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Maintenance 11. Lithium Battery
11.2 Replacing the Battery Board
After battery board and parts have been replaced (motors, reduction gear units, brakes,
timing belts, ball screw spline unit, etc.), the Manipulator cannot operate properly because
a mismatch exists between the origin stored in each motor and its corresponding origin
stored in the Controller.
After replacing the parts, it is necessary to match these origins.
The process of aligning the two origins is called "Calibration".
Refer to Maintenance: 14. Calibration to perform the calibration.
Battery board
(1) Turn OFF the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
(3) Remove the arm top cover.
(4) Cut off the wire tie banding the connector cables.
(5) Disconnect the connectors X61, X62, X63, and X64 connected to the battery board.
(6) Loosen the screws securing the battery board and remove the battery board.
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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.
G10
G10
G10
2-M4×10
Battery
board
G20
G20
G20
2-M4×10
Battery
board
X61
X63
X62
X64
Battery board
G10 / G20 Rev.20
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