artisan RX Series, Инструкция по эксплуатации, Страница: 78 / 106

Chapter
7 –
Operations on motors
D28045104F - 02/2008
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Stä
ubli
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averg
es 2
008
7.1.
MOTOR PLAY ADJUSTMENT PROCEDURE
7.1.1.
ACCESS TO MOTORS
The operations to be performed to access the motors are described in paragraph
7.2
.
7.1.2.
JOINTS
1
,
2
,
3
AND
4
Motor play is adjusted by moving the motor gear wheel towards the crown gear of the
JCS
transmission
module:
•
Unscrew the
4
screws of the motor of the joint concerned by
1/4
to
1/2
of a turn.
•
Axis
1
,
2
,
4
: Push motor
(1)
clockwise ( figure
7.1
) to reduce play.
•
Axis
3
: Push motor
(2)
anticlockwise ( figure
7.1
) to reduce play.
•
Progressively tighten the
4
motor screws, working diagonally.
•
Check adjustment by conducting the following "motor play check" procedure:
To check for play in a join:
•
Release the brake of the joint concerned.
•
Move the joint to both sides in movement direction.
•
If there is play in the joint, a characteristic noise will be heard when direction of movement is
reversed.
For the robot to work under the best conditions, transmission play must tend towards zero without this
jamming the gearing or creating a friction point in the transmission or significant operating noise.
7.1.3.
JOINTS
5
AND
6
Play of joints
5
and
6
must be adjusted in the factory or by a qualified technician.
DANGER:
Follow the safety rules! See chapter
1.3
.
CAUTION:
Do not hold the motor pressed against the crown gear when tightening its
4
attachment
screws.