2.7.4 Dismounting Ball Screw Spline Unit
• The ball screw spline unit should be replaced with a new one only after the
controller power is turned off with the power supply plug removed. If the work
is done while the power is turned on, you may get an electric shock or the robot
may malfunction, which is very dangerous.
• Handle the ball screw spline unit with extreme care. If the unit drops or an
unusually large external force is exerted on it, it cannot function any further.
• Replacement of the ball screw spline unit involves mounting and dis
the axis 3 and 4 motors and timing belts. Also observe the cautions on each
work.
• Because the motor, timing belt, nut and pulley are disconnected, the
mechanical home point shifts and proper control cannot be done. To avoid
this, home return operation is necessary after replacement of the ball screw
spline unit. For the home return procedures, see Section 4.
In the descriptions on replacing the ball screw spline unit, the procedures for
changing the axis 3 and 4 motors and timing belts are not included. For details,
refer to the descriptions on replacement of each part.
1) Remove the arm 2 cover. (See Para. 2.4.1.)
2) Disconnect the hand, tool, etc. followed by the tool flange.
3) Disconnect the axis 3 and 4 motors and timing belts.
4) Remove the stopper attached to the top of the ball screw spline shaft.
Once the stopper is removed, the shaft can slip out in the vertical direction.
Take careful precautions not to drop it by its dead weight.
5) Disconnect the axis 3 nut pulley secured to the ball screw nut.
STE 85306
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