2
Installation
2-36
9.
Detaching or attaching the shafts, moveable base, and spring covers
9.1
Attaching the shafts, moveable base, and spring covers
CAUTION
It is necessary to enter the safety enclosure in order to detach or attach the shafts, moveable base, or spring covers, and therefore the
controller power must be turned off beforehand.
9.1.1 R6Y30110S03067NJ5 (3-axes specification)
The replacement procedure for the shafts, moveable base, and spring covers is the same as that for the α, β and γ-axes.
1
Post a sign indicating that the robot
is being adjusted.
Post a sign indicating that the robot is being adjusted
to prevent others from turning on the controller
power.
2
Enter the safety enclosure.
3
Attach the shafts.
Attach the shafts while ensuring to hook the shaft
plastic bearings onto the arm and moveable base link
balls. The link balls can be stretched by hand at the
end of the shaft as shown in the Fig.
The depression on the shafts for spring cover
attachment should face upward.
The moveable base attachment direction is as shown in
the Fig. Refer to "2.2 Adjusting the θ-axis origin
position" in Chapter 3 for details.
Shaft attachment
Step 3
Moveable base side
Arm side
Link ball
Link ball
α-axis
Depression
CAUTION
By attaching the shafts with hands placed anywhere other
than the shaft end, the joint between the shaft and shaft end
may deform, possibly leading to malfunction. Ensure to
place hands on the end of the shaft as shown in the Fig. on
the right.
Take care not to pull the springs on the shafts too much.
If stretched too far, the springs may not return to their
original shape, possibly leading to malfunction.