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(1) Mount the motor flange on the Joint #1 motor.
Joint #1 motor
Installation
(2) Apply grease around the motor shaft.
(3) Mount the waveform generator on the Joint #1
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(4) Insert the oil seal and mount the Joint #1 motor unit
(5) Connect the connectors X111, X10, and XB10.
(6) Mount the spring plate.
(7) Mount the connector plate.
(8) Mount the maintenance plate.
(9) Perform the calibration of Joint #1.
G10 / G20 Rev.20
Grease volume: 28 g
motor.
Be sure to fit the end face of the waveform generator
to the end face of the motor shaft. Tighten one of
the set screws on the flat face of the motor shaft until
the screw just touches the surface. Insert a bushing
into the other set screw hole to prevent damage to
the motor shaft. Then, tighten both set screws.
on the base.
Be sure to fit the O-ring properly.
The motor cable must face the connector plate side.
If it is difficult to mount the motor, push it while
moving Arm #1 slowly by hand.
For the details, refer to Maintenance: 4.1 Replacing Cable Unit - Cable unit
Installation Step (6)-2 for Table mounting, Ceiling mounting.
For details, refer to Maintenance: 3.4 Connector Plate.
For details, refer to Maintenance: 3.7 Maintenance Plate.
For details refer to Maintenance: 14. Calibration.
Maintenance 5. Arm #1
Motor flange
4-M6×20
Wave generator
M5 brass bushing
2-M5×8
set screw
Put the end
faces together
Motor unit
4-M5×25
141
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