Epson C Series, Maintenance Manual

Page: 155 / 668

C4 Maintenance 10. Joint #6
C Series Maintenance Manual Rev.2 135
10. Joint #6
WARNING
■
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting 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, disconnect 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.
■ Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then disconnect 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.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft during replacement.
The shock may shorten the life of the motors and encoder and/or damage them.
■ Never disassemble the motor and the encoder. Disassembled motor and
encoder will cause a positional gap and cannot be used again.
After parts have been replaced (motors, reduction gear units, electromagnetic 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.
Joint #6 Motor
Joint #6 electromagnetic brake
Joint #6 timing belt
Joint #6 Reduction gear unit