C4 Maintenance 5. Joint #1
58 C Series Maintenance Manual Rev.2
5. Joint #1
WARNING
■
performing any replacement procedure, turn OFF the Controller and
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is
extremely hazardous
electric shock and/or malfunction of the robot system.
Do not connect or disconnect the motor connectors while the power to the robot
system is turned ON. Connecting or disconnecting the motor connectors
with the
power ON is extremely hazardous and may result
in serious bodily injury as the
ve abnormally, and also may result in electric shock and/or
malfunction of the robot system.
Be sure to connect the AC power cable to a power receptacle. DO NOT connect
it directly to a factory power source. To shut off power
to the robot system,
the power plug from the power source. Performing any work while
cable to a factory power source is extremely hazardous
electric shock and/or malfunction of the robot system.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft
during replacement
. The shock may shorten the life of the motors and encoder and/or
Never disassemble the motor and encoder. Disassembled motor and encoder
will
cause a positional gap and cannot be used again.
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot perform positioning properly because a gap exists between the origin
stored in each motor encoder and its corresponding origin stored in the Controller.
After replacing the parts, it is necessary to match these origins.
The process of aligning the two origins is called “Calibration”.
Refer to C4 Maintenance 16. Calibration and follow the steps to perform the calibration.
Joint #1 electromagnetic brake
Joint #1 motor
Joint #1 timing belt
Joint #1 reduction gear unit
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