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9.1.2
With the R6Y31110L03067NJ5 and R6Y31110H03067NJ5 (4-axes specification) robots, the cable protrudes from the
α-axis shaft.
Shaft, moveable base, and spring cover attachment is the same as that for the 3-axes specification robot.
1
Post a sign indicating that the robot
is being adjusted.
Post a sign indicating that the robot is being adjusted
2
to prevent others from turning on the controller
power.
2
Enter the safety enclosure.
3
Attach the shafts.
Attach the shafts while ensuring to hook the shaft
plastic bearings onto the arm and moveable base link
balls. The link balls can be stretched by hand at the
end of the shaft as shown in the Fig.
The depression on the shafts for spring cover
attachment should face upward.
The moveable base attachment direction is as shown in
the Fig. Refer to "2.2 Adjusting the θ-axis origin
position" in Chapter 3 for details.
CAUTION
By attaching the shafts with hands placed anywhere other
than the shaft end, the joint between the shaft and shaft end
may deform, possibly leading to malfunction. Ensure to
place hands on the end of the shaft as shown in the Fig. on
the right.
Take care not to pull the springs on the shafts too much.
If stretched too far, the springs may not return to their
original shape, possibly leading to malfunction.
2-38
R6Y31110L03067NJ5, R6Y31110H03067NJ5 (4-axes specification)
Step 3
Shaft attachment
Plastic bearing
Link ball
Moveable base side
Motor cable
side
Arm side
Link ball
α-axis
Depression
Encoder
cable side
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