Epson LS20 User Manual

Rev.1 EM158R3027F

LS20 series

SCARA ROBOT

MANIPULATOR MANUAL

MANIPULATOR MANUAL LS

20 series Rev.1

SCARA ROBOT

LS20 series Manipulator Manual

Rev.1

Copyright  2015 SEIKO EPSON CORPORATION. All rights reserved.

LS20 Rev.1 i

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

4.

Damage caused by natural disasters such as earthquake, flood, etc.

1. If the Manipulator or associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this w

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 user of all possible hazards.

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 q uality controls, tests, and inspections to ce rtify 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 ask your Regional Sales Office for
warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):

Warnings, Cautions, Usage:

arranty is void.

attempts.

ii LS20 Rev.1

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.

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier office for
your region.
Please prepare the following items before you contact us.

- Your controller model and its serial number

- Your manipulator model and its serial number

- Software and its version in your robot system

- A description of the problem

SERVICE CENTER

LS20 Rev.1 iii

Toyoshina Plant
Robotics
6925 Toyoshin a Tazawa,
Azumino
JAPAN

TEL

: [phone]

FAX

: [phone]

North & South America

Epson America, Inc.

Factory Automation/Robotics
18300 Central Avenue
Carson, CA 907 46
USA

TEL

: [phone]

FAX

: [phone]

E-MAIL

: [e-mail]

Europe

Epson Deutschland GmbH

Factory Automation Division
Otto
D
Germany

TEL

: [phone]

FAX

: [phone]

E-MAIL

: [e-mail]

China

Epson (China) Co., Ltd.

Factory Automation Division
7F, Jinbao Building No. 89
Dongcheng District, Beijing
China, 100005

TEL

: [phone]

FAX

: [phone]

Taiwan

Epson T ai wan Technology & T ra ding Ltd.

Factory Automation Division
14F, No.7, Song Ren Road, Taipei 110
Taiwan, ROC

TEL

: [phone]

FAX

: [phone]

MANUFACTURER

SUPPLIERS

Solutions Operations Division

-shi, Nagano, 399-8285

-Hahn-Str.4

-40670 Meerbusch

, Jinbao Street,

,

,

iv LS20 Rev.1

Korea

Epson Korea Co., Ltd.

Marketing T eam
27F DaeSung D
Seobusaet
Korea

TEL

: [phone]

FAX

: [phone]

Southeast Asia

Epson Singapore Pte. Ltd.

Factory Automation System
1 HarbourFront Place, #03
HarbourFront Tower One,
Singapore 098633

TEL

: [phone]

FAX

: [phone]

India

Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008

TEL

: [phone]

FAX

: [phone]

Japan

Epson Sales Japan Corporation

Factory Automation Systems Department
Nishi
Nishishinjuku
Japan

TEL

: [phone]

(Robot Business)

-Polis A, 606

-gil, Geumcheon-gu, Seoul, 153-803

-02,

-Shinjuku Mitsui Bldg. 6-24-1
, Shinjuku-ku, Tokyo 160-8324

LS20 Rev.1 v

For Customers in the European Union

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 / Manipulator manual (Maintenance section)

vi LS20 Rev.1

Label

Controller

Software

EPSON

RC+

Before Reading This Manual

This section describes what you should know before reading this manual.

Structure of Control System

The LS 20 series Manipulators can be used with the following combinations of Controllers
and software.

Robot Controller RC90 with the following label attached.

Turning ON/OFF Controller

RC90 EPSON RC+ 7.0 Ver.7.1.4 or later

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.

Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on

when it was shipped or the specifications. The procedures themselves, however, are
accurate.

