Epson LS10-B Series User Manual

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Safety and installation (126 pages)

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SCARA ROBOT

LS10-B series

MANIPULATOR MANUAL

Rev.6

EM204R4257F

Table of Contents

Summary of Contents for Epson LS10-B Series

Page 1 SCARA ROBOT LS10-B series MANIPULATOR MANUAL Rev.6 EM204R4257F...
Page 4 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times. WARRANTY The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with...
Page 5 TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
Page 6 Regarding battery disposal The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner.
Page 7 Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The LS10-B series Manipulators can be used with the following combinations of Controllers and software. Controller : RC90-B Software : EPSON RC+ 7.0 Ver.7.4.2 or later Turning ON/OFF Controller When you see the instruction “Turn ON/OFF the Controller”...
Page 8 LS10-B Rev.6...
Page 9: Table Of Contents
1.6 ACCELS Setting for CP Motions ............. 11 1.7 Warning Labels ..................12 2. Specifications 2.1 Features of LS10-B series Manipulators ..........14 2.2 Model Number ..................15 2.3 Part Names and Outer Dimensions ............16 2.3.1 Standard-Model (LS10-B***S) ............ 16 2.3.2 Cleanroom-Model (LS10-B***C) ..........
Page 10 TABLE OF CONTENTS 5.1.2 Max. Pulse Range of Joint #2 ............. 44 5.1.3 Max. Pulse Range of Joint #3 ............. 45 5.1.4 Max. Pulse Range of Joint #4 ............. 45 5.2 Motion Range Setting by Mechanical Stops ........... 46 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ...... 47 5.2.2 Setting the Mechanical Stop of Joint #3 ........
Page 11 TABLE OF CONTENTS 6.1 Replacing Joint #2 Motor ............... 94 6.2 Replacing Joint #2 Reduction Gear Unit ..........98 7. Joint #3 7.1 Replacing Joint #3 Motor ..............103 7.2 Replacing the Timing Belt ..............107 7.3 Replacing the Brake ................111 7.4 Checking the Timing Belt Tension (Z Belt) ..........
Page 12 TABLE OF CONTENTS LS10-B Rev.6...
Page 13: Setup & Operation
Setup & Operation This volume contains information for setup and operation of the LS10-B series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Page 15: Safety
Setup & Operation 1. Safety 1. Safety Installation and transportation of manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables.
Page 16: Design And Installation Safety
The following items are safety precautions for design personnel: ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing...
Page 17: Strength Of The Ball Screw Spline
Setup & Operation 1. Safety 1.2.1 Strength of the Ball Screw Spline If a load exceeding the allowable value is applied to the ball screw spline, it may not work properly due to deformation or breakage of the shaft. If the ball screw spline is applied the load exceeding the allowable value, it is necessary to replace the ball screw spline unit.
Page 18: Operation Safety
Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the Safety and Installation manual before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Page 19 Setup & Operation 1. Safety ■ Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all people involved communicate with each other as to what they are doing and take all necessary safety precautions.
Page 20: Emergency Stop
For the Safeguard system, do not use the circuit for E-STOP. For details on the Safeguard system, refer to the following manuals. EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions - Safeguard System Safety and Installation 2.6 Connection to EMERGENCY Connector...
Page 21 Setup & Operation 1. Safety Free running distance in emergency The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed. The free running time/angle/distance of the Manipulator are shown below. However, remember that the values vary depending on following conditions. Weight of the end effector Weight setting Weight of work piece...
Page 22: Emergency Movement Without Drive Power
Setup & Operation 1. Safety 1.5 Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below: Arm #1 Push the arm by hand. Arm #2 Push the arm by hand.
Page 23: Accels Setting For Cp Motions
Setup & Operation 1. Safety 1.6 ACCELS Setting for CP Motions When operating the Manipulator in CP motion: Acceleration/deceleration may be adjusted automatically depending on the tip load and the Z-axis height to prevent damages of the ball screw spline. ACCELS correction is performed by WEIGHT setting.
Page 24: Warning Labels
Setup & Operation 1. Safety 1.7 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.
Page 25 Setup & Operation 1. Safety LS10-B (Figure: LS10-B702S) LS10-B Rev.6...
Page 26: Specifications
Setup & Operation 2. Specifications 2. Specifications 2.1 Features of LS10-B series Manipulators The LS10-B series Manipulators are advanced manipulators pursuing high speed and high cost-performance. The features of the LS10-B series Manipulators are as follows: Large capacity It supports the U-axis allowable moment up to 0.30 kg·m Handle large loads stably by optimized control based on the each load.
Page 27: Model Number
Setup & Operation 2. Specifications 2.2 Model Number LS10-B60 2 S Environment : Standard : Cleanroom Joint #3 stroke : 200 mm : Standard-Model : 170 mm : Cleanroom-Model (with bellows) : 300 mm : Standard-Model : 270 mm : Cleanroom-Model (with bellows) Arm length 60 : 600 mm 70 : 700 mm...
Page 28: Part Names And Outer Dimensions
Setup & Operation 2. Specifications 2.3 Part Names and Outer Dimensions 2.3.1 Standard-Model (LS10-B***S) LED lamp Joint #3, #4 Brake release switch Arm #1 Base Arm #2 Shaft Fittings (blue) Fittings (blue) for ø6 mm for ø4 mm pneumatic tube pneumatic tube Signature label User connector...
