Epson LS-B Series User manual

Rev.1
EM216R4716F
SCARA ROBOT
LS-B series
MAINTENANCE MANUAL

LS
-B series MAINTENANCE MANUAL Rev.1

LS-B series Maintenance Rev.1 i
SCARA ROBOT
LS-B series Maintenance Manual
Rev.1
Copyright 2021 SEIKO EPSON CORPORATION. All rights reserved.

ii LS-B series Maintenance Rev.1
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety Manual Read this manual first

LS-B series Maintenance Rev.1 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household waste
stream. To prevent possible harm to the environment or human health please separate this
product and its batteries from other waste streams to ensure that it can be recycled in an
environmentally sound manner. For more details on available collection facilities please
contact your local government office or the retailer where you purchased this product. Use
of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.
This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual

iv LS-B series Maintenance Rev.1
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The LS series Manipulators can be used with the following combinations of Controllers and
software.
LS3-B series
Controller : RC90-B
Software : EPSON RC+ 7.0 Ver.7.4.4 or later
LS6-B series
Controller : RC90-B
Software : LS6-B : EPSON RC+ 7.0 Ver.7.4.3 or later
LS6-B602S-V1* : EPSON RC+ 7.0 Ver.7.5.0 R3 or later
* LS6-B602S-V1 is high speed model manipulator of LS6-B602S. This manual
describes information on LS6-B602S-V1 which is different from LS6-B602S.
LS10-B series
Controller : RC90-B
Software : EPSON RC+ 7.0 Ver.7.4.2 or later
LS20-B series
Controller : RC90-B
Software : EPSON RC+ 7.0 Ver.7.4.5 or later
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn
ON/OFF all the hardware components. For the Controller composition, refer to the table
above.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
Figures in this Manual
The figures of manipulators indicated in this manual are basically Standard-model
Manipulator. Unless special instruction is provided, the specifications of Standard-model
and Cleanroom-model are the same.
EPSON
RC+

LS-B series Maintenance Rev.1 v
Pictures in this Manual
Pictures and illustrations of the manipulator in this manual may differ from using
manipulator depending on the shipment date and the specifications.
The Manuals of This Product
The following are typical manual types for this product and an outline of the descriptions.
Safety Manual (book, PDF)
This manual contains safety information for all people who handle this product. The
manual also describes the process from unpacking to operation and the manual you should
look at next.
Read this manual first.
-Safety precautions regarding robot system and residual risk
-Declaration of conformity
-Training
-Flow from unpacking to operation
RC90 series Manual (PDF)
This manual explains the installation of the entire robot system and the specifications and
functions of the controller. The manual is primarily intended for people who design robot
systems.
-The installation procedure of the robot system (specific details from unpacking
to operation)
-Daily inspection of the controller
-Controller specifications and basic functions
LS-B series Manual (PDF)(This book)
This manual describes the specifications and functions of the Manipulator. The manual is
primarily intended for people who design robot systems.
-Technical information, functions, specifications, etc. required for the
Manipulator installation and design
-Daily inspection of the Manipulator
Status Code/Error Code List (PDF)
This manual contains a list of code numbers displayed on the controller and messages
displayed in the software message area. The manual is primarily intended for people who
design robot systems or do programming.
RC90 series Maintenance Manual (PDF)
LS-B series Maintenance Manual (PDF)
This manual describes the details of maintenance etc. The manual is intended for people
who perform maintenance.
-Daily inspection
-Replacement and repair of maintenance parts
-The method of firmware update and controller setting backup etc.

vi LS-B series Maintenance Rev.1
EPSON RC+ 7.0 User’s Guide (PDF Manual)
This manual describes general information about program development software.
EPSON RC+ 7.0 SPEL+ Language Reference (PDF Manual)
This manual describes the robot programming language “SPEL+”.
Other Manual (PDF Manual)
Manuals for each option are available.

