Joint #1 - Epson C Series Maintenance Manual

5. Joint #1

■ Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then disconnect 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 connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting 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
WARNING
malfunction of 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.
disconnect the power plug from the power source. Performing any work while
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 of the motors and encoder and/or
damage them.
■ Never disassemble the motor and encoder. Disassembled motor and encoder
CAUTION
will cause a positional gap and cannot be used again.
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot perform positioning properly because a gap 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 C8 Maintenance 16. Calibration and follow the steps to perform calibration.
Joint #1 Reduction gear unit
Maintenance procedures differ depending on the installation type of the M/C cable.
5.1 M/C Cable Backward (Joint #1)
5.2 M/C Cable Downward (Joint #1)
C Series Maintenance Manual Rev.2
Joint #1 Timing belt
C8 Maintenance 5. Joint #1
To shut off power to the robot system,
Joint #1 Electromagnetic brake
Joint #1 Motor
(Figure: C8-A1401* (C8XL))
269