Ball Screw Spline Unit - Epson G Series Maintenance Manual

10. Ball Screw Spline Unit

■ 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.
After parts have been replaced (motors, reduction gear units, brakes, timing belts, ball screw
NOTE

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.
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving down
due to the weight of the end effector while the power to the Controller is OFF or while the
motor is in OFF status (MOTOR OFF). (The brake for Joint #4 is only installed to G6-
**3**.)
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps from (1) to (3).
Maintenance
Ball Screw Spline Unit
parts
Grease For Ball Screw Spline Unit (AFB grease)
Hexagonal wrench (width across flats: 3 mm)
Nippers
Tools Force gauge
Suitable cord (Length about 1000 mm)
Wiping cloth
Material Wire tie
G series Maintenance Rev.3
G6 Maintenance 10. Ball Screw Spline Unit
Name Quantity
Each manipulator model
(Refer to
1
14. G6 Maintenance Parts)
Proper
quantity
1 For M4 screw
1 For cutting wire tie
1 Belt tension
70 N (8.2 kgf), 80 N (8.1 kgf),
130 N (13.2 kgf)
1 For belt tension
1 For wiping grease
2
Note
301