Joint #4 - Epson VT Series Manipulator Manual

Maintenance 12. Joint #4

12. Joint #4

■ Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors with
the power ON is extremely hazardous and may result in serious bodily injury as
the Manipulator may move abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■ To shut off power to the robot system, disconnect 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 source.
WARNING
■ Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then disconnect 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.
■ Be careful not to apply excessive shock to the motor shaft when replacing the
motors. The shock may shorten the life cycle of the motors and encoder and/or
damage them.
■ Never disassemble the motor and encoder. A disassembled motor and encoder
CAUTION
will cause a positional gap and cannot be used again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to
match these origins.
After replacing the parts, refer to the following section to perform calibration.
Maintenance 19. Calibration.
194
Joint #4 Reduction Gear Unit
Joint #4 Electromagnetic Brake
Joint #4 Motor
Joint #4 Timing Belt
VT Rev.1