Page 29 Setup & Operation 2. Specifications LS10-B***S (Standard-Model) LS10-B602S LS10-B702S LS10-B802S LS10-B603S LS10-B703S LS10-B803S LS10-B Rev.6...
Page 30: Cleanroom-Model (Ls10-B***C)
Setup & Operation 2. Specifications 2.3.2 Cleanroom-Model (LS10-B***C) The following figures show the additional parts and specifications for Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Exhaust port Lower bellows LS10-B Rev.6...
Page 31 Setup & Operation 2. Specifications LS10-B***C (Cleanroom-Model) LS10-B602C LS10-B702C LS10-B802C LS10-B603C LS10-B703C LS10-B803C LS10-B Rev.6...
Page 32: Specifications
Setup & Operation 2. Specifications 2.4 Specifications Item LS10-B60** LS10-B70** LS10-B80** Arm #1+#2 600 mm 700 mm 800 mm Arm length Arm #1 225 mm 325 mm 425 mm Arm #2 375 mm Joints #1+#2 9100 mm/s 9800 mm/s 10500 mm/s Max.
Page 33 Setup & Operation 2. Specifications Item LS10-B**2S LS10-B**2C LS10-B**3S LS10-B**3C ± 132 ° Joint #1 ± 150 ° Max. Joint #2 motion range 200 mm 170 mm 300 mm 270 mm Joint #3 ± 360 ° Joint #4 Joint #1 −...
Page 34: How To Set The Model
The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and contact the supplier of your region when necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide. LS10-B Rev.6...
Page 35: Environments And Installation
Setup & Operation 3. Environments and Installation 3. Environments and Installation 3.1 Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions Ambient temperature...
Page 36: Base Table
For environmental conditions regarding space when placing the Controller on the base table, refer to the Controller manual. ■ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the EPSON RC+ User’s Guide. WARNING LS10-B Rev.6...
Page 37: Mounting Dimensions
Setup & Operation 3. Environments and Installation 3.3 Mounting Dimensions The maximum space (R) includes the radius of the end effector. If it exceeds 60 mm, define the radius as the distance to the outer edge of maximum space. If a camera or solenoid valve extends outside of the arm, set the maximum range including the space that they may reach.
Page 38: Unpacking And Transportation
Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.
Page 39: Installation Procedure
Setup & Operation 3. Environments and Installation 3.5 Installation Procedure ■ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points. ■ Oscillation (resonance) may occur during operation depending on rigidity of the CAUTION installation table.
Page 40: Cleanroom-Model
Setup & Operation 3. Environments and Installation 3.5.2 Cleanroom-Model Unpack the Manipulator outside of the clean room. Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall over. Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint- free cloth.
Page 41 Connect the power cable and the signal connector of the M/C cable to the Controller as shown below. Signal connector Power connector Connect and disconnect M/C cable NOTE  In LS10-B series, you can connect and disconnect the M/C cable to/from the manipulator easily. For details, refer to Maintenance: 4.3 Replacing M/C Cable. LS10-B Rev.6...
Page 42: User Wires And Pneumatic Tubes
Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. CAUTION User electrical wires and pneumatic tubes are contained in the cable unit.
Page 43: Relocation And Storage
Setup & Operation 3. Environments and Installation 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. ■...
Page 44: Relocation
Setup & Operation 3. Environments and Installation 3.8.2 Relocation ■ Install or relocate the Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. LS10-B60** : approx.
Page 45: Setting Of End Effectors
Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. ■ If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF.
Page 46: Attaching Cameras And Valves
Setup & Operation 4. Setting of End Effectors Layouts - When you operate the manipulator with an end effector, the end effector may interfere with the Manipulator because of the outer diameter of the end effector, the size of the work piece, or the position of the arms.
Page 47: Weight And Inertia Settings
■ The total weight of the end effector and the workpiece must not exceed 10 kg. The LS10-B series Manipulators are not designed to work with loads exceeding 10 kg. Always set the Weight parameters according to the load. Setting a value...
Page 48 : distance from rotation center of Joint #2 to center of gravity of camera etc. <Example> A “1 kg” camera is attached to the end of the LS10-B series arm (475 mm away from the rotation center of Joint #2) with a load weight of “1 kg”.
Page 49: Inertia Setting
Manipulator. Also, the life cycle of parts is shortened and positional gap due to belt tooth bumping occurs. The acceptable moment of inertia of load for a LS10-B series Manipulator is Default rating: 0.02 kg·m Maximum: 0.30 kg·m When the moment of inertia of the load exceeds the rating, change the setting of the moment of inertia parameter of the Inertia command.
Page 50 “moment of inertia” parameter of the Inertia command. Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools]-[Robot EPSON Manager]). (You may also execute the Inertia command from the [Command Window].) Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia) 0.05...
Page 51 The acceptable eccentric quantity of load in LS10-B series is 0 mm at the default rating and 200 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of Inertia command.
Page 52 Setup & Operation 4. Setting of End Effectors Automatic acceleration/deceleration setting by Inertia (eccentric quantity) * The percentage in the graph is based on the acceleration / deceleration at rated eccentricity (0 mm) as 100%. 250 (mm) Eccentricity setting Eccentric quantity Automatic acceleration/deceleration parameter (mm) setting by Inertia (eccentric quantity) (%)
Page 53 Setup & Operation 4. Setting of End Effectors The methods for calculating the moment of inertia for (a), (b), and (c) are shown below. Calculate the total moment of inertia using the basic formulas. (a) Moment of inertia of a rectangular parallelepiped Rotation center Rectangular parallelepiped’s center of gravity + m ×...
