Page 1 SCARA ROBOT GX20 Series Service Manual Rev.2 ENSM22YR0010...
Page 2 The company names and product names described in this service manual are the trademarks or registered trademarks of the  respective company. EPSON is the registered trademark of Seiko Epson Corporation. Other product names are trademarks or registered trademarks of the respective company.
Page 3: Revision History
If, even after the establishment and issue of the first edition of this manual, changes are made in the mechanism or parts of the product with the purpose of improving the performance and reliability, revised editions shall be issued as necessary. © Seiko Epson Corporation. 2024 Rev.2...
Page 4: Table Of Contents
2.5.6 Removing the J4 Reduction Gear 2.2 Joint #1 2.5.7 Installing the J4 Reduction Gear 2.2.1 Removing the J1 Motor Unit 2.6 Bellows 2.2.2 Removing the J1 Motor Unit 2.6.1 Removing the Bellows 2.6.2 Installing the Bellows © Seiko Epson Corporation. 2024 Rev.2...
Page 5 3.1.5 0-Pulse Position of Each Joint 3.1.6 Implementing Calibration 3.1.6.1 Implementing Calibration using the Wizard 3.1.6.2 Accurate Calibration of Joint #2 3.1.6.3 Calibration Using Right / Left Arm Orientations 3.1.6.4 Calibration Procedure without Using Calibration Wizard © Seiko Epson Corporation. 2024 Rev.2...
Page 6: Chapter 1 Maintenance Information
CHAPTER Maintenance Information...
Page 7: Safety Maintenance
When maintaining the manipulator, wear at least the following protective gear. Working without protective gear may  cause serious safety problems. - Work clothes suitable for work - Helmet - Safety shoes © Seiko Epson Corporation. 2024 Rev.2...
Page 8 If swallowed, do not induce vomiting. See a doctor immediately. If grease just gets into your mouth, wash out your mouth with water thoroughly. - If grease gets on your skin Wash the area thoroughly with soap and water. © Seiko Epson Corporation. 2024 Rev.1...
Page 9: General Maintenance
(2,000 h) √ 9 months (2,250 h) √ √ 10 months (2,500 h) √ √ 11 months (2,750 h) √ √ √ √ 12 months (3,000 h) 13 months (3,250 h) √ 20,000 h √ © Seiko Epson Corporation. 2024 Rev.2...
Page 10: Inspection Point
Check that there is no unusual sound or vibration during operation, no stiffness or looseness in the sliding parts or moving parts, and that the Check whether unusual sound or vibration operation is performed smoothly. occurs. If an abnormality is suspected, replace the part in which the abnormality has occurred. © Seiko Epson Corporation. 2024 Rev.1...
Page 11: Overhaul (Parts Replacement)
NOTE For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the recommended replacement time for the parts subject to maintenance (Motors, Reduction Gears, Timing Belts, and Ball Screw Spline Unit) can be checked in the [Maintenance] dialog box of the EPSON RC+ 7.0.
Page 12 GX20 Series Service Manual Maintenance Information How to View the Maintenance Information The configured maintenance information can be checked in the EPSON RC+ 7.0 Ver.7.2.x or later. （１） Select the EPSON RC+ 7.0 menu-[Tools]- （3） Select “General” or specify the axis from the tree to [Maintenance] to display the [Controller Tools] dialog display information of the target parts.
Page 13: How To Edit The Maintenance Information
How to Edit the Maintenance Information The configured maintenance information can be edited in the EPSON RC+ 7.0 Ver.7.2.x or later. When replaced the parts subject to maintenance (Motors, Reduction Gears, Timing Belts, and Ball screw spline) or greased to Joint #3 Ball Screw Spline Unit, please edit the Maintenance Information.
Page 14 (3) Select the folder where the information is stored. (4) Click <OK> to view the [Controller Status Viewer] dialog. (5) Select [Robots] from the tree menu on the left side (Dialog image: EPSON RC+ 7.0) © Seiko Epson Corporation. 2024...
Page 15: Tools
Force gauge 3.2 Adjusting the Timing Belt Tension Suitable cord (Length about 800 mm) 3.2 Adjusting the Timing Belt Tension Screw（M5, About 20 mm in length） For removing the Flexspline of the J1/J2 Reduction Gear © Seiko Epson Corporation. 2024 Rev.1...
Page 16: Materials Used
Proper quantity For details, refer to 1.2.5 Greasing. Alcohol Proper quantity For wiping grease from the J1/J2 Reduction Gear and the Ball Screw Spline AB100 Wire tie AB150 Proper quantity Fixing the cables AB200 © Seiko Epson Corporation. 2024 Rev.1...
Page 17: Greasing
NOTE For the EPSON RC+ 7.0 Ver. 7.2.x or later (firmware Ver.7.2.x.x or later), the 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.
Page 18 The manufacturer and URL details of each grease type are as follows: Product name: THK AFB-LF Grease Manufacturer: THK CO., LTD. URL: https://www.thk.com/ Product name: Harmonic Grease SK-1A Manufacturer: Harmonic Drive Systems Inc. URL: https://www.harmonicdrive.net/ Product name: Krytox®GPL-224 Manufacturer: Chemours URL: https://www.chemours.com/en/brandsand-products © Seiko Epson Corporation. 2024 Rev.1...
Page 19: Tightening Bolts/Screws
0.45 +/- 0.1 (Covers and Circuit boards, etc.) 0.45 +/- 0.1 Cross recessed pan head screw 0.9 +/- 0.1 (Ground Wires, etc.) 0.7 +/- 0.1 Hexagon socket head set screw 2.4 +/- 0.1 4.0 +/- 0.2 © Seiko Epson Corporation. 2024 Rev.1...
Page 20 Do not fasten all bolts securely at one time. Divide the number of times that the bolts are fastened into two or three and fasten the bolts securely with a hexagonal wrench. Then, use a torque wrench so that the bolts are fastened with tightening torques shown in the table above. © Seiko Epson Corporation. 2024 Rev.1...
Page 21: Matching Origins
After parts have been replaced (motors, Reduction Gears, etc.), the Manipulator cannot operate properly because a mismatch exists between the origin stored in each motor and its corresponding origin stored in the Controller. After replacing the parts, perform the calibration to match these origins. For details, refer to Calibration. © Seiko Epson Corporation. 2024 Rev.1...
Page 22: Parts Layout
Joint #2 Reduction Gear Cable Unit Z belt Joint #3 Brake DC/DC Board U belt Rubber Joint #4 Gasket Reduction Gear Bellows Joint #1 Reduction Gear Joint #1 Motor M/C Connector Base Bottom Cover © Seiko Epson Corporation. 2024 Rev.2...
Page 23 Maintenance Information GX20-B***P : Protected model Bellows Brake Switch Rubber Gasket Rubber Gasket Rubber Rubber Gasket Rubber Gasket Gasket Rubber Gasket Rubber Gasket Rubber Rubber Rubber Gasket Bellows Gasket Gasket Rubber Gasket Rubber Gasket © Seiko Epson Corporation. 2024 Rev.1...
Page 24: Wall Mounting
Joint #1 Motor Control Board Arm2 Upper Cover Joint #2 Joint #4 Reduction Brake Gear Joint #1 Z belt Reduction Joint #3 Gear Brake U belt Rubber Joint #4 Bellows Gasket Reduction Gear Cable unit © Seiko Epson Corporation. 2024 Rev.1...
