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Maintenance 5. Replacing the Motors (Joint #1)
Installation
(1) Mount the motor flange on the Joint #1
(2) Mount the waveform generator on the Joint
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(3) Insert the oil seal and mount the Joint #1
(4) Connect the connectors X110 and X11.
(5) Install the base connector box.
(6) Perform the calibration of Joint #1.
112
motor.
#1 motor.
Be sure to fit the end face of the waveform
generator to the end face of the motor
shaft. Tighten one of the setscrews on the
flat face of the motor shaft until the screw
just touches the surface. Insert a bushing
into the other setscrew hole to prevent
damage to the motor shaft. Then, tighten
both setscrews.
motor unit on the base.
If it is difficult to install the motor, push it
while moving Arm #1 slowly by hand.
For details on the installation method, refer to Maintenance: 3.4 Base Connector
Box.
For details on the calibration method, refer to Maintenance: 14. Calibration.
Bushing
M4×6
(Round
chamfer side)
End face of
End face of
motor shaft
waveform generator
3-M4×15
Motor flange
Flat
Motor flange
Waveform
generator
M4×6
(Flat side)
E2C Rev.6
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