...
Page 54 (3) Face the convex side of the circular spline down, and then fit it into the flexspline. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 55 Be careful not to apply too much force since it may damage the parts. (6) Apply grease (SK-1A) inside the flexspline. Grease volume:LS3-B: 19g LS6-B: 37 g (7) Mount the Joint #1 motor. For more details, refer to the installation steps in 5.1 Replacing Joint #1 Motor. LS-B series Maintenance Rev.1...
Page 56: 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 Maintenance: 13. Calibration to execute the calibration. Joint #2 Motor Joint #2 Reduction Gear Unit LS-B series Maintenance Rev.1...
Page 57: Replacing Joint #2 Motor
(3) Turn OFF the Controller. (4) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (5) Remove the User Plate. For details, refer to 3.5 User Plate. LS-B series Maintenance Rev.1...
Page 58 Be sure to keep the bushing. Set Screws Joint #2 Motor LS6-B Waveform Generator 2-M4×6 Set Screws M4 Brass Bushing Joint #2 Motor LS6-B602S-V1: Waveform Generator 2-M4×6 Set Screws M4 Brass Bushing Joint #2 Motor LS-B series Maintenance Rev.1...
Page 59 Joint #2 Motor flat face of the motor shaft. Insert a bushing into the other set screw hole to prevent damage to the motor shaft. LS6-B Waveform Generator 2-M4×6 Set Screws M4 Brass Bushing Joint #2 Motor LS-B series Maintenance Rev.1...
Page 60 For details, refer to 3.5 User Plate. (6) Connect the connectors. Connectors: X221, X21. (7) Bind the cables with a wire tie in their original positions as before removed in the removal step (6). Do not allow unnecessary strain on the cables. LS-B series Maintenance Rev.1...
Page 61 (8) Mount the Arm Top Cover. For details, refer to 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 62: Replacing Joint #2 Reduction Gear Unit
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 63 (6) Remove the reduction gear unit from the Arm #1 by removing the screws that mounts the reduction gear unit on the Arm #1. There is an O-ring between the Arm #1 and the reduction gear unit. Be careful not to lose the removed O-ring. LS-B series Maintenance Rev.1...
Page 64 (3) Face the convex side of the circular spline down, and then fit it into the flexspline. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 65 Set the attached O-ring into the O-ring groove of the circular spline. Secure the Arm #2 on the circular spline. (8) Mount and Joint #2 motor. Follow the installation steps in 6.1 Replacing Joint #2 Motor. LS-B series Maintenance Rev.1...
Page 66: 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 execute the calibration. Joint #3 Motor Joint #3 Brake Z belt LS-B series Maintenance Rev.1...
Page 67: Replacing Joint #3 Motor
(5) Cut off the wire tie binding the Joint #3 motor cables. Do not cut off the other wire ties that do not relate with removal of the User Plate. (6) Remove the User Plate. For details, refer to 3.5 User Plate. LS-B series Maintenance Rev.1...
Page 68 Remove them from the Joint Joint #3 #3 motor. Motor M5×8 There is a brass bushing in one of the set Pulley Set screws screw holes. Be sure to keep the bushing. M5×8 Set screws Bushing Brake Hub LS-B series Maintenance Rev.1...
Page 69 At this point, make sure that the Joint #3 motor unit can be moved by hand, and it will not tilt when pushed by tensioner. If the unit is secured too loose or too tight, the belt will not have the proper tension LS-B series Maintenance Rev.1...
Page 70 (8) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (9) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 71: Replacing The Timing Belt
For details, refer to 3.1 Arm Top Cover. (5) Cut off the wire tie binding the cables. Cut off the wire tie binding the Joint #3 brake cable. Do not cut off a wire tie that binds the cables to the User Plate. LS-B series Maintenance Rev.1...
Page 72 LS6-B602S-V1:4-M3×10 Hexagon socket head cap bolts (11) Remove the screws mounting the spline plate. Hold up the spline plate and pull out the Z belt. Z belt Only for LS6-B602S-V1 3-M4×12 Spline Plate Control Board Unit Z Belt LS-B series Maintenance Rev.1...
Page 73 At this point, make sure that the Joint #3 motor unit can be moved by hand, and it will not tilt when pushed by tensioner. If the unit is secured too loose or too tight, the belt will not have the proper tension. LS-B series Maintenance Rev.1...
Page 74 (11) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (12) 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 75: Replacing The Brake
Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector. (3) Turn OFF the Controller. (4) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 76 Joint #3 motor. Joint #3 Motor There is a brass bushing in one of the set screw holes. Be sure to keep the bushing. M3×4 Set Screws M3×4 +M3 Bushing Set Screws Brake Hub LS-B series Maintenance Rev.1...
Page 77 When the brake disc is not aligned, manually adjust the position by following the steps below. 1. Connect the connector BR. 2. Press the brake release switch to release the brake. 3. Adjust the brake disk manually so that the hole is at the center. LS-B series Maintenance Rev.1...
Page 78 (4) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (5) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 79: Checking The Timing Belt Tension (Z Belt)
[g/ (1 mm width ×1 m [mm] [mm] length)] LS3-B Z belt LS6-B Z belt (2) Strum the belt and measure tension. NOTE Measurement failure may occur if the  microphone touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 80: 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 Maintenance: 13. Calibration to execute the calibration. Joint #4 Motor U2 Belt U1 Belt LS-B series Maintenance Rev.1...
Page 81: Replacing Joint #4 Motor
Joint #4 are released simultaneously. Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector. (3) Turn OFF the Controller. LS-B series Maintenance Rev.1...
Page 82 There is a brass bushing in one of the set screw holes. Be sure to keep the bushing. Motor Plate (10) Remove the motor plate from the Joint #4 motor. Pulley 2-M4×8 Set Screws + Bushing LS-B series Maintenance Rev.1...
Page 83 NOTE  If the unit is secured too loose or too tight, the belt will not have the proper tension. Make sure the gear grooves of the belt are fit into those of the pulleys completely. LS-B series Maintenance Rev.1...
Page 84 (8) Bind the cables with a wire tie in their original positions as before removed in removal step (5). Do not allow unnecessary strain on the cables. (9) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 85 LS3-B LS6-B Maintenance 8. Joint #4 (10) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 86: Replacing The Timing Belt
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 87: U2 Belt
Do not cut off the wire tie that binds the cables to the User Plate. (7) Disconnect the following connectors. Connectors: X33, X41, X51, X241 (Hold the clip to remove.) BR4 (Only LS6-B) (8) Remove the User Plate. For details, refer to 3.5 User Plate. LS-B series Maintenance Rev.1...
Page 88 Pull out the Joint #4 intermediate shaft unit 3-M4×12 and U1 belt. ＋Washer 3-M4×12 (12) Remove the screws mounting the spline Spline Plate plate. Hold up the spline plate and pull out the Z belt and U2 belt. U2 belt Z belt LS-B series Maintenance Rev.1...
Page 89 (5) Loosely secure the Joint #4 intermediate shaft unit. Make sure the 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. LS-B series Maintenance Rev.1...
Page 90 Arm #2. Make sure 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. LS-B series Maintenance Rev.1...
Page 91 Make sure 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. LS-B series Maintenance Rev.1...
Page 92 (18) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (19) Check if the Joint #3, #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 93: U1 Belt
U2 belt in the Arm #2 on the small pulley and put them on the Arm #2 upper surface. NOTE  Make sure the gear grooves of the belts are fit into those of the pulleys completely. Joint #4 Intermediate 3-M4×12 Shaft Unit + Washer U1 belt Pulley (Large) U2 belt Pulley (Small) LS-B series Maintenance Rev.1...