Page 25 Maintenance Information GX20-B***PW : Protected model Bellows Rubber Brake Release Gasket Rubber Switch Rubber Gasket Rubber Gasket Gasket Rubber Gasket Rubber Rubber Gasket Gasket Rubber Gasket Rubber Rubber Bellows Rubber Rubber Gasket Gasket Gasket Gasket © Seiko Epson Corporation. 2024 Rev.1...
Page 26: Ceiling Mounting
Arm2 Board Upper Cover Joint #1 Control Board Reduction Gear Joint #2 Joint #4 Reduction Brake Gear connector Z belt Rubber Joint #3 U belt Bellows Gasket Brake Joint #4 Reduction Gear Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 27 Maintenance Information GX20-B***PR : Protected model Bellows Brake Release Rubber Switch Gasket Rubber Rubber Gasket Gasket Rubber Rubber Gasket Gasket Rubber Gasket Rubber Gasket Rubber Gasket Rubber Rubber Rubber Bellows Rubber Gasket Gasket Gasket Gasket © Seiko Epson Corporation. 2024 Rev.1...
Page 28: Differences From The Table Top Mounting
GX20 Series Service Manual Maintenance Information 1.4 Differences from the Table Top Mounting 1.4.1 Base Bottom Cover/Bottom Connector Unit Table top mounting：GX20-B***S Wall Mounting：GX20-B***SW Ceiling Mounting：GX20-B***SR © Seiko Epson Corporation. 2024 Rev.2...
Page 29: Connector Plate/Wall Mounting Plate
GX20 Series Service Manual Maintenance Information 1.4.2 Connector Plate/Wall Mounting Plate Table top mounting：GX20-B***S Wall Mounting：GX20-B***SW Ceiling Mounting：GX20-B***SR © Seiko Epson Corporation. 2024 Rev.1...
Page 30: Base Unit
GX20 Series Service Manual Maintenance Information 1.4.3 Base Unit Table top mounting：GX20-B***S Wall Mounting：GX20-B***SW Ceiling Mounting：GX20-B***SR © Seiko Epson Corporation. 2024 Rev.1...
Page 31: Arm 1 Unit
GX20 Series Service Manual Maintenance Information 1.4.4 Arm 1 Unit Table top mounting：GX20-B***S Wall Mounting：GX20-B***SW Ceiling Mounting：GX20-B***SR © Seiko Epson Corporation. 2024 Rev.1...
Page 32: Chapter 2 Maintenance
CHAPTER Maintenance...
Page 33: Overview
• When applying grease, take care that the grease does not adhere on to the surrounding parts. Oil separation of the surrounding grease may result in oil leakage. Therefore, be sure to wipe off any adhering grease. © Seiko Epson Corporation. 2024 Rev.2...
Page 34: Viewing The Maintenance Page
[Alt] key and the [←] key. viewer. For details, refer to Help of each viewer. * The operation method may differ depending on the viewer. For details, refer to Help of each viewer. © Seiko Epson Corporation. 2024 Rev.1...
Page 35: Joint #1
Arm #2 must be supported to prevent falling or accidental movement which may cause damage or injury. Step 1 Connector Plate S01: 8-M4x10 Step 2 J1 Motor Connector Step 4 J1 Motor unit S01: 4-M5x25 Step 3 Base Bottom Cover S01: 8-M3x8 © Seiko Epson Corporation. 2024 Rev.2...
Page 36 S01: 8-M3x8 CAUTION Use at least two persons to lift and turn the manipulator. Arm #1 and Arm #2 must be supported to prevent falling or accidental movement which may cause damage or injury. © Seiko Epson Corporation. 2024 Rev.1...
Page 37 Disconnecting the Motor Connectors CN111-1 (J1 Motor Power) Step 1 Connector Plate S01: 8-M4x10 Step 2 J1 Motor Connector Step 4 J1 Motor unit S01: 4-M5x25 Step 3 Base Bottom Cover CN311-1 (J1 Motor Signal) S01: 8-M3x8 © Seiko Epson Corporation. 2024 Rev.1...
Page 38 Manipulator may fall from the arm side due to the arm's own weight. Step 3 Base Bottom Cover S01: 8-M3x8 Removing the Wall Mounting Type The Wall Mounting Type does not have a Base Bottom Cover. So, proceed to "Step 4 J1 Motor Unit." © Seiko Epson Corporation. 2024 Rev.1...
Page 39 • The O-ring on the Motor Plate may come off together with the motor unit. Take care that it does not get damaged or lost. Step 3 Base Bottom Cover S01: 8-M3x8 © Seiko Epson Corporation. 2024 Rev.1...
Page 40: Removing The J1 Motor Unit
Waveform Generator and Motor Plate. J1 Motor Connector Waveform Generator Step 1 J1 Motor unit S01: 4-M5x25 8.0 +/- 0.4 N·m Step 2 Base Bottom Cover Motor Plate S01: 8-M3x8 2.0 +/- 0.1 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 41 Step 2 perform centering. (Turn back and forth three times by approximately 90° each Base Bottom Cover time.) S01: 8-M3x8 2.0 +/- 0.1 N·m After the completion of centering, fully tighten the bolts. © Seiko Epson Corporation. 2024 Rev.1...
Page 42 J1 Motor unit CN311-1 (J1 Motor Signal) S01: 4-M5x25 8.0 +/- 0.4 N·m Step 2 CAUTION Base Bottom Cover After assembling the motor unit, perform calibration of Joint S01: 8-M3x8 2.0 +/- 0.1 N·m 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 43: Disassembling The J1 Motor Unit
Notes for Wall Mounting Type/Ceiling Mounting Type The Wall Mounting Type/Ceiling Mounting Type has no Oil Seal because the J1 Motor Unit is attached in the opposite direction and there is no possibility of grease getting inside the motor. © Seiko Epson Corporation. 2024 Rev.1...
Page 44: Assembling The J1 Motor Unit
Notes for Wall Mounting Type/Ceiling Mounting Type The Wall Mounting Type/Ceiling Mounting Type has no Oil Seal because the J1 Motor Unit is attached in the opposite direction and there is no possibility of grease getting inside the motor. © Seiko Epson Corporation. 2024 Rev.1...
Page 45 Insert the O-ring firmly into the groove of the Motor Plate. S05: 2-M5x8 4.0 +/- 0.2 N·m O-ring Step 2 O-ring Motor Plate Step 1 Motor Plate S01: 4-M6x20 13.0 +/- 0.6 N·m J1 Motor unit © Seiko Epson Corporation. 2024 Rev.1...
Page 46 J1 Motor unit Waveform Generator CAUTION If the Waveform Generator is incorrectly attached, the assembly position of the Waveform Generator and Flexspline may deviate, and the performance of the Reduction Gear may not be sufficiently exhibited. © Seiko Epson Corporation. 2024 Rev.1...
Page 47: Removing The J1 Reduction Gear Unit
GX20 Series Service Manual Maintenance 2.2.5 Removing the J1 Reduction Gear Unit Step 1 J1 Motor unit Remove the 16 bolts securing the Circularspline. Circularspline Step 3 Flexspline S02: 8-M8x20 Spacer Step 2 Circularspline S02: 16-M5x25 © Seiko Epson Corporation. 2024 Rev.1...
Page 48 2. Set the M5 forcing tap upright at the positions shown in the figure, and remove the Flexspline and Circularspline together. Step 3 Flexspline S02: 8-M8x20 Bolt (M5) Spacer Step 2 Circularspline S02: 16-M5x25 © Seiko Epson Corporation. 2024 Rev.1...
