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LS20-B Series
Epson LS20-B Series User Manual
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Setup & Operation
4. Setting
of End Effectors
LS
20
-
B
R
e
v.
4
37
4.2
Attaching Cameras and V
alves
The bottom
of the
Arm #2 has threaded
holes as shown in t
he figure below
.
U
se the
se
holes for att
aching cam
eras, v
al
ves, and ot
her equipm
ent.
[Uni
t: mm]
*:
Fr
om ba
se ins
tal
lati
on sur
face
48
50
Table of Contents
Table of Contents
9
Setup & Operation
13
Safety
15
Conventions
15
Design and Installation Safety
16
Strength of the Ball Screw Spline
17
Operation Safety
18
Emergency Stop
20
Emergency Movement Without Drive Power
22
ACCELS Setting for CP Motions
23
Warning Labels
24
Specifications
26
Features of LS20-B Series Manipulators
26
Model Number
27
Part Names and Outer Dimensions
28
Standard-Model (LS20-B**4S)
28
Cleanroom-Model (LS20-B**4C)
30
Specifications
32
How to Set the Model
34
Environments and Installation
35
Environmental Conditions
35
Base Table
36
Mounting Dimensions
37
Unpacking and Transportation
38
Installation Procedure
40
Standard-Model
40
Cleanroom-Model
41
Connecting the Cables
41
User Wires and Pneumatic Tubes
43
Relocation and Storage
45
Precautions for Relocation and Storage
45
Relocation
47
Setting of End Effectors
48
Attaching an End Effector
48
Attaching Cameras and Valves
49
Weight and Inertia Settings
50
Weight Setting
50
Inertia Setting
53
Precautions for Auto Acceleration/Deceleration of Joint #3
58
Motion Range
59
Motion Range Setting by Pulse Range
59
Max. Pulse Range of Joint #1
60
Max. Pulse Range of Joint #2
60
Max. Pulse Range of Joint #3
61
Max. Pulse Range of Joint #4
61
Motion Range Setting by Mechanical Stops
62
Setting the Mechanical Stops of Joints #1 and #2
63
Setting the Mechanical Stop of Joint #3
65
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
67
Standard Motion Range
68
Maintenance
71
Safety Maintenance
73
General Maintenance
74
Maintenance Inspection
74
Schedule for Maintenance Inspection
74
Inspection Point
75
Overhaul (Parts Replacement)
76
Greasing
78
Tightening Hexagon Socket Head Cap Bolts
79
Matching Origins
79
Layout of Maintenance Parts
80
Covers
81
Arm Top Cover
82
Arm Bottom Cover
83
Arm #1 Cover
83
Connector Plate
84
Connector Sub Plate
85
User Plate
86
Duct Plate
86
Cable
87
Replacing Cable Unit
88
Wiring Diagrams
94
Signal Cable
94
Power Cable
95
User Cable
96
Color of Cables
97
Replacing M/C Cable
98
Joint #1
103
Replacing Joint #1 Motor
104
Replacing Joint #1 Reduction Gear Unit
108
Joint #2
111
Replacing Joint #2 Motor
112
Replacing Joint #2 Reduction Gear Unit
116
Joint #3
120
Replacing Joint #3 Motor
121
Replacing the Timing Belt
125
Replacing the Brake
130
Checking the Timing Belt Tension (Z Belt)
135
Joint #4
136
Replacing Joint #4 Motor
137
Replacing the Timing Belt
142
Replacing the Brake
147
Replacing the Reduction Gear Unit
153
Checking the Timing Belt Tension (U Belt)
156
Bellows
157
Ball Screw Spline Unit
159
Greasing the Ball Screw Spline Unit
159
Standard-Model
160
Cleanroom-Model
161
Replacing the Ball Screw Spline Unit
162
Boards
165
Replacing the Converter Board
166
Replacing the Control Board
167
LED Lamp
168
Calibration
169
About Calibration
169
Calibration Procedure
170
Accurate Calibration of Joint #2
180
Calibration Procedure Without Using Calibration Wizard
182
Maintenance Parts List
186
4
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Epson LS20-B Series Specifications
General
Brand
Epson
Model
LS20-B Series
Category
Robotics
Language
English
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