TABLE OF CONTENTS
LS-B series Maintenance Rev.1 vii
LS3-B, LS6-B Manipulator
1. Safety Maintenance 3
2. General Maintenance 4
2.1 Maintenance Inspection ........................................................................... 4
2.1.1 Schedule for Maintenance Inspection.......................................... 4
2.1.2 Inspection Point............................................................................ 5
2.2 Overhaul (Parts Replacement)................................................................. 6
2.3 Greasing ................................................................................................... 8
2.4 Tightening Hexagon Socket Head Cap Bolts..........................................11
2.5 Matching Origins .....................................................................................11
2.6 Layout of Maintenance Parts ................................................................. 12
3. Covers 13
3.1 Arm Top Cover........................................................................................ 14
3.2 Arm Bottom Cover.................................................................................. 15
3.3 Connector Plate...................................................................................... 16
3.4 Connector Sub Plate .............................................................................. 17
3.5 User Plate............................................................................................... 17
4. Cable 18
4.1 Replacing Cable Unit.............................................................................. 19
4.2 Wiring Diagrams..................................................................................... 25
4.2.1 Signal Cable ............................................................................... 25
4.2.2 Power Cable ............................................................................... 27
4.2.3 User Cable.................................................................................. 28
4.2.4 Color of Cables........................................................................... 28
4.3 Replacing M/C Cable ............................................................................. 29
5. Joint #1 34
5.1 Replacing Joint #1 Motor ....................................................................... 35
5.2 Replacing Joint #1 Reduction Gear Unit................................................ 39
6. Joint #2 42
6.1 Replacing Joint #2 Motor ....................................................................... 43
6.2 Replacing Joint #2 Reduction Gear Unit................................................ 48
7. Joint #3 52
7.1 Replacing Joint #3 Motor ....................................................................... 53
7.2 Replacing the Timing Belt ...................................................................... 57
7.3 Replacing the Brake............................................................................... 61
7.4 Checking the Timing Belt Tension (Z Belt)............................................. 65

TABLE OF CONTENTS
viii LS-B series Maintenance Rev.1
8. Joint #4 66
8.1 Replacing Joint #4 Motor ........................................................................67
8.2 Replacing the Timing Belt .......................................................................72
8.2.1 U2 Belt.........................................................................................73
8.2.2 U1 Belt.........................................................................................79
8.3 Replacing the Brake (for LS6-B series only) ..........................................83
8.4 Checking the Timing Belt Tension (U1, U2 Belts)...................................86
9. Bellows 87
10. Ball Screw Spline Unit Replacement 90
11. Boards 93
11.1 Replacing the Converter Board.............................................................94
11.2 Replacing the Control Board.................................................................96
12. LED Lamp 97
13. Calibration 99
13.1 About Calibration...................................................................................99
13.2 Calibration Procedure .........................................................................100
13.3 Accurate Calibration of Joint #2..........................................................110
13.4 Calibration Procedure without using Calibration Wizard .................... 112
14. Maintenance Parts List 116
14.1 LS3-B ..................................................................................................116
14.2 LS6-B ..................................................................................................117
LS10-B Manipulator
1. Safety Maintenance 123
2. General Maintenance 124
2.1 Maintenance Inspection ........................................................................124
2.1.1 Schedule for Maintenance Inspection.......................................124
2.1.2 Inspection Point.........................................................................125
2.2 Overhaul (Parts Replacement) .............................................................126
2.3 Greasing................................................................................................128
2.4 Tightening Hexagon Socket Head Cap Bolts .......................................131
2.5 Matching Origins ...................................................................................131
2.6 Layout of Maintenance Parts ................................................................132