Page 49: Installing The J1 Reduction Gear Unit
Circularspline and Flexspline are hidden before installing them. This will protect the teeth surfaces when assembling the parts. Step 2 Grease Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Spacer Flexspline Circularspline Step 1 Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m © Seiko Epson Corporation. 2024 Rev.1...
Page 50 Install the Circularspline with its convex surface towards the base side. Convex part Step 3 J1 Motor unit Circularspline Circular spline Step 2 Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Spacer Step 1 Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m © Seiko Epson Corporation. 2024 Rev.1...
Page 51 44.0 +/- 2.2 N.m Spacer Flexspline CAUTION Step 1 Make sure that the teeth of the Circularspline and Circularspline Flexspline are properly engaged with each other. S02: 16-M5x25 10.0 +/- 0.5 N.m Flexspline Circularspline © Seiko Epson Corporation. 2024 Rev.1...
Page 52 Spacer. Step 3 Tapped hole J1 Motor unit Flexspline Air hole Step 2 Spacer Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Spacer Step 1 Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m © Seiko Epson Corporation. 2024 Rev.1...
Page 53 Grease Step 2 Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Spacer Step 1 Flexspline Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m CAUTION After assembling the motor unit, perform calibration of Joint #1. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 54: Joint #2
Spring Fixing Plate Wire tie (AB150) S01: 2-M4x8 CN321-1 (J2 Motor Signal) CN400-2 (Brake Branch) Silicone Sheet CN402-1 (Brake Branch) Wire tie (AB150) Step 4 J2 Motor Unit S01: 6-M4x15 J3 Motor J4 Motor © Seiko Epson Corporation. 2024 Rev.2...
Page 55 Arm2 back and forth. CAUTION Step 4 Grease may drop from the Waveform Generator. Take care that it J2 Motor Unit does not adhere on to the surrounding parts. S01: 6-M4x15 J2 Motor © Seiko Epson Corporation. 2024 Rev.1...
Page 56: Installing The J2 Motor Unit
4.0 +/- 0.2 N·m Step 1 J2 Motor unit S01: 6-M4x15 4.0 +/- 0.2 N·m POINT When it is difficult for the motor unit to be placed, push in the motor unit while gently moving Arm2. © Seiko Epson Corporation. 2024 Rev.1...
Page 57 (Turn back and forth three times by Step 1 approximately 90° each time.) J2 Motor unit After centering is completed, tighten the bolts on the motor S01: 6-M4x15 unit. 4.0 +/- 0.2 N·m 90° 90° © Seiko Epson Corporation. 2024 Rev.1...
Page 58 Spring Fixing Plate S01: 2-M4x8 4.0 +/- 0.2 N·m Step 1 J2 Motor unit S01: 6-M4x15 4.0 +/- 0.2 N·m Secure the motor cable to the J2 Wire tie (AB150) Motor with wire tie (AB150). © Seiko Epson Corporation. 2024 Rev.1...
Page 59 (J2 Motor Signal) CN402-1 (Brake Branch) Connectors and cables Step 2 Spring Fixing Plate S01: 2-M4x8 4.0 +/- 0.2 N·m Step 1 J2 Motor unit S01: 6-M4x15 4.0 +/- 0.2 N·m J4 Motor J3 Motor © Seiko Epson Corporation. 2024 Rev.1...
Page 60 S01: 2-M4x8 4.0 +/- 0.2 N·m J3 Motor J4 Motor Step 1 J2 Motor unit S01: 6-M4x15 4.0 +/- 0.2 N·m CAUTION After assembling the motor unit, perform calibration of Joint #2. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 61: Disassembling The J2 Motor Unit
Joint #2 Motor unit. POINT Wipe off the old grease before removing the Waveform Generator from the motor unit. Step 1 Waveform Generator S05: 2-M5x8 Waveform Generator Step 2 Motor Plate S01: 4-M5x15 J2 Motor unit © Seiko Epson Corporation. 2024 Rev.1...
Page 62: Assembling The J2 Motor Unit
Motor Plate Motor Connectors Step 1 After installing the Motor Plate, apply grease to the location Motor Plate shown in the figure. S01: 4-M5x15 SK-1A: 28 g 8.0 +/- 0.4 N.m J2 Motor unit © Seiko Epson Corporation. 2024 Rev.1...
Page 63 J2 Motor unit POINT Set the Waveform Generator so that the screw holes face the outside of the jig. Work can be performed more easily by securing the Waveform Generator on the motor shaft. Waveform Generator © Seiko Epson Corporation. 2024 Rev.1...
Page 64 4.0 +/- 0.2 N.m Step 1 Motor Plate S01: 4-M5x15 8.0 +/- 0.4 N.m D-Cut J2 Motor unit 4. Remove the Motor Plate screws, and remove the J2 Motor Unit from the Gap Adjustment JIG. © Seiko Epson Corporation. 2024 Rev.1...
Page 65: Removing The J2 Reduction Gear Unit
GX20 Series Service Manual Maintenance 2.3.5 Removing the J2 Reduction Gear Unit Step 1 J2 Motor unit Step 2 Remove the 16 bolts securing the Circularspline. Circularspline S02: 16-M5x25 Step 3 Spacer Flexspline S02: 8-M8x20 Circularspline © Seiko Epson Corporation. 2024 Rev.1...
Page 66 2. After removing the Spacer, set the M5 forcing tap upright at Spacer the positions shown in the figure below. Flexspline S02: 8-M8x20 Tapped hole Bolt (M5) 3. Holding the M5 forcing tap, and remove the Flexspline and Circularspline together. © Seiko Epson Corporation. 2024 Rev.1...
Page 67: Installing The J2 Reduction Gear Unit
SK-1A: Small amount (refer to the figure below) Apply SK-1A grease to the extent that the teeth of the Circularspline and Flexspline are hidden before installing them. This will protect the teeth surfaces when assembling the parts. Grease Circularspline Flexspline © Seiko Epson Corporation. 2024 Rev.1...
Page 68 J2 Motor unit Step 1 Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m Convex part Step 2 Spacer Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Secure the Circularspline to Arm2 with the 16 bolts. Circularspline © Seiko Epson Corporation. 2024 Rev.1...
Page 69 Spacer Flexspline S02: 8-M8x20 44.0 +/- 2.2 N.m Flexspline CAUTION Make sure that the teeth of the Circularspline and Flexspline are properly engaged with each other. Flexspline Circularspline © Seiko Epson Corporation. 2024 Rev.1...
Page 70 S02: 8-M8x20 Air hole 44.0 +/- 2.2 N.m Spacer 4. Apply grease to the inside of the Flexspline. SK-1A: 43 g Grease CAUTION After assembling the motor unit, perform calibration of Joint #2. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 71: Joint #3
Step 1 J3 Motor CN131-1 (J3 Motor Power) Arm Upper Cover S03: 4-M4x15 Step 2 Connectors and cables Step 4 J3 Motor S01: 4-M4x15 and washer S01: 2-M5x12 S01: 2-M5x20 Step 3 Plate S01: 3-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 72 Step 4 J3 Motor S01: 4-M4x15 and washer S01: 2-M5x12 S01: 2-M5x20 After removing the wire tie and Silicone Sheet, remove connector CN331-1 (J3 Motor Signal). Step 3 Plate CN331-1 (J3 Motor Signal) S01: 3-M4x10 © Seiko Epson Corporation. 2024 Rev.1...