Page 94 Axial tension (pulling force): 125N (12.3 ± 0.5 kgf) Joint #4 Intermediate Shaft Unit Force Gauge 3-M4×12 + Washer To check belt tension with the tension meter, refer to 8.4 Checking the Timing Belt NOTE  Tension (U1, U2 Belts). LS-B series Maintenance Rev.1...
Page 95 (7) Bind the cables with a wire tie in their original position as before removed in the removal step (5). (8) Remove the User Plate. For details, refer to 3.5 User Plate. (9) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 96 LS3-B LS6-B Maintenance 8. Joint #4 (10) 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 97: Replacing The Brake (For Ls6-B Series Only)
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 98 Connector BR4 (6) Cut off the wire tie banding brake cables. Rubber Cap (7) Remove the rubber cap. (8) Remove the brake hub. Brake Hub M3×4 Set Screws Brake + Bushing (9) Remove the brake. 2-M2.5×25 LS-B series Maintenance Rev.1...
Page 99 (5) Re-bundle the cables in their original positions with a wire tie removed in step (6). Do not allow unnecessary strain on the cables. (6) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 100: Checking The Timing Belt Tension (U1, U2 Belts)
(4) Strum the U1 belt and measure tension. NOTE For LS6-B, insert the microphone of the  tension meter to the hole on the Arm to measure tension. Measurement failure may occur if the microphone touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 101: Bellows
Removal (2) Remove the end effector. (3) Turn ON the controller. Stop motor excitation. (MOTOR OFF) (4) Loosen the two clamp bands on the bellows. (5) Pull out the bellows and clamp bands from the shaft. LS-B series Maintenance Rev.1...
Page 102 Then, secure them with clamp bands. Bottom bellows Shaft edge (5) When completed the bellows installation, check that the bellows stretch smoothly without any excessive force by moving the shaft up/down by hand and rotating the Joint #4. LS-B series Maintenance Rev.1...
Page 103 LS3-B LS6-B Maintenance 9. Bellows (6) Turn OFF the Controller and peripheral equipment. (7) Attach the end effector. (8) Connect the cables and tubes to the end effector. LS-B series Maintenance Rev.1...
Page 104: Ball Screw Spline Unit Replacement
Z : 69 N (7.0 ± 0.5kgf) U1 : 56 N (5.7 ± 0.5kgf) U2 : 125 N (12.3 ± 0.5 kgf) Suitable cord (Length about 1000 mm) For belt tension For wiping grease Wiping cloth (Spline shaft) Material Wire tie LS-B series Maintenance Rev.1...
Page 105 U1 belt U2 belt Z belt Follow the U2 belt removal steps in 8.2 Replacing the Timing Belt. (8) Remove three screws mounting the spline 3-M4×12 plate. (9) Remove four screws mounting the spline nut. 4-M4×12 LS-B series Maintenance Rev.1...
Page 106 Spline Unit. (6) For the Cleanroom-model, mount the bellows. For details, refer to 9. Bellows. (7) Mount the end effector, cables, and tubes. (8) Perform the calibration of Joints #3, #4. For details, refer to 13. Calibration. LS-B series Maintenance Rev.1...
Page 107: Boards
Name Qty. Note Converter board 2196970 Maintenance LS3-B, LS6-B: 2198655 parts Control board LS6-B602S-V1: 2196966 Nippers For cutting wire tie Tools Cross-point screwdriver (#1) Material Wire tie For fixing cables LS-B series Maintenance Rev.1...
Page 108: Replacing The Converter Board
(3) Disconnect the connectors which are connected to the Converter board converter board. Connectors: CV11, CV12, CV13 (4) Remove the converter board from the mount base. Converter board Binding head small screws: 2-M3 2-M3 (cross-point screwdriver) Binding head small screws LS-B series Maintenance Rev.1...
Page 109 (2) Connect the connectors to the converter board. Connectors: CV11, CV12, CV13 (3) Mount the Connector Plate. For details, refer to 3.3 Connector Plate. (4) Turn ON the Controller. (5) Make sure no errors occur in all joints. LS-B series Maintenance Rev.1...
Page 110: Replacing The Control Board
Be careful of the board direction. (Check the board direction by the connector position.) (2) Connect the connector. Connector: X51 (3) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (4) Turn ON the controller. LS-B series Maintenance Rev.1...
Page 111: Led Lamp
Disconnect the X1 and X2 terminals from (LS6-B) (LS6-B) the LED. Connector: X22 (4) Turn the lens counterclockwise to remove. (LS3-B) Then, turn the lens holder counterclockwise to remove. (5) Remove the LED and ring from the User Plate. LS-B series Maintenance Rev.1...
Page 112 (2) Put the User Plate between the ring and lens holder, and then secure the LED to the cover. (3) Mount the lens. (4) Mount the User Plate. For details, refer to 3.5 User Plate. (5) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 113: 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 114: 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 115 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.) LS-B series Maintenance Rev.1...
Page 116 Arm #2 0 pulse − Flat surface (4) Click the <Yes> button to reset the encoder. (5) Reboot the Controller. * This window will disappear when the Controller starts up. LS-B series Maintenance Rev.1...
Page 117 (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. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. LS-B series Maintenance Rev.1...
Page 118 Move the end effector from the zero pulse position to the approximate reference point NOTE  where rough calibration will be executed at by the jog motion. Position gap may occur if the end effector is not moved by the jog motion. (9) Click the <Next> button. LS-B series Maintenance Rev.1...
Page 119 (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. LS-B series Maintenance Rev.1...
Page 120 (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. LS-B series Maintenance Rev.1...
Page 121 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. ii. Jog to the accurate reference position. LS-B series Maintenance Rev.1...
Page 122 LS3-B LS6-B Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS-B series Maintenance Rev.1...
Page 123 LS3-B LS6-B 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. LS-B series Maintenance Rev.1...
Page 124: 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 LS-B series Maintenance Rev.1...
Page 125 Then, check the number of points you want to use. (2) EPSON RC+ menu-[Tools]-[Robot Manager]-[Control Panel] and click the MOTOR (3) Click the <Free All> button in the [Control Panel] to free all joints. Now, you can move arms by hands.
Page 126: Calibration Procedure Without Using Calibration Wizard
LS3-B LS6-B 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 127 The height of Joint #3 (shaft) depends on manipulator model. LS3-B401S LS3-B401C LS6-B*02S LS6-B*02C 0 pulse position of Joint #4: position where the flat surface on the shaft faces toward the tip of Arm #2 0 pulse − Flat surface LS-B series Maintenance Rev.1...
Page 128 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 129 (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. LS-B series Maintenance Rev.1...
Page 130: Maintenance Parts List
5.2, 6.2 Reduction Gear of your region. Unit: SK-1A, SK2 Arm Top Cover 1795860 White Arm Bottom Cover 1769389 Blue Dust Cover 2014430 For RJ45 connector 2186054 M/C Power Cable 2186055 2186056 10 m LS-B series Maintenance Rev.1...
Page 131: Ls6-B
1650901 reduction gear unit 1213266 CO0543A Joint #1 1520371 CO0538A O-ring 1510528 CO0551A Supplied with Joint #2 1653181 reduction gear unit Joint #2 1213267 CO0547A Joint #3 1563316  Timing Belt 1612286 Joint #4  1763573 LS-B series Maintenance Rev.1...
Page 132 Circular spline A rigid, ring-shaped body with gear teeth on the inner circumference. The circular spline has two more teeth than the flexspline does. Splines are greased. Be careful not to let grease adhere to clothes. LS-B series Maintenance Rev.1...
Page 133 The bellows for LS3-B401C are provided in a unit of one piece. The upper and lower bellows have the same shape. The bellows for LS6-B*02C are provided in a unit of two pieces. The shape varies between the upper and lower bellows. LS-B series Maintenance Rev.1...