Page 54: Precautions For Auto Acceleration/Deceleration Of Joint #3
Setup & Operation 4. Setting of End Effectors 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster. When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to reduce acceleration/deceleration.
Page 55: Motion Range
Manipulator does not move. The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the Range command from the [Command Window].)
Page 56: Max. Pulse Range Of Joint #1
Setup & Operation 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive (+) direction on the X-coordinate axis. When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).
Page 57: Max. Pulse Range Of Joint #3
Setup & Operation 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.
Page 58: Motion Range Setting By Mechanical Stops
Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.
Page 59: Setting The Mechanical Stops Of Joints #1 And #2
Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.
Page 60 The angle of Joint #2 is set from −110 to +110 ° ° Execute the following commands from the [Command Window]. EPSON >JRANGE 1, ' Sets the pulse range of Joint #1 -72817 728177 ' Sets the pulse range of Joint #2 >JRANGE 2,-...
Page 61: Setting The Mechanical Stop Of Joint #3
Setup & Operation 5. Motion Range 5.2.2 Setting the Mechanical Stop of Joint #3 This method applies only to the Standard-model manipulator. NOTE  For the Cleanroom-model the motion range set with the Joint #3 mechanical stop cannot be changed. (1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
Page 62 ** For the Joint #3 resolution, refer to the section Setup & Operation 2.4 Specifications. Execute the following command from the [Command Window]. Enter the EPSON calculated value in X. >JRANGE 3,X,0 ' Sets the pulse range of Joint #3 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.
Page 63: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator
This setting is only enforced by software. Therefore, it does not change the physical range. The maximum physical range is based on the position of the mechanical stops. Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the XYLim command from the [Command Window].)
Page 64: Standard Motion Range
Setup & Operation 5. Motion Range 5.4 Standard Motion Range The following “motion range” diagrams show the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the areas shown in the figure. “Area limited by mechanical stop”...
Page 65 Setup & Operation 5. Motion Range Standard-model LS10-B***S LS10-B Rev.6...
Page 66 Setup & Operation 5. Motion Range Cleanroom-model LS10-B***C LS10-B Rev.6...
Page 67: Maintenance
Maintenance This volume contains maintenance procedures with safety precautions for LS10-B series Manipulators.
Page 69: Safety Maintenance
Maintenance 1. Safety Maintenance 1. Safety Maintenance Please read this chapter, this manual, and other relevant manuals carefully to understand safe maintenance procedures before performing any routine maintenance. Only authorized personnel who have taken safety training should be allowed to maintain the robot system.
Page 70: General Maintenance
Maintenance 2. General Maintenance ■ Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the cables may result in damage to the cables, disconnection, and/or contact failure.
Page 71: Inspection Point
Maintenance 2. General Maintenance 2.1.2 Inspection Point Inspection While the Power is OFF (Manipulator is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Check looseness or backlash of Manipulator mounting bolts √...
Page 72: Overhaul (Parts Replacement)
Recommended replacement time for the parts subject to maintenance (motors, reduction  gear units, and timing belts) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0. For details, refer to the following manual. Robot Controller RC90 /RC90-B Maintenance 6. Alarm...
Page 73 The manipulator operation hours can be checked in [Controller Status Viewer] dialog - [Motor On Hours]. (1) Select EPSON RC+ menu-[Tools]-[Controller] to open the [Controller Tools] dialog. (2) Click the <View Controller Status> button to open the [Browse For Folder] dialog.
Page 74: Greasing
Recommended replacement time for the grease on the ball screw spline unit can be  checked in the [Maintenance] dialog box of the EPSON RC+ 7.0. For details, refer to the following manual. Robot Controller RC90 / RC90-B Maintenance 6. Alarm...
Page 75: Tightening Hexagon Socket Head Cap Bolts
Then, follow the steps below to display the pulse values and record them. Execute the following command from the [Command Window]. EPSON >PULSE PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls LS10-B Rev.6...
Page 76: Layout Of Maintenance Parts
Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts Standard-model Cable unit LED lamp Brake release switch Joint #4 motor Ball screw spline unit Joint #4 brake Joint #3 motor Arm Top Cover Control Joint #2 motor board Joint #1 reduction gear unit Converter Z belt...
Page 77: Covers
Maintenance 3. Covers 3. Covers All procedures for removing and installing covers in maintenance are described in this chapter. ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 78: Arm Top Cover
Maintenance 3. Covers 3.1 Arm Top Cover ■ Do not remove the arm top cover forcibly. Removing the cover forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.
Page 79: Arm Bottom Cover
Maintenance 3. Covers 3.2 Arm Bottom Cover Unscrew the Arm Bottom Cover mounting bolts and then remove the cover. Be careful of the end effector. When the end effector is NOTE  installed, the Arm Bottom Cover may not be removed from the shaft.
Page 80 Maintenance 3. Covers When mounting the Connector Plate, be careful of the following. NOTE  Prevent the air tube from bending sharply inside the manipulator. Also, do not block the air flow. If there is a kink in the air tube, air flow is blocked while the manipulator is operating and may cause a trouble.
Page 81: Connector Sub Plate
Maintenance 3. Covers 3.4 Connector Sub Plate ■ Do not remove the connector sub plate forcibly. Removing the connector sub plate forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.
