Table of Contents
Advertisement
8.1 Replacing Joint #4 Motor
Maintenance
AC Servo Motor 150 W
parts
Hexagonal
wrench
Torque wrench
Nippers
Tools
Force gauge
Suitable cord (Length about 800 mm)
■ The belt must be installed with proper tension; otherwise the following problems
may occur.
If falling below the lower limit : Jumping of the belt gears (position gap)
CAUTION
If exceeding the upper limit
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 #4 motor
(1) Turn ON the Controller.
Removal
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
(5) Cut off the wire tie binding the cables.
(6) Disconnect the connectors.
LS10-B Rev.6
Name
width across flats: 2 mm
width across flats: 3 mm
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.
At this point, do not cut off a wire tie (in the duct fittings outlet) that binds the cables to
the User Plate.
Connectors: BR4, X241, X44 (Hold the clip to remove.)
Qty.
1
2197987
1
For M4 set screw
1
For M4 screw
1
1
For cutting wire tie
U1:
1
Axial tension (pulling force)
114N (11.6 ± 0.5 kgf)
1
For belt tension
: Abnormal noise or vibration (oscillation),
decline in the life of driving parts
Maintenance 8. Joint #4
Note
117
Advertisement
Table of Contents
