Epson LS-B Series User manual

Original instructions
Rev.5
ENM226R5382F
Industrial Robot: SCARA ROBOT
LS-B series
MANUAL

LS
-B series MANUAL Rev.5

LS-B series Rev.5 i
Industrial Robot: SCARA ROBOT
LS-B series Manual
Rev.5
Seiko Epson Corporation 2021-2022

ii LS-B series Rev.5
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 Rev.5 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For European Union customers only
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.
For Taiwanese customers only
Please separate used 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.

iv LS-B series Rev.5
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 : LS3-B: EPSON RC+ 7.0 Ver.7.4.4 or later
LS3-B401S-V1*: EPSON RC+ 7.0 Ver.7.5.1B or later
* LS3-B401S-V1* is high speed model manipulator of LS3-B401S.
This manual describes information on LS3-B401S-V1 which is
different from LS3-B401S.
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

LS-B series Rev.5 v
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.
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.
EPSON
RC+

vi LS-B series Rev.5
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.

LS-B series Rev.5 vii
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.

viii LS-B series Rev.5

TABLE OF CONTENTS
LS-B series Rev.5 ix
LS3-B, LS-6B Manipulator
1. Safety 3
1.1 Conventions.............................................................................................. 3
1.2 Design and Installation Safety.................................................................. 4
1.2.1 Strength of the Ball Screw Spline................................................. 5
1.3 Operation Safety ...................................................................................... 6
1.4 Emergency Stop....................................................................................... 8
1.6 Safeguard................................................................................................. 9
1.6 Emergency Movement Without Drive Power ......................................... 10
1.7 ACCELS Setting for CP Motions.............................................................11
1.8 Warning Labels....................................................................................... 12
1.9 Response for Emergency or Malfunction............................................... 14
1.9.1 Collision ...................................................................................... 14
1.9.2 Getting body caught in Manipulator ........................................... 14
2. Specifications 15
2.1 Model Number........................................................................................ 15
2.2 Part Names and Outer Dimensions ....................................................... 17
2.2.1 LS3-B.......................................................................................... 17
2.2.2 LS6-B.......................................................................................... 21
2.3 Specifications ......................................................................................... 25
2.4 How to Set the Model............................................................................. 25
3. Environments and Installation 26
3.1 Environmental Conditions ...................................................................... 26
3.2 Base Table.............................................................................................. 28
3.3 Mounting Dimensions............................................................................. 29
3.4 Unpacking and Transportation ............................................................... 30
3.5 Installation Procedure............................................................................. 31
3.5.1 Standard-Model.......................................................................... 31
3.5.2 Cleanroom-Model....................................................................... 32
3.6 Connecting the Cables........................................................................... 33
3.7 User Wires and Pneumatic Tubes.......................................................... 34
3.8 Relocation and Storage.......................................................................... 36
3.8.1 Precautions for Relocation and Storage .................................... 36
3.8.2 Relocation................................................................................... 37
4. Setting of End Effectors 39
4.1 Attaching an End Effector....................................................................... 39
4.2 Attaching Cameras and Valves .............................................................. 41
4.3 Weight and Inertia Settings .................................................................... 42
4.3.1 Weight Setting ............................................................................ 42
4.3.2 Inertia Setting ............................................................................. 46
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................... 51

TABLE OF CONTENTS
x LS-B series Rev.5
5. Motion Range 54
5.1 Motion Range Setting by Pulse Range...................................................54
5.1.1 Max. Pulse Range of Joint #1.....................................................55
5.1.2 Max. Pulse Range of Joint #2.....................................................55
5.1.3 Max. Pulse Range of Joint #3.....................................................56
5.1.4 Max. Pulse Range of Joint #4.....................................................56
5.2 Motion Range Setting by Mechanical Stops...........................................57
5.2.1 Setting the Mechanical Stops of Joints #1 and #2......................58
5.2.2 Setting the Mechanical Stop of Joint #3 .....................................60
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator ...................................................................................61
5.4 Standard Motion Range ..........................................................................62