Page 134 LS3-B LS6-B Maintenance 14. Maintenance Parts List LS-B series Maintenance Rev.1...
Page 135 LS10-B Maintenance This volume contains maintenance procedures with safety precautions for Manipulators.
Page 137: Safety Maintenance
CAUTION improper function of the robot system. ■ When operating maintenance of manipulator, secure about 50 cm of empty space around the manipulator. LS-B series Maintenance Rev.1...
Page 138: General Maintenance
√ 9 months (2250 h) √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ √ 20000 h h = hour LS-B series Maintenance Rev.1...
Page 139: Inspection Point
Also, if the break is not released even operated release the break, contact the supplier. Check whether unusual sound or Check that there is no unusual sound or vibration when operating. vibration occurs. If there is something wrong, contact the supplier. LS-B series Maintenance Rev.1...
Page 140: Overhaul (Parts Replacement)
RC90 series Maintenance Manual 6. Alarm Note: The recommended replacement time for the maintenance parts is when it reaches the L10 life (time until 10% failure probability). In the [Maintenance] dialog box, the L10 life is displayed as 100%. LS-B series Maintenance Rev.1...
Page 141 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 142: Greasing
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. For details, refer to the following manual. RC90 series Maintenance Manual 6. Alarm...
Page 143 Wipe off the old grease from the shaft, and then apply new grease to it. Grease application range is from the end of the spline nut to mechanical stop. Grease application Spline nut range Shaft Mechanical stop LS-B series Maintenance Rev.1...
Page 144 Run for about 5 minutes to spread the grease over the shaft. Turn OFF the controller. End of the spline nut LS-B series Maintenance Rev.1...
Page 145: 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 LS-B series Maintenance Rev.1...
Page 146: Layout Of Maintenance Parts
U1 belt Joint #1 motor Power cable Signal cable (Figure: LS10-B602S) Cleanroom-model (with optional bellows) For the Cleanroom-model, the following parts are added to the Standard-model. Bellows Clamp Band Clamp Band (Figure: LS10-B602C) Bellows Clamp Band LS-B series Maintenance Rev.1...
Page 147: Covers
Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous and may result in electric shock and/or malfunction of the robot system. Arm Top Cover User Plate Connector Plate Connector Sub Plate Bottom Cover (Figure: LS10-B702S) LS-B series Maintenance Rev.1...
Page 148: Arm Top Cover
Arm Top Cover. NOTE  When bellows are installed to the manipulator, install the Arm Top Cover and then set the upper bellows. For bellows installation, refer to 9. Bellows. LS-B series Maintenance Rev.1...
Page 149: Arm Bottom Cover
Be sure to place the cables back to their original locations. Unscrew the Connector Plate mounting bolts and remove the plate. 4-M4×10 Connector Plate NOTE  When mounting the Connector Plate, be careful of the following. LS-B series Maintenance Rev.1...
Page 150 If there is a kink in the air tube, air flow is blocked while the manipulator is operating and may cause a trouble. Put the air tube along the left side wall as shown in the picture. GOOD: Curved BAD: Bended LS-B series Maintenance Rev.1...
Page 151: Connector Sub Plate
When routing the cables, observe the cable locations after removing the connector sub plate. Be sure to place the cables back to their original locations. Unscrew the Connector Sub Plate mounting bolts and remove the plate. Refer to LS-B series Manual – LS10-B Manipulator 3.6 Connecting the Cables. 4-M3 Finger screws...
Page 152: User Plate
(2) Unscrew the User Plate mounting bolts and remove the plate. User Plate 2-M4×10 User Plate (1) Put the User Plate to the arm and secure using the mounting bolts. Installation (2) Mount the Arm Top Cover. Refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 153: Cable
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. LS-B series Maintenance Rev.1...
Page 154: Replacing Cable Unit
Spanner width across flats: 5 mm For D-sub connector removal Tools Nut screwdriver width across flats: 5 mm For D-sub connector removal Torque wrench Nippers For cutting wire tie Material Wire tie Cable unit (Figure: LS10-B602S) LS-B series Maintenance Rev.1...
Page 155 Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 156 Remove the Connector Sub Plate from the Connector Plate. For details, refer to 3.4 Connector Sub Plate Disconnect M/C cable. For details, refer to LS-B series Manual -LS10-B Manipulator 3.6 Connecting the Cables - Connect and disconnect M/C cable. Remove the Connector Plate.
Page 157 Plate. Rotate the nut to remove it, and pull out the cables from the User Plate. (19) Rotate the cable duct fittings to remove the nut that (16) secures to the Base, and pull out the cables from the Base. (17) LS-B series Maintenance Rev.1...
Page 158 (11) As with the wire tie cut off at the removal step (15), bind the cables with a new wire tie. (12) Mount the Connector Plate. For the details, refer to 3.3 Connector Plate. (13) Place and secure the Arm Top Cover without the cables being stuck. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 159: Wiring Diagrams
LS10-B Maintenance 4. Cable 4.2 Wiring Diagrams 4.2.1 Signal Cable LS-B series Maintenance Rev.1...
Page 160: Power Cable
LS10-B Maintenance 4. Cable 4.2.2 Power Cable LS-B series Maintenance Rev.1...
Page 161: User Cable
The following table shows the codes and cable colors indicated in the pin assignments. 4.2.1 Signal Cable 4.2.2 Power Cable 4.2.3 User Cable Code Cable color Black White Green Yellow Brown Blue Violet Orange Pink Sky blue Gray LS-B series Maintenance Rev.1...
Page 162: Replacing M/C Cable
The unnecessary strain on the cables 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. LS-B series Maintenance Rev.1...
Page 163 (5) As shown on the right, pull out the cables from the Manipulator. (6) Disconnect the connectors in the order as shown on the right. Clips of the connectors are△ positions in the figure. Push the clip to disconnect the connector. LS-B series Maintenance Rev.1...
Page 164 If you cannot disconnect it, push the connector once, and then disconnect it by pushing the clip. Do not pull the cables. Doing so may result in disconnection. Do not remove the M/C cable form the plate. LS-B series Maintenance Rev.1...
Page 165 Slide the plate until it will be parallel to the base table. Be careful not to tighten the screws with the cables get caught on the plate. (4) Connect the following connectors to the controller. Power cable connector Signal cable connector (5) Turn ON the Controller. LS-B series Maintenance Rev.1...
Page 166 Correct direction is where the letters: WARNING of warning label of electric shock will be parallel to the base table. If the plate is installed in wrong direction, the cables inside the Manipulator will be twisted and may result in disconnection. Correct: Cables are not twisted Wrong: Cables are twisted LS-B series Maintenance Rev.1...
Page 167: 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 execute the calibration. Joint #1 reduction gear unit Joint #1 motor LS-B series Maintenance Rev.1...
Page 168: Replacing Joint #1 Motor
#1 motor flange and remove the motor unit There is an O-ring in the assembly position of the motor flange and Joint #1 flange. Joint #1 Be careful not to lose the O-ring. Motor Unit 4-M4×15 LS-B series Maintenance Rev.1...
Page 169 A: Brass Bushing : M5 Joint #1 Motor B: Set Screw : 2-M5×6 (8) Remove the motor mounting screws to remove Motor Flange the motor flange and O-ring (CO0538A). O-ring Joint #1 Motor 4-M4 washer 4-M4×12 LS-B series Maintenance Rev.1...
Page 170 (5) Set the O-ring (CO0538A) removed in the removal step (3) into the O-ring groove of the arm. Then, mount the arm to the Joint #1 unit. (6) Connect the connectors. Connectors: X41, X211 (7) Mount the Connector Plate. For details, refer to 3.3 Connector Plate. LS-B series Maintenance Rev.1...