Page 82: User Plate
Maintenance 3. Covers 3.5 User Plate User Plate (1) Remove the Arm Top Cover. Removal Refer to Maintenance: 3.1 Arm Top Cover. (2) Unscrew the User Plate mounting bolts and remove the plate. User Plate 2-M4×10 User Plate (1) Put the User Plate to the arm and secure using the mounting bolts. Installation (2) Mount the Arm Top Cover.
Page 83: Cable
Maintenance 4. Cable 4. Cable ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 84: Replacing Cable Unit
Maintenance 4. Cable 4.1 Replacing Cable Unit LS10-B series manipulator does not have batteries. Position data is memorized by the NOTE  motor. When replacing cables, calibration is not necessary. Name Qty. Note LS10-B60** : 2196931 Maintenance Cable unit LS10-B70** : 2196932...
Page 85 Maintenance 4. Cable ■ If the connectors have been disconnected during the replacement of the cable unit, be sure to reconnect the connectors to their proper positions. Refer to the block diagrams. Improper connection of the connectors may result in improper function of the robot system.
Page 86 Maintenance 4. Cable Cable Unit Turn ON the Controller and change the motor to OFF status (MOTOR OFF). Removal Press and hold the brake release switch to let the shaft down. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. NOTE ...
Page 87 Maintenance 4. Cable Remove the seven ground wires that secured on the mount base. Be careful not to lose the spacer which holding the ground wires. (10) Cut off the wire tie binding the cables in the Base side. (11) Remove the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover.
Page 88 Maintenance 4. Cable Cable Unit (1) Pass the new cables through the Base, cable fixing Installation plate, and nut. Then, rotate the fittings to secure the cables. (2) Pass the cables in the User Plate side through the User Plate and nut and turn the nut to secure the cables. Cable fixing plate (3) As with the wire tie cut off at the removal step (8), bind the cables with a new wire tie.
Page 89: Wiring Diagrams
Maintenance 4. Cable 4.2 Wiring Diagrams 4.2.1 Signal Cable LS10-B Rev.6...
Page 90: Power Cable
Maintenance 4. Cable 4.2.2 Power Cable LS10-B Rev.6...
Page 91: User Cable
Maintenance 4. Cable 4.2.3 User Cable 4.2.4 Color of Cables The following table shows the codes and cable colors indicated in the pin assignments. 4.2.1 Signal Cable 4.2.2 Power Cable 4.2.3 User Cable Code Cable color Black White Green Yellow Brown Blue Violet...
Page 92: Replacing M/C Cable
Maintenance 4. Cable 4.3 Replacing M/C Cable LS10-B series manipulator does not have batteries. Position data is memorized by the NOTE  motor. When replacing cables, calibration is not necessary. Name Qty. Note 3 m: 2196934 Maintenance M/C Cable 5 m: 2196935...
Page 93 Maintenance 4. Cable M/C Cable (1) Turn OFF the Controller. Removal (2) Disconnect the following connectors form the controller. Power cable connector Signal cable connector (3) Loosen the screws fixing the plate. You do not need to remove them completely. For details, refer to Maintenance: Finger 3.3 Connector Plate.
Page 94 Maintenance 4. Cable NOTE  Connector (white) for the power cable is difficult to disconnect for safety purpose. To disconnect the connector, securely push the clip. If you cannot disconnect it, push the connector once, and then disconnect it by pushing the clip.
Page 95 Maintenance 4. Cable M/C cable (1) Set the M/C cable as shown on the right. Installation NOTE Be careful not to set the plate in wrong  direction. (2) Connect the connectors in the order as shown on the right. (3) Slide the plate to install it.
Page 96 Maintenance 4. Cable Direction of the connector sub plate When installing the plate, be careful for the direction. Correct direction is where the letters: WARNING of warning label of electric shock will be parallel to the base table. If the plate is installed in wrong direction, the cables inside the Manipulator will be twisted and may result in disconnection.
Page 97: Joint #1
Maintenance 5. Joint #1 5. Joint #1 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 98: Replacing Joint #1 Motor
Maintenance 5. Joint #1 5.1 Replacing Joint #1 Motor Name Qty. Note AC Servo Motor 520W 2197984 (with oil seal) Maintenance 1213266 (CO0543A) parts O-ring 1520371 (CO0538A) 1510528 (CO0551A) Hexagonal width across flats: 2 mm For M4 set screw wrench width across flats: 3 mm For M4 screw Tools...
Page 99 Maintenance 5. Joint #1 Waveform Generator (7) Remove the waveform generator from the Joint A: Brass Bushing #1 motor. There is a brass bushing in one of the set screw B: Set Screw holes. Be careful not to lose the bushing. A: Brass Bushing : M5 Joint #1 Motor B: Set Screw...
Page 100 Maintenance 5. Joint #1 Joint #1 motor (1) Set the O-ring (CO0538A) on the motor Motor Flange Installation mounting surface and mount the motor flange. O-ring Joint #1 Motor 4-M4 washer 4-M4×12 Waveform Generator (2) Apply grease (SK-1A) to the between the A: Brass Bushing waveform generator and motor.
Page 101 Maintenance 5. Joint #1 (8) Check if the Joint #1 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 102: Replacing Joint #1 Reduction Gear Unit
Maintenance 5. Joint #1 5.2 Replacing Joint #1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set. Waveform generator, Flexspline, Circular spline For details of the reduction gear unit, refer to Maintenance: 14.
