Epson RS Series, Руководство по обслуживанию

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RS3 RS4 Maintenance 8. Joint #4
RS series Maintenance Rev.3 69
8.1 Replacing Joint #4 Motor
Name Quantity Note
Maintenance
parts
AC Servo Motor (100W) 1 1514469
Tools
Hexagonal wrench width across flats: 2 mm
1 For M4 set screw
width across flats: 3 mm 1 For M4 screw
Nippers 1 For cutting wire tie
Force gauge
1 Belt tension
120 N (12.2kgf)
Suitable cord (Length about 800 mm) 1 For belt tension
A brake is mounted on the motor of Joint #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 (1) - (4).
W
hen tightening hexagon socket head cap bolts, refer to the 2.4 Tightening Hexagon Socket
Head Cap Bolts.
Joint #4 Motor
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) Remove the Arm #1 side cover in the Joint #2 side.
For details, refer to
3.1 Arm #1
.
(6) Remove the Arm #2 cover.
For details, refer to 3.2 Arm #2 .
(7) Cut off the wire tie used for binding the motor cables to the Joint #4 motor.
Remember the cable location to connect them to the original position.
(8) Remove the following connectors:
Connector X341, X41 (Hold the clip to remove.)
Connector XB34
(9) Remove the U belt.
Remove four bolts securing the Joint #4 motor
unit.
Slide the motor unit toward the end of arm.
3-M4
×
15
+ washer
Joint #4 motor unit

NOTE