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C8 Maintena
nce 5. Joint #1
C Series Mainte
nance Ma
nual Rev
.2
291
13.
Install the
base
maintenance
cover
.
For details, refer to
C8 M
aintenance:
3 Covers
.
14.
Calibra
te the Join
t
#1.
For
details, re
fer to
C8 Maint
enance: 16. Cal
ibration
.
310
312
Table of Contents
Main Page
Table of Contents
9
Safety Maintenance
23
General Maintenance
25
Maintenance Inspection
25
Schedule for Maintenance Inspection
25
Inspection Point
26
Overhaul (Parts Replacement)
28
Greasing
30
Tightening Hexagon Socket Head Bolts
32
Layout of Maintenance Parts
33
Covers
34
Arm #1 Top Cover
35
Arm #1 Side Cover
35
Arm #2 Side Cover
36
Arm #3 Head Cover
36
Arm #3 Bottom Cover
37
Arm #4 Side Cover
37
Base Bottom Cover
38
Connector Plate
38
Connector Sub Plate
39
User Plate
39
Cable Unit
40
Replacing the Cable Unit
40
Removal: Cable Unit
42
Installation: Cable Unit
49
Connector Pin Assignments
68
Signal Cable
68
Power Cable
74
User Cable
77
Color of Cables
77
Joint #1
78
Joint #1 - Replacing the Motor
79
Removal: Joint #1 Motor
79
Installation: Joint #1 Motor
81
Joint #1 - Replacing the Reduction Gear Unit
83
Removal: Joint #1 Reduction Gear Unit
84
Installation: Joint #1 Reduction Gear Unit
87
Joint #1 - Replacing the Timing Belt
91
Removal: Joint #1 Timing Belt
91
Installation: Joint #1 Timing Belt
91
Joint #1 - Replacing the Electromagnetic Brake
92
Installation: Joint #1 Electromagnetic Brake
92
Joint #2
93
Joint #2 - Replacing the Motor
94
Removal: Joint #2 Motor
95
Installation: Joint #2 Motor
97
Joint #2- Replacing the Reduction Gear Unit
99
Removal: Joint #2 Reduction Gear Unit
100
Installation: Joint #2 Reduction Gear Unit
103
Joint #2 - Replacing the Timing Belt
107
Removal: Joint #2 Timing Belt
107
Installation: Joint #2 Timing Belt
107
Joint #2 - Replacing the Electromagnetic Brake
108
Removal: Joint #2 Electromagnetic Brake
108
Joint #3
109
Joint #3 - Replacing the Motor (with a Brake)
110
Removal: Joint #3 Motor (with a Brake)
110
Installation: Joint #3 Motor (with a Brake)
112
Joint #3 - Replacing the Reduction Gear Unit
114
Removal: Joint #3 Reduction Gear Unit
114
Installation: Joint #3 Reduction Gear Unit
118
Joint #3 - Replacing the Timing Belt
122
Removal: Joint #3 Timing Belt
122
Installation: Joint #3 Timing Belt
122
Joint #4
123
Joint #4 - Replacing the Motor
124
Removal: Joint #4 Motor
124
Installation: Joint #4 Motor
126
Joint #4 - Replacing the Reduction Gear Unit
129
Removal: Joint #4 Reduction Gear Unit
129
Installation: Joint #4 Reduction Gear Unit
132
Joint #4 - Replacing the Timing Belt
136
Removal: Joint #4 Timing Belt
136
Installation: Joint #4 Timing Belt
136
Joint #4 - Replacing the Electromagnetic Brake
137
Removal: Joint #4 Electromagnetic Brake
137
Installation: Joint #4 Electromagnetic Brake
137
Joint #5
138
Joint #5 - Replacing the Motor
139
Removal: Joint #5 Motor
139
Installation: Joint #5 Motor
141
Joint #5 - Replacing the Reduction Gear Unit
143
Installation: Joint #5 Reduction Gear Unit
147
Joint #5 - Replacing the Timing Belt
153
Removal: Joint #5 Timing Belt
153
Installation: Joint #5 Timing Belt
153
Joint #5 - Replacing the Electromagnetic Brake
154
Removal: Joint #5 Electromagnetic Brake
154
Installation: Joint #5 Electromagnetic Brake
154
Joint #6
155
Joint #6 - Replacing the Motor
156
Removal: Joint #6 Motor
156
Installation: Joint #6 Motor
158
Joint #6 - Replacing the Reduction Gear Unit
160
Removal: Joint #6 Reduction Gear Unit
160
Installation: Joint #6 Reduction Gear Unit
163
Joint #6 - Replacing the Timing Belt
165
Removal: Joint #6 Timing Belt
165
Installation: Joint #6 Timing Belt
165
Joint #6 - Replacing the Electromagnetic Brake
166
Removal: Joint #6 Electromagnetic Brake
166
Installation: Joint #5 Electromagnetic Brake
166
Replacing the Arm #5 O-Ring
167
