Epson SCARA GX10 Series Service Manual

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SCARA ROBOT

GX10 Series

Service Manual

Rev.2

ENSM22YR0008

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Summary of Contents for Epson SCARA GX10 Series

Page 1 SCARA ROBOT GX10 Series Service Manual Rev.2 ENSM22YR0008...
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. © Seiko Epson Corporation. 2024 ©...
Page 3 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 2.2.1 Removing the J1 Motor Unit 2.6 Bellows 2.2.2 Installing the J1 Motor Unit 2.6.1 Removing the Bellows 2.2.3 Disassembling the J1 Motor Unit 2.6.2 Installing the Bellows 2.2.4 Assembling the J1 Motor Unit © 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 Maintenance Information...
Page 7 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.2...
Page 9 (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 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.2...
Page 11 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 GX10 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 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 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.2...
Page 16 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.2...
Page 17 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 3. Apply grease with a grease gun or a plastic syringe (without needle). Put 10 to 20 g of grease into the plastic syringe and apply 5 g to the backlash-less gear, so as to fill in the gear grooves. © Seiko Epson Corporation. 2024 Rev.2...
Page 19 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.2...
Page 20 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.2...
Page 21 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.2...
Page 22 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.2...
Page 23 Arm2 Upper Cover Joint #4 Brake Joint #2 Reduction Gear Cable Unit Z belt DC/DC Board U belt Joint #3 Brake Rubber Gasket Bellows Joint #1 Reduction Gear Joint #1 Motor M/C Connector Base Bottom Cover © Seiko Epson Corporation. 2024 Rev.2...
Page 24 Maintenance Information GX10-B***P : Protected model Bellows Brake Switch Rubber Gasket Rubber Gasket Rubber Rubber Gasket Gasket Rubber Gasket Rubber Gasket Rubber Gasket Rubber Rubber Bellows Rubber Gasket Gasket Gasket Rubber Gasket Rubber Gasket © Seiko Epson Corporation. 2024 Rev.2...
Page 25 LED Lamp Motor Joint #1 Motor Control Board Arm2 Upper Cover Joint #2 Joint #4 Reduction Brake Gear Joint #1 Reduction Gear Z belt Rubber U belt Bellows Joint #3 Brake Gasket Cable unit © Seiko Epson Corporation. 2024 Rev.2...
Page 26 Maintenance Information GX10-B***PW : Protected model Bellows Rubber Brake Release Gasket Rubber Switch Rubber Gasket Rubber Gasket Gasket Rubber Gasket Rubber Rubber Gasket Gasket Rubber Rubber Gasket Bellows Rubber Rubber Gasket Rubber Gasket Gasket Gasket © Seiko Epson Corporation. 2024 Rev.2...
Page 27 LED Lamp Motor Motor Arm2 Upper Cover Joint #1 Control Board Reduction Gear Joint #2 Joint #4 Reduction Gear Brake M/C connector Z belt Rubber U belt Joint #3 Brake Bellows Gasket Cable Unit © Seiko Epson Corporation. 2024 Rev.2...
Page 28 Maintenance Information GX10-B***PR : Protected model Bellows Rubber Brake Release Gasket Rubber Switch Rubber Gasket Gasket Rubber Gasket Rubber Gasket Rubber Gasket Rubber Gasket Rubber Gasket Rubber Rubber Rubber Bellows Rubber Gasket Gasket Gasket Gasket © Seiko Epson Corporation. 2024 Rev.2...
Page 29 Maintenance Information GX10 Series Service Manual 1.4 Differences from the Table Top Mounting 1.4.1 Base Bottom Cover/Bottom Connector Unit Table top mounting：GX10-B***S Wall Mounting：GX10-B***SW Ceiling Mounting：GX10-B***SR © Seiko Epson Corporation. 2024 Rev.2...
Page 30 GX10 Series Service Manual Maintenance Information 1.4.2 Connector Plate/Wall Mounting Plate Table top mounting：GX10-B***S Wall Mounting：GX10-B***SW Ceiling Mounting：GX10-B***SR © Seiko Epson Corporation. 2024 Rev.2...