Page 73 S03: 4-M4x15 Remove the bolts and plate shown in the figure. Step 2 Connectors and cables Step 4 J3 Motor S01: 4-M4x15 and washer S01: 2-M5x12 S01: 2-M5x20 Step 3 Plate Plate S01: 3-M4x10 © Seiko Epson Corporation. 2024 Rev.1...
Page 74 When it is difficult to remove the bolts securing the J3 Motor and Plate the Motor Plate, cut the wire tie (AB200) securing the J3 Motor S01: 3-M4x10 cable. J3 Motor Wire tie (AB200) S01: 2-M5x20 S01: 2-M5x12 © Seiko Epson Corporation. 2024 Rev.1...
Page 75: Installing The J3 Motor Unit
Connectors and cables Brake Hub Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N·m Brake Disk Step 1 J3 Motor S01: 2-M5x12 J3 Motor S01: 2-M5x20 Brake Disk 8.0 +/- 0.4 N·m S01: 2-M5x20 S01: 2-M5x12 © Seiko Epson Corporation. 2024 Rev.1...
Page 76 Temporarily tighten the motor unit fixing bolts until the motor unit can slide freely to adjust the belt tension. Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.1...
Page 77 Attach the plate. 0.45 +/- 0.1 N·m Step 3 Connectors and cables Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N·m Plate Step 1 J3 Motor unit S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 78 0.45 +/- 0.1 N·m J3 Motor CN131-1 (J3 Motor Power) Step 3 Connectors and cables Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N·m Step 1 J3 Motor unit S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 79 Wrap the connectors and cables shown in the figure with the J3 Motor unit Silicone Sheet. CN331-1 (J3 Motor Signal) S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N·m CAUTION After performing the maintenance procedure, perform calibration of Joint #3. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 80: Replacing The J3 Motor Unit
Motor pulley Step 1 Motor pulley S05: 2-M4x5 2.4 +/- 0.1 N·m D-Cuts J3 Motor unit * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 81: Removing The J3 Timing Belt (Z)
Step 2 Spline Plate S01: 3-M5x15 Step 1 J3 Motor unit Spline Plate S01: 3-M4x20 POINT Step 3 Lift up the Spline Plate, and draw the Z belt upwards from Z Timing Belt the shaft. © Seiko Epson Corporation. 2024 Rev.1...
Page 82: Installing The J3 Timing Belt (Z)
S01: 3-M5x15 POINT Pass the Z belt onto the shaft from above and pass the belt to Arm2. Step 1 J3 Motor unit S01: 3-M4x20 Z belt Spline Plate Step 3 Z Timing Belt © Seiko Epson Corporation. 2024 Rev.1...
Page 83 J3 Motor unit S01: 3-M4x20 4.0 +/- 0.2 N·m Step 1 Z Timing Belt CAUTION After performing centering, fix the Spline Plate. CAUTION After performing the maintenance procedure, perform calibration of Joint #3. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 84: Removing The J3 Brake
Step 2 Brake connector Brake Support Step 3 Brake Unit S01: 4-M4x16 and washer Removing the Brake Connector Step 4 Disconnect the connector shown in the figure. Brake S01: 3-M3x8 and washer X32 (J3 Brake) © Seiko Epson Corporation. 2024 Rev.1...
Page 85 S01: 4-M4x16 and washer Pass the hexagonal wrench through the hole on the brake, and remove the bolt securing the Brake Support and the brake. Hexagonal wrench Step 4 Brake S01: 3-M3x8 and washer Brake Brake Support © Seiko Epson Corporation. 2024 Rev.1...
Page 86: Installing The J3 Brake
Hexagonal wrench Step 3 Brake connector Brake Step 2 Brake Unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N·m Brake Support Step 1 Brake S01: 3-M3x8 and washer 2.0 +/- 0.1 N·m Brake cable © Seiko Epson Corporation. 2024 Rev.1...
Page 87 Replace and temporarily secure the Brake Unit on Arm2. Brake S01: 3-M3x8 and washer 2.0 +/- 0.1 N·m POINT In this procedure, do not secure the screws in place. Secure them in "Step 4 J3 Motor unit." Brake Unit Brake Support © Seiko Epson Corporation. 2024 Rev.1...
Page 88: Joint #4
Arm Upper Cover S03: 4-M4x15 Step 2 Connectors and cables CN141-1 (J4 Motor Power) Step 3 CN341-1 (J4 Motor Signal) J4 Motor unit CN440-1 (J4 Brake) S01: 3-M3x12 Silicone Sheet J4 Motor Wire tie (AB150) © Seiko Epson Corporation. 2024 Rev.2...
Page 89 2. Remove the cover, and loosen the screw securing the extension shaft. Step 3 J4 Motor unit POINT S01: 3-M3x12 When the screw position is not aligned, turn the motor body slightly to bring the screw position into alignment. Cover Bolt © Seiko Epson Corporation. 2024 Rev.1...
Page 90 Arm Upper Cover S03: 4-M4x15 3. Remove the J4 Motor unit from the Reduction Gear. Step 2 J4 Motor unit Connectors and cables Step 3 J4 Motor unit S01: 3-M3x12 J4 Reduction Gear Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 91: Installing The J4 Motor Unit
2.0 +/- 0.1 N·m POINT As a rule, temporarily fasten to the extent that the motor unit can be moved by hand and does not tilt over. J4 Motor unit M3x12 Motor securing bolts (M4x10) © Seiko Epson Corporation. 2024 Rev.1...
Page 92 Step 1 J4 Motor unit S01: 3-M3x12 2.0 +/- 0.1 N·m 5. Tighten the bolts of the Motor Plate and motor that were temporarily secured to secure the J4 Motor unit to the Reduction Gear. © Seiko Epson Corporation. 2024 Rev.1...
Page 93 Connect the connector shown in the figure. Step 3 J4 Motor Arm Upper Cover S03: 4-M4x15 0.45 +/- 0.1 N·m Step 2 Connectors and cables Step 1 J4 Motor unit S01: 3-M3x12 2.0 +/- 0.1 N·m CN141-1 (J4 Motor Power) © Seiko Epson Corporation. 2024 Rev.1...
Page 94 Silicone Sheet, Wire tie (AB150) Step 2 Connectors and cables Step 1 J4 Motor unit S01: 3-M3x12 2.0 +/- 0.1 N·m Tie the connectors shown in the figure. CN341-1 (J4 Motor Signal) CN3G0-2 (Control Board Cable) © Seiko Epson Corporation. 2024 Rev.1...
Page 95 S03: 4-M4x15 0.45 +/- 0.1 N·m Step 2 Connectors and cables Step 1 J4 Motor unit S01: 3-M3x12 2.0 +/- 0.1 N·m CAUTION After performing the maintenance procedure, perform calibration of Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 96: Replacing The J4 Motor Unit/Brake
1.0 +/- 0.1 N·m Step 3 Motor Plate S01: 2-M4x10 4.0 +/- 0.2 N·m J4 Motor unit/Brake D-Cuts Brake * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 97 2. Press the Brake Release Switch to release the Brake. 3. Turn OFF the Controller. * The disassembly procedure is described here. 4. Align the hole position with the center by hand. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 98 1.0 +/- 0.1 N·m Step 3 Motor Plate S01: 2-M4x10 4.0 +/- 0.2 N·m J4 Motor unit/Brake Motor Connectors * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 99: Removing The Timing Belt (U)
S01: 4-M4x15 and washer CN141-1 CN341-1 (J4 Motor Signal) (J4 Motor Power) Step 4 CN440-1 (J4 Brake) Silicone Sheet Spline Plate J4 Motor Wire tie (AB150) S01: 3-M5x15 Step 5 U belt, Z belt © Seiko Epson Corporation. 2024 Rev.1...
