Joint #2 - Epson RS Series Maintenance Manual

6. Joint #2

■ 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
malfunction of the robot system.
■ To shut off power to the robot system, disconnect the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle.
WARNING
DO NOT connect it directly to a factory power source.
■ 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.
■ Be careful not to apply excessive shock to the motor shaft when replacing the motors.
The shock may shorten the life cycle of the motors and encoder and/or damage them.
■ Never disassemble the motor and encoder. A disassembled motor and encoder
CAUTION
will cause a positional gap and cannot be used again.
After parts have been replaced (motors, reduction gear units, brakes, timing belts, ball screw
spline unit, etc.), the Manipulator cannot operate properly because a mismatch exists between
the origin stored in each motor 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 13. Calibration to perform the calibration.
RS series Maintenance Rev.3
RS3 RS4 Maintenance 6. Joint #2
Joint #2 motor
Joint #2 reduction gear unit
(Figure: RS3-351S)
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