Epson LS20-B Series Manual
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Epson LS20-B Series Manual

Manipulator
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SCARA ROBOT
LS20-B series
MANIPULATOR MANUAL
Rev.4
EM204R4269F

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  • Page 1 SCARA ROBOT LS20-B series MANIPULATOR MANUAL Rev.4 EM204R4269F...
  • Page 3 SCARA ROBOT LS20-B series Manipulator Manual Rev.4 Copyright  2019-2020 SEIKO EPSON CORPORATION. All rights reserved. LS20-B Rev.4...
  • Page 4 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times. WARRANTY The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with...
  • Page 5 TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
  • Page 6 Regarding battery disposal The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner.
  • Page 7 Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The LS20-B series Manipulators can be used with the following combinations of Controllers and software. Controller : RC90-B Software : EPSON RC+ 7.0 Ver.7.4.5 or later Turning ON/OFF Controller When you see the instruction “Turn ON/OFF the Controller”...
  • Page 8 LS20-B Rev.4...

  • Page 9: Table Of Contents

    1.6 ACCELS Setting for CP Motions ............. 11 1.7 Warning Labels ..................12 2. Specifications 2.1 Features of LS20-B series Manipulators ..........14 2.2 Model Number ..................15 2.3 Part Names and Outer Dimensions ............16 2.3.1 Standard-Model (LS20-B**4S) ........... 16 2.3.2 Cleanroom-Model (LS20-B**4C) ..........
  • Page 10 TABLE OF CONTENTS 5. Motion Range 5.1 Motion Range Setting by Pulse Range ........... 47 5.1.1 Max. Pulse Range of Joint #1 ............. 48 5.1.2 Max. Pulse Range of Joint #2 ............. 48 5.1.3 Max. Pulse Range of Joint #3 ............. 49 5.1.4 Max.
  • Page 11 TABLE OF CONTENTS 5. Joint #1 5.1 Replacing Joint #1 Motor ............... 92 5.2 Replacing Joint #1 Reduction Gear Unit ..........96 6. Joint #2 6.1 Replacing Joint #2 Motor ..............100 6.2 Replacing Joint #2 Reduction Gear Unit ..........104 7.
  • Page 12 TABLE OF CONTENTS LS20-B Rev.4...

  • Page 13: Setup & Operation

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

  • Page 15: Safety

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

  • Page 16: Design And Installation Safety

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

  • Page 17: Strength Of The Ball Screw Spline

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

  • Page 18: Operation Safety

    Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the Safety and Installation manual before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
  • Page 19 Setup & Operation 1. Safety ■ Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.

  • Page 20: Emergency Stop

    For the Safeguard system, do not use the circuit for E-STOP. For details on the Safeguard system, refer to the following manuals. EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions - Safeguard System Safety and Installation 2.6 Connection to EMERGENCY Connector...
  • Page 21 Setup & Operation 1. Safety Free running distance in emergency The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed. The free running time/angle/distance of the Manipulator are shown below. However, remember that the values vary depending on following conditions. Weight of the end effector Weight setting Weight of work piece...

  • Page 22: Emergency Movement Without Drive Power

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

  • Page 23: Accels Setting For Cp Motions

    Setup & Operation 1. Safety 1.6 ACCELS Setting for CP Motions When operating the Manipulator in CP motion: Acceleration/deceleration may be adjusted automatically depending on the tip load and the Z-axis height to prevent damages of the ball screw spline. ACCELS correction is performed by WEIGHT setting.

  • Page 24: Warning Labels

    Setup & Operation 1. Safety 1.7 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.
  • Page 25 Setup & Operation 1. Safety Location Signature label NOTE Manipulator’s serial No. LS20-B (Figure: LS20-B804S) LS20-B Rev.4...

  • Page 26: Specifications

    Setup & Operation 2. Specifications 2. Specifications 2.1 Features of LS20-B series Manipulators The LS20-B series Manipulators are advanced manipulators pursuing high speed and high cost-performance. The features of the LS20-B series Manipulators are as follows: Large capacity It improves the U-axis allowable moment up to 1.00 kg·m Handle large loads stably by optimized control based on the each load.

  • Page 27: Model Number

    Setup & Operation 2. Specifications 2.2 Model Number LS20-B80 4 S Environment : Standard : Cleanroom Joint #3 stroke : 420 mm : Standard-Model : 390 mm : Cleanroom-Model (with bellows) Arm length 80 : 800 mm A0 : 1000 mm Payload 20 : 20 kg Environment...

  • Page 28: Part Names And Outer Dimensions

    Setup & Operation 2. Specifications 2.3 Part Names and Outer Dimensions 2.3.1 Standard-Model (LS20-B**4S) LED lamp Brake release switch Arm #1 Arm #2 Base Shaft Power cable Signal cable User connector User connector (9-pin D-sub connector) (15-pin D-sub connector) Ethernet connector Fittings for ø6 mm pneumatic tube (No.
  • Page 29 Setup & Operation 2. Specifications Standard-Model (LS20-B**4S) LS20-B Rev.4...

