RS3 RS4 Maintenance 10. Ball Screw Spline Unit Replacement
82
RS series Maintenance Rev.3
Name
Quantity
Note
Maintenance
parts
Ball Screw Spline Unit
1
Standard-model: 1514472
Cleanroom-model: 1514473
Grease
For Ball Screw Spline Unit (AFB grease)
Proper
quantity
Tools
Hexagonal wrench
(width across flats: 3 mm)
1
For M4 screw
Nippers
1
For cutting wire tie
Force gauge
1
Belt tension
75N (7.6 kgf) / 120 N (12.2 kgf)
Suitable cord (Length about 1000 mm)
1
For belt tension
Wiping cloth
1
For wiping grease (Spline shaft)
Material
Wire tie
2
A brake is mounted on Joints #3 to prevent the shaft from moving down due to the weight
of the end effector while the power to the Controller is OFF or while the motor is in OFF
status (MOTOR OFF).
Note that the brake will not work during the replacement procedure. Move the shaft down
to its lower limit before starting the replacement procedure by following the removal steps
from (1) to (3).
When tightening hexagon socket head cap bolts, refer to the
2.4 Tightening Hexagon Socket
Head Cap Bolts.
Ball screw
spline unit
Removal
(1) Turn ON the Controller.
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be sure
to keep enough space and prevent the end effector hitting any peripheral equipment.
Be careful of the shaft falling while the brake release switch is being pressed because
the shaft may be lowered by the weight of an end effector.
(3) Move Arm #2 to the position of 180 degree.
(4) Turn OFF the Controller.
(5) Detach the wires/tubes from the end effector, and remove the end effector.
(6) This step is only for Cleanroom-model.
Remove the bellows. For details, refer to
9. Bellows
.
(7) Remove the Arm #1 side cover and Arm #2 cover.
For details, refer to
3. Covers
.
(8) Cut off the wire tie banding motor cables to the motors of Joints #3, #4.
Be sure to remember the cable layout to connect the cables to the original position.
(9) Disconnect the following connectors.
Connectors X331, X31, X32, X341, X41 (Hold the clip to remove.)
Connector XB33, XB34
NOTE