Removal: Arm #5 O-Ring
167
Installation: Arm #5 O-Ring
167
Replacing the Battery Unit
168
Replacing the Battery Unit (Lithium Battery)
168
Replacing the Battery Board
172
Removal: Battery Board
172
Installation: Battery Board
173
Replacing the Control Board
175
Replacing the Control Board 1
175
Removal: Control Board 1
175
Installation: Control Board 1
175
Replacing the Control Board 2
176
Removal: Control Board 2
176
Installation: Control Board 2
177
Replacing the LED Lamp
178
Removal: LED Lamp
179
Installation: LED Lamp
179
Replacing the M/C Cable
180
Removal: M/C Cable
182
Installation: M/C Cable
182
Calibration
183
Overview
183
Calibration Procedure
185
C4 Maintenance Parts List
190
Safety Maintenance
197
General Maintenance
199
Maintenance Inspection
199
Schedule for Maintenance Inspection
199
Inspection Point
200
Overhaul (Parts Replacement)
202
Greasing
204
Joint #1 Reduction Gear Unit (Table Top Mounting)
206
Joint #1 Reduction Gear Unit (Ceiling Mounting, Wall Mounting)
207
Joint #1 Reduction Gear Unit
207
Joint #2 Reduction Gear Unit
208
Joint #3 Reduction Gear Unit
209
Joint #4 Reduction Gear Unit
210
Joint #5 Reduction Gear Unit
211
Joint #6 Reduction Gear Unit
212
Joint #6 Bevel Gear
213
Tightening Hexagon Socket Head Bolts
214
Layout of Maintenance Parts
215
Covers
216
Arm #1 Center Cover
219
Arm #1 Side Cover
220
Arm #2 Side Cover
222
Arm #3 Cover
223
Arm #3 Maintenance Cover
224
Arm #4 Side Cover
226
Arm #4 Maintenance Cover (C8XL Only)
228
Arm #4 Maintenance Cover
229
Arm #4 D-Sub Attachment
230
Base Cover
231
M/C Cable Backward
231
M/C Cable Downward
232
Base Maintenance Cover
236
Connector Plate
238
M/C Cable Backward
238
M/C Cable Downward
242
Connector Sub Plate
243
Cable Unit
245
Replacing the Cable Unit
245
Replacing the Cable Unit (M/C Cable Backward)
247
Replacing the Cable Unit (M/C Cable Downward)
277
Connector Pin Assignment
282
Signal Cable
282
Power Cable
285
User Cable
288
Color of Cables
288
Joint #1
289
M/C Cable Backward (Joint #1)
290
Joint #1 - Replacing the Motor (M/C Cable Backward)
290
Joint #1 - Replacing the Reduction Gear Unit
298
Backward)
298
Joint #1 - Replacing the Timing Belt (M/C Cable Backward)
305
Joint #1 - Replacing the Electromagnetic Brake
312
Backward)
312
M/C Cable Downward (Joint #1)
314
Joint #1 - Replacing the Motor (M/C Cable Downward)
314
Joint #1 - Replacing the Reduction Gear Unit
318
Downward)
318
Joint #1 - Replacing the Timing Belt (M/C Cable Downward)
321
Joint #1 - Replacing the Electromagnetic Brake
326
Downward)
326
Joint #2
328
Joint #2 - Replacing the Motor
329
Joint #2- Replacing the Reduction Gear Unit
338
Joint #2 - Replacing the Timing Belt
345
Joint #2 - Replacing the Electromagnetic Brake
346
Joint #3
347
Joint #3 - Replacing the Motor
348
Joint #3 - Replacing the Reduction Gear Unit
356
Joint #3 - Replacing the Timing Belt
362
Joint #3 - Replacing the Electromagnetic Brake
363
Joint #4
364
Joint #4 - Replacing the Motor
365
Joint #4 - Replacing the Reduction Gear Unit
371
Joint #4 - Replacing the Timing Belt
378
Joint #4 - Replacing the Electromagnetic Brake
384
Joint #5
385
Joint #5 - Replacing the Motor
386
Joint #5 - Replacing the Reduction Gear Unit
393
Joint #5 - Replacing the Timing Belt
398
Joint #5 - Replacing the Electromagnetic Brake
399
Joint #6
401
Joint #6 - Replacing the Motor
402
Joint #6 - Replacing the Reduction Gear Unit (Replacing the Joints #5, #6 Reduction Gear Unit Set)
408
Joint #6 - Replacing the Timing Belt
408
Joint #6 - Replacing the Electromagnetic Brake
409
Replacing the Battery Unit
411
Replacing the Battery Unit (Lithium Battery)
413
Replacing the Battery Board
415
Replacing the Control Board
418
Replacing the Control Board 1
419
Replacing the Control Board 2
421
Replacing the LED Lamp
423
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