Page 31 GX10 Series Service Manual Maintenance Information 1.4.3 Base Unit Table top mounting：GX10-B***S Wall Mounting：GX10-B***SW Ceiling Mounting：GX10-B***SR © Seiko Epson Corporation. 2024 Rev.2...
Page 32 GX10 Series Service Manual Maintenance Information 1.4.4 Arm 1 Unit Table top mounting：GX10-B***S Wall Mounting：GX10-B***SW Ceiling Mounting：GX10-B***SR © Seiko Epson Corporation. 2024 Rev.2...
Page 33 CHAPTER Maintenance...
Page 34 • 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 35 [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.2...
Page 36 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 37 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.2...
Page 38 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.2...
Page 39 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.2...
Page 40 • 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.2...
Page 41 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.2...
Page 42 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.2...
Page 43 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.2...
Page 44 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.2...
Page 45 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.2...
Page 46 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.2...
Page 47 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.2...
Page 48 GX10 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. Step 3 Circularspline Flexspline S02: 8-M8x20 Spacer Step 2 Circularspline S02: 16-M5x25 © Seiko Epson Corporation. 2024 Rev.2...
Page 49 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.2...
Page 50 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.2...
Page 51 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.2...
Page 52 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.2...
Page 53 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.2...
Page 54 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.2...
Page 55 Spring Fixing Plate Silicone Sheet S01: 2-M4x8 CN321-1 (J2 Motor Signal) Wire tie (AB150) Silicone Sheet CN400-2 (Brake Branch) Wire tie (AB150) CN402-1 (Brake Branch) Step 4 J2 Motor Unit S01: 6-M4x15 J4 Motor J3 Motor © Seiko Epson Corporation. 2024 Rev.2...
Page 56 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.2...
Page 57 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.2...
Page 58 (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. 90° 4.0 +/- 0.2 N·m 90° © Seiko Epson Corporation. 2024 Rev.2...
Page 59 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.2...
Page 60 J4 Motor J3 Motor J2 Motor unit CN321-1 (J2 Motor Signal) S01: 6-M4x15 4.0 +/- 0.2 N·m Wrap the connectors and cables shown in the figure with the Silicone Sheet CN440-2 CN321-1 CN331-1 Motor Cable © Seiko Epson Corporation. 2024 Rev.2...
Page 61 4.0 +/- 0.2 N·m Silicone Sheet Step 1 J2 Motor unit CN402-1 S01: 6-M4x15 4.0 +/- 0.2 N·m CN400-2 J4 Motor cable CAUTION After assembling the motor unit, perform calibration of Joint #2. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 62 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.2...
Page 63 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.2...
Page 64 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.2...
Page 65 4.0 +/- 0.2 N.m Motor Plate 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.2...
Page 66 GX10 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 Spacer Step 3 Flexspline S02: 8-M8x20 Circularspline © Seiko Epson Corporation. 2024 Rev.2...
Page 67 2. After removing the Spacer, set the M5 forcing tap upright at 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.2...
Page 68 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.2...
Page 69 J2 Motor unit Step 1 Circularspline S02: 16-M5x25 10.0 +/- 0.5 N.m Convex part Spacer Step 2 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.2...
Page 70 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.2...
Page 71 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.2...
Page 72 Arm Upper Cover S03: 4-M4x15 Step 3 Connectors and cables Step 5 J3 Motor S01: 4-M4x16 and washer S01: 2-M5x12 S01: 2-M5x20 J3 Motor Step 4 Plate S01: M4x10 Step 2 Arm Lower Cover S03: 5-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 73 J3 Motor S01: 2-M5x20 After removing the wire tie and Silicone Sheet, remove Step 4 connector CN331-1 (J3 Motor Signal). Plate CN331-1 (J3 Motor Signal) S01: M4x10 Step 2 Arm Lower Cover S03: 5-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 74 Remove the bolts and plate shown in the figure. S03: 4-M4x15 Step 3 Connectors and cables Step 5 J3 Motor S01: 4-M4x16 and washer S01: 2-M5x12 S01: 2-M5x20 Step 4 Plate Plate S01: 3-M4x10 Step 2 Arm Lower Cover S03: 5-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 75 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) Step 2 Arm Lower Cover S03: 5-M4x10 S01: 2-M5x12 S01: 2-M5x20 © Seiko Epson Corporation. 2024 Rev.2...
