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2. Service Procedures
Replacing the Outer Link Motors or Har-
monic Drives in the PFDD6
Step
1.
Remove the foam covers from the outer link, including J4 and J5.
2.
Remove the J5 cover plate from the J5/J6 axes.
Unplug the J4 to J5 harness from the J4 slave amplifier, and pull the harness through J4 into the J5
3.
housing.
4.
Remove the J5/J6 axes from J4 by removing the (8) M4 X 8 SHCS.
At this point the J5/J6 assembly may be returned to the factory and a new assembly attached.
5.
31
Table 2-13: Replacing the Assembly
Action
PreciseFlex™ Direct Drive Robots - Service Manual
Part Number: 628651 Rev. A
Copyright © 2024, Brooks Automation
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