Maintenance 11. Lithium Battery
214 G10 / G20 Rev.20
11.2 Replacing the Battery Board
After battery board and parts have been replaced (motors, reduction gear units, brakes,
timing belts, ball screw spline unit, etc.), the Manipulator cannot operate properly because
a mismatch exists between the origin stored in each motor 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: 14. Calibration to perform the calibration.
Push down the shaft to its lower limit while pressing the brake release switch. Be
sure to keep enough space and prevent the
hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and #4. When the brake release
switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously.
shaft falling and rotating while the brake release switch is
because the shaft may be lowered by the weight of an end effector.
Remove the arm top cover.
For details, refer to Maintenance: 3.1 Arm Top Cover.
Cut off the wire tie banding the connector cables.
Disconnect the connectors X61, X62, X63, and X64 connected to the
Loosen the screws securing the battery board and remove the
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