Epson LS20-B Series User Manual

Maintenance 13. Calibration
LS20-B Rev.4 173
(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.)
> Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1
,3),
Ppls(P1,4)
(5)
-5 Move the joint to the specified point using a motion command.
For example, when the specified point data is “P1”,
execute “Jump P1:Z(0)” from [Jog & Teach].
* The joint NOT being calibrated moves to the original position.
(5)
-6 Accurately align the joint* being calibrated to the specified point using
jog
commands.
* You must move Joint #3 and #4 to the position when calibrating Joint #4.
Select the jog mode [Joint] from [Jog & Teach] to execute the jog motion.
(5)
-7 Execute the calibration.
Enter and execute one of the following commands in [Command Window]
according to the joint being calibrated.
Joint #1:
>Calib 1
Joint #2:
>Calib 2
Joint #3:
>Calib 3
Joint #4:
>Calib 3, 4
6.
Accuracy Testing
(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.

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English

Summary

Setup & Operation

1. Safety

Explains safety considerations for robot system installation and operation.

1.1 Conventions

Defines safety symbols and their meanings used throughout the manual.

1.2 Design and Installation Safety

Safety precautions for personnel involved in robot system design and installation.

1.3 Operation Safety

Essential safety measures for operators during robot system use.

1.4 Emergency Stop

Details the emergency stop function, its usage, and operational precautions.

1.5 Emergency Movement without Drive Power

Manual procedures for moving manipulator parts when drive power is off.

1.6 ACCELS Setting for CP Motions

Explains how ACCELS settings impact CP motion and protect components.

1.7 Warning Labels

Identifies and locates warning labels on the manipulator for user safety awareness.

2. Specifications

Details the technical specifications of the LS20-B series manipulators.

2.1 Features of LS20-B series Manipulators

Highlights key features like large capacity, high-speed motion, and Ethernet connectivity.

2.2 Model Number

Deciphers the structure and components of the LS20-B manipulator model numbers.

2.3 Part Names and Outer Dimensions

Illustrates manipulator parts and provides detailed outer dimension drawings.

2.4 Specifications

Comprehensive technical specifications covering speed, payload, repeatability, and environmental requirements.

2.5 How to Set the Model

Guide on setting the manipulator model via software for proper operation.

3. Environments and Installation

Guidelines for installing the robot system in suitable environments.

3.1 Environmental Conditions

Specifies ambient temperature, humidity, and environmental factors for safe operation.

3.2 Base Table

Details requirements for the base table, including strength and mounting dimensions.

3.3 Mounting Dimensions

Provides crucial dimensional data and required clearances for manipulator installation.

3.4 Unpacking and Transportation

Safe handling procedures for unpacking and transporting the manipulator.

3.5 Installation Procedure

Step-by-step guide for securely installing the manipulator onto a base table.

3.6 Connecting the Cables

Safety and procedural guidelines for connecting manipulator power and signal cables.

3.7 User Wires and Pneumatic Tubes

Information on specifications and connections for user electrical wires and pneumatic tubes.

3.8 Relocation and Storage

Precautions and procedures for safely relocating and storing the manipulator.

4. Setting of End Effectors

Procedures for attaching and configuring end effectors for manipulator tasks.

4.1 Attaching an End Effector

Guidelines for attaching custom end effectors, including shaft and coupling details.

4.2 Attaching Cameras and Valves

Information on using threaded holes for mounting cameras and valves on Arm #2.

4.3 Weight and Inertia Settings

Essential parameter settings for optimizing performance based on load weight and inertia.

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3

Important considerations for auto acceleration/deceleration settings in Joint #3.

5. Motion Range

Defines methods for setting and managing the manipulator's motion range.

5.1 Motion Range Setting by Pulse Range

How to define operational limits using pulse ranges for each joint.

5.2 Motion Range Setting by Mechanical Stops

How to set physical motion range limits using mechanical stop bolts.

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)

Software-based setting of XY coordinate limits for Joints #1 and #2.

5.4 Standard Motion Range

Diagrams and data illustrating the standard maximum motion ranges of the manipulator.

Maintenance

1. Safety Maintenance

General safety rules and requirements for personnel performing maintenance.

2. General Maintenance

Procedures and guidelines for routine maintenance inspections and tasks.

2.1 Maintenance Inspection

Schedule and points for routine daily, monthly, quarterly, and annual inspections.

2.2 Overhaul (Parts Replacement)

Recommended timing and procedures for overhauling (replacing) manipulator parts.

