Part 2: Maintenance
8. Replacing the Timing Belts
155
8. Replacing the Timing Belts
WARNING
Only trained personnel should be allowed to maintain this part.
When replacing the timing belts, make sure the power is turned OFF and pull
out the power plug from the power source. Failure to turn OFF the power can
result in electric shock and malfunction.
Lower Joint #3 carefully to prevent it from colliding with nearby equipment. Joint #3 can
be moved while the brake release button (See Figure 11 in the chapter
End Effectors
in Part
1) is being pushed when the power is turned ON. The brake on the joint #3 motor, which
normally prevents the end effector lowering under its own weight when either the power or
the motor itself is turned OFF, does not work while the timing belt is being replaced.
The power should be OFF while replacing the timing belt.
Once the timing belt is removed or replaced, the origin position changes. As a result, the
teach points you have been using also deviate from position. In order to use the original
teach points, you need to adjust the origin position.
You need to choose one point from among the currently held teach points. The accuracy of
the selected point should be easy to check. Adjust the origin point as described in chapter
11. Calibration
.
Types of timing belts
The timing belt is used one on Joint #3 and two on Joint #4. Specify the manipulator type
name and corresponding joint name when ordering a replacement timing belt.
Joint
Name
Specification
Old code
New code
#3 Z
belt 264-2GT-6
ZA003214 R13ZA00321400
U1 belt
264-2GT-9-T434N1
ZA003213
R13ZA00321300
#4
U2 belt
264-2GT-20-T434N1
ZA003212
R13ZA00321200
Locations of timing belts
Z belt (6 mm)
U2 belt (20 mm)
U1 belt (9 mm)
NOTE
NOTE
Summary of Contents for EL Series
Page 1: ...ES EL series Rev 9 EM019R893F SCARA ROBOT MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL ES EL series Rev 9 ...
Page 12: ...x ...
Page 14: ...2 ...
Page 16: ...1 Manipulator Part Names Part 1 Setup Operation 4 ...
Page 30: ...4 User Wires and Pneumatic Tubes Part 1 Setup Operation 18 ...
Page 42: ...5 End Effectors Part 1 Setup Operation 30 ...
Page 44: ...6 Attaching a Camera Valve and Other Devices Part 1 Setup Operation 32 ...
Page 68: ...8 Motion Range and Robot Coordinates Part 1 Setup Operation 56 ...
Page 70: ...9 Emergency Stop Part 1 Setup Operation 58 ...
Page 80: ...11 Clean Model Part 1 Setup Operation 68 ...
Page 92: ...80 ...
Page 94: ...Maintenance Safety Precautions Part 2 Maintenance 82 ...
Page 104: ...2 Opening the Covers Part 2 Maintenance 92 ...
Page 112: ...3 Replacing the Cable Unit Part 2 Maintenance 100 ...
Page 138: ...5 Replacing the Motors Part 2 Maintenance 126 ...
Page 162: ...6 Replacing the Reduction Gear Units Part 2 Maintenance 150 ...
Page 186: ...9 Replacing the Ball Screw Spline Unit Part 2 Maintenance 174 ...
Page 210: ...11 Calibration Part 2 Maintenance 198 ...
Page 214: ...12 Clean Model Maintenance Part 2 Maintenance 202 ...
Page 224: ...13 Protected Model Maintenance Part 2 Maintenance 212 13 6 Wiring Schematic 2 ...
Page 236: ...14 Maintenance Part Lists Part 2 Maintenance 224 ...