Epson LS3-401 series, LS6-702 series, LS series, LS6-602 series, LS6-502 series Manipulator Manual

Rev.10

EM16XR3299F

SCARA ROBOT

LS series

MANIPULATOR MANUAL

MANIPULATOR MANUAL LS series

Rev.10

SCARA ROBOT

LS series Manipul ator M anual

Rev.10

Copyright  2011-2016 SEIKO EPSON CORPORATION. All rights reserved.

ii LS Rev.10

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 qu ality controls, tests, and inspections to cer tify 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):

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 i

s 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 user of all possible hazards.

LS Rev.10 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

iv LS Rev.10

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 / Manipulator manual (Maintenance section)

LS Rev.10 v

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.

TYPE A:

Controller

Software

RC90 EPSON RC+ 5.0

LS3-401*, LS6-602*

RC90 Controller Firmware Version

Ver.3.0.*.*

EPSON RC+ 5.0

Before Ver.5.4.0

!!!

Ver.5.4.1 or later

OK

OK: Compatible All functions of the EPSON RC+ 5.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+5.0 Ver.

5.4.1 or later. Controller firmware update cannot be executed.

vi LS Rev.10

TYPE B: Robot Controller RC90 with the following label attached.

Label

Controller

Software

RC90 EPSON RC+ 7.0

LS3-401*

RC90 controller firmware

Ver.7.0.2.0 or later

EPSON RC+ 7.0

Before Ver.7.0.1

!!!

Ver.7.0.2 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+ 7.0 Ver.

7.0.2 or later.

Manipulator serial No. : L6**00****

LS6-602*

RC90 controller firmware

Ver.7.0.2.0 or later

EPSON RC+ 7.0

Before Ver.7.0.1

!!!

Ver.7.0.2 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+ 7.0 Ver.

7.0.2 or later.

Manipulator serial No. : L6 * *01* * * * or lat er

LS6-502*, LS6-602*, LS6-702*

RC90 controller firmware

Ver.7.1.6.0 or later

EPSON RC+ 7.0

Before Ver.7.1.2

!!!

Ver.7.1.3 or later

OK

OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are

available.

!!!: Compatible Connection is OK. We recommend using EPSON RC+ 7.0 Ver.

7.1.3 or later.

LS Rev.10 vii

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to
turn ON/OFF all the hardware components. For the Controller composition, refer to the
table above.

Shape of Motors

The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.

Setting by Using Software

This manual contains setting procedures by using software. They are marked with the
following icon.

Figures in this Manual

The figures of manipulators indicated in this manual are basically Standard-model
Manipulator. Unless special instruction is provided, the specifications of Standard-model
and Cleanroom-model are the same.

