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2.1
Cautions on Maintenance and Inspection
When performing inspection or maintenance of the robot, strictly observe the following
precautions to protect yourself and coworkers.
•
Be sure to turn off the main power switch of the controller before approaching
the robot for maintenance and inspection.
2.2
Layout of Robot Components and Drive Mechanism
The layout of the robot mechanical components is shown in Fig. 2.1 and Fig. 2.2.
The drive mechanism of each axis is described below.
a)
Axis 1
The output of axis 1 AC servo motor is input to the reduction gear. The output of
the same gears directly controls the arm 1 motion.
b)
Axis 2
The output of axis 2 AC servo motor is input to the reduction gear. The output of
the same gear directly controls the arm 2 motion.
c)
Axis 3
The output of axis 3 AC servo motor is input to the ball screw nut through the
timing belt to move the ball screw spline up and down.
d)
Axis 4
The rotation of axis 4 AC servo motor is input to the reduction gear and the output
of axis 4 AC servo motor is input to the ball spline nut through the timing belt to
revolve the ball screw spline shaft.
Section 2 Maintenance of the Robot
!
MAINTENANCE MANUAL
DANGER
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