Epson LS20-B Series User Manual

TABLE OF CONTENTS
LS20-B Rev.4 ix
5. Joint #1 91
5.1 Replacing Joint #1 Motor ....................................................................... 92
5.2 Replacing Joint #1 Reduction Gear Unit ................................................ 96
6. Joint #2 99
6.1 Replacing Joint #2 Motor ..................................................................... 100
6.2 Replacing Joint #2 Reduction Gear Unit .............................................. 104
7. Joint #3 108
7.1 Replacing Joint #3 Motor ..................................................................... 109
7.2 Replacing the Timing Belt ..................................................................... 113
7.3 Replacing the Brake .............................................................................. 118
7.4 Checking the Timing Belt Tension (Z Belt) ........................................... 123
8. Joint #4 124
8.1 Replacing Joint #4 Motor ..................................................................... 125
8.2 Replacing the Timing Belt .................................................................... 130
8.3 Replacing the Brake ............................................................................. 135
8.4 Replacing the Reduction Gear Unit ..................................................... 141
8.5 Checking the Timing Belt Tension (U Belt) ........................................... 144
9. Bellows 145
10. Ball Screw Spline Unit 147
10.1 Greasing the Ball Screw Spline Unit .................................................. 147
10.1.1 Standard-model ...................................................................... 148
10.1.2 Cleanroom-model ................................................................... 149
10.2 Replacing the Ball Screw Spline Unit ................................................. 150
11. Boards 153
11.1 Replacing the Converter Board .......................................................... 154
11.2 Replacing the Control Board .............................................................. 155
12. LED Lamp 156
13. Calibration 157
13.1 About Calibration ................................................................................ 157
13.2 Calibration Procedure......................................................................... 158
13.3 Accurate Calibration of Joint #2 ......................................................... 168
13.4 Calibration Procedure without using Calibration Wizard ................... 170
14. Maintenance Parts List 174

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English