  • Page 30: Cleanroom-Model (Ls20-B**4C)

    Setup & Operation 2. Specifications 2.3.2 Cleanroom-Model (LS20-B**4C) The following figures show the additional parts and specifications for Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Exhaust port Lower bellows LS20-B Rev.4...
  • Page 31 Setup & Operation 2. Specifications Cleanroom-Model (LS20-B**4C) LS20-B Rev.4...

  • Page 32: Specifications

    Setup & Operation 2. Specifications 2.4 Specifications Item LS20-B804* LS20-BA04* Arms #1+#2 800 mm 1000 mm Arm length Arm #1 350 mm 550 mm Arm #2 450 mm Joints #1+#2 9940 mm/s 11250 mm/s Max. operating speed Joint #3 2300 mm/s Joint #4 1400 °...
  • Page 33 Setup & Operation 2. Specifications Item LS20-B804S LS20-BA04S LS20-B804C LS20-BA04C Joint #1 ± 132 ° Max. Joint #2 ± 152 ° motion range Joint #3 420 mm 390 mm Joint #4 ± 360 ° Joint #1 − 152918 ~ 808278 Max.

  • Page 34: How To Set The Model

    The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and contact the supplier of your region when necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in EPSON RC+ User’s Guide. LS20-B Rev.4...

  • Page 35: Environments And Installation

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

  • Page 36: Base Table

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

  • Page 37: Mounting Dimensions

    Setup & Operation 3. Environments and Installation 3.3 Mounting Dimensions The maximum space (R) includes the radius of the end effector. If it exceeds 60 mm, define the radius as the distance to the outer edge of maximum space. If a camera or solenoid valve extends outside of the arm, set the maximum range including the space that they may reach.

  • Page 38: Unpacking And Transportation

    Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.
  • Page 39 Setup & Operation 3. Environments and Installation Transport the Manipulator following the instructions below: (1) Attach the eyebolts to the upper side of the Base. (2) Turn the Arm #1 to face the front. (3) Fix the Arm #1 using the arm lock so that it cannot move. (4) Use the wire tie to fix the belt for hoisting to the Arm #1.

  • Page 40: Installation Procedure

    Setup & Operation 3. Environments and Installation 3.5 Installation Procedure ■ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points. ■ Vibration (resonance) may occur during operation depending on rigidity of the CAUTION installation table.

  • Page 41: Cleanroom-Model

    Setup & Operation 3. Environments and Installation (3) Remove the screw for fixing the arm. The removed screw will be necessary NOTE  when transporting the Manipulator. Keep it with the arm lock which is supplied at shipment. Be careful not to lose the screw. Do not remove the mechanical stop.
  • Page 42 Connect the power cable and the signal connector of the M/C cable to the Controller as shown below. Signal Connector Power Connector Connect and disconnect M/C cable NOTE  In LS20-B series, you can connect and disconnect the M/C cable to/from the Manipulator easily. For details, refer to Maintenance: 4.3 Replacing M/C Cable LS20-B Rev.4...

  • Page 43: User Wires And Pneumatic Tubes

    Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. CAUTION User electrical wires and pneumatic tubes are contained in the cable unit.
  • Page 44 NOTE  All fittings for ø6 mm, ø8 mm pneumatic tubes of LS20-B series manipulators are white. Be sure to check the numbers near the fittings and connect them properly. Detail view from A Fitting for ø8 mm LS20-B804* Fitting for ø6 mm...

  • Page 45: Relocation And Storage

    Setup & Operation 3. Environments and Installation 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■...
  • Page 46 Setup & Operation 3. Environments and Installation When transporting the Manipulator for a long distance, secure it to the delivery NOTE  equipment so that the Manipulator cannot fall. If necessary, pack the Manipulator in the same way as it was delivered. When the Manipulator is used for a robot system again after long-term storage, perform a test run to verify that it works properly, and then operate it thoroughly.

  • Page 47: Relocation

    Setup & Operation 3. Environments and Installation 3.8.2 Relocation ■ Install or relocate the Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. CAUTION LS20-B804* : approx.

  • Page 48: Setting Of End Effectors

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

  • Page 49: Attaching Cameras And Valves

    Setup & Operation 4. Setting of End Effectors 4.2 Attaching Cameras and Valves The bottom of the Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching cameras, valves, and other equipment. [Unit: mm] *: From base installation surface LS20-B Rev.4...

