Replacing The Timing Belts - Epson E2C Series Manipulator Manual

8. Replacing the Timing Belts

■ 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.
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:
(1) Turn ON the Controller.
(2) Push down the shaft to its lower limit while pressing the brake release button switch.
NOTE
(3) Turn OFF the Controller.
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.
E2C Rev.6
Be careful that the end effector does not hit any peripheral equipment.
The brake release button switch is applied to both Joints #3 and #4. When the brake
release button 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 button switch is
being pressed because the shaft may be lowered by the weight of an end effector.
Maintenance 8. Replacing the Timing Belts
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