Page 100 + Reduction Gear J3 Motor unit J4 Motor unit + Reduction Gear Step 3 J4 Motor unit + Reduction Gear S01: 4-M4x15 and washer Step 4 Spline Plate S01: 3-M5x15 Step 5 U belt, Z belt © Seiko Epson Corporation. 2024 Rev.1...
Page 101 S01: 4-M4x15 and washer Step 4 Spline Plate S01: 3-M5x15 Step 5 Spline Plate U belt, Z belt POINT Lift up the Spline Plate, and draw the Z belt and U belt upwards from the shaft. © Seiko Epson Corporation. 2024 Rev.1...
Page 102: Installing The Timing Belt (U)
J4 Motor unit + Reduction Gear S01: 4-M4x15 and washer Z Timing Belt 4.0 +/- 0.2 N·m Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N·m U Timing Belt Step 1 U belt, Z belt © Seiko Epson Corporation. 2024 Rev.1...
Page 103 Spline Unit will be positioned to the center of the arm. S01: 4-M4x15 and washer 4.0 +/- 0.2 N·m Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N·m Step 1 U belt, Z belt CAUTION After performing centering, fix the Spline Plate. © Seiko Epson Corporation. 2024 Rev.1...
Page 104 J4 Motor unit + Reduction Gear CN141-1 S01: 4-M4x15 and washer (J4 Motor Power) 4.0 +/- 0.2 N·m Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N·m Step 1 U belt, Z belt © Seiko Epson Corporation. 2024 Rev.1...
Page 105 4.0 +/- 0.2 N·m Tie the connectors shown in the figure. Step 2 Spline Plate CN341-1 S01: 3-M5x15 (J4 Motor Signal) 8.0 +/- 0.4 N·m Step 1 U belt, Z belt CN3G0-2 (Control Board Cable) © Seiko Epson Corporation. 2024 Rev.1...
Page 106 4.0 +/- 0.2 N·m Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N·m Step 1 U belt, Z belt CAUTION After performing the maintenance procedure, perform calibration of Joint #3 and Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 107: Removing The J4 Reduction Gear
Step 4 U housing S01: 4-M4x10 Step 5 Plate S01: 4-M5x18 CN141-1 (J4 Motor Power) Step 3 CN341-1 (J4 Motor Signal) U pulley CN440-1 (J4 Brake) Silicone Sheet S01: 6-M4x15 J4 Motor Wire tie (AB150) © Seiko Epson Corporation. 2024 Rev.1...
Page 108 J4 Motor unit Step 2 + Reduction Gear J4 Motor unit + Reduction Gear S01: 4-M4x15 and washer Step 4 U housing S01: 4-M4x10 Step 5 Plate S01: 4-M5x18 Step 3 U pulley S01: 6-M4x15 © Seiko Epson Corporation. 2024 Rev.1...
Page 109 When the screw position is not aligned, turn the motor body slightly S01: 4-M5x18 to bring the screw position into alignment. Step 3 Cover U pulley S01: 6-M4x15 Bolt 3. Remove the J4 Motor unit from the Reduction Gear. © Seiko Epson Corporation. 2024 Rev.1...
Page 110 Reduction Gear Unit. Step 5 Plate Plate S01: 4-M5x18 Step 3 U pulley S01: 6-M4x15 Loosen the bolts shown in the figure, and remove the U pulley from the Reduction Gear Unit. U pulley © Seiko Epson Corporation. 2024 Rev.1...
Page 111: Installing The J4 Reduction Gear
S01: 4-M5x18 8.0 +/- 0.4 N·m Step 3 U pulley S01: 6-M4x15 4.0 +/- 0.2 N·m Tighten the bolts shown in the figure, and secure the U pulley to the Reduction Gear. U pulley © Seiko Epson Corporation. 2024 Rev.1...
Page 112 As a rule, temporarily fasten to the extent that the motor unit can be S01: 4-M5x18 moved by hand and does not tilt over. 8.0 +/- 0.4 N·m Step 3 J4 Motor unit U pulley S01: 6-M4x15 Motor securing bolts 4.0 +/- 0.2 N·m (M4x70) M3x12 © Seiko Epson Corporation. 2024 Rev.1...
Page 113 J4 Motor unit to the 8.0 +/- 0.4 N·m Reduction Gear. Step 3 U pulley S01: 6-M4x15 J4 Motor unit 4.0 +/- 0.2 N·m Motor securing bolts (M4x70) M3x12 © Seiko Epson Corporation. 2024 Rev.1...
Page 114 7. Secure the J4 Motor unit and Reduction Gear to the arm. S01: 4-M5x18 S01: 4-M4x15 8.0 +/- 0.4 N·m 4.0 +/- 0.2 N·m Step 3 U pulley S01: 6-M4x15 4.0 +/- 0.2 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 115 Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension Step 1 Plate S01: 4-M5x18 8.0 +/- 0.4 N·m Step 3 U pulley S01: 6-M4x15 4.0 +/- 0.2 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 116 4.0 +/- 0.2 N·m Step 2 U housing S01: 4-M4x10 4.0 +/- 0.2 N·m Step 1 Plate S01: 4-M5x18 CN141-1 8.0 +/- 0.4 N·m (J4 Motor Power) Step 3 U pulley S01: 6-M4x15 4.0 +/- 0.2 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 117 Tie the connectors U pulley S01: 6-M4x15 shown in the figure. 4.0 +/- 0.2 N·m CN341-1 (J4 Motor Signal) CAUTION After performing the maintenance CN3G0-2 (Control Board Cable) procedure, perform calibration of Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 118: Bellows
The protected models have a gasket foam tape attached to the Cover side Shaft side cover which increases the seal of the bellows. Do not remove this gasket foam tape. φ58 φ42 Gasket Foam Tape Gasket Foam Tape © Seiko Epson Corporation. 2024 Rev.2...
Page 119: Removing The Bellows
Lower Bellows, rubber sheet and clamp band from the shaft. Screw Clamp band Clamp band Screw Rubber sheet (large) Clamp band (large) Step 2 Bellows Removing the Lower Bellows Rubber sheet (small) Rubber sheet Clamp band (small) * Protection model only © Seiko Epson Corporation. 2024 Rev.1...
Page 120: Installing The Bellows
Shaft side φ42 φ48 Rubber sheet (large) Clamp band (large) Lower Bellows Step 1 Cover side Shaft side Bellows Installing the Lower Bellows φ58 φ42 Rubber sheet (small) Clamp band (small) * Protection model only © Seiko Epson Corporation. 2024 Rev.1...
Page 121: Maintenance
Step 1 5. Tighten the screw of the clamp band Bellows Installing the Lower to secure the band in place. Bellows Rubber sheet (small) Screw Clamp band Clamp band (small) * Protection model only © Seiko Epson Corporation. 2024 Rev.1...
Page 122 5. Tighten the screw of the clamp band Step 1 Bellows to secure the band in place. Installing the Lower Bellows Rubber sheet (small) Screw Clamp band (small) Clamp band * Protection model only © Seiko Epson Corporation. 2024 Rev.1...
Page 123: Ball Screw Spline Unit
J3 and J4 Brakes are released. S01: 3-M5x15 S01: 4-M5x15 2. Turn OFF the Controller, and remove the wiring/tubes from the hand. 3. Remove the hand. Removing the Bellows If a bellows have been attached, remove them. © Seiko Epson Corporation. 2024 Rev.2...
