Epson LS20-BA04S

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MANIPULATOR MANUAL

LS20-B series Rev.4

Main Page

Table of Contents9
Setup & Operation13
Safety15
Conventions15
Design and Installation Safety16
Strength of the Ball Screw Spline17
Operation Safety18
Emergency Stop20
Emergency Movement Without Drive Power22
ACCELS Setting for CP Motions23
Warning Labels24
Specifications26
Features of LS20-B Series Manipulators26
Model Number27
Part Names and Outer Dimensions28
Standard-Model (LS20-B**4S)28
Cleanroom-Model (LS20-B**4C)30
Specifications32
How to Set the Model34
Environments and Installation35
Environmental Conditions35
Base Table36
Mounting Dimensions37
Unpacking and Transportation38
Installation Procedure40
Standard-Model40
Cleanroom-Model41
Connecting the Cables41
User Wires and Pneumatic Tubes43
Relocation and Storage45
Precautions for Relocation and Storage45
Relocation47
Setting of End Effectors48
Attaching an End Effector48
Attaching Cameras and Valves49
Weight and Inertia Settings50
Weight Setting50
Inertia Setting53
Precautions for Auto Acceleration/Deceleration of Joint #358
Motion Range59
Motion Range Setting by Pulse Range59
Max. Pulse Range of Joint #160
Max. Pulse Range of Joint #260
Max. Pulse Range of Joint #361
Max. Pulse Range of Joint #461
Motion Range Setting by Mechanical Stops62
Setting the Mechanical Stops of Joints #1 and #263
Setting the Mechanical Stop of Joint #365
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)67
Standard Motion Range68
Maintenance71
Safety Maintenance73
General Maintenance74
Maintenance Inspection74
Schedule for Maintenance Inspection74
Inspection Point75
Overhaul (Parts Replacement)76
Greasing78
Tightening Hexagon Socket Head Cap Bolts79
Matching Origins79
Layout of Maintenance Parts80
Covers81
Arm Top Cover82
Arm Bottom Cover83
Arm #1 Cover83
Connector Plate84
Connector Sub Plate85
User Plate86
Duct Plate86
Cable87
Replacing Cable Unit88
Wiring Diagrams94
Signal Cable94
Power Cable95
User Cable96
Color of Cables97
Replacing M/C Cable98
Joint #1103
Replacing Joint #1 Motor104
Replacing Joint #1 Reduction Gear Unit108
Joint #2111
Replacing Joint #2 Motor112
Replacing Joint #2 Reduction Gear Unit116
Joint #3120
Replacing Joint #3 Motor121
Replacing the Timing Belt125
Replacing the Brake130
Checking the Timing Belt Tension (Z Belt)135
Joint #4136
Replacing Joint #4 Motor137
Replacing the Timing Belt142
Replacing the Brake147
Replacing the Reduction Gear Unit153
Checking the Timing Belt Tension (U Belt)156
Bellows157
Ball Screw Spline Unit159
Greasing the Ball Screw Spline Unit159
Standard-Model160
Cleanroom-Model161
Replacing the Ball Screw Spline Unit162
Boards165
Replacing the Converter Board166
Replacing the Control Board167
LED Lamp168
Calibration169
About Calibration169
Calibration Procedure170
Accurate Calibration of Joint #2180
Calibration Procedure Without Using Calibration Wizard182
Maintenance Parts List186

Epson LS20-BA04S

Table of Contents

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