Epson LS3-401 series Manipulator Manual page 13

6. Arm #2
7. Arm #3
8. Arm #4
9. Bellows
10. Ball Screw Spline Unit
11. Lithium Battery and Boards
12. LED Lamp
13. Calibration
14. Maintenance Parts List
LS Rev.10
6.1 Replacing Joint #2 Motor ....................................................................... 99
6.2 Replacing Joint #2 Reduction Gear Unit .............................................. 103
7.1 Replacing Joint #3 Motor ..................................................................... 108
7.2 Replacing the Timing Belt ..................................................................... 112
7.3 Replacing the Brake .............................................................................. 116
7.4 Checking the Timing Belt Tension (Z Belt) ........................................... 120
8.1 Replacing Joint #4 Motor ..................................................................... 122
8.2 Replacing the Timing Belt .................................................................... 126
8.2.1 U2 Belt ...................................................................................... 127
8.2.2 U1 Belt ...................................................................................... 132
8.3 Replacing the Brake (For LS6 series) .................................................. 135
8.4 Checking the Timing Belt Tension (U1, U2 Belts) ................................ 137
10.1 Greasing the Ball Screw Spline Unit .................................................. 140
10.1.1 Standard-model (S type) ........................................................ 141
10.1.2 Cleanroom-model ................................................................... 142
10.2 Replacing the Ball Screw Spline Unit ................................................. 143
11.1 Replacing the Battery Unit (Lithium Battery) ...................................... 148
11.2 Replacing the Resolver Board ............................................................ 149
11.3 Replacing the Control Board .............................................................. 151
13.1 About Calibration ................................................................................ 153
13.2 Calibration Procedure......................................................................... 154
13.3 Accurate Calibration of Joint #2 ......................................................... 164
13.4 Calibration Procedure without using Calibration Wizard ................... 166
14.1 LS3 ..................................................................................................... 170
14.2 LS6 ..................................................................................................... 171
TABLE OF CONTENTS
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152
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