Epson LS20 Series

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