Epson LS20-B Series

TABLE OF CONTENTS
LS20-B Rev.4 vii
Setup & Operation
1. Safety 3
1.1 Conventions.............................................................................................. 3
1.2 Design and Installation Safety .................................................................. 4
1.2.1 Strength of the Ball Screw Spline ................................................. 5
1.3 Operation Safety ...................................................................................... 6
1.4 Emergency Stop ....................................................................................... 8
1.5 Emergency Movement without Drive Power .......................................... 10
1.6 ACCELS Setting for CP Motions ............................................................. 11
1.7 Warning Labels ....................................................................................... 12
2. Specifications 14
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) ................................................ 18
2.4 Specifications ......................................................................................... 20
2.5 How to Set the Model ............................................................................. 22
3. Environments and Installation 23
3.1 Environmental Conditions ...................................................................... 23
3.2 Base Table .............................................................................................. 24
3.3 Mounting Dimensions ............................................................................. 25
3.4 Unpacking and Transportation ............................................................... 26
3.5 Installation Procedure............................................................................. 28
3.5.1 Standard-Model .......................................................................... 28
3.5.2 Cleanroom-Model ....................................................................... 29
3.6 Connecting the Cables ........................................................................... 29
3.7 User Wires and Pneumatic Tubes.......................................................... 31
3.8 Relocation and Storage .......................................................................... 33
3.8.1 Precautions for Relocation and Storage .................................... 33
3.8.2 Relocation ................................................................................... 35
4. Setting of End Effectors 36
4.1 Attaching an End Effector....................................................................... 36
4.2 Attaching Cameras and Valves .............................................................. 37
4.3 Weight and Inertia Settings .................................................................... 38
4.3.1 Weight Setting ............................................................................ 38
4.3.2 Inertia Setting ............................................................................. 41
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................... 46