LS20 Rev.1 vii

viii LS20 Rev.1

Setup & Operation

1. Safety 3

1.1 Conventions................................................................................................ 3

1.2 Design and Installation Safety .................................................................... 4

1.2.1 Strength of 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 Manipulator Labels ................................................................................... 12

2. Specifications 14

2.1 Features of LS20 series Manipulators ..................................................... 14

2.2 Model Number .......................................................................................... 15

2.3 Part Names and Outer Dimensions ......................................................... 16

2.3.1 LS20-804* ..................................................................................... 16

2.3.2 LS20-A04* .................................................................................... 20

2.4 Specifications ........................................................................................... 24

2.5 How to Set the Model ............................................................................... 26

3. Environments and Installation 27

TABLE OF CONTE NT S

3.1 Environmental Conditions ........................................................................ 27

3.2 Base Table ................................................................................................ 28

3.3 Mounting Dimensions ............................................................................... 29

3.3.1 LS20-804* ..................................................................................... 29

3.3.2 LS20-A04* .................................................................................... 31

3.4 Unpacking and Transportation ................................................................. 33

3.4.1 Precautions for Transport ation ........................................................ 33

3.4.2 Transpor tati on ................................................................................. 34

3.5 Installation Procedure ............................................................................... 35

3.5.1 Standard-Model ............................................................................ 35

3.5.2 Cleanroom-Model ......................................................................... 36

3.6 Connecting the Cables ............................................................................. 37

3.7 User Wires and Pneumatic Tube s............................................................ 38

3.8 Relocation and Storage ............................................................................ 39

3.8.1 Precautions for Relocation and Storage ...................................... 39

3.8.2 Relocation ..................................................................................... 40

4. Setting of End Effectors 41

4.1 Attaching an End Effector ......................................................................... 41

4.2 Attaching Cameras and Valv es ................................................................ 42

4.3 Weight and Inertia Settings ...................................................................... 43

4.3.1 Weight Setting .............................................................................. 43

4.3.2 Inertia Setting ............................................................................... 45

LS20 Rev.1 ix

TABLE OF CONTENTS

4.4 Precautions for Auto Acceleration/Deceleration of Jo int #3..................... 49

5. Motion Range 50

5.1 Motion Range Setting by Pulse Range (for All Joints) ............................. 50

5.2 Motion Range Setting by Mechanical Stops ............................................ 53

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate

5.4 Standard Motion Range ........................................................................... 58

Maintenance

5.1.1 Max. Pulse Range of Joint #1 ...................................................... 51

5.1.2 Max. Pulse Range of Joint #2 ...................................................... 51

5.1.3 Max. Pulse Range of Joint #3 ...................................................... 52

5.1.4 Max. Pulse Range of Joint #4 ...................................................... 52

5.2.1 Setting the Mechanical Stops of Joints #1 an d #2 ....................... 54

5.2.2 Setting the Mechanical Stop of Joint #3 ....................................... 56

System of the Manipulator ( for Joi nts #1 and #2) ................................... 58

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 ................................................................................................... 64

