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Maintenance 6. Joint #2
6.1 Replacing Joint #2 Motor
Maintenance
AC Servo
Parts
Motor
Hexagonal
wrench
Tools
Torque wrench
Nippers
Wiping cloth
Material
Wire tie
Grease
Grease
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down
NOTE
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).
Move the shaft down to its lower limit before the replacement procedure following the
removal steps.
Joint #2 Motor
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch.
(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
(5) Remove the User Plate.
(6) Cut off the wire tie binding the cables.
(7) Disconnect the connectors.
94
Name
520 W
width across flats: 2 mm
width across flats: 3 mm
SK-1A
Be 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 Joint #4.
When the brake release switch is pressed, the respective brakes of the Joint #3 and Joint
#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.
For details, refer to Maintenance: 3.5 User Plate.
Do not cut the other wire ties.
Connectors: X221, X42 (Hold the clip to remove.)
Qty.
Note
1
2197985 (without oil seal)
1
For M4 set screw
1
For M4 screw
1
1
For cutting wire tie
1
For wiping grease
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LS10-B Rev.6
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