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LS20 Series
Epson LS20 Series User Manual
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Maintenan
ce
10. Ball Screw Spline Un
it
134
LS20 Rev
.4
(
11
)
Secure the bellows.
T
o attach the upper
bellows, mo
ve the shaft to its lo
wer limit.
T
o
attach the lo
wer bellows, move the sh
aft to its uppe
r limit.
T
o move the sha
ft up/down,
press and hold the brak
e release switch.
Attach the m
ounting part of the bellows
until
it touches the
cylindric
al
part of the
cover
.
Then, secure the
m wi
th clamp bands.
145
147
Table of Contents
Default Chapter
9
Table of Contents
9
Safety
15
Conventions
15
Design and Installation Safety
16
Strength of 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 Series Manipulators
26
Model Number
27
Part Names and Outer Dimensions
28
Ls20-804
28
Ls20-A04
32
Specifications
36
How to Set the Model
38
Environments and Installation
39
Environmental Conditions
39
Base Table
40
Mounting Dimensions
41
Ls20-804
41
Ls20-A04
43
Unpacking and Transportation
45
Precautions for Transportation
45
Transportation
46
Installation Procedure
47
Standard-Model
47
Cleanroom-Model
48
Connecting the Cables
49
User Wires and Pneumatic Tubes
50
Relocation and Storage
51
Precautions for Relocation and Storage
51
Relocation
52
Setting of End Effectors
53
Attaching an End Effector
53
Attaching Cameras and Valves
54
Weight and Inertia Settings
55
Weight Setting
55
Inertia Setting
57
Precautions for Auto Acceleration/Deceleration of Joint #3
61
Motion Range
62
Motion Range Setting by Pulse Range (for All Joints)
62
Max. Pulse Range of Joint #1
63
Max. Pulse Range of Joint #2
63
Max. Pulse Range of Joint #3
64
Max. Pulse Range of Joint #4
64
Motion Range Setting by Mechanical Stops
65
Setting the Mechanical Stops of Joints #1 and #2
66
Setting the Mechanical Stop of Joint #3
68
Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
70
Standard Motion Range
70
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
80
Matching Origins
80
Layout of Maintenance Parts
81
Covers
82
Arm Top Cover
83
Arm Bottom Cover
84
Arm #1 Cover
84
Connector Plate
85
Connector Sub Plate
86
User Plate
86
Cable
87
Replacing Cable Unit
87
Wiring Diagrams
92
Signal Cable
92
Power Cable
93
User Cable
94
Replacing M/C Cable
95
Arm #1
98
Replacing Joint #1 Motor
99
Replacing Joint #1 Reduction Gear Unit
102
Arm #2
105
Replacing Joint #2 Motor
106
Replacing Joint #2 Reduction Gear Unit
110
Arm #3
114
Replacing Joint #3 Motor
115
Replacing the Timing Belt
119
Replacing the Brake
123
Checking the Timing Belt Tension
126
Arm #4
127
Replacing Joint #4 Motor
128
Replacing the Timing Belt
132
Replacing the Brake
137
Replacing the Reduction Gear Unit
138
Checking the Timing Belt Tension
140
Bellows
141
Ball Screw Spline Unit
143
Greasing the Ball Screw Spline Unit
143
Standard-Model (S Type)
144
Cleanroom-Model
145
Replacing the Ball Screw Spline Unit
147
Lithium Battery
150
Replacing the Battery Unit (Lithium Battery)
152
Replacing the Resolver Board
153
Replacing the Control Board
155
LED Lamp
156
Calibration
157
About Calibration
157
Calibration Procedure
158
Accurate Calibration of Joint #2
168
Calibration Procedure Without Using Calibration Wizard
170
Maintenance Parts List
174
4
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Epson LS20 Series Specifications
General
Brand
Epson
Model
LS20 Series
Category
Robotics
Language
English
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