Page 103 Maintenance 5. Joint #1 Joint #1 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit O-ring when it is unpacked. Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
Page 104 Maintenance 5. Joint #1 (5) Secure the reduction gear flange to the circular spline. 16-M4×25 Loosely fasten all bolts in a crisscross pattern so Reduction Gear Unit that the bolts will be fastened evenly. Then, using a torque wrench, tighten each bolt securely Flange in a crisscross pattern at the torque specified in the table below.
Page 105: Joint #2
Maintenance 6. Joint #2 6. Joint #2 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 106: Replacing Joint #2 Motor
Maintenance 6. Joint #2 6.1 Replacing Joint #2 Motor Name Qty. Note Maintenance AC Servo 520 W 2197985 (without oil seal) Parts Motor width across flats: 2 mm For M4 set screw Hexagonal wrench width across flats: 3 mm For M4 screw Tools Torque wrench Nippers...
Page 107 Maintenance 6. Joint #2 (8) Remove the screws mounting the motor unit and then remove the Joint #2 motor unit from the Joint #2 Motor Unit Arm #2. Motor mounting screw 4-M4×15 To pull out the motor smoothly, move the Arm #2 slowly by hand while pulling the motor.
Page 108 (7) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (8) Check if the Joint #2 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 109 Maintenance 6. Joint #2 (9) Execute the calibration for Joint #2. For details refer to Maintenance: 13. Calibration. LS10-B Rev.6...
Page 110: Replacing Joint #2 Reduction Gear Unit
Maintenance 6. Joint #2 6.2 Replacing Joint #2 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the following parts all together as one set. Waveform generator, Flexspline, Circular spline For details of the three parts, refer to Maintenance: 14.
Page 111 Maintenance 6. Joint #2 Joint #2 (1) Turn ON the Controller. Reduction (2) Push down the shaft to its lower limit while pressing the brake release switch. Gear Unit Be sure to keep enough space and prevent the end effector hitting any peripheral Removal equipment.
Page 112 Maintenance 6. Joint #2 Joint #2 (1) A new reduction gear unit contains the Flexspline and Reduction Cross roller bearing unit parts shown in the picture on the right Gear Unit when it is unpacked. O-ring Installation The gear grooves of the flexspline, circular spline, and the bearings of the waveform generator have been greased.
Page 113 Maintenance 6. Joint #2 (5) Set the O-ring removed in the removal step (6) into the O-ring groove of the Arm #1. Arm #2 NOTE  If the O-ring is not fit into the groove, please use another O-ring which is prepared as maintenance Reduction Gear Unit part.
Page 114: Joint #3
Maintenance 7. Joint #3 7. Joint #3 ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 115: Replacing Joint #3 Motor
Maintenance 7. Joint #3 7.1 Replacing Joint #3 Motor Name Qty. Note Maintenance AC Servo Motor 200W 2197986 parts Hexagonal width across flats: 2 mm For M4 set screw wrench width across flats: 4 mm For M5 screw Spanner width across flats: 7 mm For M4 bolt, M4 nut Torque wrench Tools...
Page 116 Maintenance 7. Joint #3 Joint #3 (8) Loosen the bolts for the Joint #3 motor unit. Motor Unit 3-M4×18 + Washer (9) Remove the Joint #3 motor from the Joint 4-M4×15 +Washer #3 motor unit. Joint #3 Motor (10) Loosen the screws of the pulley remove it from the Joint #3 motor.
Page 117 Maintenance 7. Joint #3 Joint #3 motor (1) Mount the pulley to the Joint #3 motor. Installation Insert the pulley where its end face touches Joint #3 Motor the motor shaft end face and secure by set Motor Plate screws. Pulley Electromagnetic brake...
Page 118 (8) Install the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (9) Check if the Joint #3 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 119: Replacing The Timing Belt
Maintenance 7. Joint #3 7.2 Replacing the Timing Belt Name Qty. Note Maintenance Z belt 1758946 parts Hexagonal width across flats: 2.5 mm For M3 screw wrench width across flats: 3 mm For M4 screw Torque wrench Tools Nippers For cutting wire tie Z: Belt tension Sonic tension meter 69N (7.0 ±...
Page 120 Maintenance 7. Joint #3 (8) Remove the screws for the Joint #3 motor unit Joint #3 3-M4×18+Washer and pull out the Joint #3 motor unit. Motor Unit (9) Remove the Joint #3 motor from the motor plate and pull out the Z belt. The belt is placed around the pulley.
Page 121 Maintenance 7. Joint #3 Z belt (1) Pass a new Z belt through the shaft. Installation (2) Lower the spline plate with the Z belt placed around the spline plate pulley. Spline Plate 3-M4×15 Secure the spline plate with 3 screws. Loosely secure the spline plate on the Arm #2 and move the shaft up and down several Z belt...
Page 122 (10) Install the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (11) Check if the Joint #3 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MotorON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 123: Replacing The Brake
Maintenance 7. Joint #3 7.3 Replacing the Brake Name Qty. Note Maintenance Electromagnetic Brake 1499588 parts width across flats: 1.5 mm For M3 set screw width across flats: 2.5 mm For M3 screw Hexagonal wrench width across flats: 3 mm For M4 screw width across flats: 4 mm For M5 screw...