Page 76 4.0 +/- 0.2 N.m Brake Disk Step 1 J3 Motor S01: 2-M5x12 J3 Motor Brake Disk S01: 2-M5x20 8.0 +/- 0.4 N.m Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m S01: 2-M5x12 S01: 2-M5x20 © Seiko Epson Corporation. 2024 Rev.2...
Page 77 Arm Lower Cover slide freely to adjust the belt tension. S03: 5-M4x10 0.45 +/- 0.1 N.m Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.2...
Page 78 Connectors and cables Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N.m Plate Step 1 J3 Motor S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N.m Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 79 Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N.m Step 1 J3 Motor J3 Motor S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N.m Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 80 S01: 2-M5x20 8.0 +/- 0.4 N.m CN321-1 Step 4 CN331-1 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m Motor CAUTION Cable After performing the maintenance procedure, perform calibration of Joint #3. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 81 Motor pulley Step 1 Motor pulley S05: 2-M4x5 2.4 +/- 0.1 N.m D-Cut 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.2...
Page 82 S01: 4-M4x10 Step 3 Brake Hub S05: 2-M3x4 Step 2 J4 Motor unit S01: 4-M4x16 and washer Step 1 J3 Motor unit S01: 4-M4x16 and washer S01: 2-M5x12 S01: 2-M5x20 Step 6 Z Timing Belt © Seiko Epson Corporation. 2024 Rev.2...
Page 83 S01: 4-M4x16 and washer gears. Correct meshing Step 1 J4 Reduction J3 Motor unit Gear Reduction S01: 4-M4x16 and washer Gear S01: 2-M5x12 S01: 2-M5x20 U gear U belt Step 6 Pinion Z Timing Belt U gear © Seiko Epson Corporation. 2024 Rev.2...
Page 84 Lift up the Spline Plate, and draw the Z belt upwards from the shaft. Step 1 J3 Motor unit S01: 4-M4x16 and washer S01: 2-M5x12 S01: 2-M5x20 Step 6 Z Timing Belt Z Timing Belt Spline Plate © Seiko Epson Corporation. 2024 Rev.2...
Page 85 J3 Motor S01: 4-M4x10 4.0 +/- 0.2 N.m Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N.m Step 1 Z Timing Belt Z1 pulley Z2 pulley Step 7 Z belt Cables and connectors © Seiko Epson Corporation. 2024 Rev.2...
Page 86 Z2 pulley, while centering. Step 2 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N.m Step 1 Z Timing Belt Step 7 Cables and connectors CAUTION After performing centering, fix the Spline Plate. © Seiko Epson Corporation. 2024 Rev.2...
Page 87 Attach the screws marked in blue in the figure below after installing the Brake Hub in Step 4. Step 2 Spline Plate Brake S01: 3-M5x15 8.0 +/- 0.4 N.m Step 1 Z Timing Belt Step 7 Cables and connectors © Seiko Epson Corporation. 2024 Rev.2...
Page 88 JIG, and then secure the Brake Hub fixing screws. Step 2 Spline Plate S01: 3-M5x15 Brake Mounting JIG 8.0 +/- 0.4 N.m Brake Hub Step 1 Z Timing Belt Step 7 Cables and connectors © Seiko Epson Corporation. 2024 Rev.2...
Page 89 Spline Plate S01: 3-M5x15 8.0 +/- 0.4 N.m Step 1 Z Timing Belt Step 7 CAUTION Cables and connectors After performing the maintenance procedure, perform calibration of Joint #3 and Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 90 S01: 3-M3x8 and washer Step 2 Brake connector Brake Support Step 1 J3 Motor unit S01: 4-M4x16 and washer S01: 2-M5x12 S01: 2-M5x20 Removing the Brake Connector Disconnect the connector shown in the figure. X32 (J3 Brake) © Seiko Epson Corporation. 2024 Rev.2...