EPSON

RC+

viii LS Rev.10

T A BL E OF CO NT E NT S

LS Rev.10 ix

Setup & Operation

1. Safety 3

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

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

1.2.1 Strength of the Ball Screw S pl in e ................................................. 5

1.3 Operation Safety ...................................................................................... 6

1.4 Emergency Stop ....................................................................................... 8

1.4.1 Controller Firmware Ver. 7.0.2.3 or earlier ................................... 8

1.4.2 Controller Firmware Ver. 7.0.2.4 or later .................................... 10

1.5 Emergency Movement Without Drive Power ......................................... 12

1.6 ACCELS Setting for CP M ot ions ............................................................ 13

1.7 Warning Labels ....................................................................................... 14

2. Specifications 16

2.1 Features of LS series Manipulators ....................................................... 16

2.2 Model Number ........................................................................................ 17

2.3 Part Names and Outer Dimens ions ....................................................... 18

2.3.1 LS3 ............................................................................................. 18

2.3.2 LS6 ............................................................................................. 22

2.4 Specifications ......................................................................................... 26

2.5 How to Set the Model ............................................................................. 28

3. Environments and Installation 29

3.1 Environmental Conditions ...................................................................... 29

3.2 Base Table .............................................................................................. 30

3.3 Mounting Dimensions ............................................................................. 31

3.3.1 LS3 ............................................................................................. 31

3.3.2 LS6 ............................................................................................. 33

3.4 Unpacking and Transportation ............................................................... 35

3.5 Installation Procedure............................................................................. 36

3.5.1 Standard-Model .......................................................................... 37

3.5.2 Cleanroom-Model ....................................................................... 38

3.6 Connecting the Cables ........................................................................... 39

3.7 User Wires and Pneumatic T ubes .......................................................... 40

3.8 Relocation and Storage .......................................................................... 41

3.8.1 Precautions for Relocat ion and Storage .................................... 41

3.8.2 Relocation ................................................................................... 42

4. Setting of End Effectors 43

4.1 Attaching an End Effector....................................................................... 43

4.2 Attaching Cameras and Valves .............................................................. 45

4.3 Weight and Inertia Settings .................................................................... 46

4.3.1 Weight Setting ............................................................................ 46

4.3.2 Inertia Setting ............................................................................. 49

4.4 Precautions for Auto Acceleration/Decelerat ion of Joint #3 ................... 53

T A BL E OF CO NT E NT S

x LS Rev.10

5. Motion Range 54

5.1 Motion Range Setting by Pulse Range (for All Joints) ............................ 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 M echanical Stops ........................................... 57

5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ...................... 58

5.2.2 Setting the Mechanica l Stop of Joint #3 ..................................... 60

5.3 Setting the Cartesian (Recta ngular) Range in the XY Coordinate

System of the Manipulator (for Joints #1 and #2) .................................. 62

5.4 Standard Motion Range .......................................................................... 62

Maintenance

1. Safety Maintenance 65

2. General Maintenance 66

2.1 Maintenance Inspection .......................................................................... 66

2.1.1 Schedule for Maintenanc e I nspection ......................................... 66

2.1.2 Inspection Point ........................................................................... 67

2.2 Overhaul (Parts Replacement) ............................................................... 68

2.3 Greasing .................................................................................................. 70

2.4 Tightening He xagon Socket Head Cap Bolts ......................................... 71

2.5 Matching Origins ..................................................................................... 72

2.6 Layout of Maintenance Parts .................................................................. 73

3. Covers 74

3.1 Arm Top Cover ........................................................................................ 75

3.2 Arm Bottom Cover ................................................................................... 75

3.3 Connector Plate ...................................................................................... 76

3.4 Connector Sub Plate ............................................................................... 77

3.5 User Plate................................................................................................ 77

4. Cable 78

4.1 Replacing Cable Unit .............................................................................. 79

4.2 Wiring Diagrams ...................................................................................... 84

4.2.1 Signal Cable ................................................................................ 84

4.2.2 Power Cable ................................................................................ 86

4.2.3 User Cable .................................................................................. 87

4.3 Replacing M/C Cable .............................................................................. 88

5. Arm #1 91

5.1 Replacing Joint #1 Motor ........................................................................ 92

5.2 Replacing Joint #1 Reduction G ear Unit ................................................ 95

T A BL E OF CO NT E NT S

LS Rev.10 xi

6. Arm #2 98

6.1 Replacing Joint #2 Motor ....................................................................... 99

6.2 Replacing Joint #2 Reduction Gear Unit .............................................. 103

7. Arm #3 107

7.1 Replacing Joint #3 Motor ..................................................................... 108

7.2 Replacing the Timing Belt ..................................................................... 112

7.3 Replacing the Brake .............................................................................. 116

7.4 Checking the Timing Belt Tension (Z Belt) ........................................... 120

8. Arm #4 121

8.1 Replacing Joint #4 Motor ..................................................................... 122

8.2 Replacing the Timing Belt .................................................................... 126

8.2.1 U2 Belt ...................................................................................... 127

8.2.2 U1 Belt ...................................................................................... 132

8.3 Replacing the Brake (For LS6 series) .................................................. 135

8.4 Checking the Timing Belt Tension (U1, U2 Belts) ................................ 137

9. Bellows 138

10. Ball Screw Spline Unit 140

10.1 Greasing the Ball Screw Spline Unit .................................................. 140

10.1.1 Standard-model (S type) ........................................................ 141

10.1.2 Cleanroom-model ................................................................... 142

10.2 Replacing the Ball Screw Spline Unit ................................................. 143

11. Lithium Battery and Boards 146

1 1. 1 Replacing the Battery Unit (Lithium Battery) ...................................... 148

