VT6L Maintenance 12. Joint #4
94 VT series Maintenance Manual Rev.2
12. Joint #4
WARNING
■
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
ve abnormally, and also may result in electric shock
and/or malfunction of the robot system.
■
to the robot system, disconnect the power plug from the power
source. Be sure to connect the power cable to a power plug.
directly to a factory power source.
■
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.
CAUTION
■
Be careful not to apply excessive shock to the motor shaft when replacing
the
s. The shock may shorten the life cycle of the motors and encoder and/or
■
Never disassemble the motor and encoder.
A disassembled motor and encoder
will cause a positional gap and cannot be used
again.
After parts have been replaced (motor units, reduction gear units, timing belts), the
Manipulator cannot operate properly because a mismatch exists between the origin stored
in each motor and its corresponding origin stored in the Robot system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
After replacing the parts, refer to the following section to perform calibration.
19. Calibration.
Joint #4 Motor
Joint #4 Reduction Gear Unit
Joint #4 Electromagnetic Brake
Joint #4 Timing Belt
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