Page 91 S01: 4-M4x16 and washer Pass the hexagonal wrench through the hole on the brake, and S01: 2-M5x12 remove the bolt securing the Brake Support and the brake. S01: 2-M5x20 Hexagonal wrench Brake Brake Support © Seiko Epson Corporation. 2024 Rev.2...
Page 92 Hexagonal wrench Step 1 Brake S01: 3-M3x8 and washer Brake 2.0 +/- 0.1 N.m Step 3 Brake connector Brake Step 4 Support J3 Motor unit S01: 2-M5x12 S01: 2-M5x20 8.0 +/- 0.4 N.m Brake cable © Seiko Epson Corporation. 2024 Rev.2...
Page 93 2.0 +/- 0.1 N.m Step 3 Brake connector Brake Support Step 4 J3 Motor unit Installing the Brake Connector S01: 2-M5x12 Connect the connector shown in the figure. S01: 2-M5x20 8.0 +/- 0.4 N.m X32 (J3 Brake) © Seiko Epson Corporation. 2024 Rev.2...
Page 94 Arm Upper Cover S03: 4-M4x15 Step 3 Connectors and cables Step 4 Plate S01: 3-M4x10 CN141-1 (J4 Motor Power) Step 5 J4 Motor unit S01: 4-M4x16 and washer Step 2 Arm Lower Cover S03: 5-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 95 Connectors and cables Step 4 J4 Motor Plate S01: 3-M4x10 Remove the bolts and plate shown in the figure. Step 5 J4 Motor unit S01: 4-M4x16 and washer Step 2 Arm Lower Cover S03: 5-M4x10 Plate © Seiko Epson Corporation. 2024 Rev.2...
Page 96 Step 3 Connectors and cables Step 4 Plate S01: 3-M4x10 Step 5 J4 Motor J4 Motor unit S01: 4-M4x16 and washer Step 2 Arm Lower Cover S03: 5-M4x10 U2 pulley U1 pulley U belt © Seiko Epson Corporation. 2024 Rev.2...
Page 97 4.0 +/- 0.2 N.m J4 Motor Step 1 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m Step 4 Arm Lower Cover U1 pulley U2 pulley S03: 5-M4x10 U belt 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 98 Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 99 Plate Step 2 Plate S01: 3-M4x10 4.0 +/- 0.2 N.m Step 1 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 100 S01: 3-M4x10 4.0 +/- 0.2 N.m CN141-1 (J4 Motor Power) Step 1 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 101 Tie the connectors shown in the figure. Step 1 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m CN341-1 CN3G0-2 (J4 Motor Signal) (Control Board Cable) Step 4 Arm Lower Cover S03: 5-M4x10 0.45 +/- 0.1 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 102 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m Step 4 CAUTION Arm Lower Cover After performing the maintenance procedure, perform S03: 5-M4x10 calibration of Joint #4. 0.45 +/- 0.1 N.m 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 103 Performance may not be sufficiently exhibited if the motor pulley is not installed correctly. J4 Motor unit Motor pulley D-Cut * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.2...
Page 104 Motor Plate Step 3 Motor Plate S01: 2-M4x10 4.0 +/- 0.2 N.m Motor Connectors J4 Motor unit * The disassembly procedure is described here. Perform assembly by following the disassembly procedure in the reverse order. © Seiko Epson Corporation. 2024 Rev.2...
Page 105 Before performing maintenance, lower it to the lower limit. Lift up the Spline Plate and remove the U belt from the U2 pulley. U belt Step 1 Z Timing Belt Step 2 U Timing Belt Spline Plate © Seiko Epson Corporation. 2024 Rev.2...