1 1. 2 Replacing the Resolver Board ............................................................ 149

11.3 Replacing the Control Board .............................................................. 151

12. LED Lamp 152

13. Calibration 153

13.1 About Calibration ................................................................................ 153

13.2 Calibration Procedure......................................................................... 154

13.3 Accurate Calibration of Jo int #2 ......................................................... 164

13.4 Calibration Procedure w ithout using Calibration Wizard ................... 166

14. Maintenance Parts List 170

14.1 LS3 ..................................................................................................... 170

14.2 LS6 ..................................................................................................... 171

T A BL E OF CO NT E NT S

xii LS Rev.10

Setup & Operation

This volume contains information for setup and operation of the
LS

series Manipulators.

Please read this volume

thoroughly before setti ng up and

operating the Manipulators.

Setup & Operation 1. Safety

LS Rev.10 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 LS Rev.10

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 s kill lev el as tho se who hav e 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:

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 st rictly for us e in a normal indo or

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

LS Rev.10 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]

LS3: M=13,000 N∙mm
LS6: M=27,000 N∙mm

Example: If 100 N

load is applied
at 200 mm from
the end of the spline nut

[Moment]

M=F∙L＝100∙200＝20,000 N∙mm

End of the
spline nut

F

L

Setup & Operation 1. Safety

6 LS Rev.10

1.3 Operation Safety

The following items are sa fety precautions for qualified Oper at or per sonnel:

WARNING

■

Please carefully read the

Safety-related Requirements in the Safety chapter of

the

Safety and Installation manual before operat ing the robot sy stem. 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 s evere equipment damage to the robot system.

WARNING

■

To shut off power to the robot system, pull out 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 sour ce.

■

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 th e motor c onnec tors w hil e the pow er to the r obot sy ste m
is turned ON.

Inserting or pulling out the mot or con nector s with t he power O N is

extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnormally, and also may result in electric shoc k an d/or malfu ncti on of
the robot system.

Setup & Operation 1. Safety

LS Rev.10 7

CAUTION

■

Whenever possible, only one person should operate the robot system.

If it is

necessary to operate t he r obot sy ste m with mor e tha n one per s on, en sure th at al l
people involved commu ni cate with each other as to what t hey are doing and take
all necessary safety precautions.

■

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

repeatedly with the op erat ing ang le less t han 5 degr ees,

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 t imes a day.

Joint #3:
If the up

-and-down motion of the hand is less than 10 mm, move the joint a hal f 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 orientat ion a nd end

effector load. Oscillation arises from natural oscillation frequency of the Arm
and can be controlled by follow in g measures.

Changing Manipulator speed
Changing the teach points
Changing the end effe ct or load

Setup & Operation 1. Safety

8 LS Rev.10

1.4 Emergency Stop

Emergency stop motions of the Manipulator vary depending on the controller firmware.
See the section for the Controller firmware of your Controller.

1.4.1 Controller Firmware Ver. 7.0.2.3 or earlier

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.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory until the robot system stops is different from that in normal
operation. It may also result in short life of the reduction gear unit due to the shock or
the electromagnetic brake due to the worn friction plate.
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 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)

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.

Setup & Operation 1. Safety

LS Rev.10 9

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

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)

Free running distance in emer gency

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.

Conditions for

Measurement

LS3-401*

LS6-602*

Accel Setting

100

100

Speed Setting

100

100

Load [kg]

3

4

Weight Setting

3

4

Joint #1

Point where the
emergency stop
signal is input

Start point of
operation

Target point

Stop point

Joint #2

Controller RC90

Manipulator LS3-401* LS6-602*

Free running time

Joint #1 + Joint #2 [sec.] 0.4 0.7
Joint #3 [sec.] 0.1 0.2

Free running angle

Joint #1 [deg.] 110 100
Joint #2 [deg.] 20 45
Joint #1 + Joint #2 [deg.] 130 130

Free running distance Joint #3 [mm] 20 50

Setup & Operation 1. Safety

10 LS Rev.10

1.4.2 Controller Firmware Ver. 7.0.2.4 or later

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 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 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

Setup & Operation 1. Safety

LS Rev.10 11

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)

Free running distance in emer gency

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.

