Epson LS10-B User manual

Rev.6
EM204R4257F
SCARA ROBOT
LS10-B series
MANIPULATOR MANUAL

MANIPULATOR MANUAL
LS10-B series Rev.6

LS10-B Rev.6 i
SCARA ROBOT
LS10-B series Manipulator Manual
Rev.6
Copyright 2018-2020 SEIKO EPSON CORPORATION. All rights reserved.

ii LS10-B Rev.6
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.
WARRANTY
The Manipulator 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.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please contact the supplier of your region for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the manual, or
careless use.
2.
Malfunctions caused by customers
’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage
caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the Manipulator or associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual cannot
wa
rn the user of all possible hazards.

LS10-B Rev.6 iii
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 and Installation Read this manual first

iv LS10-B Rev.6
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:
Controller manual Maintenance section

LS10-B Rev.6 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The LS10-B series Manipulators can be used with the following combinations of Controllers
and software.
Controller : RC90-B
Software : EPSON RC+ 7.0 Ver.7.4.2 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.
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 LS10-B Rev.6

TABLE OF CONTENTS
LS10-B Rev.6 vii
Setup & Operation
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
1.5 Emergency Movement Without Drive Power ......................................... 10
1.6 ACCELS Setting for CP Motions.............................................................11
1.7 Warning Labels....................................................................................... 12
2. Specifications 14
2.1 Features of LS10-B series Manipulators................................................ 14
2.2 Model Number........................................................................................ 15
2.3 Part Names and Outer Dimensions ....................................................... 16
2.3.1 Standard-Model (LS10-B***S).................................................... 16
2.3.2 Cleanroom-Model (LS10-B***C) ................................................ 18
2.4 Specifications ......................................................................................... 20
2.5 How to Set the Model............................................................................. 22
3. Environments and Installation 23
3.1 Environmental Conditions ...................................................................... 23
3.2 Base Table.............................................................................................. 24
3.3 Mounting Dimensions............................................................................. 25
3.4 Unpacking and Transportation ............................................................... 26
3.5 Installation Procedure............................................................................. 27
3.5.1 Standard-Model.......................................................................... 27
3.5.2 Cleanroom-Model....................................................................... 28
3.6 Connecting the Cables........................................................................... 28
3.7 User Wires and Pneumatic Tubes.......................................................... 30
3.8 Relocation and Storage.......................................................................... 31
3.8.1 Precautions for Relocation and Storage .................................... 31
3.8.2 Relocation................................................................................... 32
4. Setting of End Effectors 33
4.1 Attaching an End Effector....................................................................... 33
4.2 Attaching Cameras and Valves.............................................................. 34
4.3 Weight and Inertia Settings .................................................................... 35
4.3.1 Weight Setting ............................................................................ 35
4.3.2 Inertia Setting ............................................................................. 37
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................... 42
5. Motion Range 43
5.1 Motion Range Setting by Pulse Range.................................................. 43
5.1.1 Max. Pulse Range of Joint #1 .................................................... 44

TABLE OF CONTENTS
viii LS10-B Rev.6
5.1.2 Max. Pulse Range of Joint #2 .....................................................44
5.1.3 Max. Pulse Range of Joint #3 .....................................................45
5.1.4 Max. Pulse Range of Joint #4 .....................................................45
5.2 Motion Range Setting by Mechanical Stops...........................................46
5.2.1 Setting the Mechanical Stops of Joints #1 and #2......................47
5.2.2 Setting the Mechanical Stop of Joint #3 .....................................49
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator ...................................................................................51
5.4 Standard Motion Range..........................................................................52
Maintenance............................................................................................55
Maintenance
1. Safety Maintenance 57
2. General Maintenance 58
2.1 Maintenance Inspection ..........................................................................58
2.1.1 Schedule for Maintenance Inspection.........................................58
2.1.2 Inspection Point...........................................................................59
2.2 Overhaul (Parts Replacement) ...............................................................60
2.3 Greasing..................................................................................................62
2.4 Tightening Hexagon Socket Head Cap Bolts .........................................63
2.5 Matching Origins .....................................................................................63
2.6 Layout of Maintenance Parts ..................................................................64
3. Covers 65
3.1 Arm Top Cover ........................................................................................66
3.2 Arm Bottom Cover...................................................................................67
3.3 Connector Plate ......................................................................................67
3.4 Connector Sub Plate...............................................................................69
3.5 User Plate................................................................................................70
4. Cable 71
4.1 Replacing Cable Unit ..............................................................................72
4.2 Wiring Diagrams......................................................................................77
4.2.1 Signal Cable................................................................................77
4.2.2 Power Cable................................................................................78
4.2.3 User Cable ..................................................................................79
4.2.4 Color of Cables............................................................................79
4.3 Replacing M/C Cable ..............................................................................80
5. Joint #1 85
5.1 Replacing Joint #1 Motor ........................................................................86
5.2 Replacing Joint #1 Reduction Gear Unit ................................................90
6. Joint #2 93

