Table of Contents
Advertisement
7.1 Replacing Joint #3 Motor
Maintenance
AC Servo Motor (400W)
parts
Hexagonal wrench
Nippers
Tools
Force gauge
Suitable cord (Length about 800 mm)
Wiping cloth
Wire tie
Material
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from 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).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
Joint #3 motor
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch.
(3) Turn OFF the Controller.
(4) Remove the arm top cover and the arm bottom cover.
(5) Cut off the wire tie used for binding the motor cables to the Joint #3 motor.
(6) Disconnect the following connectors.
G10 / G20 Rev.20
Name
width across flats: 2 mm
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 #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #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. Covers.
Connectors X231, X31 (Hold the claw to remove.)
Connector X63
Maintenance 7. Arm #3
Quantity
R13B000607
1
R13B000616
(For S/N: 1**** or later)
1
For M4 set screw
1
For M4 screw
1
For M5 screw
1
For cutting wire tie
1
Belt tension 130 N (13.3 kgf)
1
For belt tension
For wiping grease
1
1
Note
155
Advertisement
Table of Contents