2.3 Greasing ................................................................................................... 65

2.4 Tightening Hexagon Socket Head Cap Bolts .......................................... 66

2.5 Matching Origins ...................................................................................... 66

2.6 Layout of Maintenance Parts ................................................................... 67

3. Covers ........................................................................................ 68

3.1 Arm Top Cover ......................................................................................... 69

3.2 Arm Bottom Cover .................................................................................... 70

3.3 Arm #1 Cover ........................................................................................... 70

3.4 Connector Plate ....................................................................................... 71

3.5 Connector Sub Plate ................................................................................ 72

3.6 User Plate................................................................................................. 72

4. Cable .......................................................................................... 73

4.1 Replacing Cable Unit ............................................................................... 73

4.2 Wiring Diagrams ....................................................................................... 78

4.2.1 Signal Cable ................................................................................. 78

4.2.2 Power Cable ................................................................................. 79

4.2.3 User Cable ................................................................................... 80

4.3 Replacing M/C Cable ............................................................................... 81

x LS20 Rev.1

TABLE OF CONTENTS

5. Arm #1 ........................................................................................ 84

5.1 Replacing Joint #1 Motor ......................................................................... 85

5.2 Replacing Joint #1 Reduction Gear Unit .................................................. 88

6. Arm #2 ........................................................................................ 91

6.1 Replacing Joint #2 Motor ......................................................................... 92

6.2 Replacing Joint #2 Reduction Gear Unit .................................................. 96

7. Arm #3 ...................................................................................... 100

7.1 Replacing Joint #3 Motor ....................................................................... 101

7.2 Replacing the Timing Be lt ...................................................................... 105

7.3 Replacing the Brake ............................................................................... 109

7.4 Checking the Timing Belt Tension .......................................................... 113

8. Arm #4 ...................................................................................... 114

8.1 Replacing Joint #4 Motor ....................................................................... 115

8.2 Replacing the Timing Be lt ...................................................................... 119

8.3 Replacing the Brake ............................................................................... 123

8.4 Replacing the Reduction Gear Unit ....................................................... 124

8.5 Checking the Timing Belt Tension .......................................................... 126

9. Bellows ..................................................................................... 127

10. Ball Screw Spline Unit ............................................................ 129

10.1 Greasing the Ball Screw Sp li ne U nit .................................................... 129

10.1.1 Standard-model (S type) .......................................................... 130

10.1.2 Cleanroom-model ..................................................................... 131

10.2 Replacing the Ball Screw Spline Unit ................................................... 133

11. Lithium Battery ........................................................................ 136

11.1 Replacing the Battery Unit (Lithium Battery ) ........................................ 138

11.2 Replacing the Resolver Board .............................................................. 139

11.3 Replacing the Control Board ................................................................ 141

12. LED Lamp .............................................................................. 142

13. Calibration .............................................................................. 143

13.1 About Calibration .................................................................................. 143

13.2 Calibration Procedure ........................................................................... 144

13.3 Accurate Calibration of Joint #2 ........................................................... 154

13.4 Calibration Procedure without using Calibration Wizard ..................... 156

14. Maintenance Parts List ........................................................... 160

LS20 Rev.1 xi

TABLE OF CONTENTS

xii LS20 Rev.1

Setup & Operation

This volume contains infor mation for setup and operation of the
LS20

Please read this volume
operating the Manipulators.

series Manipulators.

thoroughly before setti ng up and

associated instructions are not followed

death caused by electric shock exists if the associated

or physical damage to equipment and facilities exists if the

1. Safety

Installation and transportation of robots 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

WARNING

Setup & Operation 1. Safety

This symbol indicates that a danger of possible serious injury or
death exists if the
properly.

This symbol indicates that a danger of possible serious injury or
instructions are not followed properly.

This symbol indicates that a danger of possible harm to people

CAUTION

associated instructions are not followed properly.

LS20 Rev.1 3

Setup & Operation 1. Safety

Personnel who design and/or construct the robot system with this product must
read 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 res
severe 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.
designed and manufactur ed strict ly for use in a norma l indoor env iron ment. 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
seriou

■

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
problems.

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 lev el as tho se w ho have co mplet ed the tr aini ng
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:

■

Safety chapter in the EPSON RC+ User’s Guide to understand the

WARNING

ult in serious bodily injury and/or

s 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.

This product has been

safety

4 LS20 Rev.1

Setup & Operation 1. Safety

End of spline nut
F

L

1.2.1 Strength of Ball Screw Spline

If a bending load exceeding the allowable limit is placed on the ball screw spline, the
spline may be deformed or broken and not function normally.
If the load exceeding the allowance is placed, the ball screw spline needs to be replaced.
The allowable load depends on distance that the load is placed. Calculate the value by
referring to the following.

[Allowable bending moment]

M=50,000 N

Calculation example:
110 N (11.2 kgf) load is placed at 400 mm from the end of the spline nut

[Moment]

M=F

∙L＝

∙

mm

110·400＝44,000 N∙mm

LS20 Rev.1 5

Setup & Operation 1. Safety

Please carefully read the
the
the robot system without understanding the safety requirements is extremely
hazardous and may result in serious bodily injury and/or sever
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 t o

■

Before operating the robot system, make sure that no one is inside the
safeguarded area.
even when someone is in side the safeguarded area.
The motion of the Manipulat or is always in restricted (low speeds and low power)
status to secure the safety of an operator.
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.
the Manipulator moves abnormally is extremely hazardous and may result in
serious bodily injury and/o r severe equipment damage to the robot system.

To shut off power to the robot system, pull out the power plug from the power
source.
NOT connect it direct ly to a factory power source.

■

Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then pull out 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 insert or pull out the motor connectors w hile the power t o the robot system
is
extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnormally, and also may result in ele ctr ic sho c k and/or ma lfunc tion o f
the robot system.

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■

EPSON RC+ User’s Guide before operating the robot system. Operating

Safety-related Requirements in the Safety chapter of

e equipment

be stopped.