TABLE OF CONTENTS
LS-B series Rev.5 xi
LS10-B Manipulator
1. Safety 69
1.1 Conventions............................................................................................ 69
1.2 Design and Installation Safety................................................................ 70
1.2.1 Strength of the Ball Screw Spline............................................... 71
1.3 Operation Safety .................................................................................... 72
1.4 Emergency Stop..................................................................................... 74
1.5 Safeguard............................................................................................... 75
1.6 Emergency Movement Without Drive Power ......................................... 76
1.7 ACCELS Setting for CP Motions............................................................ 77
1.8 Warning Labels....................................................................................... 78
1.9 Response for Emergency or Malfunction............................................... 80
1.9.1 Collision ...................................................................................... 80
1.9.2 Getting body caught in Manipulator ........................................... 80
2. Specifications 81
2.1 Model Number........................................................................................ 81
2.2 Part Names and Outer Dimensions ....................................................... 82
2.2.1 Standard-Model (LS10-B***S).................................................... 82
2.2.2 Cleanroom-Model (LS10-B***C) ................................................ 84
2.3 Specifications ......................................................................................... 86
2.4 How to Set the Model............................................................................. 86
3. Environments and Installation 87
3.1 Environmental Conditions ...................................................................... 87
3.2 Base Table.............................................................................................. 89
3.3 Mounting Dimensions............................................................................. 90
3.4 Unpacking and Transportation ............................................................... 91
3.5 Installation Procedure............................................................................. 92
3.5.1 Standard-Model.......................................................................... 92
3.5.2 Cleanroom-Model....................................................................... 93
3.6 Connecting the Cables........................................................................... 93
3.7 User Wires and Pneumatic Tubes.......................................................... 95
3.8 Relocation and Storage.......................................................................... 96
3.8.1 Precautions for Relocation and Storage .................................... 96
3.8.2 Relocation................................................................................... 97
4. Setting of End Effectors 99
4.1 Attaching an End Effector....................................................................... 99
4.2 Attaching Cameras and Valves ............................................................ 101
4.3 Weight and Inertia Settings .................................................................. 102
4.3.1 Weight Setting .......................................................................... 102
4.3.2 Inertia Setting ........................................................................... 104
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................. 109

TABLE OF CONTENTS
xii LS-B series Rev.5
5. Motion Range 110
5.1 Motion Range Setting by Pulse Range.................................................110
5.1.1 Max. Pulse Range of Joint #1................................................... 111
5.1.2 Max. Pulse Range of Joint #2................................................... 111
5.1.3 Max. Pulse Range of Joint #3...................................................112
5.1.4 Max. Pulse Range of Joint #4 ...................................................112
5.2 Motion Range Setting by Mechanical Stops......................................... 113
5.2.1 Setting the Mechanical Stops of Joints #1 and #2....................114
5.2.2 Setting the Mechanical Stop of Joint #3 ...................................116
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator .................................................................................118
5.4 Standard Motion Range ........................................................................119

TABLE OF CONTENTS
LS-B series Rev.5 xiii
LS20-B Manipulator
1. Safety 125
1.1 Conventions.......................................................................................... 125
1.2 Design and Installation Safety.............................................................. 126
1.2.1 Strength of the Ball Screw Spline............................................. 127
1.3 Operation Safety .................................................................................. 128
1.4 Emergency Stop................................................................................... 130
1.5 Safeguard............................................................................................. 131
1.6 Emergency Movement without Drive Power........................................ 132
1.7 ACCELS Setting for CP Motions.......................................................... 133
1.8 Warning Labels..................................................................................... 134
1.9 Response for Emergency or Malfunction............................................. 136
1.9.1 Collision .................................................................................... 136
1.9.2 Getting body caught in Manipulator ......................................... 136
2. Specifications 137
2.1 Model Number...................................................................................... 137
2.2 Part Names and Outer Dimensions ..................................................... 138
2.2.1 Standard-Model (LS20-B**4S) ................................................. 138
2.2.2 Cleanroom-Model (LS20-B**4C).............................................. 140
2.3 Specifications ....................................................................................... 142
2.4 How to Set the Model........................................................................... 142
3. Environments and Installation 143
3.1 Environmental Conditions .................................................................... 143
3.2 Base Table............................................................................................ 145
3.3 Mounting Dimensions........................................................................... 146
3.4 Unpacking and Transportation ............................................................. 147
3.5 Installation Procedure........................................................................... 149
3.5.1 Standard-Model........................................................................ 149
3.5.2 Cleanroom-Model..................................................................... 150
3.6 Connecting the Cables......................................................................... 151
3.7 User Wires and Pneumatic Tubes........................................................ 152
3.8 Relocation and Storage........................................................................ 154
3.8.1 Precautions for Relocation and Storage .................................. 154
3.8.2 Relocation................................................................................. 155
4. Setting of End Effectors 157
4.1 Attaching an End Effector..................................................................... 157
4.2 Attaching Cameras and Valves ............................................................ 158
4.3 Weight and Inertia Settings .................................................................. 159
4.3.1 Weight Setting .......................................................................... 159
4.3.2 Inertia Setting ........................................................................... 162
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................. 167