Page 106 Lift up the Spline Plate, and place the U belt onto the U2 pulley. U2 pulley Step 1 U Timing Belt U Timing Belt Step 2 Z Timing Belt CAUTION After performing the maintenance procedure, perform calibration of Joint #3 and Joint #4. 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 107 Silicone Sheet Wire tie (AB150) Step 2 Connectors and cables Step 3 J4 Motor unit S01: 4-M4x16 and washer J4 Motor CN440-1 (J4 Brake) Step 4 Brake Hub S05: 2-M3x4 Step 5 Brake S01: 4-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 108 S01: 4-M4x16 and washer POINT Loosen the four bolts shown in the figure, and slide the J4 Motor unit to the arm end side. J4 Motor Step 4 Brake Hub S05: 2-M3x4 Step 5 Brake S01: 4-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 109 Arm Upper Cover Brake Hub S03: 4-M4x15 Step 2 Connectors and cables Step 3 J4 Motor unit S01: 4-M4x16 and washer Brake Hub Brake Hub Step 4 Brake Hub S05: 2-M3x4 Step 5 Brake S01: 4-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 110 Correct meshing J4 Reduction Gear J4 Reduction Gear U gear Step 4 U belt Brake Hub Pinion S05: 2-M3x4 U gear Step 5 Brake S01: 4-M4x10 © Seiko Epson Corporation. 2024 Rev.2...
Page 111 Attach the screws marked in blue in the figure below after installing the Brake Hub in Step 4. Step 2 Brake Hub Brake S05: 2-M3x4 0.7 +/- 0.1 N.m Step 1 Brake S01: 4-M4x10 4.0 +/- 0.2 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 112 2. Push the Brake Hub up against the Brake Mounting JIG, and then secure the Brake Hub fixing screws. Step 2 Brake Hub Brake Mounting JIG S05: 2-M3x4 0.7 +/- 0.1 N.m Brake Hub Step 1 Brake S01: 4-M4x10 4.0 +/- 0.2 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 113 Connectors and cables Step 3 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m Step 2 Brake Hub S05: 2-M3x4 0.7 +/- 0.1 N.m Step 1 Brake S01: 4-M4x10 4.0 +/- 0.2 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 114 4.0 +/- 0.2 N.m being placed on the flange. Flange Timing Belt Belt tension adjustment Adjust the belt tension after installing the motor unit. 3.2 Adjusting the Timing Belt Tension © Seiko Epson Corporation. 2024 Rev.2...
Page 115 Step 3 J4 Motor unit S01: 4-M4x16 and washer 4.0 +/- 0.2 N.m CN440-1 (J4 Brake) Step 2 Brake Hub S05: 2-M3x4 0.7 +/- 0.1 N.m Step 1 Brake S01: 4-M4x10 4.0 +/- 0.2 N.m © Seiko Epson Corporation. 2024 Rev.2...
Page 116 Brake Hub S05: 2-M3x4 0.7 +/- 0.1 N.m CN440-2 Step 1 CN321-1 Brake S01: 4-M4x10 CN331-1 4.0 +/- 0.2 N.m CAUTION After performing the maintenance procedure, perform Motor calibration of Joint #4. Cable 3.1 Calibration © Seiko Epson Corporation. 2024 Rev.2...
Page 117 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 118 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.2...
Page 119 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.2...
Page 120 5. Tighten the screw of the clamp band Rubber sheet (large) to secure the band in place. Clamp band (large) Step 1 Bellows Installing the Lower Bellows Rubber sheet (small) Clamp band (small) Clamp band Screw * Protection model only © Seiko Epson Corporation. 2024 Rev.2...
Page 121 5. Tighten the screw of the clamp band Clamp band (large) to secure the band in place. Step 1 Bellows Installing the Lower Bellows Rubber sheet (small) Clamp band (small) * Protection model only Screw Clamp band © Seiko Epson Corporation. 2024 Rev.2...
Page 122 2. Turn OFF the Controller, and remove the wiring/tubes from the hand. Step 2 3. Remove the hand. Intermediate Pulley Unit Removing the bellows If a bellows have been attached, remove them. Step 3 Ball Screw Spline Unit S01: 3-M5x15 © Seiko Epson Corporation. 2024 Rev.2...