Page 171 LS10-B Maintenance 5. Joint #1 (8) Check if the Joint #1 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 172: Replacing Joint #1 Reduction Gear Unit
(1) Remove the Joint #1 motor unit. Reduction Follow the removal steps in 5.1 Replacing Joint #1 Motor. Gear Unit Removal (2) Remove the reduction gear unit from the 16-M4×25 Joint #1 flange. Reduction Gear Unit Flange LS-B series Maintenance Rev.1...
Page 173 (3) Face the convex side of the circular spline down, and then fit it into the flexspline. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 174 Be careful not to apply too much force since it may damage the parts. (6) Apply grease (SK-1A) inside the flexspline. Grease volume : 37 g (7) Mount the Joint #1 motor. Follow the installation steps in 5.1 Replacing Joint #1 Motor. LS-B series Maintenance Rev.1...
Page 175: 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 execute the calibration. Joint #2 Motor Joint #2 Reduction Gear Unit LS-B series Maintenance Rev.1...
Page 176: Replacing Joint #2 Motor
(5) Remove the User Plate. For details, refer to 3.5 User Plate. (6) Cut off the wire tie binding the cables. Do not cut the other wire ties. (7) Disconnect the connectors. Connectors: X221, X42 (Hold the clip to remove.) LS-B series Maintenance Rev.1...
Page 177 (9) Remove the waveform generator from the Joint #2 motor. 2-M4×6 Set Screw There is a brass bushing in one of the set screw M4 Brass Bushing holes. Be sure to keep the bushing. Joint #2 Motor LS-B series Maintenance Rev.1...
Page 178 (6) Bind the cables with a wire tie in their original positions as before removed in the removal step (6). Do not allow unnecessary strain on the cables. (7) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 179 LS10-B Maintenance 6. Joint #2 (8) 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 180: Replacing Joint #2 Reduction Gear Unit
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 181 Arm #1 removing the screws that mounts the reduction gear unit on the Arm #1. There is an O-ring between the Arm #1 and the reduction gear unit. Be careful not to lose the removed O-ring. LS-B series Maintenance Rev.1...
Page 182 (3) Face the convex side of the circular spline down, and then fit it into the flexspline. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 183 Set the attached O-ring into the O-ring groove of the circular spline. Secure the Arm #2 on the circular spline. (8) Mount and Joint #2 motor. Follow the installation steps in 6.1 Replacing Joint #2 Motor. LS-B series Maintenance Rev.1...
Page 184: 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 execute the calibration. Joint #3 Motor Z Belt Joint #3 Brake LS-B series Maintenance Rev.1...
Page 185: Replacing Joint #3 Motor
Do not cut off the other wire ties that do not relate with removal of the User Plate. (6) Remove the User Plate. For details, refer to 3.5 User Plate. (7) Disconnect the following connectors. Connectors: X231, X32, X43 (Hold the clip to remove.) LS-B series Maintenance Rev.1...
Page 186 Joint #3 motor. Joint #3 Motor There is a brass bushing in one of the set M5×8 screw holes. Be sure to keep the M5×8 Set screw Set Screw bushing. + M5 Bushing Pulley LS-B series Maintenance Rev.1...
Page 187 For details, refer to 7.4 Checking the Timing Belt Tension. (4)-4 Repeat the steps (4)-1 through (4)-3 until you get appropriate tension. (4)-5 After the adjustment, put the bolt back to its original position and fix it with the nut. LS-B series Maintenance Rev.1...
Page 188 (8) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (9) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 189: Replacing The Timing Belt
Do not cut off a wire tie that binds the cables to the User Plate. (6) Disconnect the following connectors. Connectors: BR4, X231, X43, X51 (Hold the clip to remove.) (7) Remove the User Plate. For details, refer to 3.5 User Plate. LS-B series Maintenance Rev.1...
Page 190 Joint #3 motor, tilt the motor slightly and pull it upward while avoiding the belt. (10) Remove the screws for the spline plate. Holding the spline plate upward, pull out the Z belt. Spline Plate 3-M4×15 Z belt LS-B series Maintenance Rev.1...
Page 191 For details, refer to 7.4 Checking the Timing Belt Tension. (6)-4 Repeat the steps (6)-1 through (6)-3 until you get appropriate tension. (6)-5 After the adjustment, put the bolt back to its original position and fix it with the nut. LS-B series Maintenance Rev.1...
Page 192 (10) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (11) 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 193: Replacing The Brake
(3) Turn OFF the Controller. (4) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. Joint #3 (5) Remove the Joint #3 motor unit. 3-M4×18+Washer Motor Unit For details, refer to 7.2 Replacing the Timing Belt. LS-B series Maintenance Rev.1...
Page 194 Joint #3 motor. Joint #3 Motor There is a brass bushing in one of the set screw holes. Be sure to keep the bushing. M3×4 M5×8 Set Screws Set screws + M3 Bushing Brake Hub LS-B series Maintenance Rev.1...
Page 195 When the brake disc is not aligned, manually adjust the position by following the steps below. 1. Connect the connector X32. 2. Press the brake release switch to release the brake. 3. Adjust the brake disk manually so that the hole is at the center. LS-B series Maintenance Rev.1...
Page 196 (5) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (6) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 197: Checking The Timing Belt Tension (Z Belt)
Model Belt check [g/ (1 mm width ×1 m length)] [mm] [mm] LS10-B Z belt (2) Strum the belt and measure tension. Measurement failure may occur if the microphone NOTE  touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 198: 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 execute the calibration. Joint #4 Motor U2 belt U1 Belt LS-B series Maintenance Rev.1...
Page 199: Replacing Joint #4 Motor
At this point, do not cut off a wire tie (in the duct fittings outlet) that binds the cables to the User Plate. (6) Disconnect the connectors. Connectors: BR4, X241, X44 (Hold the clip to remove.) LS-B series Maintenance Rev.1...
Page 200 There is a brass bushing in one of the set screw holes. Be sure to keep the bushing. Motor Plate (10) Remove the motor plate from the Joint #4 motor. Pulley 2-M4×8 Set Screw + Bushing LS-B series Maintenance Rev.1...
Page 201 Make sure 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. Make sure the gear grooves of the belt are fit into those of the pulleys completely. LS-B series Maintenance Rev.1...
Page 202 (9) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (10) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 203: Replacing The Timing Belt
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 204: U2 Belt
Connectors: BR4, X32, X43, X44, X51, X231, X241 (Hold the clip to remove.) (8) Remove the User Plate. For details, refer to 3.5 User Plate. (9) Remove the screws securing the Joint #3 Joint #3 Motor Unit motor unit and pull out the motor unit. 3-M4×18 ＋Washer LS-B series Maintenance Rev.1...
Page 205 Pull out the Joint #4 intermediate shaft unit and U1 belt. 3-M4×12 ＋Washer 3-M4×15 (12) Remove the screws mounting the spline Spline Plate plate. Hold up the spline plate and pull out the Z belt and U2 belt. U2 belt Z belt LS-B series Maintenance Rev.1...
Page 206 Install the tensioner in front of the Joint #4 motor unit. Rotate the hexagonal bolt of the tensioner and push the plate to apply the specified tension. Plate U2 belt tension: 102 N (10.4 ± 0.75 kgf) ボルト Bolt Tensioner LS-B series Maintenance Rev.1...
Page 207 U1 belt tension: 58 N (5.9 ± 0.5 kgf) Joint #4 Motor Unit 3-M4×15 + Washer Force Gauge To check belt tension with the tension meter, refer to 8.4 Checking the Timing Belt NOTE  Tension (U1, U2 Belts). LS-B series Maintenance Rev.1...
Page 208 (14) Remove the control board and the plate. For details, refer to 11.3 Replacing the Control Board. (15) Connect the following connectors. Connectors: BR4, X32, X43, X44, X51, X231, X241 (16) Mount the User Plate. For details, refer to 3.5 User Plate. LS-B series Maintenance Rev.1...