  • Page 50: Weight And Inertia Settings

    ■ The total weight of the end effector and the workpiece must not exceed 20 kg. The LS20-B series Manipulators are not designed to work with loads exceeding 20 kg. Always set the Weight parameters according to the load. Setting a value...
  • Page 51 : distance from rotation center of Joint #2 to center of gravity of camera etc. <Example> A “1 kg” camera is attached to the end of the LS20-B series arm (550 mm away from the rotation center of Joint #2) with a load weight of “1 kg”.
  • Page 52 Setup & Operation 4. Setting of End Effectors Automatic speed setting by Weight (%) 160 * The percentage in the graph is based on the acceleration/ deceleration at 130 128 rated weight (10 kg) as 100%. LS20-BA04* LS20-B804* (kg) Weight setting End effector Automatic speed setting by Weight (%) weight (kg)

  • Page 53: Inertia Setting

    Manipulator. Also, the life cycle of parts is shortened and positional gap due to belt tooth bumping occurs. The acceptable moment of inertia of load for a LS20-B series Manipulator is Default rating: 0.05 kg·m Maximum: 1.00 kg·m When the moment of inertia of the load exceeds the rating, change the setting of the moment of inertia parameter of the Inertia command.
  • Page 54 “moment of inertia” parameter of the Inertia command. Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools]-[Robot EPSON Manager]). (You may also execute the Inertia command from the [Command Window].) Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia) 28.6...
  • Page 55 The acceptable eccentric quantity of load in LS20-B series is 0 mm at the default rating and 200 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of Inertia command.
  • Page 56 Setup & Operation 4. Setting of End Effectors Automatic acceleration/deceleration setting by Inertia (eccentric quantity) * The percentage in the graph is based on the acceleration / deceleration at rated eccentricity (0 mm) as 100%. 200 (mm) Eccentricity setting Eccentric quantity Automatic acceleration/deceleration parameter (mm) setting by Inertia (eccentric quantity) (%)
  • Page 57 Setup & Operation 4. Setting of End Effectors The methods for calculating the moment of inertia for (a), (b), and (c) are shown below. Calculate the total moment of inertia using the basic formulas. (a) Moment of inertia of a rectangular parallelepiped Rotation center Rectangular parallelepiped’s center of gravity + m ×...

  • Page 58: Precautions For Auto Acceleration/Deceleration Of Joint #3

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

  • Page 59: Motion Range

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

  • Page 60: Max. Pulse Range Of Joint #1

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

  • Page 61: Max. Pulse Range Of Joint #3

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

  • Page 62: Motion Range Setting By Mechanical Stops

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

  • Page 63: Setting The Mechanical Stops Of Joints #1 And #2

    Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.
  • Page 64 The angle of Joint #1 is set from −110 to +110°. The angle of Joint #2 is set from −120 to +120°. Execute the following commands from the [Command Window]. EPSON >JRANGE 1, -72817, 728177 ' Sets the pulse range of Joint #1 >JRANGE 2, -273066, 273066...

  • Page 65: Setting The Mechanical Stop Of Joint #3

    Setup & Operation 5. Motion Range 5.2.2 Setting the Mechanical Stop of Joint #3 This method applies only to the Standard-model (LS20-B**4S) manipulator. NOTE  For the Cleanroom-model (LS20-B**4C), the motion range set with the Joint #3 mechanical stop cannot be changed. (1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
  • Page 66 ** For the Joint #3 resolution, refer to the section Setup & Operation 2.4 Specifications. Execute the following command from the [Command Window]. Enter the calculated EPSON value in X. ' Sets the pulse range of Joint #3 >JRANGE 3,X,0 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.

  • Page 67: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator (For Joints #1 And #2)

     and lift the arm top cover to check the condition causing the problem from the side. Execute the following commands from the [Command Window]. Enter the value EPSON calculated in Step (9) in X. >MOTOR ON Turns ON the motor >SPEED 5...

  • Page 68: Standard Motion Range

    Setup & Operation 5. Motion Range 5.4 Standard Motion Range The following “motion range” diagrams show the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the areas shown in the figure. “Area limited by mechanical stop”...
  • Page 69 Setup & Operation 5. Motion Range Standard-model Cleanroom-model LS20-B Rev.4...
  • Page 70 Setup & Operation 5. Motion Range LS20-B Rev.4...

  • Page 71: Maintenance

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

  • Page 73: Safety Maintenance

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

  • Page 74: General Maintenance

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

  • Page 75: Inspection Point

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

  • Page 76: Overhaul (Parts Replacement)

    Recommended replacement time for the parts subject to maintenance (motors, reduction  gear units, and timing belts) can be checked in the [Maintenance] dialog box box of the EPSON RC+ 7.0. For details, refer to the following manual. Robot Controller RC90 /RC90-B Maintenance 6. Alarm...
  • Page 77 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 78: 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. Robot Controller RC90 / RC90-B Maintenance 6. Alarm...

