Epson LS20 Series Manipulator Manual page 101

(1) Put the O-ring on the motor mounting
Joint #1 motor
Installation
(2) Apply grease (SK-1A) to the between the
■ See the figure above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(3) Set an O-ring on the motor mounting surface and assemble the top plate. 6-M5×15
(4) Mount the Joint #1 unit on the Base. 8-M8×25
(5) Mount the Arm #1 to the Joint #1 unit.
NOTE

(6) Mount the cover to the Arm #1.
(7) Connect the connector: X10, X110.
(8) Mount the Connector Plate.
(9) Execute the calibration for the Joint #1.
LS20 Rev.4
surface and mount the motor flange.
waveform generator and motor.
Grease volume 6g
Mount the waveform generator on the Joint
#1 motor.
Be sure to align the end face of the
waveform generator to the end face of the
motor shaft.
Tighten one of the set screws vertically on the flat face of the motor shaft. Insert
a bushing into the other set screw hole to prevent damage to the motor shaft.
To insert the motor, turn it slowly from side to side by hand and push in.
Secure the Joint #1 motor cables facing toward the back of the Base.
Tightening torque : 18 N·m
Operating the Manipulator with improper
tightening torque may cause positioning
gap and damage on the screw and screw
hole.
For details, refer to Maintenance: 3.3 Arm #1 cover.
For details, refer to Maintenance: 3.4 Connector Plate.
For details refer to Maintenance: 13. Calibration.
Maintenance 5. Arm #1
Motor Flange
O-ring
Joint #1 Motor
4-M5×18
+ Plane Washer
End face of Waveform Generator
End face of Motor shaft
2-M5×8 set screw
M5 Brass Bushing
Joint #1 Motor
8-M6×20
+ Plane
Washer
89