TABLE OF CONTENTS
LS-Bseries Maintenance Rev.1 ix
3. Covers 133
3.1 Arm Top Cover...................................................................................... 134
3.2 Arm Bottom Cover................................................................................ 135
3.3 Connector Plate.................................................................................... 135
3.4 Connector Sub Plate ............................................................................ 137
3.5 User Plate............................................................................................. 138
4. Cable 139
4.1 Replacing Cable Unit............................................................................ 140
4.2 Wiring Diagrams................................................................................... 145
4.2.1 Signal Cable ............................................................................. 145
4.2.2 Power Cable ............................................................................. 146
4.2.3 User Cable................................................................................ 147
4.2.4 Color of Cables......................................................................... 147
4.3 Replacing M/C Cable ........................................................................... 148
5. Joint #1 153
5.1 Replacing Joint #1 Motor ..................................................................... 154
5.2 Replacing Joint #1 Reduction Gear Unit.............................................. 158
6. Joint #2 161
6.1 Replacing Joint #2 Motor ..................................................................... 162
6.2 Replacing Joint #2 Reduction Gear Unit.............................................. 166
7. Joint #3 170
7.1 Replacing Joint #3 Motor ..................................................................... 171
7.2 Replacing the Timing Belt .................................................................... 175
7.3 Replacing the Brake............................................................................. 179
7.4 Checking the Timing Belt Tension (Z Belt)........................................... 183
8. Joint #4 184
8.1 Replacing Joint #4 Motor ..................................................................... 185
8.2 Replacing the Timing Belt .................................................................... 189
8.2.1 U2 Belt...................................................................................... 190
8.2.2 U1 Belt...................................................................................... 196
8.3 Replacing the Brake............................................................................. 200
8.4 Checking the Timing Belt Tension (U1, U2 Belts) ................................ 203
9. Bellows 204
10. Ball Screw Spline Unit Replacement 206
11. Boards 209
11.1 Replacing the Converter Board.......................................................... 210
11.2 Replacing the Control Board .............................................................. 212

TABLE OF CONTENTS
xLS-B series Maintenance Rev.1
12. LED Lamp 213
13. Calibration 214
13.1 About Calibration.................................................................................214
13.2 Calibration Procedure .........................................................................215
13.3 Accurate Calibration of Joint #2..........................................................225
13.4 Calibration Procedure without using Calibration Wizard ....................227
14. Maintenance Parts List 231
LS20-B Manipulator
1. Safety Maintenance235
2. General Maintenance 236
2.1 Maintenance Inspection ........................................................................236
2.1.1 Schedule for Maintenance Inspection.......................................236
2.1.2 Inspection Point.........................................................................237
2.2 Overhaul (Parts Replacement) .............................................................238
2.3 Greasing................................................................................................240
2.4 Tightening Hexagon Socket Head Cap Bolts .......................................243
2.5 Matching Origins ...................................................................................243
2.6 Layout of Maintenance Parts ................................................................244
3. Covers 245
3.1 Arm Top Cover ......................................................................................246
3.2 Arm Bottom Cover.................................................................................247
3.3 Arm #1 Cover ........................................................................................247
3.4 Connector Plate ....................................................................................248
3.5 Connector Sub Plate.............................................................................249
3.6 User Plate..............................................................................................250
3.7 Duct Plate..............................................................................................250
4. Cable 251
4.1 Replacing Cable Unit ............................................................................252
4.2 Wiring Diagrams....................................................................................258
4.2.1 Signal Cable..............................................................................258
4.2.2 Power Cable..............................................................................259
4.2.3 User Cable ................................................................................260
4.2.4 Color of Cables..........................................................................261
4.3 Replacing M/C Cable ............................................................................262
5. Joint #1 267
5.1 Replacing Joint #1 Motor ......................................................................268
5.2 Replacing Joint #1 Reduction Gear Unit ..............................................272

