TABLE OF CONTENTS
x LS Rev.10
5. Motion Range 54
5.1 Motion Range Setting by Pulse Range (for All Joints) ............................ 54
5.1.1 Max. Pulse Range of Joint #1 ..................................................... 55
5.1.2 Max. Pulse Range of Joint #2 ..................................................... 55
5.1.3 Max. Pulse Range of Joint #3 ..................................................... 56
5.1.4 Max. Pulse Range of Joint #4 ..................................................... 56
5.2 Motion Range Setting by Mechanical Stops ........................................... 57
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ...................... 58
5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 60
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) .................................. 62
5.4 Standard Motion Range .......................................................................... 62
Maintenance
1. Safety Maintenance 65
2. General Maintenance 66
2.1 Maintenance Inspection .......................................................................... 66
2.1.1 Schedule for Maintenance Inspection ......................................... 66
2.1.2 Inspection Point ........................................................................... 67
2.2 Overhaul (Parts Replacement) ............................................................... 68
2.3 Greasing .................................................................................................. 70
2.4 Tightening Hexagon Socket Head Cap Bolts ......................................... 71
2.5 Matching Origins ..................................................................................... 72
2.6 Layout of Maintenance Parts .................................................................. 73
3. Covers 74
3.1 Arm Top Cover ........................................................................................ 75
3.2 Arm Bottom Cover ................................................................................... 75
3.3 Connector Plate ...................................................................................... 76
3.4 Connector Sub Plate ............................................................................... 77
3.5 User Plate................................................................................................ 77
4. Cable 78
4.1 Replacing Cable Unit .............................................................................. 79
4.2 Wiring Diagrams ...................................................................................... 84
4.2.1 Signal Cable ................................................................................ 84
4.2.2 Power Cable ................................................................................ 86
4.2.3 User Cable .................................................................................. 87
4.3 Replacing M/C Cable .............................................................................. 88
5. Arm #1 91
5.1 Replacing Joint #1 Motor ........................................................................ 92
5.2 Replacing Joint #1 Reduction Gear Unit ................................................ 95
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