Page 123 Ball Screw Spline Unit. Intermediate Pulley Unit Intermediate Pulley Unit Intermediate Pulley Unit Step 3 Ball Screw Spline Unit Remove the three bolts securing the Ball Screw Spline Unit, S01: 3-M5x15 and remove it from Arm2. © Seiko Epson Corporation. 2024 Rev.2...
Page 124 M4 bolt in the tapped hole. Slotted hole 3. Make sure that the pin of Tapped hole the main gear is positioned near the center of the slotted hole. Slotted hole © Seiko Epson Corporation. 2024 Rev.2...
Page 125 Raising the Ball Screw Spline Unit slightly from Arm2 Ball Screw Spline Unit makes it easier to insert the Intermediate Pulley. S01: 3-M5x15 8.0 +/- 0.4 N.m Step 2 J3 Timing Belt (Z) Step 3 Greasing © Seiko Epson Corporation. 2024 Rev.2...
Page 126 Position the M4 bolt of the U gear at the arm end side. Step 1 Ball Screw Spline Unit S01: 3-M5x15 8.0 +/- 0.4 N.m M4x10 Step 2 J3 Timing Belt (Z) Step 3 Greasing Intermediate Pulley Intermediate Pulley U gear U belt Pinion U gear © Seiko Epson Corporation. 2024 Rev.2...
Page 127 In this state, the gears are pressurized (both the main and assist gears shifted by one tooth). So, be sure to remove the bolt after having ensured engagement between the U gear and pinion. © Seiko Epson Corporation. 2024 Rev.2...
Page 128 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.2...
Page 129 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.2...
Page 130 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.2...
Page 131 • 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.2...
Page 132 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.2...
Page 133 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 134 0.45 +/- 0.1 N.m Step 2 Control Board Control Board S04: 4-M3x5 0.45 +/- 0.1 N.m 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.2...
Page 135 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.2...
Page 136 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 137 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.2...
Page 138 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.2...
Page 139 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.2...
Page 140 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.2...
Page 141 Side Cover CN3G0-1 (Control Board Cable) Step 3 Removing Plates Step 8 Removing the Cable Unit on the arm side CN321-1 (J2 Motor Signal) Step 9 CN331-1 (J3 Motor Signal) Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.2...
Page 142 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 Removing the Cable Unit © Seiko Epson Corporation. 2024 Rev.2...
Page 143 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.2...
Page 144 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.2...
Page 145 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.2...
Page 146 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.2...
Page 147 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.2...
Page 148 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.2...
Page 149 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.2...
Page 150 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.2...
Page 151 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.2...
Page 152 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.2...
Page 153 Step 8 Motor Plate Side Cover Spring Fixing Plate Step 5 Securing the Cable Unit on the arm side Saddle Clamp S01: 2-M4x10 4.0 +/- 0.2 N.m Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.2...
Page 154 Cap Cover Step 8 Side Cover Step 5 Securing the Cable Unit on the arm side S04: 1-M4x6 S04: 1-M4x6 Step 1 0.9 +/- 0.1 N.m 0.9 +/- 0.1 N.m Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.2...
Page 155 Tie the connectors and cables shown in the figure. CN440-2 Step 8 CN321-1 Side Cover CN331-1 Step 5 Securing the Cable Unit on the arm side Motor Cable Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.2...
Page 156 Tie the connectors shown in the figure. Cap Cover Step 8 CN341-1 CN3G0-2 Side Cover (J4 Motor Signal) (Control Board Cable) Step 5 Securing the Cable Unit on the arm side Step 1 Securing the Cable Unit (Arm1) © Seiko Epson Corporation. 2024 Rev.2...
Page 157 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.2...
Page 158 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.2...
Page 159 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 160 • 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.2...
Page 161 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.2...
Page 162 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.2...
Page 163 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.2...
Page 164 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.2...
Page 165 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.2...
Page 166 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.2...
Page 167 • 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.2...
Page 168 GX10 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.2...