TABLE OF CONTENTS
LS-B series Maintenance Rev.1 xi
6. Joint #2 275
6.1 Replacing Joint #2 Motor ..................................................................... 276
6.2 Replacing Joint #2 Reduction Gear Unit.............................................. 280
7. Joint #3 284
7.1 Replacing Joint #3 Motor ..................................................................... 285
7.2 Replacing the Timing Belt .................................................................... 289
7.3 Replacing the Brake............................................................................. 295
7.4 Checking the Timing Belt Tension (Z Belt) ........................................... 300
8. Joint #4 301
8.1 Replacing Joint #4 Motor ..................................................................... 302
8.2 Replacing the Timing Belt .................................................................... 307
8.3 Replacing the Brake............................................................................. 312
8.4 Replacing the Reduction Gear Unit ..................................................... 318
8.5 Checking the Timing Belt Tension (U Belt)........................................... 321
9. Bellows 322
10. Ball Screw Spline Unit Replacement 324
11. Boards 327
11.1 Replacing the Converter Board.......................................................... 328
11.2 Replacing the Control Board .............................................................. 329
12. LED Lamp 330
13. Calibration 331
13.1 About Calibration................................................................................ 331
13.2 Calibration Procedure......................................................................... 332
13.3 Accurate Calibration of Joint #2 ......................................................... 342
13.4 Calibration Procedure without using Calibration Wizard ................... 344
14. Maintenance Parts List 348

TABLE OF CONTENTS
xii LS-B series Maintenance Rev.1

LS3-B LS6-B
Maintenance
This volume contains maintenance procedures with safety precautions
for Manipulators.

LS3-B LS6-B Maintenance 1. Safety Maintenance
LS-B series Maintenance Rev.1 3
1. Safety Maintenance
Please read this chapter, this manual, and other relevant manual carefully to understand safe
maintenance procedures before performing any routine maintenance.
Only authorized personnel who have taken maintenance training held by the manufacturer
or dealer should be allowed to perform the robot maintenance.
WARNING
■
Do not
remove any parts that are not covered in this manual. Follow the
maintenance procedu
re strictly as described in this manual. Improper removal
of parts or
improper maintenance may not only cause improper function of the
robot system but also serious safety problems.
■
Keep away from the Manipulator while
the power is ON if you have not taken the
training courses.
Do not enter the operating area while the power
is ON.
Entering the operating area with the power ON is extremely hazardous and may
cause serious safety prob
lems as the Manipulator may move even it seems to be
stopped
.
■
When you check the operation of the Manipulator a
fter replacing parts, be sure to
check it
while you are outside of the safeguarded area.Checking the operation
of the Manipulator while you are inside of the safeguarded area may cause serious
safety problems as the Manipulator may move unexpectedly.
■
Before
operating the robot system, make sure that both the Emergency Stop
switches and safeguard switch function properly.
Operating the robot system
when the switches do not function properly is extremely hazardous and may result
in serious bodily injury and/or serious damage
to the robot system as the switches
cannot fulfill
their intended functions in an emergency.
WARNING
■
To shut off power
to the robot system, disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
CAUTION
■
Be sure to connect the cables properly.
Do not allow unnecessary strain on the
cables. (Do not
put heavy objects on the cables. Do not bend or pull the cables
forcibl
y.) The unnecessary strain on the cables may result in damage to the
cables,
disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.
■
When operating maintenance of manipulator, secure about 50
cm of empty space
around the manipulator.

LS3-B LS6-B Maintenance 2. General Maintenance
4LS-B series Maintenance Rev.1
2. General Maintenance
This chapter describes maintenance inspections and procedures. Performing maintenance
inspections and procedures properly is essential for preventing trouble and ensuring safety.
Be sure to perform the maintenance inspections in accordance with the schedule.
2.1 Maintenance Inspection
2.1.1 Schedule for Maintenance Inspection
Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual.
The inspection points are added every stage.
If the Manipulator is operated for 250 hours or longer per month, the inspection points must
be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.
Inspection Point
Daily
inspection
Monthly
inspection
Quarterly
inspection
Biannual
inspection
Annual
inspection
Overhaul
(replacement)
1 month (250 h)
Inspect every day
√
2 months (500 h)
√
3 months (750 h)
√
√
4 months (1000 h)
√
5 months (1250 h)
√
6 months (1500 h)
√
√
√
7 months (1750 h)
√
8 months (2000 h)
√
9 months (2250 h)
√
√
10 months (2500 h)
√
11 months (2750 h)
√
12 months (3000 h)
√
√
√
√
13 months (3250 h)
√
… … … … … … …
20000 h
√
h = hour