Page 124 S01: 3-M5x15 S01: 4-M5x15 Spline Plate Remove the bolts securing the shaft of the Ball Screw Spline on the underneath of Arm2, then the Ball Screw Spline Unit can be removed from Arm2. Shaft © Seiko Epson Corporation. 2024 Rev.1...
Page 125: Installing The Ball Screw Spline Unit
If the Timing Belt is placed on the flange, correct tension will not be obtained during belt tension adjustment. Set the belt so that it is level with respect to the pulley without it being placed on the flange. Flange Timing Belt © Seiko Epson Corporation. 2024 Rev.1...
Page 126 After temporary tightening, perform centering. Move the Ball Screw Spline Unit up and down. The Ball Screw Spline Unit will be positioned to the center of the arm. CAUTION After performing adjustment, secure the Ball Screw Spline Unit. © Seiko Epson Corporation. 2024 Rev.1...
Page 127: After Work
Install the hand and wiring and piping to the hand. Installing the Bellows Install the bellows if they are provided. CAUTION After performing the maintenance procedure, perform calibration of Joint #3 and Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.1...
Page 128: Greasing The Ball Screw Spline Unit
Brake Release Switch, and turn OFF the Controller. Turn ON the Controller. Move the shaft to its lower limit manually while pressing the Brake Release Switch Brake Release Switch, and turn OFF the Controller. © Seiko Epson Corporation. 2024 Rev.1...
Page 129 Turn ON the Controller. (10) Move the shaft up and down a few times while pressing the Brake Release Switch so that the grease spreads uniformly in the shaft. © Seiko Epson Corporation. 2024 Rev.1...
Page 130 • Even when the motor is OFF, voltage is present in the cables and the circuit board. Do not touch parts related to the power supply while the Controller is ON. © Seiko Epson Corporation. 2024 Rev.1...
Page 131 Use a plastic clip or something similar to ensure that the Bellows does not drop below the bottom of the shaft. (13) Turn OFF the Controller, and wipe off the excess grease from the shaft. © Seiko Epson Corporation. 2024 Rev.1...
Page 132: Board, Led Indicator
0.45 +/- 0.1 N.m CAUTION When installing the board, be careful not to pinch the cables. * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.2...
Page 133: Replacing The Control Board
0.45 +/- 0.1 N·m Step 2 Control Board S04: 4-M3x5 0.45 +/- 0.1 N.m Control Board Disconnecting the connectors * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 134: Replacing The Led Indicator
Pay attention as it may fall off. Inside of Arm Upper Cover LED unit * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.1...
Page 135: Cable Unit
Step 5 Side Cover 2. Remove the Spring Fixing Plate. S01: 2-M4x15 Step 3 Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Spring Fixing Plate Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.2...
Page 136 3. Remove the wire tie from the Spring Fixing Plate and remove the Cable Unit. Spring Fixing Plate Step 3 Wire tie Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 137: Wall Mounting Type
3. Remove the FB cable and the wire tie securing the cable. Step 3 FB cable Removing Plates Step 8 Wire tie Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 138 5. Remove the Saddle Clamp from the Spring Fixing Plate, and remove the wire tie securing the spring. Step 3 Saddle Clamp Removing Plates S01: 2-M4x10 Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 139 Connector Plate Step 4 Arm Cap Step 5 Side Cover Step 3 Removing Plates Step 8 CN401-1 Removing the Cable Unit on the arm (Brake power supply side cable) Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 140 Side Cover CN331-1 (J3 Motor Signal) CN341-1 (J4 Motor Signal) CN3G0-1 (Control Board Cable) Step 3 Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 141 Remove the earth cable secured to Arm2. Step 4 Arm Cap Step 5 Side Cover Step 3 Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 FB6, FB7 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 142 Remove the anchor bolts of the Spring Fixing Plate. Arm #2 side Arm #1 side Step 3 S01: 2-M5x18 S01: 2-M6x30 Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 143 2. Remove the cables from the Cap Cover opening or from the Side Cover opening. Procedure Cable Cable Step 3 Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 144 Side Cover opening. Step 4 Procedure Arm Cap Step 5 Side Cover Cable Cable Step 3 Cable Unit Removing Plates Step 8 Removing the Cable Unit on the arm side Step 9 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.1...
Page 145: Installing The Cable Unit
Air Tube. Plastic bags Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 146 Arm #2 side S01: 2-M6x30 S01: 2-M5x18 13.0 +/- 0.6 N.m Step 8 8.0 +/- 0.4 N.m Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 147 2. Secure the Spring Fixing Plate to the motor unit and the base. S01: 2-M4x15 4.0 +/- 0.2 N.m Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side Spring Fixing Plate Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 148 5. Attach the Saddle Clamp and FB cable to the Spring Fixing Plate. Saddle Clamp S01: 2-M4x10 4.0 +/- 0.2 N.m Step 8 FB cable Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 149 3. Temporarily secure the cable with the wire tie. Ensure that the cable is free to move. Spring Step 8 Fixing Plate Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 150 Step 8 7. Secure the Ground Plate. Side Cover Ground Plate S01: 2-M4x10 Step 5 4.0 +/- 0.2 N.m Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 151 J2 Motor Motor Plate Step 8 Side Cover Spring Fixing Plate S01: 2-M4x8 4.0 +/- 0.2 N.m Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 152 Step 8 Side Cover Motor Plate Step 5 Spring Fixing Plate Securing the Cable Unit on the arm side Saddle Clamp S01: 2-M4x10 Step 1 4.0 +/- 0.2 N.m Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 153 Cap Cover Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side S04: 1-M4x6 S04: 1-M4x6 0.9 +/- 0.1 N.m Step 1 0.9 +/- 0.1 N.m Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 154 Wire tie (AB150) Cap Cover CN331-1 (J3 Motor Signal) Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 J3 Motor J4 Motor Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 155 Tie the connectors shown in the figure. CN341-1 (J4 Motor Signal) Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side CN3G0-2 (Control Board Cable) Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 156 Step 2 Securing Plates Step 9 Cap Cover CN401-1 (Brake power supply cable) Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 157 S01: 8-M4x10 4.0 +/- 0.2 N.m Step 2 Securing Plates Step 9 Cap Cover Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.1...
Page 158: Installing/Removing The Cover
Maintenance Plate S01: 4-M4x5 4.0 +/- 0.2 N·m Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N·m Base Bottom Cover Cap Cover S01: 8-M3x8 2.0 +/- 0.1 N·m S03: 4-M4x10 0.45 +/- 0.1 N·m © Seiko Epson Corporation. 2024 Rev.2...
Page 159: Arm Upper Cover
• Secure the Arm Upper Cover, then make sure that the lower limit mechanical stopper does not interfere with the cylinder part of the Arm Upper Cover. Brake Release Switch Lower limit mechanical stop Arm top cover Cylindrical part Shaft © Seiko Epson Corporation. 2024 Rev.1...
Page 160: Arm Lower Cover
0.45 +/- 0.1 N.m the shaft to the lower limit, and lower the Arm Lower Cover before performing maintenance and inspection. • If the Lower Bellows has been attached, remove it before removing the Arm Lower Cover. © Seiko Epson Corporation. 2024 Rev.1...
Page 161: Base Bottom Cover
If the bolts used for installing the Manipulator to a table top, etc. are S01: 8-M3x8 removed without the Manipulator being supported, the Manipulator may 2.0 +/- 0.1 N·m fall from the arm side due to the arm's own weight. © Seiko Epson Corporation. 2024 Rev.1...