WARNING

WARNING

■

Be sure to connect the AC power cable to a power receptacle. DO

The robot system can be operated in the mode for teaching

However, operating the robot system

Continuing the operation while

turned ON. Inserting or pulling out the motor co n nectors w ith the p ow er ON i s

6 LS20 Rev.1

Setup & Operation 1. Safety

Whenever possible, only one person should operate the robot system.
necessary to operate t he r obot sy st em with mor e th a n one per s on, e nsure that al l
people involved com mu ni cat e with each other as to what t hey are doing and take
all necessary safety pr ecaut ions.

Joint #1, #2, and #4:
If the joints are operate d
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

Joint #3:
If the up
the maximum stroke for fi ve to ten times a day.

Oscillation (resonance) may
(Speed:
effector load. Oscillation arises from natural oscillation frequency of the Arm
and can be controlled by follow ing measures.

■

If it is

CAUTION

■
repeatedly with t he oper ating ang le less tha n 5 degr ees ,

for about five to ten t imes a day.

-and-down motion of the hand is less than 1 0 mm, move t he joint a hal f of

■

occur continuously in low speed Manipulator motion

approx. 5 to 20%) depending on combination of Arm orientation and end

Changing Manipulator speed
Changing the teach point s
Changing the end effe c t or load

LS20 Rev.1 7

Setup & Operation 1. Safety

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator
to deceleration motion and stops it at the maximum deceleration speed.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Pressing the Emergency Stop switch locks the brake and it may
cause wear on the friction plate of the brake, resulting in the short life of the brake.

Normal brake life cycle: 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 E-Stop 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 16.
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 of 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

8 LS20 Rev.1

Setup & Operation 1. Safety

Conditions for Measurement

LS20-804*

LS20

-A04*

Accel Setting

100

100

Speed Setting

100

100

Load [kg]

20

20

Weight Setting

20

20

Joint #1

Stop position

E-Stop signal
Input position

Target position

Motion start

position

Joint #2

To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance

2.1.2 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)

Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.

Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.

LS20 Rev.1 9

Controller RC90

Manipulator LS20-804* LS20-A04*

Free running time

Free running angle

Free running distance Joint #3 [mm] 110

Joint #1 + Joint #2 [sec.] 0.65 0.7
Joint #3 [sec.] 0.3
Joint #1 [deg.] 65 70
Joint #2 [deg.] 50 50
Joint #1 + Joint #2 [deg.] 115 120

Setup & Operation 1. Safety

Joint #3 / Joint #4

brake release switch

Joint #1

(rotating)

Joint #2

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2

+

−

+

−

+

−

+

−

Shaft

（Figure: LS20-804S）

Base

NOTE

1.5 Emergency Movement Without Drive Power

When the system is placed in emergency mode, push the arm or joint of the
Manipulator by hand as shown below:

Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the solenoid

brake applied to the joint has been released. Move the joint
up/down while pressing the brake release switch.

Joint #4 The shaft cannot be rotated by hand until the solenoid brake

applied to the shaft is released. Move the shaft while pressing
the brake release switch.

The brake release switch affects both Joints #3 and #4. When the brake release switch
is pressed in emergency mode, the brakes for both Joints #3 and #4 are released
simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is pressed
because the shaft may be lowered by the weight of the end effector.

10 LS20 Rev.1

Z position

(mm)

Tip load (kg)

5 kg or less

10 kg or less

15 kg or less

20 kg or less

0 > Z >= - 100

10000 or less

9000 or less

- 100 > Z >= - 200

7000 or less

5500 or less

- 200 > Z >= - 300

7500 or less

5000 or less

3500 or less

- 300 > Z >= - 420

5500 or less

3500 or less

2500 or less

Z

-axis height

0

(Origin point)

Z

NOTE

1.6 ACCELS Setting for CP Motions

To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the motion area, load, and Z-axis height.

Improper setting may cause following problems.
Reduction of the life and damage of the ball screw spline

Set ACCELS as follows according to the Z-axis height.

