Joint #5 & Joint #6; Replacing The Joint #5 & Joint #6 Motor - Epson ProSix S5 Series Manual

8. Joint #5 & Joint #6
8.1 Replacing the Joint #5 & Joint #6 Motor
■ 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.
■ 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
WARNING
the robot system.
■ Be sure to connect the AC power cable to a power receptacle. DO NOT connect
it directly to a factory power source. To shut off power to the robot system, pull
out the power plug from the power source.
connecting the AC power cable to a factory power source 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 during replacement
procedures. The shock may shorten the life cycle of the motors and encoder
and/or damage them.
■ Never disassemble the motor and encoder. A disassembled motor and encoder
will cause a positional gap and cannot be used again.
■ Carefully use alcohol, liquid gasket, and adhesive following respective
instructions and also instructions below. Careless use of alcohol, liquid gasket,
or adhesive may cause a fire and/or safety problems.
- Never put alcohol, liquid gasket, or adhesive close to fire.
CAUTION
- Use alcohol, liquid gasket, or adhesive while ventilating the room.
- Wear protective gear including a mask, protective goggles, and oil-resistant
- If alcohol, liquid gasket, or adhesive gets on your skin, wash the area
- If alcohol, liquid gasket, or adhesive gets into your eyes or mouth, flush your
NOTE
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the

Manipulator cannot perform positioning properly because a mismatch exists between the
origin stored in each motor encoder 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 12. Calibration and follow the steps that pertain to the software you
are using to perform the calibration.
S5 Rev.5
Maintenance 8. Joint #5 & Joint #6 (Replacing the Motor)
gloves.
thoroughly with soap and water.
eyes or wash out your mouth with clean water thoroughly, and then see a
doctor immediately.
Performing any work while
155