Page 162: User Plate
CAUTION • The D-sub cable mounting screws are very small. Take care not to lose them. • Check the locations of the cables for reconnection of the cables after replacement. © Seiko Epson Corporation. 2024 Rev.1...
Page 163 0.45 +/- 0.1 N·m CAUTION • The D-sub cable mounting screws are very small. Take care not to lose them. • Check the locations of the cables for reconnection of the cables after replacement. © Seiko Epson Corporation. 2024 Rev.1...
Page 164 CN302-1 (Brake Switch/LED Branch) CAUTION • The D-sub cable mounting screws are very small. Take care not to lose them. • Check the locations of the cables for reconnection of the cables after replacement. © Seiko Epson Corporation. 2024 Rev.1...
Page 165 4.0 +/- 0.2 N.m Remove the bolts shown in the figure, and remove the User Plate from the Arm Upper Cover. Step 1 Arm Upper Cover S03: 4-M4x15 User Plate 0.45 +/- 0.1 N·m © Seiko Epson Corporation. 2024 Rev.1...
Page 166: Connector Plate (Table Top Mounting Type)
• When moving cables, check the location of the cables when the Connector Plate is removed and return the wiring to a state that will not result in excessive force being placed on the wiring. © Seiko Epson Corporation. 2024 Rev.1...
Page 167 GX20 Series Service Manual Maintenance 2.10.5 Connector Plate (Table Top Mounting Type) S01: 8-M4x10 Removing the Cables 4.0 +/- 0.2 N.m CN202-1 CN111-1 CN511-1, CN521-1 CN201-1 (D-sub connector) © Seiko Epson Corporation. 2024 Rev.1...
Page 168: Connector Plate (Wall Mounting Type)
• When moving cables, check the location of the cables when the Connector Plate is removed and return the wiring to a state that will not result in excessive force being placed on the wiring. © Seiko Epson Corporation. 2024 Rev.1...
Page 169: Chapter 3 Adjustment
CHAPTER Adjustment...
Page 170: Calibration
Execute the procedure in “Calibration Using Right / Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to 3.1.6.2 Accurate Calibration of Joint • When calibrating Joint #4, due to the structure of the Manipulator Joint #3 and #4 must be calibrated at the same time. © Seiko Epson Corporation. 2024 Rev.2...
Page 171: Calibration Methods
Adjustment 3.1.2 Calibration Methods Using the calibration wizard EPSON RC+ has a wizard for calibration. The wizard guides you through the calibration process from specifying the joints to be adjusted and the adjustment items (calibration to be performed). To calibrate without using the calibration wizard, refer to 3.1.6.4 Calibration Procedure without Using Calibration...
Page 172: Workflow
Calibration (Accurate Positioning) Accurate Calibration of Joint #2 * J2 only The controller which has the safety board is required to verification after adjustment. Verifying Safety board Operation Verification 3.1.7 Verification * RC700E only © Seiko Epson Corporation. 2024 Rev.1...
Page 173 3.1.6.4 Calibration Procedure without Using Calibration Wizard Send Hofs to Safety board Step 7. The controller which has the safety board is required to verification after adjustment. Verification Verifying Safety board Operation 3.1.7 Verification © Seiko Epson Corporation. 2024 Rev.1...
Page 174: Preparation
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 © Seiko Epson Corporation. 2024 Rev.1...
Page 175: 0-Pulse Position Of Each Joint
Joint #2 : position where Arms #1 and #2 are in a straight line 0 pulse position 0 pulse position of Joint #1 of Joint #1 0 pulse position of Joint #2 0 pulse position of Joint #2 © Seiko Epson Corporation. 2024 Rev.1...
Page 176 Hole 1 D-Cut Standard model Cleanroom model The Screw Hole 1 and D-Cut are on the shaft Protected model centerline. There are the Screw Holes 1 and Screw Hole 2 at the 90° position. © Seiko Epson Corporation. 2024 Rev.1...
Page 177: Implementing 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 178: Implementing Calibration Using The Wizard
The follow the steps below are calibration using Joint #1. Follow the steps below to calibrate other joints. Start the calibration wizard. Confirm the warning message and click the <Yes> button. I. Select EPSON RC+ menu - [Setup] - [System Configuration]. II. Select [Robots] - [Robot**] - [Calibration].
Page 179 GX20 Series Service Manual Adjustment Move the joint to calibrate manually to approximate 0 pulse position, as shown in the dialog. After moving the joint click the <Next> button. © Seiko Epson Corporation. 2024 Rev.1...
Page 180 (Regardless of the Joint #1 direction.) 0 pulse 0 pulse position of Joint #3: upper limit position in motion range NOTE For details on the 0-pulse position, refer to 3.1.5 0-Pulse Position of Each Joint. © Seiko Epson Corporation. 2024 Rev.1...
Page 181 Safety Board) occurs when calibration settings in the controller are updated. • Warning 590 is cleared by updating the Hofs value in the safety board after completing calibration. Step (19) © Seiko Epson Corporation. 2024 Rev.1...
Page 182 The Manipulator moves to the reference point. Click the * Before operating the robot, open the [Control Panel] tab <Execute> button. and execute <Motor ON>. Select Jump P0:Z(0) ↑ Point selected in step (7) © Seiko Epson Corporation. 2024 Rev.1...
Page 183 Adjustment (12) Confirm the message and click the <Yes> button. (14) Jog to the accurate reference position. Click the <Jog> button. (13) After the Manipulator moves to the reference point, click the <Next> button. © Seiko Epson Corporation. 2024 Rev.1...
Page 184 Adjustment (15) Jog to the accurate reference position and adjust the (16) Click the <Next> button. position. Click the <OK> button. Adjust to the accurate position and move Joint #3 to around 0 pulse. © Seiko Epson Corporation. 2024 Rev.1...
Page 185 Move to another point that has different pose (from righty to lefty) using Jump command. Click the <Yes> button. ii. Jog to the accurate reference position. Click the <Jog> button. iv. Click the <Next> button. © Seiko Epson Corporation. 2024 Rev.1...
Page 186 ⅲ. Confirm the warning message and click the <OK> button. (19) On RC700E, send the Hofs value to the safety board. * On RC700D, go on to the step (20). i. Confirm the warning message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.1...
Page 187 ⅴ. Confirm the warning message and click the <OK> button. （20） Move the Manipulator to other points and check if it can move without problems. ⅵ. Confirm the message and click the <OK> button. Teach points where appropriate. © Seiko Epson Corporation. 2024 Rev.1...
Page 188: Accurate Calibration Of Joint #2
Manipulator to the teaching point to verify whether there is a positional gap. If there is a positional gap, fine-tune the installation position of the end effector and teach the point again. © Seiko Epson Corporation. 2024 Rev.1...
Page 189 • Using the Pallet command • Executing CP control (such as liner or circular interpolation) • Using the Local command • Pose data specified with relative coordinates <Example: P1+X(100) > • Vision Guide camera calibrations © Seiko Epson Corporation. 2024 Rev.1...
Page 190: Calibration Using Right / Left Arm Orientations
* If there is interference on the way from right to lefty, click the <Free All> button in the [Control Panel] and change the arm orientation to lefty by hands. Then, go to the step (6), (7). © Seiko Epson Corporation. 2024 Rev.1...
Page 191 (12) Move the Manipulator to other point data and make sure it moves to the correct position. Teach some more points if required. * Delete the two points taught for the Joint #2 calibration. © Seiko Epson Corporation. 2024 Rev.1...