TABLE OF CONTENTS
LS10-B Rev.6 ix
6.1 Replacing Joint #2 Motor ....................................................................... 94
6.2 Replacing Joint #2 Reduction Gear Unit................................................ 98
7. Joint #3 102
7.1 Replacing Joint #3 Motor ..................................................................... 103
7.2 Replacing the Timing Belt .................................................................... 107
7.3 Replacing the Brake.............................................................................. 111
7.4 Checking the Timing Belt Tension (Z Belt)............................................115
8. Joint #4 116
8.1 Replacing Joint #4 Motor ......................................................................117
8.2 Replacing the Timing Belt .................................................................... 121
8.2.1 U2 Belt...................................................................................... 122
8.2.2 U1 Belt...................................................................................... 128
8.3 Replacing the Brake............................................................................. 132
8.4 Checking the Timing Belt Tension (U1, U2 Belts) ................................ 135
9. Bellows 136
10. Ball Screw Spline Unit 138
10.1 Greasing the Ball Screw Spline Unit.................................................. 138
10.1.1 Standard-model ...................................................................... 139
10.1.2 Cleanroom-model ................................................................... 140
10.2 Replacing the Ball Screw Spline Unit................................................. 141
11. Boards 144
11.1 Replacing the Converter Board.......................................................... 145
11.2 Replacing the Control Board .............................................................. 147
12. LED Lamp 148
13. Calibration 149
13.1 About Calibration................................................................................ 149
13.2 Calibration Procedure......................................................................... 150
13.3 Accurate Calibration of Joint #2 ......................................................... 160
13.4 Calibration Procedure without using Calibration Wizard ................... 162
14. Maintenance Parts List 166

TABLE OF CONTENTS
x LS10-B Rev.6

Setup & Operation
This volume contains information for setup and operation of the LS10-B series Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.

Setup & Operation 1. Safety
LS10-B Rev.6 3
1. Safety
Installation and transportation of manipulators and robotic equipment shall be performed by
qualified personnel and should conform to all national and local codes. Please read this
manual and other related manuals before installing the robot system or before connecting
cables.
Keep this manual handy for easy access at all times.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
WARNING
This symbol indicates that a danger of possible serious injury or
death exists if the associated instructions are not followed
properly.
WARNING
This symbol indicates that a danger of possible serious injury or
death caused by
electric shock exists if the associated
instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.

Setup & Operation 1. Safety
4 LS10-B Rev.6
1.2 Design and Installation Safety
Only trained personnel should design and install the robot system. Trained
personnel are defined as those who have taken robot system training and
maintenance training classes held by the manufacturer, dealer, or local
representative company, or those who understand the manuals thoroughly and
have the same knowledge and skill level as those who have completed the training
courses.
To ensure safety, a safeguard must be installed for the robot system. For details
on the safeguard, refer to the Installation and Design Precautions in the Safety
chapter of the EPSON RC+ User’s Guide.
The following items are safety precautions for design personnel:
WARNING
■
Personnel who design and/or construct the robot system with this product must
read the
Safety chapter in the EPSON RC+ User’s Guide to understand the safety
requirements before designing and/or constructing the robot system. Designing
and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
sever
e equipment damage to the robot system, and may cause serious safety
problems.
■
The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals.
This product has been
designed and manufactured strictly for use in a normal indoor environment. Using
the product in an environment
that exceeds the specified environmental conditions
may not only shorten the life cycle of the product but may also cause serious
safety problems.
■
The robot system must be used within the installation requirements described in
the manuals.
Using the robot system outside of the installation requirements
may not only shorten the life cycle of the product but also cause serious safety
problems.
Further precautions for installation are mentioned in the chapter Setup & Operation:
3. Environments and Installation.Please read this chapter carefully to understand
safe installation procedures before installing the robots and robotic equipment.