  • Page 79: Tightening Hexagon Socket Head Cap Bolts

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

  • Page 80: Layout Of Maintenance Parts

    Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts Standard-model Cable Unit LED Lamp Joint #4 Ball Screw Spline Unit Motor Joint #3 Joint #4 Motor Reduction Brake Release Gear Unit Switch Joint #2 Motor Arm Top Cover Joint #1 Reduction Gear Unit Joint #3...

  • Page 81: Covers

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

  • Page 82: Arm Top Cover

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

  • Page 83: Arm Bottom Cover

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

  • Page 84: Connector Plate

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

  • Page 85: Connector Sub Plate

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

  • Page 86: User Plate

    Maintenance 3. Covers 3.6 User Plate User Plate (1) Remove the Arm Top Cover. Removal Refer to Maintenance: 3.1 Arm Top Cover. (2) Unscrew the User Plate mounting bolts and remove the 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.

  • Page 87: Cable

    Maintenance 4. Cable 4. Cable ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 88: Replacing Cable Unit

    Maintenance 4. Cable 4.1 Replacing Cable Unit LS20-B series manipulator does not have batteries. Position data is memorized by the NOTE  motor. When replacing cables, calibration is not necessary. Name Qty. Note Maintenance LS20-B804*: 2202239 Cable unit parts LS20-BA04*: 2202240...
  • Page 89 Maintenance 4. Cable ■ If the connectors have been disconnected during the replacement of the cable unit, be sure to reconnect the following connectors to their proper positions. Refer to the block diagrams. Improper connection of the connectors may result in improper function of the robot system.
  • Page 90 Maintenance 4. Cable (7) Remove the following that connected to the (inside) of the Connector Plate and Connector Sub Plate. Pneumatic tube D-sub cable Ethernet cable (RJ45) Connectors: X11, X111, X121, CV11, CV12, CV13 For connectors fixed on the mount base, disconnect by holding the clip. NOTE ...
  • Page 91 Maintenance 4. Cable (16) Remove the nut of the rotary fitting. Rotary Fittings Remove the rotary fitting from the Duct Plate. Duct Plate Disconnect the cables from the Duct Plate. 2-M4×10 (17) Remove the rotary fitting from the metal duct. The rotary fitting is directly screwed in the metal duct.
  • Page 92 (3) Connect the following parts to the Connector Plate. Pneumatic tube, D-sub cable, Ethernet cable (RJ45), ground wire (×7) NOTE All fittings of LS20-B series manipulators are white. See the table below for connection  of pneumatic tube to fittings.
  • Page 93 Maintenance 4. Cable (10) As with the wire tie cut off at the removal step (14), bind the cables with a new wire tie. Wrap the cables in the silicon sheet for protection. Bind the cables with the clip band and the saddle. (11) Mount the Connector Plate.

  • Page 94: Wiring Diagrams

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

  • Page 95: Power Cable

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

  • Page 96: User Cable

    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* LS20-B Rev.4...

  • Page 97: Color Of Cables

    Maintenance 4. Cable 4.2.4 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...

  • Page 98: Replacing M/C Cable

    Maintenance 4. Cable 4.3 Replacing M/C Cable LS20-B series manipulator does not have batteries. Position data is memorized by the NOTE  motor. When replacing cables, calibration is not necessary. Name Qty. Note 3 m: 2196934 Maintenance M/C Cable 5 m: 2196935...
  • Page 99 Maintenance 4. Cable M/C Cable (1) Turn OFF the Controller. Removal (2) Disconnect the following connectors form the controller. Power cable connector Signal cable connector (3) Loosen the screws fixing the plate. You do not need to remove them completely. For details, refer to Finger Screws Maintenance: 3.3 Connector Plate.
  • Page 100 Maintenance 4. Cable NOTE  Connector (white) for the power cable is difficult to disconnect for safety purpose. To disconnect the connector, securely push the clip. If you cannot disconnect it, push the connector once, and then disconnect it by pushing the clip.
  • Page 101 Maintenance 4. Cable M/C cable (1) Set the M/C cable as shown on the right. NOTE Installation  Be careful with the direction of the plate. (2) Connect the following connectors in the order as shown on the right. (3) Slide the plate to install it. Finger screws : 4-M3×10 Tightening torque : 0.6±0.1 N·m Finger Screws...
  • Page 102 Maintenance 4. Cable Direction of the connector sub plate When installing the plate, be careful for the direction. 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.

