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7.1 Replacing Joint #3 Motor
Maintenance
AC Servo Motor 200W
parts
Hexagonal
wrench
Spanner
Torque wrench
Tools
Nippers
Sonic tension meter
Suitable cord (Length about 800 mm)
Material
Wire tie
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down
NOTE
and rotating due to the weight of the end effector while the power to the Controller is OFF
or while the motor is in OFF status (MOTOR OFF).
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Joint #3 motor
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
to keep enough space and prevent the end effector hitting any peripheral equipment.
The brake release switch is applied to both Joints #3 and Joint #4.
When the brake release switch is pressed, the respective brakes of the Joint #3 and Joint
#4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is being
pressed because the shaft may be lowered by the weight of an end effector.
(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
For details, refer to Maintenance: 3.1 Arm Top Cover.
(5) Cut off the wire tie binding the Joint #3 motor cables.
Do not cut off the other wire ties that do not relate with removal of the User Plate.
(6) Remove the User Plate.
For details, refer to Maintenance: 3.5 User Plate.
(7) Disconnect the following connectors.
LS10-B Rev.6
Name
width across flats: 2 mm
width across flats: 4 mm
width across flats: 7 mm
Connectors: X231, X32, X43 (Hold the clip to remove.)
Maintenance 7. Joint #3
Qty.
Note
1
2197986
1
For M4 set screw
1
For M5 screw
For M4 bolt, M4 nut
1
For cutting wire tie
Z: Belt tension
1
69N (7.0 ± 0.5 kgf)
1
For belt tension
-
103
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