Page 124 Maintenance 7. Joint #3 (6) Remove the Joint #3 motor from the Joint #3 motor unit. 4-M4×15 +Washer The belt is placed around the pulley. To remove the Joint #3 Joint #3 motor, tilt the motor slightly and pull it upward motor while avoiding the belt.
Page 125 Maintenance 7. Joint #3 Joint #3 brake (1) Mount the brake to the brake plate. Installation 3-M3×8 Brake (2) Mount the brake hub to the pulley of the Joint #3 motor. Joint #3 Insert the brake hub and secure it when it Motor touches the pulley.
Page 126 (5) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (6) Check if the Joint #3 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 127: Checking The Timing Belt Tension (Z Belt)
Maintenance 7. Joint #3 7.4 Checking the Timing Belt Tension (Z Belt) Name Qty. Note For details of usage and measurement methods of the tension Tool Sonic tension meter meter, refer to the instruction manual of the tension meter. Joint #3 (1) Enter appropriate setting values to the sonic tension meter.
Page 128: Joint #4
Maintenance 8. Joint #4 8. Joint #4 ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 129: Replacing Joint #4 Motor
Maintenance 8. Joint #4 8.1 Replacing Joint #4 Motor Name Qty. Note Maintenance AC Servo Motor 150 W 2197987 parts width across flats: 2 mm For M4 set screw Hexagonal wrench width across flats: 3 mm For M4 screw Torque wrench Nippers For cutting wire tie Tools...
Page 130 Maintenance 8. Joint #4 (7) Remove the User Plate. For details, refer to Maintenance: 3.5 User Plate. (8) Remove the Joint #4 motor unit from the Arm Remove the bolts securing the Joint #4 motor on the motor plate and pull out the motor. Joint #4 Motor Unit The belt is placed around the pulley.
Page 131 Maintenance 8. Joint #4 Joint #4 motor (1) Mount the motor plate to the Joint #4 motor. 2-M4×70 Installation At this point, the motor cables must be in the + Spacer convex shape side of the plate. (2) Mount the pulley to the Joint #4 motor. Motor Plate Pulley 2-M4×8...
Page 132 (9) Mount the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (10) Check if the Joint #4 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 133: Replacing The Timing Belt
Maintenance 8. Joint #4 8.2 Replacing the Timing Belt Name Qty. Note U1 belt width 10 mm 1757386 Maintenance U2 belt width 21 mm 1757387 parts width across flats: 2.5 mm For M3 screw Hexagonal wrench width across flats: 3 mm For M4 screw Spanner width across flats: 7 mm...
Page 134: U2 Belt
Maintenance 8. Joint #4 8.2.1 U2 Belt U2 belt (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. The brake release switch is applied to both Joints #3 and Joint #4.
Page 135 Maintenance 8. Joint #4 Joint #4 (10) Remove the screws securing the Joint #4 Motor Unit motor unit and pull out the motor unit. 3-M4×15 The belt is placed around the pulley. ＋Washer Tilt the motor unit slightly and pull it out. Joint #4 (11) Remove the screws securing the Joint #4 Intermediate Shaft Unit...
Page 136 Maintenance 8. Joint #4 3-M4×15 U2 belt (1) Hold up the spline plate and set the U2 belt Spline Plate Installation around the U3 pulley. Make sure the gear grooves of the belt are fit into those of the pulleys completely. U2 belt Z belt (2) Hold up the spline plate and set the Z belt around the Z2 pulley.
Page 137 Maintenance 8. Joint #4 (6)-1 Loosen the nut and turn the bolt. Push in the Joint #3 motor unit. (6)-2 After fixing the Joint #3 motor unit, turn the bolt to leave from the plate. (6)-3 Check the tension using the sonic tension meter. For details, refer to Maintenance 7.4 Checking the Timing Belt Tension.
Page 138 Maintenance 8. Joint #4 (10) Put the Joint #3 motor unit back in the Joint #3 Motor Unit arm. (11) Pass the brake cable and special power 3-M4×18 supply through the Z belt. ＋Washer Set the Z belt around the Z1 pulley and Z2 pulley, with the gear grooves of the belt fitting into grooves of the pulleys completely.
Page 139 (18) Remove the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (19) Check if the Joint #4 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 140: U1 Belt
Maintenance 8. Joint #4 8.2.2 U1 Belt U1 belt (1) Remove the Joint #4 motor unit. Removal Follow the removal steps in Maintenance: Joint #4 8.2.1 U2 Belt. Motor Unit 3-M4×15 +Washer (2) Remove the Joint #4 intermediate shaft unit. Refer to the removal steps in Maintenance: 8.2.1 U2 Belt.
Page 141 Maintenance 8. Joint #4 U1 belt (1) Keeping the U1 belt on the large pulley of the Joint #4 intermediate shaft unit, set the Installation U2 belt in the Arm #2 on the small pulley and put them on the Arm #2 upper surface. Make sure the gear grooves of the belts are fit into those of the pulleys completely.
Page 142 Maintenance 8. Joint #4 (4) Loosely secure the Joint #4 motor unit to Arm #2. Joint #4 Make sure the motor unit can be moved by Motor Unit hand, and it will not tilt when pulled. If the unit is secured too loose or too tight, 3-M4×12 the belt will not have the proper tension.
Page 143 Maintenance 8. Joint #4 (10) Check if the Joint #4 moves in a Jog motion by operating from EPSON RC+ menu - [Tools]-[Robot Manager]-[Jog & Teach]. If the Manipulator oscillates with MOTOR ON and the following errors are detected, Error 5041: Motor torque output failure in low power state.