ACCELS setting value by Z-axis position and tip load

10000 or less

10000 or less

Setup & Operation 1. Safety

If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
Whether the ball screw spline shaft is deformed or bent

LS20 Rev.1 11

Setup & Operation 1. Safety

to prevent hands or fingers from being

collide against the operator. This is

ly hazardous and may result in

Hazardous voltage exists while the

sling work and operate a crane and a forklift.

shaft falling and rotating

1.7 Manipulator Labels

The following labels are attached near the locations of the Manipulator where specific
dangers exist.
Be sure to comply with descriptions and warnings on the labels to operate and maintain
the Manipulator safely.
Do not tear, damage, or remove the labels. Use meticulous care when handling those
parts or units to which the following labels are attached as well as the nearby areas:

Labels NOTE

A

B

Before loosening the base mountin g screws,
hold the arm and secure it tight ly with a band

caught in the Manipulator.

Do not enter the operation area while the
Manipulator is moving. The robot arm may

extreme
serious safety problems.

C

D

E

F

Manipulator is ON. To avoid electric shock,
do not touch any internal electric parts.

You can catch your hand or fingers between
the shaft and cov er when bringing your hand
close to moving parts.

* Manipulators with bellows do not have this
label for no danger of your hand or fingers
being caught.

Only authorized personnel should perform
When these operations are performed by

unauthorized personnel, it is extremely
hazardous and may result in serious bodily
injury and/or severe equipment damage to
the robot system.

Be careful of the
while the brake release switch is pressed
because the shaft may be lowered by the
weight of the end effector.

12 LS20 Rev.1

Setup & Operation 1. Safety

C

A

D

B

C

G

(Opposite side)

E

(Opposite side)

F

Labels NOTE

G

(Figure: LS20-804S)

LS20 Rev.1 13

Setup & Operation 2. Specifications

2. Specifications

2.1 Features of LS20 series Manipulators

The LS20 series Manipulators are advanced manipulators pursuing high speed and high
cost-performance.
The features of the LS20 series Manipulators are as follows:

Resolver for the Position Detect or

It includes no electrical components; therefore it has high resistance to
environment and hardly breaks down.

It mounts the resolver board and battery inside the manipulator; therefore the
calibration is not required when you disconnect the M/C cable.

Large Capacity

It supports the U-axis allowable moment up to 0.45 kg·m
It stably handles large loads by optimized control based on the each load.

Tact Time Improvement by High-speed Motion

2

It improves the tact time of delicate movements by acceleration/deceleration
speed optimized for each payload and stop short technology.

14 LS20 Rev.1

Environment

S

: Standard

C

: Cleanroom

Joint #3 stroke

: 390 mm : Cleanroom-Model (with bellows)

Arm length

80

: 800 mm

Payload

Standard

420 mm

LS20-804S

Standard

420 mm

LS20-A04S

Cleanroom

390 mm

LS20-A04C

2.2 Model Number

LS20-80 4 S

: 420 mm : Standard-Model

4

A0 : 1 0 00 mm

20 : 20 kg

Setup & Operation 2. Specifications

Environment

Cleanroom-model

This model has additional features that reduce dust emitted by the Manipulator to enable
use in clean room environments.

For details on the specifications, refer to Setup & Operation: 2.4 Specifications.

Payload Arm length Environment Joint #3 stroke Model Number

800 mm

20 kg

Cleanroom 390 mm LS20-804C

1000 mm

LS20 Rev.1 15

Setup & Operation 2. Specifications

Joint #3 / Joint #4

Brake release switch

Arm #1

Arm #2

Base

Shaft

MT label

(only for custom

specification)

Signature label

(Serial No.

of Manipulator)

Signal cable

Power cable

Fittings (blue)
for ø4 mm pneumatic tube

Fittings (blue) for ø6 mm
pneumatic tube

Fittings (white) for

ø6 mm

pneumatic tube

User connector
(15-pin D-sub connector)

LED lamp

CE label

User connector
(9-pin D-sub connector)

Fittings (white) for ø4 mm

pneumatic tube

KC Mark

NOTE

2.3 Part Names and Outer Dimensions

2.3.1 LS20-804*

LS20-804S (Standard-Model)

- The brake release switch affects both Joints #3 and #4. When the brake release switch is pressed
in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.

- While the LED lamp is on, the current is being applied to the manipulator. Performing any work

with the power ON is extremely hazardous and it may result in electric shock and/or improper
function of the robot system. Make sure to turn OFF the controller power before the maintenance
work.

16 LS20 Rev.1