  • Page 103: Joint #1

    Maintenance 5. Joint #1 5. Joint #1 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 104: Replacing Joint #1 Motor

    Maintenance 5. Joint #1 5.1 Replacing Joint #1 Motor Name Qty. Note Maintenance AC Servo Motor (750W) 2202238 parts O-ring 1618361 width across flats: 2.5 mm For M5 set screw Hexagonal width across flats: 4 mm For M5 screw wrench width across flats: 5 mm For M6 screw Tools...
  • Page 105 Maintenance 5. Joint #1 (7) Loosen the motor mounting screws on the motor Joint #1 Motor Unit flange and remove the motor unit There is an O-ring between Top Plate and the motor flange. Be sure to keep the O-ring. 4-M5×15 The motor can be removed while the Arm #1 and the Top plate are mounted.
  • Page 106 Maintenance 5. Joint #1 Joint #1 motor (1) Put the O-ring on the motor mounting surface Motor Flange Installation and mount the motor flange. O-ring Joint #1 Motor 4-M5×18 + Plain washer End face of Waveform Generator (2) Apply grease (SK-1A) to the between the End face of Motor waveform generator and motor.
  • Page 107 (8) Mount the Connector Plate. For details, refer to Maintenance 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 108: Replacing Joint #1 Reduction Gear Unit

    Maintenance 5. Joint #1 5.2 Replacing Joint #1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator, Flexspline, Circular spline For details of the reduction gear unit, refer to Maintenance: 14.
  • Page 109 Maintenance 5. Joint #1 Joint #1 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit O-ring when it is unpacked. Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 110 Maintenance 5. Joint #1 (5) Secure the cross roller bearing to the circular spline. 4-M4×20 Tightening torque: 4.0 N·m (40.8 kgf·cm) 16-M5×30 (6) Secure the Top Plate to the circular spline. Loosely fasten all bolts in a crisscross pattern so that the bolts will be fastened evenly.

  • Page 111: Joint #2

    Maintenance 6. Joint #2 6. Joint #2 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 112: Replacing Joint #2 Motor

    Maintenance 6. Joint #2 6.1 Replacing Joint #2 Motor Name Qty. Note Maintenance AC Servo Motor (520 W) 2197985 Parts width across flats: 2.5 mm For M5 set screw Hexagonal wrench width across flats: 4 mm For M5 screw Cross-point screwdriver (#2) For M4 screw Tools Torque wrench...
  • Page 113 Maintenance 6. Joint #2 (8) Remove the screws mounting the motor 4-M5×20 Joint #2 unit and then remove the Joint #2 motor Motor Unit unit from the Arm #2. To pull out the motor smoothly, move the Arm #2 slowly by hand while pulling the motor.
  • Page 114 Maintenance 6. Joint #2 Joint #2 Motor (1) Mount the motor flange on the Joint #2 Installation motor. Motor Flange 4-M4×15 + Plain Washer Joint #2 Motor (2) Mount the waveform generator on the Joint End face of Waveform Generator End face of Motor shaft #2 motor.
  • Page 115 (8) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (9) Check if the Joint #2 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.

  • Page 116: Replacing Joint #2 Reduction Gear Unit

    Maintenance 6. Joint #2 6.2 Replacing Joint #2 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the following parts all together as one set. Waveform generator, Flexspline, Circular spline For details of the three parts, refer to Maintenance: 14.
  • Page 117 Maintenance 6. Joint #2 Joint #2 (1) Turn ON the Controller. Reduction (2) Push down the shaft to its lower limit while pressing the brake release switch. Gear Unit Be sure to keep enough space and prevent the end effector hitting any peripheral Removal equipment.
  • Page 118 Maintenance 6. Joint #2 Joint #2 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit when it is unpacked. O-ring Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
  • Page 119 Maintenance 6. Joint #2 (5) Secure the cross roller bearing to the circular spline. 4-M4×20 Tightening torque: 4.0 N·m (40.8 kgf·cm) (6) Set the O-ring removed in the removal step (6) 12-M5×40 into the O-ring groove of the Arm #1. Reduction Gear Unit Install the reduction gear unit on the Arm #1.

  • Page 120: Joint #3

    Maintenance 7. Joint #3 7. Joint #3 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 121: Replacing Joint #3 Motor

    Maintenance 7. Joint #3 7.1 Replacing Joint #3 Motor Name Qty. Note Maintenance AC Servo Motor 520W 2197985 part width across flats: 2 mm For M4 set screw Hexagonal width across flats: 3 mm For M4 screw wrench width across flats: 4 mm For M5 screw Spanner width across flats: 7 mm...
  • Page 122 Maintenance 7. Joint #3 (7) Disconnect the following connectors. Connectors: X231, X43 (Hold the clip to remove.) (8) 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.
  • Page 123 Maintenance 7. Joint #3 Pulley Joint #3 motor (1) Mount the pulley to the Joint #3 motor. Installation M4 Bushing Secure the pulley where the pulley end face touches the motor shaft end face. M6×6 M6×6 Set Screw Set Screw Joint #3 Motor Tighten one of the set screws vertically on the flat face of the motor shaft.
  • Page 124 (8) Install the Arm Top Cover. For details, refer to Maintenance: 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 125: Replacing The Timing Belt

