Table of Contents
Advertisement
Maintenance 7. Arm #3
7.1 Replacing Joint #3 Motor
Maintenance
AC Servo Motor (100W)
parts
Hexagonal wrench
Torque wrench
Nippers
Tools
Force gauge
Suitable cord (Length about 800 mm)
Wire tie
Material
NOTE
LS3: A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down
LS6: A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from
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
(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
(5) Remove the control board.
108
Name
width across flats: 2.5 mm
width across flats: 3 mm
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).
moving down 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).
sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
LS3: The brake release switch affects only Joint #3. When the brake release switch
is pressed, the Joint #3 brake is released.
Be careful of the shaft while the brake release switch is being pressed because
the shaft may be lowered by the weight of an end effector.
LS6: 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.
For details, refer to Maintenance: 3.1 Arm Top Cover.
For details, refer to Maintenance: 11.3 Replacing Control Board.
Quantity
1
R13B000101
1
For M5 set screw
1
For M4 screw
1
1
For cutting wire tie
1
Z: Belt tension
69 N (7.0 ± 0.5 kgf⋅cm)
1
For belt tension
-
Note
LS Rev.10
Hide quick links:
Advertisement
Table of Contents
