Epson LS20 Series Manipulator Manual page 37

Item
Joint #1
Max. Joint #2
motion range Joint #3
Joint #4
Joint #1
Max. Joint #2
pulse range
Joint #3
Joint #4
*1: In the case of PTP command.
Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: In the case where the center of gravity is at the center of Joint #4.
If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command.
*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover
interior together.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.
Cleanliness level : Class ISO 4 (ISO14644-1)
Exhaust System
*4: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum
Measurement point
*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the manipulator continuously with
the large Accel setting may shorten the product life remarkably.
LS20 Rev.4
LS20-804S
420 mm
−283853 to 0
: Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter:ø8 mm) or
Inner diameter ø16mm
Recommended exhaust flow rate : approx. 1000 cm
acceleration, and duty 50%.
: Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.
Setup & Operation 2. Specifications
LS20-A04S LS20-804C
± 132
deg
± 152 deg
± 360
deg
− 152918 to 808278
± 345885
± 344064
LS20-A04C
390 mm
−263578 to 0
3
/s (Normal)
25