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