Replacing The Motors - Epson E2C Series Manipulator Manual

5. Replacing the Motors

■ Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out 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, pull out 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 pull out 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. Disassembled motor and encoder
will cause a positional gap and cannot be used again.
■ Keep enough grease in the Manipulator.
CAUTION
insufficient grease will damage sliding parts and/or result in insufficient function of
the Manipulator. Once the parts are damaged, a lot of time and money will be
required for the repairs.
After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
NOTE
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 and follow the steps that pertain to the software
you are using to perform the calibration.
NOTE A brake is mounted on each motor of Joints #3 and #4 to prevent the shaft from moving
down and rotating 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 instructions below:
E2C Rev.6
Maintenance 5. Replacing the Motors
Operating the Manipulator with
107