LS3-B LS6-B Maintenance 2. General Maintenance
LS-B series Maintenance Rev.1 5
2.1.2 Inspection Point
Inspection Item
Inspection Point
Inspection Place
Daily
Monthly
Quarterly
Biannual
Annual
Check looseness or
backlash of bolts/screws.
End effector mounting
bolts
√√√√√
Manipulator mounting bolts
√
√
√
√
√
Check looseness of
connectors.
External connectors on
Manipulator (on the
connector plates etc.)
√√√√√
Visually check for
external defects.
Clean up if necessary.
External appearance of
Manipulator
√√√√√
External cables
√
√
√
√
Check for bends or
improper location. Repair
or place it properly if
necessary.
Safeguard etc. √√√√√
Check the brake
operation
LS3-B: Break for arm #3
LS6-B: Break for arm #3 to
#4
√√√√√
Check whether unusual
sound or vibration occurs.
Whole √√√√√
Inspection Method
Inspection Point
Inspection Method
Check looseness or backlash of
bolts/screws.
Use a hexagonal wrench to check that the end effector mounting
bolts and the Manipulator mounting bolts are not loose.
When the bolts are loose, refer to “2
.4 Tightening Hexagon Socket
Head Bolts” and tighten them to the proper torque.
Check looseness of connectors.
Check that connectors are not loose.
When the connectors are loose, reattach it not to come off.
Visually check for external
defects.
Clean up if necessary.
Check the appearance of the Manipulator and clean up if
necessary.
Check the appearance of the cable, and if it is scratched, check
that there is no cable disconnection.
Check for bends or improper
location. Repair or place it
properly if necessary.
Check that the safeguard, etc. are located properly.
If the location is improper, place it properly.
Check the brake operation
Check that the shaft does not fall when in MOTOR OFF.
If the shaft falls when in MOTOR
OFF and the brake is not
released, contact the supplier.
Also, if the break is not released even operated release the break,
contact the supplier.
Check whether unusual sound
or vibration occurs.
Check that there is no unusual sound or vibration when operating.
If there is something wrong, contact the supplier.

LS3-B LS6-B Maintenance 2. General Maintenance
6LS-B series Maintenance Rev.1
2.2 Overhaul (Parts Replacement)
CAUTION
■
If you do not overhaul properly, it may have a serious impact on safety.
■
Overhaul timing is based on an assumption that all joints are
operated for equal
distance. If a particular joint has a high duty or high load, it is recommended to
overhaul all joints (as many as possible) before exceeding 20,000 operation hours
with the joint as a basis.
The parts for the manipulator joints may cause accuracy decline or malfunction due to
deterioration of the manipulator resulting from long term use. In order to use the
manipulator for a long term, it is recommended to overhaul the parts (parts replacement).
The time between overhauls is 20,000 operation hours of the Manipulator as a rough
indication.
However, it may vary depending on usage condition and degree of the load (such as when
operated with the maximum motion speed and maximum acceleration / deceleration in
continuous operation) applied on the Manipulator.
Recommended replacement time for the parts subject to maintenance (motors, reduction
gear units, and timing belts) can be checked in the [Maintenance] dialog box of the
EPSON RC+ 7.0.
For details, refer to the following manual.
RC90 series Maintenance Manual 6. Alarm
Note:
The recommended replacement time for the maintenance parts is when it reaches the L10
life (time until 10% failure probability). In the [Maintenance] dialog box, the L10 life is
displayed as 100%.

NOTE