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5 Disassembly and Reassembly of Motors

5.1 Disassembly and Reassembly of S-Axis Motor

5-3

159281-1CD

HW1480357

HP20D

Fig. 5-1: Disassembly and Reassembly of S-Axis Motor

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40 of 96

Table of Contents

Default Chapter3
- Table of Contents3
1 Introduction6
2 Notes for Maintenance16
- Wrist Unit16
- Encoder Connector (with CAUTION Label)17
  - Battery Pack Connection for S-, L-, and U-Axis Motors17
  - Battery Pack Connection for R-, B-, and T-Axis Motors17
3 Home Position Return19
- Home Position Return after Motor Replacement19
- Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery24
  - Home Position Return at the Time of Battery Backup by Using the Function: Home Position Calibration Function for Restoration24
  - Home Position Return by Keys (for S-, L-, U-, and R-Axes)24
    - Calibration Operation24
4 Grease Replenishment and Exchange27
5 Disassembly and Reassembly of Motors38
6 Disassembly and Reassembly of Speed Reducer52
7 Disassembly and Reassembly of Wrist Unit66
8 Disassembly, Reassembly, and Adjustment of B- and T-Axis Timing Belts68
- Disassembly and Reassembly of B- and T-Axis Timing Belts68
- Adjustment of Timing Belts70
  - B-Axis70
  - T-Axis70
9 Battery Pack Replacement71
10 Cable Wiring73
- Disconnecting Cables73
- Connecting Cables81
11 Parts List84

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