Part 2: Maintenance 5. Replacing the Motors
107
5. Replacing the Motors
WARNING
Only trained personnel should be allowed to maintain this unit.
When replacing the motors, make sure the power is turned OFF and pull out the
power plug from the power source. Failure to turn OFF the power can result in
electric shock and malfunction.
CAUTION
Be careful not to apply an excessive shock to the motor shaft when replacing a
motor. This may shorten the life of the motor and encoder. This also may
destroy them.
Never disassemble the motor and encoder. If you do, a position shift will
occur. The motor and encoder cannot be used again in this case.
The mechanical origin position changes when the motor is replaced. As a result, the
previous teach points change. After motor replacement, adjust the origin position as
described in Chapter 11. Calibration.
Motor Types
Specify the Z code when ordering a replacement motor.
Description
Series
Joint Specification Serial number Old code New code
0**** ZA000614 R13ZA00061400
#1 200W-ABS
1**** ZA000625 R13ZA00062500
0**** ZA000613 R13ZA00061300
ES
#2, 3, 4 100W-ABS
1**** ZA000624 R13ZA00062400
0**** ZA000615 R13ZA00061500
#1 400W-ABS
1**** ZA000626 R13ZA00062600
0**** ZA000614 R13ZA00061400
#2 200W-ABS
1**** ZA000625 R13ZA00062500
0**** ZA000613 R13ZA00061300
AC servo
motor
EL
#3, 4 100W-ABS
1**** ZA000624 R13ZA00062400
Motor Locations
Joint #1 motor
Joint #4 countershaft
Joint #4 motor
Joint #2 motor
Joint #3 motor
NOTE
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