2.3 Greasing

Proper greasing procedures, intervals, and types for key manipulator components.

2.4 Tightening Hexagon Socket Head Cap Bolts

Specifies correct tightening torques and patterns for hexagon socket bolts.

2.5 Matching Origins

Crucial steps to re-align motor and controller origins after part replacement.

2.6 Layout of Maintenance Parts

Visual guide showing the location of major maintenance parts on the manipulator.

3. Covers

Procedures for removing and installing various manipulator covers.

3.1 Arm Top Cover

Detailed instructions for removing and reinstalling the arm top cover.

3.2 Arm Bottom Cover

Steps for removing and installing the arm bottom cover.

3.3 Arm #1 Cover

Procedure for removing and installing the arm #1 cover.

3.4 Connector Plate

Guidance on removing and mounting the connector plate, including cable routing.

3.5 Connector Sub Plate

Instructions for removing and mounting the connector sub plate, emphasizing cable care.

3.6 User Plate

Steps for removing and installing the user plate.

3.7 Duct Plate

Procedure for removing and installing the duct plate.

4. Cable

Procedures and diagrams related to manipulator cables.

4.1 Replacing Cable Unit

Step-by-step guide for replacing the manipulator's cable unit.

4.2 Wiring Diagrams

Provides detailed wiring diagrams for signal, power, and user cables.

4.3 Replacing M/C Cable

Instructions for disconnecting and reconnecting the M/C cable.

5. Joint #1

Maintenance procedures specific to Joint #1.

5.1 Replacing Joint #1 Motor

Detailed procedure for replacing the motor of Joint #1.

5.2 Replacing Joint #1 Reduction Gear Unit

Instructions for replacing the reduction gear unit of Joint #1.

6. Joint #2

Maintenance procedures specific to Joint #2.

6.1 Replacing Joint #2 Motor

Step-by-step guide for replacing the Joint #2 motor.

6.2 Replacing Joint #2 Reduction Gear Unit

Instructions for replacing the reduction gear unit of Joint #2.

7. Joint #3

Maintenance procedures specific to Joint #3.

7.1 Replacing Joint #3 Motor

Procedure for replacing the motor of Joint #3.

7.2 Replacing the Timing Belt

Instructions for replacing the timing belt associated with Joint #3.

7.3 Replacing the Brake

Steps for replacing the electromagnetic brake on Joint #3.

7.4 Checking the Timing Belt Tension (Z Belt)

Method for checking and adjusting Z belt tension using a sonic tension meter.

8. Joint #4

Maintenance procedures specific to Joint #4.

8.1 Replacing Joint #4 Motor

Guide for replacing the motor of Joint #4.

8.2 Replacing the Timing Belt

Instructions for replacing the timing belt associated with Joint #4.

8.3 Replacing the Brake

Steps for replacing the brake on Joint #4.

8.4 Replacing the Reduction Gear Unit

Procedure for replacing the reduction gear unit for Joint #4.

8.5 Checking the Timing Belt Tension (U Belt)

Method for checking U belt tension using a sonic tension meter.

9. Bellows

Procedures for removing and installing the manipulator's bellows.

Bellows Removal

Steps for safely removing and installing the manipulator's bellows.

10. Ball Screw Spline Unit

Maintenance procedures for the ball screw spline unit.

10.1 Greasing the Ball Screw Spline Unit

Procedures for proper greasing of the ball screw spline unit.

10.2 Replacing the Ball Screw Spline Unit

Instructions for replacing the ball screw spline unit.

11. Boards

Procedures for replacing internal electronic boards.

11.1 Replacing the Converter Board

Steps for replacing the converter board, essential for motor encoder power.

11.2 Replacing the Control Board

Procedure for replacing the main control board of the manipulator.

12. LED Lamp

Procedures for replacing the LED lamp.

LED Lamp Removal

Guide for removing and installing the manipulator's LED lamp.

14. Maintenance Parts List

A list of part numbers and codes for maintenance and overhaul tasks.

13. Calibration

Procedures for calibrating the robot manipulator for accurate positioning.

13.1 About Calibration

Explains why calibration is necessary after part replacements for accurate positioning.

13.2 Calibration Procedure

Step-by-step guide for performing calibration using the EPSON RC+ wizard.

13.3 Accurate Calibration of Joint #2

Specific method to accurately calibrate Joint #2 using arm orientation techniques.

13.4 Calibration Procedure without using Calibration Wizard

An alternative method for calibration without the wizard.