Page 209 (18) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (19) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 210: U1 Belt
Joint #4 Motor Unit 3-M4×15 +Washer (2) Remove the Joint #4 intermediate shaft unit. Refer to the removal steps in 8.2.1 U2 Belt. Joint #4 Intermediate Shaft Unit 3-M4×12 U1 belt +Washer (3) Remove the U1 belt. LS-B series Maintenance Rev.1...
Page 211 After the adjustment, put the bolt back to its original position and fix it with the nut. To check belt tension with the tension meter, refer to 8.4 Checking the Timing Belt NOTE  Tension (U1, U2 Belts). LS-B series Maintenance Rev.1...
Page 212 (7) Bind the cables with a wire tie in their original position as before removed in the removal step (5). (8) Remove the User Plate. For details, refer to 3.5 User Plate. (9) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 213 LS10-B Maintenance 8. Joint #4 (10) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 214: Replacing The Brake
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 215 Connector BR4 (6) Cut off the wire tie banding brake cables. Rubber Cap (7) Remove the rubber cap. Set Screws : (8) Remove the brake hub. Brake Hub M3×4+ Bushing Brake (9) Remove the brake. 2-M2.5×25 LS-B series Maintenance Rev.1...
Page 216 (5) Re-bundle the cables in their original positions with a wire tie removed in step (6). Do not allow unnecessary strain on the cables. (6) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 217: Checking The Timing Belt Tension (U1, U2 Belts)
Belt [g/ (1 mm width ×1 m [mm] [mm] length)] U1 belt U2 belt (2) Strum the belt and measure tension. Measurement failure may occur if the microphone NOTE  touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 218: Bellows
Removal (2) Remove the end effector. (3) Turn ON the controller. Stop motor excitation. (MOTOR OFF) (4) Loosen the two clamp bands on the bellows. (5) Pull out the bellows and clamp bands from the shaft. LS-B series Maintenance Rev.1...
Page 219 Joint #4. (6) Turn OFF the Controller and peripheral equipment. (7) Attach the end effector. (8) Connect the cables and tubes to the end effector. LS-B series Maintenance Rev.1...
Page 220: Ball Screw Spline Unit Replacement
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 221 (8) Remove three screws mounting the spline 3-M4×15 plate. (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 U2 belt LS-B series Maintenance Rev.1...
Page 222 Spline Unit. (6) For the Cleanroom-model, mount the bellows. For details, refer to 9. Bellows. (7) Mount the end effector, cables, and tubes. (8) Perform the calibration of Joints #3, #4. For details, refer to 13. Calibration. LS-B series Maintenance Rev.1...
Page 223: Boards
Name Qty. Note Converter board 2196970 Maintenance parts Control board 2196966 Nippers For cutting wire tie Tools Cross-point screwdriver (#1) Material Wire tie For fixing cables LS-B series Maintenance Rev.1...
Page 224: Replacing The Converter Board
(3) Disconnect the connectors which are connected to the Converter board converter board. Connectors: CV11, CV12, CV13 (4) Remove the converter board from the mount base. Converter board Binding head small screws: 2-M3 Binding head 2-M3 (cross-point screwdriver) small screws LS-B series Maintenance Rev.1...
Page 225 (2) Connect the connectors to the converter board. Connectors: CV11, CV12, CV13 (3) Mount the Connector Plate. For details, refer to 3.3 Connector Plate. (4) Turn ON the Controller. (5) Make sure no errors occur in all joints. LS-B series Maintenance Rev.1...
Page 226: Replacing The Control Board
Be careful of the board direction. (Check the board direction by the Connector connector position.) (2) Connect the connector. Connector: X51 (3) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (4) Turn ON the controller. LS-B series Maintenance Rev.1...
Page 227: Led Lamp
LED to the cover. (3) Mount the lens. (4) Mount the User Plate. For details, refer to 3.5 User Plate. (5) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 228: 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 229: 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 230 X-axis in Robot coordinate system 0 pulse − 0 pulse position of Joint #2: 0 pulse position where Arms #1 and #2 − are in a straight line (Regardless of the Joint #1 direction.) LS-B series Maintenance Rev.1...
Page 231 Arm #2 0 pulse − Flat surface (4) Click the <Yes> button to reset the encoder. (5) Reboot the Controller. * This window will disappear when the Controller starts up. LS-B series Maintenance Rev.1...
Page 232 (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. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. LS-B series Maintenance Rev.1...
Page 233 Move the end effector from the zero pulse position to the approximate reference point NOTE  where rough calibration will be executed at by the jog motion. Position gap may occur if the end effector is not moved by the jog motion. (9) Click the <Next> button. LS-B series Maintenance Rev.1...
Page 234 (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. LS-B series Maintenance Rev.1...
Page 235 (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. LS-B series Maintenance Rev.1...
Page 236 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. ii. Jog to the accurate reference position. LS-B series Maintenance Rev.1...
Page 237 LS10-B Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS-B series Maintenance Rev.1...
Page 238 LS10-B 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. LS-B series Maintenance Rev.1...
Page 239: 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 LS-B series Maintenance Rev.1...
Page 240 Then, check the number of points you want to use. (2) EPSON RC+ menu-[Tools]-[Robot Manager]-[Control Panel] and click the MOTOR (3) Click the <Free All> button in the [Control Panel] to free all joints. Now, you can move arms by hands.
Page 241: Calibration Procedure Without Using Calibration Wizard
LS10-B 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. When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately.
Page 242 The height of Joint #3 depends on manipulator model. Standard model Cleranroom model 0 pulse position of Joint #4: position where the flat surface on the shaft faces toward the tip of Arm #2 0 pulse − Flat surface LS-B series Maintenance Rev.1...
Page 243 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 244 (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. LS-B series Maintenance Rev.1...
Page 245: Maintenance Parts List
11.2 LED lamp 2077258 Ball Screw Spline: For purchasing grease, and Grease *2 adhesive, please the supplier Reduction Gear Unit: of your region. 5.2, 6.2 SK-1A Arm Top Cover 1802514 White Arm Bottom Cover 1759511 Blue LS-B series Maintenance Rev.1...
Page 246 Manipulator. The operation hours can be checked in [Controller Status Viewer] dialog-[Motor On Hours]. For details, refer to 2.2 Overhaul (Parts Replacement). *4 Bellows The bellows for LS10-B**C are provided in a unit of two pieces. The shape varies between the upper and lower bellows. LS-B series Maintenance Rev.1...
Page 247 LS20-B Maintenance This volume contains maintenance procedures with safety precautions for Manipulators.
Page 249: Safety Maintenance
CAUTION improper function of the robot system. ■ When operating maintenance of manipulator, secure about 50 cm of empty space around the manipulator. LS-B series Maintenance Rev.1...
Page 250: General Maintenance
√ 9 months (2250 h) √ √ 10 months (2500 h) √ 11 months (2750 h) √ 12 months (3000 h) √ √ √ √ 13 months (3250 h) √ √ 20000 h h = hour LS-B series Maintenance Rev.1...
Page 251: Inspection Point
Also, if the break is not released even operated release the break, contact the supplier. Check whether unusual sound or Check that there is no unusual sound or vibration when operating. vibration occurs. If there is something wrong, contact the supplier. LS-B series Maintenance Rev.1...
Page 252: Overhaul (Parts Replacement)
RC90 series Maintenance Manual 6. Alarm Note: The recommended replacement time for the maintenance parts is when it reaches the L10 life (time until 10% failure probability). In the [Maintenance] dialog box box, the L10 life is displayed as 100%. LS-B series Maintenance Rev.1...
