Epson LS20-B User manual

Rev.4EM204R4269F
SCARA ROBOT
LS20-B series
MANIPULATOR MANUAL

MANIPULATOR MANUAL
LS20-B series Rev.4

LS20-B Rev.4 i
SCARA ROBOT
LS20-B series Manipulator Manual
Rev.4
Copyright 2019-2020 SEIKO EPSON CORPORATION. All rights reserved.

ii LS20-B Rev.4
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
warn the use
r of all possible hazards.

LS20-B Rev.4 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 LS20-B Rev.4
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

LS20-B Rev.4 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The LS20-B series Manipulators can be used with the following combinations of Controllers
and software.
Controller : RC90-B
Software : EPSON RC+ 7.0 Ver.7.4.5 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.
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 LS20-B Rev.4

TABLE OF CONTENTS
LS20-B Rev.4 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 LS20-B series Manipulators................................................ 14
2.2 Model Number........................................................................................ 15
2.3 Part Names and Outer Dimensions ....................................................... 16
2.3.1 Standard-Model (LS20-B**4S) ................................................... 16
2.3.2 Cleanroom-Model (LS20-B**4C)................................................ 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............................................................................. 28
3.5.1 Standard-Model.......................................................................... 28
3.5.2 Cleanroom-Model....................................................................... 29
3.6 Connecting the Cables........................................................................... 29
3.7 User Wires and Pneumatic Tubes.......................................................... 31
3.8 Relocation and Storage.......................................................................... 33
3.8.1 Precautions for Relocation and Storage .................................... 33
3.8.2 Relocation................................................................................... 35
4. Setting of End Effectors 36
4.1 Attaching an End Effector....................................................................... 36
4.2 Attaching Cameras and Valves.............................................................. 37
4.3 Weight and Inertia Settings .................................................................... 38
4.3.1 Weight Setting ............................................................................ 38
4.3.2 Inertia Setting ............................................................................. 41
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................... 46

TABLE OF CONTENTS
viii LS20-B Rev.4
5. Motion Range 47
5.1 Motion Range Setting by Pulse Range...................................................47
5.1.1 Max. Pulse Range of Joint #1 .....................................................48
5.1.2 Max. Pulse Range of Joint #2 .....................................................48
5.1.3 Max. Pulse Range of Joint #3 .....................................................49
5.1.4 Max. Pulse Range of Joint #4 .....................................................49
5.2 Motion Range Setting by Mechanical Stops...........................................50
5.2.1 Setting the Mechanical Stops of Joints #1 and #2......................51
5.2.2 Setting the Mechanical Stop of Joint #3 .....................................53
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator (for Joints #1 and #2)………………………………….55
5.4 Standard Motion Range ..........................................................................56
Maintenance
1. Safety Maintenance 61
2. General Maintenance 62
2.1 Maintenance Inspection ..........................................................................62
2.1.1 Schedule for Maintenance Inspection.........................................62
2.1.2 Inspection Point...........................................................................63
2.2 Overhaul (Parts Replacement) ...............................................................64
2.3 Greasing..................................................................................................66
2.4 Tightening Hexagon Socket Head Cap Bolts .........................................67
2.5 Matching Origins .....................................................................................67
2.6 Layout of Maintenance Parts ..................................................................68
3. Covers 69
3.1 Arm Top Cover ........................................................................................70
3.2 Arm Bottom Cover...................................................................................71
3.3 Arm #1 Cover ..........................................................................................71
3.4 Connector Plate ......................................................................................72
3.5 Connector Sub Plate...............................................................................73
3.6 User Plate................................................................................................74
3.7 Duct Plate................................................................................................74
4. Cable 75
4.1 Replacing Cable Unit ..............................................................................76
4.2 Wiring Diagrams......................................................................................82
4.2.1 Signal Cable................................................................................82
4.2.2 Power Cable................................................................................83
4.2.3 User Cable ..................................................................................84
4.2.4 Color of Cables............................................................................85
4.3 Replacing M/C Cable ..............................................................................86