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6. Replacing the Reduction Gear Units
■ Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out 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, pull out the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle. DO
NOT connect it directly to a factory power source.
WARNING
■ Before performing any replacement procedure, turn OFF the controller and
related equipment, and then pull out 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.
CAUTION
After
NOTE
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 Maintenance: 14. Calibration and follow the steps that pertain to the software
you are using to perform the calibration.
The M3 bolt on the reduction gear unit needs to be tightened with 294 N⋅cm (30 kgf⋅cm)
torque to give the bolt higher support ability although it normally needs to be tightened
with 245 N⋅cm (25 kgf⋅cm) torque. If the tightening torque is specified, fasten the bolt
with the specified torque.
E2C Rev.6
parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
Maintenance 6. Replacing the Reduction Gear Units
123
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