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C4 Maintenance 12. Replacing the Battery Unit
12.2 Replacing the Battery Board
After parts have been replaced (motors, reduction gear units, brakes, timing belts, etc.), the
Manipulator cannot perform positioning properly because a gap exists between the origin
stored in each motor encoder and its corresponding origin stored in the Controller.
Therefore, it is necessary to match these origins after replacing the parts.
The process of aligning the two origins is called "Calibration".
Refer to C4 Maintenance 16. Calibration and perform the calibration after the parts
replacement.
Removal: Battery board
1.
Turn OFF the Controller power.
2.
Remove the Arm #1 upper cover.
For details, refer to C4 Maintenance: 3. Covers.
3.
Disconnect the connector from the control board 1.
Connector: GS01
4.
Remove the control board 1.
Cross recessed head screws: 3-M3×8
5.
Disconnect the three connectors from the battery board.
Connectors: 2 connectors for the batteries, CN3
6.
Remove the battery board fixed to the Arm #1.
Hexagon socket head cap bolts: 2-M3×8
152
C Series Maintenance Manual Rev.2
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