    Maintenance 7. Joint #3 7.2 Replacing the Timing Belt Name Qty. Note Maintenance Z belt 1618727 part width across flats: 2.5 mm For M3 screw Hexagonal width across flats: 3 mm For M4 screw wrench width across flats: 4 mm For M5 screw Cross-point screwdriver (#2) For M3, M4 screw...
  • Page 126 Maintenance 7. Joint #3 Z belt (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. The brake release switch is applied to both Joints #3 and Joint #4.
  • Page 127 Maintenance 7. Joint #3 (9) Remove the Joint #3 motor from the motor 4-M4×15+ plate and pull out the Z belt. Plain washer The belt is placed around the pulley. Joint #3 Motor remove the Joint #3 motor, tilt the motor slightly and pull it upward while avoiding Motor Plate the belt.
  • Page 128 Maintenance 7. Joint #3 Z belt (1) Pass a new Z belt through the shaft. Installation 3-M4×15 (2) Lower the spline plate with the Z belt placed around the spline plate pulley. Z Belt Secure the spline plate with 3 screws. Spline Plate Shaft NOTE...
  • Page 129 (10) Install the Arm Top Cover. For details, refer to Maintenance: 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 130: Replacing The Brake

    Maintenance 7. Joint #3 7.3 Replacing the Brake Name Qty. Note Maintenance Electromagnetic Brake 1499588 parts width across flats: 1.5 mm For M3 set screw Hexagonal width across flats: 3 mm For M4 screw wrench width across flats: 4 mm For M5 screw Tools Torque wrench...
  • Page 131 Maintenance 7. Joint #3 Joint #3 brake (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 132 Maintenance 7. Joint #3 (8) Remove the Joint #3 motor from the motor 4-M4×15+ Plain washer plate. The Z belt is placed around the pulley. Joint #3 Motor To remove the Joint #3 motor, tilt the motor Motor Plate slightly and pull it upward while avoiding the Z Belt belt.
  • Page 133 Maintenance 7. Joint #3 Joint #3 brake (1) Mount the brake to the brake plate. Installation 3-M3×8 Brake (2) Mount the brake hub to the pulley of the Joint #3 motor. Joint #3 Fix the brake hub while aligning it to the end Motor face of the pulley.
  • Page 134 (7) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (8) Check if the Joint #3 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.

  • Page 135: Checking The Timing Belt Tension (Z Belt)

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

  • Page 136: Joint #4

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

  • Page 137: Replacing Joint #4 Motor

    Maintenance 8. Joint #4 8.1 Replacing Joint #4 Motor Name Qty. Note Maintenance AC Servo Motor 150 W 1646520 part width across flats: 1.5 mm For M3 Set screw Hexagonal width across flats: 3 mm For M4 screw wrench width across flats: 4 mm For M5 screw Tools Spanner...
  • Page 138 Maintenance 8. Joint #4 (8) Remove the screws mounting Joint #4 3-M3×12 motor unit on the reduction gear unit. +Plain Washer Joint #4 Motor Unit (9) Remove the cover of the hole for fixing the extension shaft on the side of the reduction gear, and loosen the screws.
  • Page 139 Maintenance 8. Joint #4 Joint #4 motor (1) Mount the Joint #4 motor on the motor plate. Installation Motor Plate Joint #4 Motor Before you mount the motor, make sure that the NOTE  brake harness passes through a gap of the motor 2-M4×70 plate.
  • Page 140 Maintenance 8. Joint #4 (3) Insert the extension shaft to the reduction gear unit. Make sure that Joint #4 motor cable is sideways when looking from the front side of Arm #2. After inserting the extension shaft, loosely secure the motor plate on the Joint #4 motor unit with bolts (M3×12), and loosen the 3-M3×12 2-M4×70...
  • Page 141 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 142: Replacing The Timing Belt

    Maintenance 8. Joint #4 8.2 Replacing the Timing Belt Name Qty. Note Maintenance 1618729 U belt (width 30 mm) part width across flats: 3 mm For M4 screw Hexagonal wrench width across flats: 4 mm For M5 screw Spanner width across flats: 7 mm Tools Cross-point screwdriver (#2) For M3, M4 screws...
  • Page 143 Maintenance 8. Joint #4 U belt (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 144 Maintenance 8. Joint #4 3-M3×12 (9) Remove the screws mounting the Joint + Plain Washer #4 motor unit. Joint #4 Motor Unit 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.
  • Page 145 Maintenance 8. Joint #4 3-M4×15 U belt (1) Hold up the spline plate and set the U belt Spline Plate Installation around the pulley. Z Belt Make sure the gear grooves of the belt are fit into those of the pulleys completely. U Belt (2) Hold up the spline plate and set the Z belt around the Z pulley.
  • Page 146 (11) Install the Arm Top Cover. For details, refer to Maintenance: 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 147: Replacing The Brake