Setup & Operation 1. Safety
LS10-B Rev.6 5
1.2.1 Strength of the Ball Screw Spline
If a load exceeding the allowable value is applied to the ball screw spline, it may not work
properly due to deformation or breakage of the shaft. If the ball screw spline is applied the
load exceeding the allowable value, it is necessary to replace the ball screw spline unit.
The allowable loads differ depending on distance where the load is applied to. For
calculating the allowable load, see the calculation formula below.
[Allowable bending moment]
M=50,000 N·mm
[Moment]
M=F·L
＝ 100·200 ＝ 20,000 N·mm
Example:
If 100 N (10.2kgf) load is applied
at 200 mm from
the end of the spline nut
End of the
spline nut
F
L

Setup & Operation 1. Safety
6 LS10-B Rev.6
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
WARNING
■
Please carefully read the
Safety-related Requirements in the Safety chapter of the
Safety and Installation
manual before operating the robot system. Operating the
robot system without understanding the safety requirements is extremely
hazardous and may result in serious bodily injury and/or sever
e equipment
damage to the robot system.
■
Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON.
Entering the operating area with the power ON is extremely
hazardous and may cause serious safety problems as the Manipulator may move
even if it seems to
be stopped.
■
Before operating the robot system, make sure that no one is inside the
safeguarded area.
The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the Manipulator is always i
n restricted (low speed and low power)
status to secure the safety of an operator.
However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the
Manipulator moves unexpectedly.
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
Continuing the operation while
the Manipulator moves abnormally is extremely hazardous and may result in
serious bodily injury and/or
severe equipment damage to the robot system.
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.
■
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors
with the
power ON is extremely hazardous and may result
in serious bodily injury as the
Manipulator may mo
ve abnormally, and also may result in electric shock and/or
malfunction of the robot system.

Setup & Operation 1. Safety
LS10-B Rev.6 7
CAUTION
■
Whenever possible, only one person should operate the robot system.
If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■
Joint #1, #2, and #4:
If the joints are operated
repeatedly with the operating angle less than 5 degrees,
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move the joints larger
than 50 degrees
for about five to ten times a day.
Joint #3:
If the up
-and-down motion of the hand is less than LS10-B: 50 mm, move the joint
a half of the maximum stroke for five to ten times a day.
■
Oscillation (resonance) may
occur continuously in low speed Manipulator motion
(Speed:
approx. 5 to 20%) depending on combination of Arm orientation and end
effector load. Oscillation arises from natural oscillation frequency of the Arm and
can be controlled by following measures.
Changing Manipulator speed
Changing the teach points
Changing the end effector load

Setup & Operation 1. Safety
8 LS10-B Rev.6
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance
with the dynamic brake and mechanical brake.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.
Pressing the switch during the operation makes the brakes work. This will shorten the life
of the brakes due to the worn friction plates.
Normal brake life: About 2 years (when the brakes are used 100 times/day)
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving. Refer to the Controller manual for
instructions on how to wire the Emergency Stop switch circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating, following
problems may occur:
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power
restoration:
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the Maintenance 13.
Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings:
-The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
-To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
-For the Safeguard system, do not use the circuit for E-STOP.
For details on the Safeguard system, refer to the following manuals.
EPSON RC+ User’s Guide
2. Safety - Installation and Design Precautions - Safeguard System
Safety and Installation
2.6 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
5.1.1 Manipulator
- Inspection While the Power is ON (Manipulator is operating)