Page 144: Replacing The Brake
Maintenance 8. Joint #4 8.3 Replacing the Brake Name Qty. Note Maintenance Electromagnetic brake 1750573 parts width across flats: 1.5 mm For M3 set screw Hexagonal Tools wrench width across flats: 2 mm For M2.5 screw Nippers For cutting wire tie Material Wire tie A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down...
Page 145 Maintenance 8. Joint #4 Joint #4 brake (1) Turn ON the Controller. Removal (2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. The brake release switch is applied to both Joint #3 and #4.
Page 146 Maintenance 8. Joint #4 Joint #4 brake (1) Mount the brake to the Joint #4 intermediate Brake Hub Set Screws : Installation shaft unit. Brake M3×4+ Bushing 2-M2.5×25 (2) Mount the brake hub to the Joint #4 intermediate shaft unit. (3) Mount the rubber cap.
Page 147: Checking The Timing Belt Tension (U1, U2 Belts)
Maintenance 8. Joint #4 8.4 Checking the Timing Belt Tension (U1, U2 Belts) Name Qty. Note For details of usage and measurement methods of the tension Tool Sonic tension meter meter, refer to the instruction manual of the tension meter. Joint #4 (1) Enter appropriate setting values to the sonic tension meter.
Page 148: Bellows
Maintenance 9. Bellows 9. Bellows NOTE The bellows for LS10-B***C are provided in a unit of two pieces. The shape varies  between the upper and lower bellows. A large amount of dust is emitted when replacing the bellows. Take the Manipulator to an outer room such as the room in front of the clean room’s entrance, or take the necessary countermeasures to prevent dust emission before replacing the bellows.
Page 149 Maintenance 9. Bellows Bellows (1) To attach the upper bellows, move the shaft to its lower limit. Installation To attach the lower bellows, move the shaft to its upper limit. To move the shaft up/down, press and hold the brake release switch. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment.
Page 150: Ball Screw Spline Unit
Maintenance 10. Ball Screw Spline Unit 10. Ball Screw Spline Unit ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 151: Standard-Model
Maintenance 10. Ball Screw Spline Unit 10.1.1 Standard-model Cover the surrounding area such as the end effector and peripheral equipment in case the grease drips. (1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF) (2) Move the arm to a position where Joint #3 can be moved in full stroke. (3) Move the shaft to its upper limit manually while Brake Release Switch pressing the brake release switch.
Page 152: Cleanroom-Model
Maintenance 10. Ball Screw Spline Unit 10.1.2 Cleanroom-model Cover the surrounding area such as the end effector and peripheral equipment in case the grease drips. Upper Part (1) Turn ON the Controller. Stop motor excitation. (MOTOR OFF) of the Shaft (2) Move the arm to a position where Joint #3 can be moved in full stroke.
Page 153: Replacing The Ball Screw Spline Unit
Maintenance 10. Ball Screw Spline Unit 10.2 Replacing the Ball Screw Spline Unit A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down NOTE  and rotating due to the weight of the end effector while the power to the Controller is OFF or while the motor is in OFF status (MOTOR OFF).
Page 154 Maintenance 10. Ball Screw Spline Unit (7) Remove the following. Joint # motor unit Joint #4 motor unit Joint #4 intermediate pulley U1 belt U2 belt Z belt Follow the U2 belt removal steps in Maintenance: 8.2 Replacing the Timing Belt. (8) Remove three screws mounting the spline 3-M4×15 plate.
Page 155 Maintenance 10. Ball Screw Spline Unit Ball Screw (1) Insert a new ball screw spline unit in the Arm #2. Spline Unit (2) Secure the spline nut from the bottom side of Installation the Arm #2. 4-M5×15 (3) Mount the following. Joint #3 motor unit / Joint #4 motor unit / Joint #4 intermediate pulley / U1 belt / U2 belt / Z belt Follow the U2 belt installation steps in Maintenance: 8.2 Replacing the Timing Belt.
Page 156: Boards
Maintenance 11. Boards 11. Boards ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 157: Replacing The Converter Board
Maintenance 11. Boards 11.1 Replacing the Converter Board Board which supplies power to the encoder of the motor is mounted inside the base of the manipulator. If the board gets damage, the manipulator will not operate. Converter board (1) Turn OFF the controller. Removal (2) Remove the Connector Plate.
Page 158 Maintenance 11. Boards (1) Mount the converter board on the mount base. Converter board Converter board Installation Binding head small screws: (2-M3) 2-M3 Binding head small screws (2) Connect the connectors to the converter board. Connectors: CV11, CV12, CV13 (3) Mount the Connector Plate. For details, refer to Maintenance: 3.3 Connector Plate.
Page 159: Replacing The Control Board
Maintenance 11. Boards 11.2 Replacing the Control Board Control Board (1) Turn OFF the controller. Removal (2) Remove the Arm Top Cover. For details, refer to Maintenance: 3.1 Arm Top Cover. (3) Disconnect the connector. Connector: X51 2-M2×16 (4) Remove the Control board. Pan head screw Control board Control Board...
Page 160: Led Lamp
Maintenance 12. LED Lamp 12. LED Lamp ■ Do not connect or disconnect the motor connectors while the power to the robot system is turned ON. Connecting or disconnecting the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Page 161: Calibration
Jog Motion The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] tab to use the [Jog & Teach] page.