    Maintenance 8. Joint #4 8.3 Replacing the Brake Name Qty. Note Maintenance Electromagnetic brake 1803965 part width across flats: 1.5 mm For M3 set screw Hexagonal width across flats: 3 mm For M4 screw wrench width across flats: 4 mm For M5 screw Tools Spanner...
  • Page 148 Maintenance 8. Joint #4 Joint #4 Brake (1) Turn ON the Controller Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 149 Maintenance 8. Joint #4 (8) Remove the screws securing the Joint #4 motor unit on the reduction gear unit. 3-M3×12 (9) Remove the cover of the hole for fixing + plain washer Joint #4 the extension shaft on the side of the Motor Unit reduction gear, and loosen the screws.
  • Page 150 Maintenance 8. Joint #4 Joint #4 Brake (1) Mount the brake on the motor plate. 3-M2.5×10 Installation Brake Joint #4 Motor Plate (2) Mount the Joint #4 motor on the motor plate. Before you mount the motor, make sure that the Motor Plate brake harness passes through a gap of the motor Joint #4 Motor...
  • Page 151 Maintenance 8. Joint #4 (4) Insert the extension shaft to the reduction gear unit. Make sure that Joint #4 motor cable is sideways when looking from the front side of Arm #2. After inserting the extension shaft, loosely secure the motor plate on the Joint #4 motor 3-M3×12 2-M4×70 unit with bolts (M3×12), and loosen the...
  • Page 152 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 153: Replacing The Reduction Gear Unit

    Maintenance 8. Joint #4 8.4 Replacing the Reduction Gear Unit Name Qty. Note Maintenance Reduction Gear Unit 1493783 part width across flats: 3 mm For M4 screw Hexagonal wrench width across flats: 4 mm For M5 screw For M4 hexagon head bolt Spanner width across flats: 7 mm Tools...
  • Page 154 Maintenance 8. Joint #4 Joint #4 (1) Remove the Joint #4 motor unit from the Arm 3-M3×12 Reduction Gear + Plain Washer Unit Joint #4 Motor For details, refer to the Installation steps in Removal Maintenance: 8.2 Replacing the Timing Belt. Joint #4 (2) Remove the screws mounting Joint #4 motor Reduction Gear Unit...
  • Page 155 Maintenance 8. Joint #4 Joint #4 (1) Mount the plate on a new reduction gear unit. 4-M4×20 Reduction Gear Plain Washer Unit Joint #4 Reduction Gear Unit Installation Plate (2) Mount the U pulley and the U housing. 4-M4×10 U Housing Joint #4 Reduction Gear Unit U Pulley...

  • Page 156: Checking The Timing Belt Tension (U Belt)

    Maintenance 8. Joint #4 (U Belt) Checking the Timing Belt Tension Name Qty. Note For details on usage and measurement methods of the tension Tool Sonic tension meter meter, refer to the instruction manual of the tension meter. Joint #4 (1) Enter appropriate setting values to the sonic tension meter.

  • Page 157: Bellows

    Maintenance 9. Bellows 9. Bellows NOTE The bellows for LS20-B***C are provided in a unit of two pieces. The shape varies  between the upper and lower bellows. A large amount of dust is emitted when replacing the bellows. Take the Manipulator to an outer room such as the room in front of the clean room’s entrance, or take the necessary countermeasures to prevent dust emission before replacing the bellows.
  • Page 158 Maintenance 9. Bellows Bellows (1) To attach the upper bellows, move the shaft to its lower limit. Installation To attach the lower bellows, move the shaft to its upper limit. To move the shaft up/down, press and hold the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.

  • Page 159: Ball Screw Spline Unit

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

  • Page 160: Standard-Model

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

  • Page 161: Cleanroom-Model

    Maintenance 10. Ball Screw Spline Unit 10.1.2 Cleanroom-model Cover the surrounding area such as the end effector and peripheral equipment in case the grease drips. Upper Part (1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF) of the Shaft (2) Move the arm to a position where Joint #3 can be moved in full stroke.

  • Page 162: Replacing The Ball Screw Spline Unit

    Maintenance 10. Ball Screw Spline Unit 10.2 Replacing the Ball Screw Spline Unit A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down NOTE  and rotating due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
  • Page 163 Maintenance 10. Ball Screw Spline Unit Ball Screw (1) Turn ON the Controller. Spline Unit (2) Push down the shaft to its lower limit while pressing the brake release switch. Removal Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
  • Page 164 Maintenance 10. Ball Screw Spline Unit Ball Screw (1) Insert a new ball screw spline unit in the Arm #2. Spline Unit 3-M4×15 (2) Secure the spline nut from the bottom side of Installation the Arm #2. 4-M5×15 (3) Mount the following. Joint #3 motor unit Joint #4 motor unit U belt Z belt For details, refer to the following manuals: Maintenance 7.1 Replacing Joint #3 Motor...