Conditions for
Measurement

LS3-401*

LS6-502*, 602*, 702*

Accel Setting

100

100

Speed Setting

100

100

Load [kg] 3 6

Weight Setting 3 6

Joint #1

Point where the
emergency stop
signal is input

Start point of
operation

Target point

Stop point

Joint #2

Controller RC90
Manipulator LS3-401* LS6-502* LS6-602* LS6-702*

Free running
time

Joint #1 + Joint #2 [sec.] 0.4 0.4 0.7 0.7
Joint #3 [sec.] 0.1 0.2

Free running
angle

Joint #1 [deg.] 110 42 100 85
Joint #2 [deg.] 20 42 45 50
Joint #1 + Joint #2 [deg.] 130 84 130 135

Free running
distance

Joint #3 [mm] 20 90

Setup & Operation 1. Safety

12 LS Rev.10

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 LS3: Rotate the shaft by hand.

LS6: The shaft cannot be rotated b y hand until the solenoid brake

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

+

−

+

−

+

−

+

−

Joint #3

brake release switch

Joint #1

(rotating)

Joint #2

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2

Shaft

(Figure: LS3-401S)

LS3: The brake release switch affects only Joint #3. When the brake release switch is

pressed in emergency mode, the brake for Joint #3 is released.
Be careful of the shaft while the brake release switch is pressed because the s haft may
be lowered by the weight of an end effector.

LS6: The brake release switch affects both Joints #3 and #4. When the brake release

switch is pressed in emergency mode, the brake 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 an end effector.

NOTE

Setup & Operation 1. Safety

LS Rev.10 13

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 tip load and the Z-axis height.

Improper setting may cause following problems.

- Decline in the life and damage of the ball screw spline

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

ACCELS setting values by Z-axis height and tip l oad

LS3

Z-axis height

(mm)

Tip load

1 kg or less

2 kg or less

3 kg or less

__- 0 > Z >= _- 50

25000 or less

25000 or less 22500 or less

_- 50 > Z >= - 100

22500 or less

15000 or less

- 100 > Z >= - 150

17500 or less

10000 or less

LS6

Z-axis height

(mm)

Tip load

2 kg or less

4 kg or less

6 kg or less

__- 0 > Z >= _- 50

25000 or less

25000 or less

25000 or less

_- 50 > Z >= - 100

15000 or less

- 100 > Z >= - 150

17500 or less

12500 or less

- 150 > Z >= - 200

15000 or less

10000 or less

Z

Z-axis height 0

(Origin position)

If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following points.

- Whether or not the ball screw spline shaft is deformed or bent

NOTE

Setup & Operation 1. Safety

14 LS Rev.10

1.7 Warning Labels

The Manipulator has the following warning labels.
The warning labels are attached around the locations 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 warning labels. U se meticulous care when handling
those parts or units to which the following warning labels are attached as well as the
nearby areas.

Location Warning Label NOTE

A

Before loosening the base mo untin g scr ews, hold
the arm and secure it tightly with a band to
prevent hands or fingers from being caught in the
Manipulator.

B

Do not enter the operation area while the
Manipulator is moving. The robot arm may
collide against the operator. This is extremely
hazardous and may result in serious safety
problems.

C

Hazardous voltage exists while the Manipula tor is
ON. To avoid electric shock, do not touch any
internal electric parts.

D

You can catch your hand or fingers between the
shaft and cover 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.

E

Setup & Operation 1. Safety

LS Rev.10 15

LS3

C

A

D

B

C

E

(Opposite side)

(Figure: LS3-401S)

LS6

C (Arm Top Cover

)

A

D

B

C

E

(Opposite side)

(Figure: LS6-602S)

Setup & Operation 2. Specifications

16 LS Rev.10

2. Specifications

2.1 Features of LS series Manipulators

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

Resolver for the Position Detector

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 0.12 kg·m

2

(LS6) / 0.05 kg·m2 (LS3).

It stably handles large loads by optimized control based on the each load.

Tact Time Improvement b y High-speed Motion

It improves the tact time of long-range movements by readjusting the highest speed.
(LS3)

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