Epson N6 Series, Manipulator Manual

Page: 277 / 376

Maintenance 5. Actuator Units
N6 Rev.2 265
5. Actuator Units
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 actuator units and motor shaft
during replacement procedures. The shock may shorten the life of the actuator
units and motor and/or damage them.
■ Never disassemble the parts (units). Disassembled the parts will cause a
positional gap and cannot be used again.
After parts (units) have been replaced, the Manipulator cannot perform positioning
properly because a gap exists between the origin stored in the parts 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 8. Calibration and follow the steps to perform calibration.
The Joint #5 and #6 are not equipped with an actuator unit. Replace the following parts
for each
.
Motor unit, timing belt, electromagnetic brake, Joint #5 and # 6 units
CAUTION
■
This procedure has possibility of hands and fingers being caught and/or damage
or malfunction to the Manipulator. Be very careful when performing
maintenance.
■
When removing the Arm #1, there must be two or more people to work on it so
that at least one of them can support the arm while the others are removing the
bolts.
Removing the bolts without supporting the arm may result in the arm falling,
bodily injury, and/or malfunction of the robot system.
■ Handling heavy parts during maintenance operations.
Be sure to have at least 2 people when operating heavy parts.
After replacing the Joint #1 actuator unit, teaching points will need to be re-taught.
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NOTE
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NOTE