Page 162: Calibration Procedure
13.2 Calibration Procedure EPSON RC+ has a wizard for calibration. This section indicates the calibration using the calibration wizard of EPSON RC+. The same calibration procedure is used for each joint. The follow the steps below are calibration using Joint #1.
Page 163 Maintenance 13. Calibration (2) Confirm the warning message and click the <Yes> button. (3) Move the joint to calibrate manually to approximate zero position, as shown in the dialog. After moving the joint click the <Next> button. 0 pulse position of Joint #1: position aligned with X-axis in Robot coordinate system 0 pulse...
Page 164 Maintenance 13. Calibration 0 pulse position of Joint #3: upper limit position in motion range The height of Joint #3 depends on manipulator model. Standard model Cleranroom model 0 pulse position of Joint #4: position where the flat surface on the shaft faces toward the tip of Arm #2 0 pulse −...
Page 165 Maintenance 13. Calibration (6) Select the reference point to use for calibration, and click the <Next> button. Select a point from the current points to use for checking the accuracy. (7) Click the <Jog…> button to display the [Jog & Teach] dialog. LS10-B Rev.6...
Page 166 Maintenance 13. Calibration (8) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. Before operating the robot, open the [Control Panel] and click on the <Motor ON> button.
Page 167 Maintenance 13. Calibration (10) The manipulator moves to the reference point. Click the <Execute> button. Input JUMP P0:z(0). ↑ Point selected in step (6) (11) Confirm the message and click the <Yes> button. (12) After the manipulator moves to the reference point, click the <Next> button. LS10-B Rev.6...
Page 168 Maintenance 13. Calibration (13) Jog to the accurate reference position. (14) Jog the end effector to approximate reference point in the [Jog & Teach] dialog for rough calibration. Then click the <OK> button. * Position Joint #2 only and move Joint #3 to around 0 pulse. LS10-B Rev.6...
Page 169 Maintenance 13. Calibration (15) Click the <Next> button. (16) Execute the procedure in “Calibration Using Right / Left Arm Orientations” to accurately calibrate Joint #2. Go on to the step (17) for the other joints calibration. i. Move to another point that has different pose (from righty to lefty) using Jump command.
Page 170 Maintenance 13. Calibration iii. Jog to the accurate reference position and adjust the position. Click the <OK> button. iv. Click the <Next> button. LS10-B Rev.6...
Page 171 Maintenance 13. Calibration (17) Calibration is complete. Click the <Finish> button. (18) Move the manipulator to other points and check if it can move without problems. Teach points where appropriate. LS10-B Rev.6...
Page 172: Accurate Calibration Of Joint #2
Maintenance 13. Calibration 13.3 Accurate Calibration of Joint #2 When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately. If the accuracy of Joint #2 is not obtained through the steps in the section Maintenance: 13.2 NOTE ...
Page 173 Then, check the number of points you want to use. (2) EPSON RC+ menu-[Tools]-[Robot Manager]-[Control Panel] and click the MOTOR (3) Click the <Free All> button to free all joints from servo control. Now, you can move arms by hands.
Page 174: Calibration Procedure Without Using Calibration Wizard
Maintenance 13. Calibration 13.4 Calibration Procedure without using Calibration Wizard This section indicates the calibration without using the calibration wizard of EPSON RC+. NOTE  For details of calibration using the calibration wizard, refer to Maintenance: 13.2 Calibration Procedure. When coordinates for the Manipulator working point require calculation, it is important for Joint #2 to be calibrated accurately.
Page 175 Maintenance 13. Calibration 0 pulse 0 pulse position of Joint #2: position where Arms #1 and − #2 are in a straight line (Regardless of the Joint #1 direction.) 0 pulse position of Joint #3: upper limit position motion range The height of Joint #3 depends on manipulator model.
Page 176 Joint #3 >calib 3 Joint #4 >calib 3, 4 Calibration (Accurate Positioning) (5)-1 Turn ON the motors from the EPSON RC+ menu -[Tools]-[Robot Manager]- [Control Panel]. (5)-2 Click the <Free All> button to free all joints from servo control. Now, you can move arms by hands.
Page 177 Maintenance 13. Calibration (5)-3 Move the Manipulator by hand to a rough position/posture of the calibration point data. (5)-4 Create the data from the calibration point data. Enter and execute the following command in [Command Window]. (In this example, P1 is used as the calibration point data.) >...
Page 178: Maintenance Parts List
Maintenance 14. Maintenance Parts List 14. Maintenance Parts List Reference: Overhaul Part Name Code Note Maintenance 600 mm 2196931 Cable Unit 700 mm 2196932 800 mm 2196933 520 W (with oil seal) Joint #1 2197984  Joint #2 520 W (without oil seal) 2197985 ...
Page 179 Maintenance 14. Maintenance Parts List Reference: Overhaul Part Name Code Note Maintenance Arm Bottom Cover 1759511 Blue Dust Cover 2014430 For RJ45 connector Mechanical stopper 1759366 2196934 M/C Cable 2196935 2196936 10 m *1 Reduction Gear Unit A reduction gear unit consists of the following three parts. When replacing the reduction gear unit, be sure to always replace the waveform generator, flexspline, and circular spline all together as one set.
Page 180 Maintenance 14. Maintenance Parts List *4 Bellows The bellows for LS10-B**C are provided in a unit of two pieces. The shape varies between the upper and lower bellows. LS10-B Rev.6...

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