  • Page 165: Boards

    Maintenance 11. Boards 11. Boards ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

  • Page 166: Replacing The Converter Board

    Maintenance 11. Boards 11.1 Replacing the Converter Board Board which supplies power to the encoder of the motor is mounted inside the base of the manipulator. If the board gets damage, the manipulator will not operate. Converter board (1) Turn OFF the controller. Removal (2) Remove the Connector Plate.

  • Page 167: Replacing The Control Board

    Maintenance 11. Boards 11.2 Replacing the Control Board Control Board (1) Turn OFF the controller. Removal (2) Remove the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (3) Disconnect the following connector. Connector: X51 (4) Remove the Control board. Control Board Control Board (1) Mount a new Control board.

  • Page 168: Led Lamp

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

  • Page 169: 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 170: 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 171 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. LS20-B Rev.4...
  • Page 172 Maintenance 13. Calibration 0 pulse position of Joint #1: position aligned with 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.) 0 pulse position of Joint #3:...
  • Page 173 Maintenance 13. Calibration (4) Click the <Yes> button to reset the encoder. (5) Reboot the Controller. * This window will disappear when the Controller starts up. (6) Select the reference point to use for calibration, and click the <Next> button. Select a point from the current points to use for checking the accuracy.
  • Page 174 Maintenance 13. Calibration (8) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. Before operating the robot, open the [Control Panel] and click on the <Motor ON> button.
  • Page 175 Maintenance 13. Calibration (10) The manipulator moves to the reference point. Click the <Execute> button. Input JUMP P0:z(0). ↑ Point selected in step (6) (11) Confirm the message and click the <Yes> button. (12) After the manipulator moves to the reference point, click the <Next> button. LS20-B Rev.4...
  • Page 176 Maintenance 13. Calibration (13) Jog to the accurate reference position. (14) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. * Position Joint #2 only and move Joint #3 to around 0 pulse. LS20-B Rev.4...
  • Page 177 Maintenance 13. Calibration (15) Click the <Next> button. (16) Execute the procedure in “Calibration Using Right / Left Arm Orientations” to accurately calibrate Joint #2. Go on to the step (17) for the other joints calibration. i. Move to another point that has different pose (from righty to lefty) using Jump command.
  • Page 178 Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS20-B Rev.4...
  • Page 179 Maintenance 13. Calibration (17) Calibration is complete. Click the <Finish> button. (18) Move the manipulator to other points and check if it can move without problems. Teach points where appropriate. LS20-B Rev.4...

  • Page 180: Accurate Calibration Of Joint #2

    Maintenance 13. Calibration 13.3 Accurate Calibration of Joint #2 When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately. If the accuracy of Joint #2 is not obtained through the steps in the section Maintenance: 13.2 NOTE ...
  • Page 181 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 to free all joints from servo control. Now, you can move arms by hands.

  • Page 182: Calibration Procedure Without Using Calibration Wizard

    Maintenance 13. Calibration 13.4 Calibration Procedure without using Calibration Wizard This section indicates the calibration without using the calibration wizard of EPSON RC+. NOTE  For details of calibration using the calibration wizard, refer to Maintenance: 13.2 Calibration Procedure. When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately.
  • Page 183 Maintenance 13. Calibration 0 pulse position of Joint #1: position aligned with 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.) 0 pulse position of Joint #3:...
  • Page 184 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 to free all joints from servo control. Now, you can move arms by hands.
  • Page 185 Maintenance 13. Calibration (5)-3 Move the Manipulator by hand to a rough position/posture of the calibration point data. (5)-4 Create the data from the calibration point data. Enter and execute the following command in [Command Window]. (In this example, P1 is used as the calibration point data.) >...

  • Page 186: Maintenance Parts List

    Maintenance 14. Maintenance Parts List 14. Maintenance Parts List Reference: Overhaul Part Name Code Note Maintenance LS20-B804* 2202239 800 mm Cable Unit LS20-BA04* 2202240 1000 mm Joint #1 750 W  2202238 Joint #2 520 W  2197985 AC Servo Motor Joint #3 520 W ...
  • Page 187 Maintenance 14. Maintenance Parts List *1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator Waveform generator This waveform generator consists of an ellipsoidal cam with ball...
  • Page 188 Maintenance 14. Maintenance Parts List LS20-B Rev.4...

This manual is also suitable for:

Ls20-b804Ls20-ba04Ls20-b804sLs20-ba04sLs20-b804cLs20-ba04c

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