TABLE OF CONTENTS
viii LS20 Rev.4
5. Motion Range 50
5.1 Motion Range Setting by Pulse Range (for All Joints) ............................ 50
5.1.1 Max. Pulse Range of Joint #1 ..................................................... 51
5.1.2 Max. Pulse Range of Joint #2 ..................................................... 51
5.1.3 Max. Pulse Range of Joint #3 ..................................................... 52
5.1.4 Max. Pulse Range of Joint #4 ..................................................... 52
5.2 Motion Range Setting by Mechanical Stops ........................................... 53
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ...................... 54
5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 56
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) .................................. 58
5.4 Standard Motion Range .......................................................................... 58
Maintenance
1. Safety Maintenance 61
2. General Maintenance 62
2.1 Maintenance Inspection .......................................................................... 62
2.1.1 Schedule for Maintenance Inspection ......................................... 62
2.1.2 Inspection Point ........................................................................... 63
2.2 Overhaul (Parts Replacement) ............................................................... 64
2.3 Greasing .................................................................................................. 66
2.4 Tightening Hexagon Socket Head Cap Bolts ......................................... 68
2.5 Matching Origins ..................................................................................... 68
2.6 Layout of Maintenance Parts .................................................................. 69
3. Covers 70
3.1 Arm Top Cover ........................................................................................ 71
3.2 Arm Bottom Cover ................................................................................... 72
3.3 Arm #1 Cover .......................................................................................... 72
3.4 Connector Plate ...................................................................................... 73
3.5 Connector Sub Plate ............................................................................... 74
3.6 User Plate................................................................................................ 74
4. Cable 75
4.1 Replacing Cable Unit .............................................................................. 75
4.2 Wiring Diagrams ...................................................................................... 80
4.2.1 Signal Cable ................................................................................ 80
4.2.2 Power Cable ................................................................................ 81
4.2.3 User Cable .................................................................................. 82
4.3 Replacing M/C Cable .............................................................................. 83
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