Page 253 The manipulator operation hours can be checked in [Controller Status Viewer] dialog box - [Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog box. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog box.
Page 254: Greasing
Recommended replacement time for the grease on the ball screw spline unit can be  checked in the [Maintenance] dialog box box of the EPSON RC+ 7.0. For details, refer to the following manual. RC90 series Maintenance Manual 6. Alarm...
Page 255 Wipe off the old grease from the shaft, and then apply new grease to it. Grease application range is from the end of the spline nut to mechanical stop. Grease application Spline nut range Shaft Mechanical stop LS-B series Maintenance Rev.1...
Page 256 Run for about 5 minutes to spread the grease over the shaft. Turn OFF the controller. End of the spline nut LS-B series Maintenance Rev.1...
Page 257: 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 LS-B series Maintenance Rev.1...
Page 258: Layout Of Maintenance Parts
Unit Control Board Joint #1 Motor Arm Bottom Cover Power Cable Signal Cable Cleanroom-model (with optional bellows) For the Cleanroom-model, the following parts are added to the Standard-model. Clamp Band Bellows Clamp Band Bellows Clamp Band LS-B series Maintenance Rev.1...
Page 259: Covers
Duct Plate Arm Top Cover User Plate Arm #1 Cover Connector Sub Plate Arm Bottom Cover Connector Plate LS-B series Maintenance Rev.1...
Page 260: Arm Top Cover
Arm Top Cover. Tightening torque: 0.45 N⋅m NOTE  When bellows are installed to the manipulator, install the Arm Top Cover and then set the upper bellows. For bellows installation, refer to 9. Bellows. LS-B series Maintenance Rev.1...
Page 261: Arm Bottom Cover
When bellows are installed to the manipulator, remove or pull down the lower bellows and then  remove the arm bottom cover. For bellows removal, refer to 9. Bellows. 3.3 Arm #1 Cover Unscrew the Arm #1 cover mounting bolts and remove 4-M4×12 Double sems the cover. Tightening torque: 0.45 N⋅m LS-B series Maintenance Rev.1...
Page 262: Connector Plate
If there is a kink in the air tube, air flow is blocked while the manipulator is operating and may cause a trouble. Put the air tubes along the wall as shown in the picture. GOOD: Curved BAD: Bended LS-B series Maintenance Rev.1...
Page 263: Connector Sub Plate
Be sure to place the cables back to their original locations. Unscrew the Connector Sub Plate mounting bolts and remove the plate. 4-M3×10 Refer to Finger Screws (No need to unscrew) LS-B series Manual – LS20-B Manipulator 3.6 Connecting the Cables. Connector Sub Plate LS-B series Maintenance Rev.1...
Page 264: User Plate
(2) Unscrew the Duct Plate mounting bolts and remove the plate. 2-M4×10 Duct Plate (1) Put the Duct Plate to the arm and secure using the mounting bolts. Installation (2) Mount the Arm Top Cover. Refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 265: Cable
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. LS-B series Maintenance Rev.1...
Page 266: Replacing Cable Unit
For M4 screw wrench Spanner width across flats: 5 mm For D-sub connector removal Tools Nut screwdriver width across flats: 5 mm For D-sub connector removal Torque wrench Nippers For cutting wire tie Material Wire tie Cable Unit LS-B series Maintenance Rev.1...
Page 267 (4) Remove the Connector Sub Plate from the Connector Plate. For details, refer to 3.5 Connector Sub Plate (5) Disconnect M/C cable. For details, refer to LS-B series Manual – LS20-B Manipulator 3.6 Connecting the Cables - Connect and disconnect M/C cable. (6) Remove the Connector Plate.
Page 268 Removed parts will be used again. Be careful not to lose them. Saddle Cables are wrapped in a silicon sheet for protection. The sheet will be reused when installing the cable unit. Be careful not to lose it. LS-B series Maintenance Rev.1...
Page 269 The rotary fitting is directly screwed in the metal duct. Loosen the screws to remove the fitting. Cut off the wire tie fixing the cables, and then disconnect the cables from the metal duct. Rotary fitting Wire tie Wire tie Metal duct LS-B series Maintenance Rev.1...
Page 270 For the details, refer to 3.6 User Plate. (8) Connect the following connectors. Connectors: X22, X33,X42, X43, X44, X51, BR3, BR4, X221, X231, X241 (9) Mount two ground wires in the Arm side to the Joint #3 Motor Plate and Duct Plate. LS-B series Maintenance Rev.1...
Page 271 Bind the cables with the clip band and the saddle. (11) Mount the Connector Plate. For the details, refer to 3.4 Connector Plate. (12) Place and secure the Arm Top Cover without the cables being stuck. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 272: Wiring Diagrams
LS20-B Maintenance 4. Cable 4.2 Wiring Diagrams 4.2.1 Signal Cable LS-B series Maintenance Rev.1...
Page 273: Power Cable
LS20-B Maintenance 4. Cable 4.2.2 Power Cable LS-B series Maintenance Rev.1...
Page 274: User Cable
LS20-B Maintenance 4. Cable 4.2.3 User Cable The following table shows the types of User cable. Model name Model type Code Standard, Cleanroom 2202239 LS20-B804* Standard, Cleanroom 2202240 LS20-BA04* LS-B series Maintenance Rev.1...
Page 275: Color Of Cables
The following table shows the codes and cable colors indicated in the pin assignments. 4.2.1 Signal Cable 4.2.2 Power Cable 4.2.3 User Cable Code Cable color Black White Green Yellow Brown Blue Violet Orange Pink Sky blue Gray LS-B series Maintenance Rev.1...
Page 276: Replacing M/C Cable
The unnecessary strain on the cables 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. LS-B series Maintenance Rev.1...
Page 277 (5) As shown on the right, pull out the cables from the Manipulator. (6) Disconnect the following connectors in the order as shown on the right. Clips of the connectors are △ positions in the figure. Push the clip to disconnect the connector. LS-B series Maintenance Rev.1...
Page 278 If you cannot disconnect it, push the connector once, and then disconnect it by pushing the clip. Do not pull the cables. Doing so may result in disconnection. Do not remove the M/C cable form the plate. LS-B series Maintenance Rev.1...
Page 279 Slide the plate until it will be parallel to the base table. Be careful not to tighten the screws with the cables get caught on the plate. (4) Connect the following connectors to the controller. Power cable connector Signal cable connector (5) Turn ON the Controller. LS-B series Maintenance Rev.1...
Page 280 Correct direction is where the letters: WARNING of warning label of electric shock will be parallel to the base table. If the plate is installed in wrong direction, the cables inside the Manipulator will be twisted and may result in disconnection. Correct: Cables are not twisted Wrong: Cables are twisted LS-B series Maintenance Rev.1...
Page 281: 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 execute the calibration. Joint #1 Reduction Gear Unit Joint #1 Motor LS-B series Maintenance Rev.1...
Page 282: Replacing Joint #1 Motor
(6) Hold up the Joint #1 unit and remove from the Base. NOTE  The Joint #1 motor can be replaced while the Arm #1 and the Top plate are mounted. Refer to the next page for replacement steps. LS-B series Maintenance Rev.1...
Page 283 There is a brass bushing in one of the set screw M5 Bushing holes. Be sure to keep the bushing. Joint #1 Motor (9) Remove the motor mounting screws, and then Motor Flange remove the motor flange and O-ring. O-ring Joint #1 Motor 4-M5×18 +Plain washer LS-B series Maintenance Rev.1...
Page 284 To insert the motor, turn it slowly from side to side by hand and push in. 4-M5×15 (4) Mount the Joint #1 unit on the Base. 8-M8×25 Secure the Joint #1 motor cables facing toward the back of the Base. LS-B series Maintenance Rev.1...
