Replacing The Motor Of The Motor Reversing Type: Sa7R - IAI ROBO Cylinder RCS2 Series Operating Manual

15.9.5

Replacing the Motor of the Motor Reversing Type: SA7R

[Items Required for Replacement]
 Replacement motor with pulley (See the photograph on the
right) (Confirm that the motor has a countermark.)
 PC or teaching pendant
 Tension gauge (capable of tensioning to 8 kgf or greater)
 Strong string, looped (or long tie-band)
 Allen wrenches
 Phillips screwdrivers
 5.5-mm spanner wrench or needle-nose pliers
[Overview of Replacement]
1) Remove the belt and replace the motor.
2) Restore the home position.
Press the slider against the mechanical end on the home side, and move the motor shaft away from
the countermark by the specified distance. With the slider and motor shaft affixed in these positions,
adjust the belt to the specified tension.
3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position.
If there is a deviation when the SCON controller is being used, use home return offset distance to
make the adjustments. If the SSEL or the X-SEL controller is being used, use home preset value to
make the adjustments.
Use Parameter home return offset distance (SCON) or home preset value
(SSEL and X-SEL) to specify the settings (The values displayed above are
factory default settings).
90
Home position
Z phase ON position
The countermark on the motor aligns with this position.
Approx. 2 mm
Equivalent to 180 degrees
in motor angle
Approx. 2 mm
Equivalent to 90 degrees in
motor angle
Approx. 2 mm
Equivalent to 45 degrees in
motor angle
Mechanical end