Replacing The Signal Relay Board - Epson ES Series Manipulator Manual

13. Protected Model Maintenance

13.9 Replacing the Signal Relay Board

NOTE
Removal
Installation
CAUTION
220
For basic information, refer to chapter 10. Replacing the Signal Relay Board.
Before turning OFF the power for the replacement, keep the power of the manipulator ON
for more than 30 minutes. It is necessary for the super-capacitor of each motor to retain the
position data.
The charged motor can retain position data for about 2 hours when its cable is disconnected.
(Motor whose serial number start with "0" can retain the data for about 2 days.)
The position data cannot be retained beyond the time duration mentioned above after which
it will be lost. If this happens, Error 5016/195 will occur when the power is turned ON.
In this case, all the joints need to be calibrated again. (Refer to chapter 11. Calibration.)
(1) Disconnect cables from the base connector plate on the back of the manipulator and
remove the base connector plate. (Refer to chapter 2. Opening the Covers.) If the
base connector plate does not come out easily because of the liquid gasket, use a flat
screwdriver to remove the base connector plate from the manipulator base.
(2) Remove all connectors from the signal relay board (X10, X20, X30, X40, X50, X1,
and user connector). Open up the top and bottom clips and pull off connector X10,
X20, X30, and X40.
(3) Remove the four screws (M3×6) on the signal relay board and remove the board.
(1) Install a new signal relay board with four screws (M3×6).
(2) Securely connect the connectors (X10, X20, X30, X40, X50, X1, and user connector).
Be sure to connect the signal connectors securely. Do not bend the cables
sharply or damage them in any way.
malfunction of the robot.
(3) Mount the base connector plate on the back of the manipulator. (Refer to chapter 2.
Opening the Covers.)
(4) Seal the base connector plate and manipulator base with liquid gasket. (Refer to the
section Sealing the Manipulator in this chapter.)
(5) Connect the cables to the base connector plate.
(6) Turn ON the Controller power and test it with a few teach points to make sure that the
teach positions have not been offset. When you have confirmed that the position data
has been retained, replacement is completed. If there is any position found to be
offset, calibrate the manipulator by referring to the chapter 11. Calibration.
Part 2: Maintenance
Abnormal signals may cause the