Page 285 (8) Mount the Connector Plate. For details, refer to 3.4 Connector Plate. (9) Check if the Joint #1 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 286: Replacing Joint #1 Reduction Gear Unit
Follow the removal steps in 5.1 Replacing Joint #1 Motor. Gear Unit Removal (2) Remove the spacer from the reduction gear unit. 8-M5×40 4-M4×15 Spacer Reduction Gear Unit 16-M5×30 (3) Remove the reduction gear unit from the Top Plate. Top Plate Reduction Gear Unit LS-B series Maintenance Rev.1...
Page 287 (3) Face the convex side of the circular spline down, and then fit it into the flexspline. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 288 Tightening torque: 5.5 N·m (56.1 kgf·cm) Reduction Hexagon socket head cap bolts: 8-M5×40 Gear Unit Tightening torque: 10.0 N·m (102 kgf·cm) (9) Mount the Joint #1 motor. Follow the installation steps in 5.1 Replacing Joint #1 Motor. LS-B series Maintenance Rev.1...
Page 289: 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 execute the calibration. Joint #2 Motor Joint #2 Reduction Gear Unit LS-B series Maintenance Rev.1...
Page 290: Replacing Joint #2 Motor
Do not cut the wire tie (in the duct fittings outlet) that Wire Tie binds the cables to the duct plate. Duct Plate (7) Disconnect the following connectors. Connectors: X221, X42 (Hold the clip to remove.) LS-B series Maintenance Rev.1...
Page 291 Set Screw The O ring will be used again. O-ring Be careful not to lose it. Joint #2 Motor (10) Remove the motor flange from the Joint #2 motor. Motor Flange 4-M4×15 +Plain Washer Joint #2 Motor LS-B series Maintenance Rev.1...
Page 292 (4) Mount the Joint #2 motor unit on the Arm #2. 4-M5×20 Joint #2 To insert the motor, slowly move the Arm #2 Motor Unit by hand and push in. Arm #2 (5) Mount the User Plate and Duct Plate. For details, refer to 3. Covers. LS-B series Maintenance Rev.1...
Page 293 (8) Mount the Arm Top Cover. For details, refer to 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 294: Replacing Joint #2 Reduction Gear Unit
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 295 Reduction Gear Unit mounts the reduction gear unit on the Arm O ring There is an O-ring between the Arm #1 and the reduction gear unit. Be careful not to lose the removed O-ring. Arm #1 LS-B series Maintenance Rev.1...
Page 296 If it is difficult to fit in, rotate the circular spline a little bit and change the position. (4) Match the screw holes on the inner ring of the cross roller bearing unit and the through holes of the circular spline. LS-B series Maintenance Rev.1...
Page 297 (7) Set the attached O-ring into the O-ring 16-M5×30 groove of the circular spline. Secure the Arm #2 on the reduction gear unit. Arm #2 (8) Mount and Joint #2 motor. Follow the installation steps in 6.1 Replacing Joint #2 Motor. LS-B series Maintenance Rev.1...
Page 298: 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 execute the calibration. Joint #3 Motor Z belt Joint #3 Brake LS-B series Maintenance Rev.1...
Page 299: Replacing Joint #3 Motor
Do not cut the wire tie (in the duct fittings outlet) that Wire Tie binds the cables to the duct plate. Duct Plate (6) Remove the User Plate and the Duct Plate. For details, refer to 3. Covers. LS-B series Maintenance Rev.1...
Page 300 (10) Loosen the screws of the pulley remove it Pulley from the Joint #3 motor. M4 Bushing There is a brass bushing in one of the set screw holes. Be sure to keep the M6×6 M6×6 Set Screw Set Screw bushing. Joint #3 Motor LS-B series Maintenance Rev.1...
Page 301 Check that the motor unit can be moved  by hand, and it will not tilt when pulled. 3-M5×20 + washer for slotted hole If the unit is tilted, the belt will not have the proper tension. LS-B series Maintenance Rev.1...
Page 302 (8) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (9) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 303: Replacing The Timing Belt
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 304 Motor Unit unit and pull out the Joint #3 motor unit. The washers for slotted holes will be used again when installing the Z belt. careful not to lose them. 3-M5×20 + washer for slotted hole LS-B series Maintenance Rev.1...
Page 305 Motor Plate the belt. Z Belt (10) Remove the screws for the spline plate. 3-M4×15 Holding the spline plate upward, pull out the Z belt. Z belt Spline Plate LS-B series Maintenance Rev.1...
Page 306 Joint #3 (5) Loosely secure the Joint #3 motor unit to the Motor Unit Arm #2. Make sure that the teeth of the timing belt are engaged with those of the pulley. 3-M5×20 +washer for slotted hole LS-B series Maintenance Rev.1...
Page 307 (10) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (11) 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 308 LS20-B Maintenance 7. Joint #3 (12) Execute the calibration of Joint #3. For details, refer to 13. Calibration. LS-B series Maintenance Rev.1...
Page 309: Replacing The Brake
Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector. (3) Turn OFF the Controller. (4) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 310 (7) Remove the bolts fixing the Joint #3 motor Joint #3 Motor Unit 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 LS-B series Maintenance Rev.1...
Page 311 Joint #3 of the Joint #3 motor unit. Motor There is a brass bushing on one of the set screws. Be careful not to lose it. M3×4 Set Screw +M3 Bushing M3×4 Set Screw Brake Hub LS-B series Maintenance Rev.1...
Page 312 Joint #3 motor unit. For details, refer to the installation steps in 7.2 Replacing the Timing Belt. 3-M5×20 +washer for slotted hole (5) Mount the User Plate and the Duct Plate. For details, refer to 3. Covers. LS-B series Maintenance Rev.1...
Page 313 (7) Mount the Arm Top Cover. For details, refer to 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 314: Checking The Timing Belt Tension (Z Belt)
Model Belt [g/ (1 mm width ×1 m [mm] [mm] length)] LS20-B Z belt (2) Strum the belt and measure tension. Measurement failure may occur if the microphone NOTE  touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 315: 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 execute the calibration. Joint #4 Motor Joint #4 U Belt Brake Joint #4 Reduction Gear Unit LS-B series Maintenance Rev.1...
Page 316: Replacing Joint #4 Motor
Duct Plate (6) Remove the User Plate and Duct Plate. For details, refer to 3. Covers. (7) Disconnect the following connectors. Connectors: X241, X41, BR4 (Hold the clip to remove.) LS-B series Maintenance Rev.1...
Page 317 There is a brass bushing in one of the set screw holes. Be sure to keep the bushing. M3×5 Set Screw Extension Shaft M3×5 Set Screw + M3 Bushing (14) Remove the Joint #4 motor from the motor plate. Motor Plate Joint #4 Motor 2-M4×70 LS-B series Maintenance Rev.1...
Page 318 When the brake disc is not aligned, manually adjust the position by following the steps  below. 1. Connect the connector: BR4. 2. Press the brake release switch to release the brake. 3. Manually adjust the brake disc so that the hole will be at the center. LS-B series Maintenance Rev.1...
Page 319 (5), bind the cables, and then fix them. Clip Band Do not bend or pull the cables forcibly to allow unnecessary strain on the cables. (9) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 320 LS20-B Maintenance 8. Joint #4 (10) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 321: Replacing The Timing Belt
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 322 (8) Remove the screws mounting the Joint #3 motor Motor Unit unit. Remove the Joint #3 motor from the motor plate and pull out the Z belt. For details, refer to 7.2. Timing Belt. 3-M5×20 + washer for slotted hole LS-B series Maintenance Rev.1...
Page 323 Pull the Joint #4 motor unit upward. Joint #4 Reduction Gear Unit 3-M4×15 (10) Remove the screws mounting the spline Spline Plate plate. Z Belt Hold up the spline plate and pull out the Z belt and U belt. U Belt LS-B series Maintenance Rev.1...
