IAI ROBO Cylinder RA4C, Operating Manual, Page: 69 / 79

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14.6.3 Replacing the Motor of the Motor Reversing Type: RA5R Type
[Items Required for Replacement]
•
Replacement motor with pulleys (See the photograph to
the right.)
(Confirm that the motor has countermarks.)
•
PC or teaching pendant
•
Allen wrenches
•
Tension gauge (capable of tensioning to 8 kgf or greater)
•
Strong string, looped (or long tie-band)
•
Scale
•
Oil-based marker pen
[Overview of Replacement]
1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In
this position, replace the motor.
2) Restore the home position.
Affix the rod at a position 4 mm from the mechanical end on the home side, pass the belt, and adjust
the belt to the specified tension.
3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position.
If there is a deviation, adjust the home offset if you are using an SCON controller. If you are using an
SSEL or X-SEL controller, adjust the home preset.
Home position
Z phase ON
position
Mechanical end
2 mm
The countermark on the motor
aligns with this position.
Set by the home offset parameter (SCON) or home preset parameter
(SSEL, X-SEL). (The above value indicates the factory setting.)
2 mm