Maintenance 10. Ball Screw Spline Unit
LS20 Rev.4 131
10. Ball Screw Spline Unit
WARNING
■
Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out the motor connectors
with the power ON is
extremely hazardous and may result
in serious bodily injury as the Manipulator
may move abnormally, and also may result in
electric shock and/or malfunction of
to the robot system, pull out the power plug from the power
source. Be sure to connect the
AC power cable to a power receptacle. DO
NOT connect it directly to a factory power source.
Before performing any replacement procedure, turn OFF the Controller and
related equipment,
and then pull out the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in
electric shock and/or malfunction of the robot
system.
After parts have been replaced (motors, reduction gear units, brakes, timing belts, ball
screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch
exists between the origin stored in each motor 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 Maintenance: 13. Calibration to perform the calibration.
10.1 Greasing the Ball Screw Spline Unit
Grease
For Ball Screw Spline Unit (AFB grease)
-
Tools
For wiping grease (Spline shaft)
Cross-point screwdriver 1
For clamp band removal
The brake release switch affects both Joints #3 and #4. When the brake release switch is
pressed in emergency mode, the brake for both Joints #3 and #4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is pressed because
the shaft may be lowered by the weight of an end effector.
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