Chapter 3 Robot Debugging and Components Maintenance
Document Version V1.1.0 (03-07-2022)
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and tighten the screws (apply a layer of thread glue when installing the screws)
with a screw torque of 2.4 N·m.
Figure 3-14 Axis J6 flange inner ring
3.3.2 Replacement of Axis J5 module
If a problem is detected in the Axis J5 module, remove and replace the Axis J5 module
following the steps below:
Tools: Allen wrench (one set), anti-static gloves, special tool for removing pins, scissors,
cable ties.
Step 1
Remove the end pass-through cables with reference to Section 3.2.1.
Step 2
Remove the power and signal cables from the Axis J5 module interface with
reference to Section 3.2.3.
Step 3
Use a small flathead screwdriver or similar tool to gently remove the black
flexible flat ring from the junction of Axes J5 and J6 and pull it back from its
original position on the joint shell. Then slide the black ring back, as shown in
Figure 3-15. 10 screws are visible, with 5 screws on each side of the joint. Use
a special open-end wrench to loosen the screws by at least two and a half
turns for each. Then pull the two parts apart and gently rotate by 10°
counterclockwise until they are mechanically stopped (with keyhole type holes).
After that, the Axis J5 can be completely separated from the Axis J6.
Figure 3-15 Remove the screws from the Axis J5 shell
Step 4
Remove the Axis J6 and slowly pull out the cables from the middle of the Axis
Countersunk
head screw
Flange inner ring
Содержание MS6MT
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