Maintenance 5. Joint #2 (Replacing the Motor)
S5 Rev.5 111
CAUTION
Wear protective gear including a mask, protective goggles, and oil
-resistant
gloves during grease up. If grease gets
into your eyes, mouth, or on your skin,
follow the instructions below.
If grease gets into your eyes : Flush them thoroughly with clean water, and
then see a doctor immediately.
If grease gets into your mouth : If swallowed, do not induce vomiting. See a
doctor immediately.
If grease just gets into your mouth, wash out
your mouth with water thoroughly.
If grease gets on your skin
: Wash the area thoroughly with soap and
water.
- After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot perform positioning properly because a mismatch 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 Maintenance 12. Calibration and follow the steps that pertain to the software
you are using to perform the calibration.
WARNING
■
use at least two people when removing the motor unit. Remove the
motor unit while one person
is supporting the upper structure (Arms #2 to #
upper structure folds inward at Joint #2 as soon as the motor unit is removed
released. Failure to properly support the upper structure may
rious bodily injury and/or severe equipment damage.
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