Page 324 Make sure that the Joint #4 motor unit can be  moved by hand, and it will not tilt when pulled. 3-M5×20 + washer for slotted hole If the unit is tilted, the belt will not have the proper tension. LS-B series Maintenance Rev.1...
Page 325 (11) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (12) Check if the Joints #3, #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 326: Replacing The Brake
Be careful of the shaft falling and rotating while the brake release switch is being pressed because the shaft may be lowered by the weight of an end effector. (3) Turn OFF the Controller. (4) Remove the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 327 (10) Remove the Joint #4 motor unit from the reduction gear unit. (11) Mount the cover of the hole for fixing the extension shaft on the side of the reduction gear. (12) Pull the motor unit upward to remove. LS-B series Maintenance Rev.1...
Page 328 M3×5 Set Screw + M3 Bushing (14) Remove the Joint #4 motor from the motor plate. Motor Plate Joint #4 Motor 2-M4×70 (15) Remove the brake from the motor plate. 3-M2.5×10 Brake Joint #4 Motor Plate LS-B series Maintenance Rev.1...
Page 329 When the brake disc is not aligned, manually adjust the position by following the steps  below. 1. Connect the connector: BR4. 2. Press the brake release switch to release the brake. 3. Manually adjust the brake disc so that the hole will be at the center. LS-B series Maintenance Rev.1...
Page 330 (5) and bind the cables to fix. Clip Band Do not bend or pull the cables forcibly to allow unnecessary strain on the cables. (10) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 331 LS20-B Maintenance 8. Joint #4 (11) 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 MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 332: Replacing The Reduction Gear Unit
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 333 Pull the motor unit upward to remove. (3) Remove the U pulley and U housing. 4-M4×10 U Housing Joint #4 Reduction Gear Unit U Pulley 6-M4×15 (4) Remove the plate. 4-M4×20 Plain Washer Joint #4 Reduction Gear Unit Plate LS-B series Maintenance Rev.1...
Page 334 (4) Tighten the bolts on the loosely secured motor plate and the motor to fix Joint #4 motor unit on the reduction gear unit. (5) Mount the Joint #4 motor unit to the Arm #2. For details, refer to 8.2 Replacing the Timing Belt. LS-B series Maintenance Rev.1...
Page 335: Checking The Timing Belt Tension (U Belt)
Width W Span S Belt [g/ (1 mm width×1 m length)] [mm] [mm] check U belt (2) Strum the belt and measure tension. NOTE  Measurement failure may occur if the microphone touches the belt during measurement. LS-B series Maintenance Rev.1...
Page 336: Bellows
Removal (2) Remove the end effector. (3) Turn ON the controller. Stop motor excitation. (MOTOR OFF) (4) Loosen the two clamp bands on the bellows. (5) Pull out the bellows and clamp bands from the shaft. LS-B series Maintenance Rev.1...
Page 337 Joint #4. (6) Turn OFF the Controller and peripheral equipment. (7) Attach the end effector. (8) Connect the cables and tubes to the end effector. LS-B series Maintenance Rev.1...
Page 338: Ball Screw Spline Unit Replacement
Controller is OFF or while the motor is in OFF status (MOTOR OFF). Move the shaft down to its lower limit before the replacement procedure following the removal steps. LS-B series Maintenance Rev.1...
Page 339 (8) Remove three screws mounting the spline 3-M4×15 plate. 4-M5×15 (9) Remove four screws mounting the spline nut. (10) Pull out the following toward the Arm #2 upper side. Ball screw spline unit Z belt U belt LS-B series Maintenance Rev.1...
Page 340 Spline Unit. (6) For the Cleanroom-model, mount the bellows. For details, refer to 9. Bellows. (7) Mount the end effector, cables, and tubes. (8) Perform the calibration of Joints #3, #4. For details, refer to 13. Calibration. LS-B series Maintenance Rev.1...
Page 341: Boards
Name Qty. Note Converter board 2196970 Maintenance parts Control board 2196966 Nippers For cutting wire tie Tools Cross-point screwdriver (#1) Material Wire tie For fixing cables LS-B series Maintenance Rev.1...
Page 342: Replacing The Converter Board
(2) Connect the following connectors to the converter board. Connectors: CV11, CV12, CV13 (3) Mount the Connector Plate. For details, refer to 3.4 Connector Plate. (4) Turn ON the Controller. (5) Make sure no errors occur in all joints. LS-B series Maintenance Rev.1...
Page 343: Replacing The Control Board
Be careful of the board direction. (Check the board direction by the connector position.) Connector (2) Connect the following connector. Connector: X51 (3) Mount the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. (4) Turn ON the controller. LS-B series Maintenance Rev.1...
Page 344: Led Lamp
(2) Put the User Plate between the ring and lens holder, and then secure the LED to the cover. (3) Mount the lens. (4) Install the Arm Top Cover. For details, refer to 3.1 Arm Top Cover. LS-B series Maintenance Rev.1...
Page 345: 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 346: 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 347 LS20-B Maintenance 13. Calibration (2) Confirm the warning message and click the <Yes> button. (3) Move the joint to calibrate manually to approximate zero position, as shown in the dialog. After moving the joint click the <Next> button. LS-B series Maintenance Rev.1...
Page 348 0 pulse position of Joint #4: position where the flat surface on the shaft (or set screws of the mechanical stop on the bottom) faces toward the tip of Arm #2 0 pulse − Set screws Flat surface LS-B series Maintenance Rev.1...
Page 349 (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. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. LS-B series Maintenance Rev.1...
Page 350 Move the end effector from the zero pulse position to the approximate reference point NOTE  where rough calibration will be executed at by the jog motion. Position gap may occur if the end effector is not moved by the jog motion. (9) Click the <Next> button. LS-B series Maintenance Rev.1...
Page 351 (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. LS-B series Maintenance Rev.1...
Page 352 (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. LS-B series Maintenance Rev.1...
Page 353 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. ii. Jog to the accurate reference position. LS-B series Maintenance Rev.1...
Page 354 LS20-B Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS-B series Maintenance Rev.1...
Page 355 LS20-B 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. LS-B series Maintenance Rev.1...
Page 356: 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 LS-B series Maintenance Rev.1...
Page 357 Then, check the number of points you want to use. (2) EPSON RC+ menu-[Tools]-[Robot Manager]-[Control Panel] and click the MOTOR (3) Click the <Free All> button in the [Control Panel] to free all joints. Now, you can move arms by hands.
Page 358: Calibration Procedure Without Using Calibration Wizard
LS20-B 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. When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately.
Page 359 0 pulse position of Joint #4: position where the flat surface on the shaft (or set screws of the mechanical stop on the bottom) faces toward the tip of Arm #2 0 pulse − Set Screws Flat Surface LS-B series Maintenance Rev.1...
Page 360 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 361 (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. LS-B series Maintenance Rev.1...
Page 362: Maintenance Parts List
5.2, 6.2 SK-1A Arm Top Cover 1798943 White Arm Bottom Cover 1759511 Blue Dust Cover 2014430 For RJ45 connector 2186054 M/C Power Cable 2186055 2186056 10 m 2194703 M/C Signal Cable 2194704 2194705 10 m LS-B series Maintenance Rev.1...
Page 363 Manipulator. The operation hours can be checked in [Controller Status Viewer] dialog-[Motor On Hours]. For details, refer to 2.2 Overhaul (Parts Replacement). *4 Bellows The bellows for LS20-B**C are provided in a unit of two pieces. The shape varies between the upper and lower bellows. LS-B series Maintenance Rev.1...
Page 364 LS20-B Maintenance 14. Maintenance Parts List LS-B series Maintenance Rev.1...

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