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Maintenance 8. Arm #4
8.3 Replacing the Brake
The brake of Joint #4 for G20 series is built in the motor. Replace the motor to change
the brake.
Maintenance
Solenoid brake
parts
Hexagonal wrench
Tools
Nippers
Force gauge
Suitable cord (Length about 800 mm)
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 the replacement procedure following the
removal steps from (1) to (3).
(1) Turn ON the Controller.
Joint #4 brake
Removal: G10
(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) Disconnect the connector X42.
(6) Cut off the wire tie used for binding the brake cables.
184
Name
G10
G20
width across flats: 1.5 mm
width across flats: 3 mm
width across flats: 2 mm
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: 3.1 Arm Top Cover.
Quantity
Note
1
R13B030501
-
-
1
For M3 set screw
1
For M4 screw
1
For M2.5 screw
1
For cutting wire tie
1
Belt tension 160N (16.3 kgf)
1
For belt tension
1
G10 / G20 Rev.20
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