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Section 1 Maintenance Items ........................................................................................... 9
1.1
Maintenance Schedule ........................................................................................... 9
1.2
Items for Maintenance and Inspection ................................................................. 10
1.3
Maintenance Tools ............................................................................................... 13
1.4
Maintenance Contract and Repair........................................................................ 13
1.4.1 Maintenance Contract .................................................................................... 13
1.4.2 Repair ............................................................................................................ 13
1.4.3 Modification .................................................................................................... 14
Section 2 Maintenance of the Robot .............................................................................. 15
2.1
Cautions on Maintenance and Inspection ............................................................ 15
2.2
Layout of Robot Components and Drive Mechanism ........................................... 15
2.3
Robot Maintenance Procedures ........................................................................... 18
2.3.1 Check of Cable Duct for Abnormality ............................................................. 18
2.3.2 Check of Hand and Base for Mounting .......................................................... 20
2.3.3 Check of Air Leakage ..................................................................................... 21
2.3.4 Lubrication of Ball Screw Spline Shaft ........................................................... 23
2.3.5 Check of Each Axis Drive Status ................................................................... 24
2.3.6 Check of Timing Belt Status ........................................................................... 24
2.3.7 Greasing of Reduction Gears (TH250A, TH350A, TH350A-T) ...................... 25
2.3.8 Replacement of Position Detector (or Encoder) Batteries ............................. 27
2.3.9 Disconnection of Arm 2 Cover ....................................................................... 31
2.4
Cautions on Robot Transport and Storage........................................................... 33
2.5.
Robot Home Point and Position Detector Error ................................................ 33
2.5.1 Setting Robot Home Point ............................................................................. 33
2.5.2 Position Detector Error ................................................................................... 34
2.5.3 Restoration from position detector error ........................................................ 35
2.6
Restoring Operation from Position Detector Error ................................................ 38
2.6.1 Encoder Status Display .................................................................................. 38
2.6.2 Encoder Error Reset Operation ..................................................................... 39
2.6.3 Multi-Turn Data Reset Operation ................................................................... 40
2.6.4 REORG Operation ......................................................................................... 42
2.6.5 ZEROP Operation .......................................................................................... 48
Section 3 Maintenance of Controller .............................................................................. 54
3.1
Cautions on Maintenance and Inspection ............................................................ 54
3.2
Layout of Controller Parts .................................................................................... 55
3.3
Maintenance Procedures ..................................................................................... 56
3.3.1 Check of Controller Air Vent Holes ................................................................ 56
3.3.2 Check of Safety Devices for Function ............................................................ 57
3.3.3 Battery Replacement ..................................................................................... 59
3.3.4 Replacement of Switching Power Supply Unit ............................................... 61
3.3.5 Replacement of Fuse (X8GN, X8GI Printed Board) ....................................... 63
3.3.6 Replacement of Output ICs (X8GN, X8GI Printed Board) ............................. 64
Section 4 Maintenance Replacement Parts ................................................................... 66
4.1
Robot Main Body Maintenance Replacement Parts List ...................................... 66
4.2
List of Mechanical Replacement Parts for Maintenance ...................................... 68
Table of Contents
8
MAINTENANCE MANUAL
Page
STE85390
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