Page 169 • 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.2...
Page 170 CHAPTER Adjustment...
Page 171 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 172 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 173 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.2...
Page 174 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.2...
Page 175 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.2...
Page 176 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.2...
Page 177 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.2...
Page 178 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 179 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 180 GX10 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.2...
Page 181 (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.2...
Page 182 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.2...
Page 183 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.2...
Page 184 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.2...
Page 185 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.2...
Page 186 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.2...
Page 187 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.2...
Page 188 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.2...
Page 189 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.2...
Page 190 • 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.2...
Page 191 * 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.2...
Page 192 (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.2...
Page 193 GX10 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 194 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 195 (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 196 * 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 197 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.2...
Page 198 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.2...
Page 199 GX10 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.2...
Page 200 Z belt U belt 3.2.1 Belt Tension Values Tension Meter setting values Tension standard values MASS (g/m) 3.75 Belt tension (N) 29.5 to 118.0 37 to 148 WIDTH (mm/R) SPAN (mm) Recommended tension (N) © Seiko Epson Corporation. 2024 Rev.2...
Page 201 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. Belt Tensioner J3 Motor Belt Tensioner Bolt © Seiko Epson Corporation. 2024 Rev.2...
Page 202 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.2...
Page 203 Tighten the bolt in the direction of the arrow, and apply tension to the belt. For details on the set values, refer to 3.2.1 Belt Tension Values. Belt Tensioner Belt Tensioner J4 Motor Bolt © Seiko Epson Corporation. 2024 Rev.2...
Page 204 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.2...
Page 205 CHAPTER Block Diagram/Wiring Diagram...
Page 206 Block Diagram/Wiring Diagram GX10 Series Service Manual 4.1 Block Diagram Attachment/ detachment CN Control Board Brake Release Switch LED Lamp DC/DC Board Joint #3 Brake Brake Power Supply Joint #4 Brake © Seiko Epson Corporation. 2024 Rev.2...
Page 207 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.2...
Page 208 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.2...
Page 209 Joint #2 Motor - CN321 - CN202 Joint #3 Motor - CN331 Joint #1 Motor 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.2...
Page 210 Joint #4 Brake - CN440 - Divergence - CN400 - Brake power supply Joint #3 Brake - X32 - Divergence - CN400 - Brake power supply Brake power supply - CN401 - CN302 CN302 - CN301 - CN202 © Seiko Epson Corporation. 2024 Rev.2...
Page 211 GX10 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.2...
Page 212 CHAPTER Exploded View/Maintenance Parts List...
Page 213 Exploded View/Maintenance Parts List GX10 Series Service Manual 5.1 Exploded View © Seiko Epson Corporation. 2024 Rev.2...
Page 214 GX10 Series Service Manual Exploded View/Maintenance Parts List ー072 ー070 ー071 ー067 ー066 ー068 ー069 © Seiko Epson Corporation. 2024 Rev.2...
Page 215 Brake Release Switch 2230560 Standard/cleanroom model Brake Release Switch 2232323 Protected model LED Lamp 2230562 Timing Belt 1922346 Joint #3 (z) width: 12 mm  Timing Belt 1922347 Joint #4 (u) width: 15 mm  © Seiko Epson Corporation. 2024 Rev.2...
Page 216 Rubber Gasket 1493851 For Side Cover Coupling 1636148 For 6 dia. tube (White) Coupling 1636149 For 6 dia. tube (Blue) Coupling For 4 dia. tube (White) 1636146 Coupling 1636147 For 4 dia. tube (Blue) © Seiko Epson Corporation. 2024 Rev.2...
Page 217 1488205 Standard model、Joint #1 Side Cover 1922353 Cleanroom model 、 Joint #2 Wall Mounting / Ceiling Mounting Side Cover 1493786 Cleanroom model、Joint #1 1480868 Saddle For Cable Harness・Connector 2212432 M/C Cable Connector (Robot Side) © Seiko Epson Corporation. 2024 Rev.2...

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Epson SCARA GX10 Series Service Manual

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