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10.2 Replacing the Ball Screw Spline Unit
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.
Maintenance
Ball Screw Spline Unit
parts
For Ball Screw Spline Unit
Grease
(AFB grease)
Hexagonal
wrench
Torque wrench
Nippers
Cross-point screwdriver
Tools
Force gauge
Suitable cord (Length about 1000 mm)
Wiping cloth
Material
Wire tie
Ball Screw
(1) Turn ON the Controller.
Spline Unit
(2) Push down the shaft to its lower limit while pressing the brake release switch.
Removal
(3) Turn OFF the Controller.
(4) Detach the wires/tubes from the end effector, and remove the end effector.
(5) This step is only for Cleanroom-model.
(6) Remove the Arm Top Cover and Arm Bottom Cover.
LS10-B Rev.6
Name
(width across flats: 3 mm)
(width across flats: 4 mm)
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.
Remove the bellows. For details, refer to Maintenance: 9. Bellows.
For details, refer to Maintenance: 3. Covers.
Maintenance 10. Ball Screw Spline Unit
Qty.
Each manipulator model
1
(Refer to Maintenance:
14. Maintenance parts)
Proper
quantity
1
For M4 screw
1
For M5 screw
1
1
For cutting wire tie
1
Only for Cleanroom-model
Axial tension (pulling force):
1
114 N (11.6 ± 0.5 kgf)
1
For belt tension
For wiping grease
1
(Spline shaft)
-
Note
141
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