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6. If the robot does not move to the points (poses) correctly, perform the calibration of all
joints and axes.
9.2.3
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 robot 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".
Battery board Removal
1. Turn OFF the Controller.
2. Push down the shaft to its lower limit while pressing the brake release button switch. Be
sure to keep enough space and prevent the end effector hitting any peripheral equipment.
The brake release button switch is applied to both Z and U. When the brake release
button switch is pressed, the respective brakes of the Z and U 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.
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.
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E1101000117GB01
MYS450L
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