TABLE OF CONTENTS
xiv LS-B series Rev.5
5. Motion Range 168
5.1 Motion Range Setting by Pulse Range.................................................168
5.1.1 Max. Pulse Range of Joint #1...................................................169
5.1.2 Max. Pulse Range of Joint #2 ...................................................169
5.1.3 Max. Pulse Range of Joint #3...................................................170
5.1.4 Max. Pulse Range of Joint #4...................................................170
5.2 Motion Range Setting by Mechanical Stops.........................................171
5.2.1 Setting the Mechanical Stops of Joints #1 and #2....................172
5.2.2 Setting the Mechanical Stop of Joint #3 ...................................174
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator (for Joints #1 and #2)..............................................176
5.4 Standard Motion Range ........................................................................177

TABLE OF CONTENTS
LS-B series Rev.5 xv
Regular Inspection
1. Regular Inspection for LS3-B LS6-B Manipulator 181
1.1 Inspection ............................................................................................. 181
1.1.1 Schedule for Inspection............................................................ 181
1.1.2 Inspection Point........................................................................ 182
1.2 Overhaul (Parts Replacement)............................................................. 183
1.3 Greasing ............................................................................................... 183
1.4 Tightening Hexagon Socket Head Bolts .............................................. 186
2. Regular Inspection for LS10-B Manipulator 187
2.1 Inspection ............................................................................................. 187
2.1.1 Schedule for Inspection............................................................ 187
2.1.2 Inspection Point........................................................................ 188
2.2 Overhaul (Parts Replacement)............................................................. 189
2.3 Greasing ............................................................................................... 189
2.4 Tightening Hexagon Socket Head Bolts .............................................. 192
3. Regular Inspection for LS20-B Manipulator 193
3.1 Inspection ............................................................................................. 193
3.1.1 Schedule for Inspection............................................................ 193
3.1.2 Inspection Point........................................................................ 194
3.2 Overhaul (Parts Replacement)............................................................. 195
3.3 Greasing ............................................................................................... 195
3.4 Tightening Hexagon Socket Head Bolts .............................................. 198

TABLE OF CONTENTS
xvi LS-B series Rev.5
Appendix
Appendix A: Specifications 201
LS3-B Specifications.............................................................................201
LS6-B Specifications.............................................................................203
LS10-B Specifications...........................................................................205
LS20-B Specifications...........................................................................208
Appendix B: Stopping time and Stopping distance in Emergency 210
LS3-B Stopping time and Stopping distance in Emergency.................211
LS6-B Stopping time and Stopping distance in Emergency.................213
LS10-B Stopping time and Stopping distance in Emergency ..............217
LS20-B Stopping time and Stopping distance in Emergency ..............220
Appendix C: Stopping time and Stopping distance When Safeguard Is
Opened 222
LS3-B Stopping time and Stopping distance When Safeguard Is Opened
..............................................................................................................223
LS6-B Stopping time and Stopping distance When Safeguard Is Opened
..............................................................................................................225
LS10-B Stopping time and Stopping distance When Safeguard Is Opened
..............................................................................................................229
LS20-B Stopping time and Stopping distance When Safeguard Is Opened
..............................................................................................................232

LS3-B LS6-B
Manipulator
This volume contains information for setup and operation of the Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.