Page 192: Calibration Procedure Without Using Calibration Wizard
GX20 Series Service Manual Adjustment 3.1.6.4 Calibration Procedure without Using Calibration Wizard NOTE This section indicates the calibration without using the calibration wizard of EPSON RC+. For details of calibration using the calibration wizard, refer to 3.1.6.1 Implementing Calibration using the Wizard.
Page 193 Joint #3: >EncReset 3 Joint #4: >EncReset 3, 4 (3)-5 Reboot the Controller. 0 pulse Select EPSON RC+ menu- [Tools] - [Controller] and click the <Reset Controller> button. NOTE For details on the 0-pulse position, refer to 3.1.5 0-Pulse Position of Each Joint.
Page 194 (4)-1 Execute the following command from the menu - (5)-1 Reboot the Controller. [Tools] - [Command Window]. Select EPSON RC+ menu - [Tools] - [Controller] and >calpls 0,0,0,0 click the <Reset Controller> button. * Manipulator does not move. (5)-2 Click [Control Panel] - <Free All> button to free all...
Page 195 * On RC700D, go on to the step (17). Joint #1: >Calib 1 (7)-1 In EPSON RC+, select [Setup] - [System Joint #2: >Calib 2 Configuration], and then under [Controller] - [Safety Joint #3: >Calib 3 Functions], click [Safety Joint #4: >Calib 3, 4...
Page 196 Enter the password and click <Confirm> button. (7)-6 Confirm the warning message and click the <OK> button. (7)-4 Confirm the warning message and click the <OK> button. (7)-7 Confirm the message and click the <OK> button. © Seiko Epson Corporation. 2024 Rev.1...
Page 197 Move the Manipulator to another point to confirm that it moves to the same position. If it does not move to the same position, re-calibrate using another point. You must set the point again if reproducibility cannot be assured through calibration. © Seiko Epson Corporation. 2024 Rev.1...
Page 198: Verification
GX20 Series Service Manual Adjustment 3.1.7 Verification RC700E is required to verifying the safety function after completing calibration. For details on the verification procedure, refer to “RC700E Service Manual 3.4 Verifying Safety board operation”. © Seiko Epson Corporation. 2024 Rev.1...
Page 199: Adjusting The Timing Belt Tension
• Belt Tensioner (For Z belt) U belt 3.2.1 Belt Tension Values Tension Meter setting values Tension standard values MASS (g/m) 5.25 Belt tension (N) 29.5 to 118.0 49 to 196 WIDTH (mm/R) SPAN (mm) © Seiko Epson Corporation. 2024 Rev.2...
Page 200: Adjustment Method
Tighten the bolt in the direction of the arrow, and apply Install Belt Tensioner. tension to the belt. For details on the set values, refer to 3.2.1 Belt Tension Values. Bolt Belt Tensioner J3 Motor Belt Tensioner J3 Motor © Seiko Epson Corporation. 2024 Rev.1...
Page 201 Measure the tension using a Tension Meter. Tighten the bolts securing the Motor Plate with the correct tightening torque. After tightening the bolts securing the Motor Plate, measure the tension once again for confirmation. Remove the jig. © Seiko Epson Corporation. 2024 Rev.1...
Page 202 3.2.1 Belt Tension Values. J4 Motor Tighten the bolts securing the Motor Plate with the correct tightening torque. After tightening the bolts securing the Motor Plate, measure the tension once again for confirmation. Bolt © Seiko Epson Corporation. 2024 Rev.1...
Page 203: Chapter 4 Block Diagram/Wiring Diagram
CHAPTER Block Diagram/Wiring Diagram...
Page 204: Block Diagram
GX20 Series Service Manual Block Diagram/Wiring Diagram 4.1 Block Diagram Attachment/ detachment CN Control Board Brake Release Switch LED Lamp DC/DC Board Joint #3 Brake Brake Power Joint #4 Brake Supply © Seiko Epson Corporation. 2024 Rev.2...
Page 205: Wiring Diagram
PE2 - Detachment/attachment CN FB1 - FB6 FB2 - FB7 PE8 - PE9 PE4 - PE6 PE3 – PE5 FB4 - CN521 FB5 - CN511 (10) PE7 - PE10 FB9 - CN521 (11) FB10 - CN511 (12) © Seiko Epson Corporation. 2024 Rev.1...
Page 206: Motor Cable
Joint #3 Motor Joint #1 Motor Connection Joint #1 Motor - CN111 - Detachment/attachment CN Joint #2 Motor - CN121 Joint #3 Motor - CN131 - CN201 - Detachment/attachment CN Joint #4 Motor - CN141 © Seiko Epson Corporation. 2024 Rev.1...
Page 207: Encoder
Joint #2 Motor - CN321 - CN202 Joint #3 Motor - CN331 Joint #4 Motor - CN341 CN202 - Detachment/attachment CN (CN200) DC/DC Board (CN1) - DC/DC Board (CN3) CN202 - DC/DC Board (CN2) © Seiko Epson Corporation. 2024 Rev.1...
Page 208: Brake Wire, Led Wire
Joint #4 Brake - CN440 - Divergence - CN400 - CN202 Brake power supply Joint #3 Brake - CN430 - Divergence - CN400 - Brake power supply Brake power supply - CN401 - CN302 CN302 - CN301 - CN202 © Seiko Epson Corporation. 2024 Rev.1...
Page 209: User Plate
GX20 Series Service Manual Block Diagram/Wiring Diagram 4.2.5 User Plate D-Sub 15pin D-Sub 9pin D-Sub 15pin D-Sub 9pin Connection D-Sub 9pin - CN511 - CN511 - D-Sub 9pin D-Sub 15pin - CN521 - CN521 - D-Sub 15pin © Seiko Epson Corporation. 2024 Rev.1...
Page 210: Chapter 5 Exploded View/Maintenance Parts List
CHAPTER Exploded View/Maintenance Parts List...
Page 211: Exploded View
GX20 Series Service Manual Exploded View/Maintenance Parts List 5.1 Exploded View © Seiko Epson Corporation. 2024 Rev.2...
Page 212 GX20 Series Service Manual Exploded View/Maintenance Parts List ー069 ー065 ー068 ー064 ー066 ー067 © Seiko Epson Corporation. 2024 Rev.1...
Page 213: Maintenance Parts List
1000 mm arm Brake Release Switch Protected model 2232323 LED Lamp 2230562 LED Cable 2225144 Timing Belt 1922356 Joint #3 (z) width: 12 mm  Timing Belt Joint #4 (u) width: 20 mm 1922357  © Seiko Epson Corporation. 2024 Rev.2...
Page 214 Rubber Gasket 1493851 For Side Cover Coupling 1636148 For 6 dia. tube (White) Coupling 1636149 For 6 dia. tube (Blue) Coupling 1636146 For 4 dia. tube (White) Coupling 1636147 For 4 dia. tube (Blue) © Seiko Epson Corporation. 2024 Rev.1...
Page 215 1922351 Side cover 1488205 Standard model、Joint #1 Side cover 1922353 Cleanroom model、Wall Mounting / Ceiling Mounting、Joint #2 Side cover 1493786 Cleanroom model、Joint #1 Saddle 1480868 For cable Harness・Connector 2212432 M/C Cable Connector (Robot Side) © Seiko Epson Corporation. 2024 Rev.1...

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Epson SCARA GX20 Series Service Manual

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