Epson T-B Series - Page 115

T3-B T6-B Maintenance 12. Joint #4
T-B series Maintenance Manual Rev.1 103
(7)
Mount the Joint # 2, 3, 4 AMP board unit.
Sems bolt: 2-M3×10
Connect the following connectors to the
AMP board unit.
A: Power cable connector (×3)
B: AMP cable connector (×3)
C: Motor cable connector (×3)
D: Brake cable connector (×1)
T3-B
Joint # 2, 3, 4 AMP
board unit
A
C
B
D
(8)
Mount the connector of the Joint #4 motor
unit.
A: AMP cable connector (×1)
B: Signal cable connector
(IN only: ×1)
B-IN
A
(9)
Mount the user plate.
Reference: 7.7 User Plate
(10)
Mount the arm top cover.
Reference: 7.1 Arm Top Cover
(11)
Turn ON the Manipulator.
Reference: T-B series Manual T3-B T6-B Manipulator 6.5 LED
When starting the Manipulator for the first time after replacing the motor unit, the motor
unit firmware is automatically updated. DO NOT turn OFF the power until the
Manipulator starts.
When you
connect a motor unit connected to another axis, an error 5009 or 9709 will
occur. To clear the error, enter the following command in [Command Window] and
execute it.
Joint #1: > MUIDReset 1
Joint #2: > MUIDReset 2
Joint #3: > MUIDReset 3
Joint #4: > MUIDReset 4
Reboot the Controller.
(12)
Perform the calibration of Joints #3, #4.
Reference: 17. Calibration