Maintenance 10. Ball Screw Spline Unit
LS20-B Rev.4 147
10. Ball Screw Spline Unit
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 AC power cable to a power receptacle.
DO NOT connect it directly to a factory power source.
Before performing any replacement procedure, turn OFF the Controller and
related equipment,
and then disconnect the power plug from the power source.
Performing any replacement procedure with the power ON is extremely hazardous
and may result in
electric shock and/or malfunction of the robot system.
After 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: 13. Calibration to perform the calibration.
10.1 Greasing the Ball Screw Spline Unit
Grease
For Ball Screw Spline Unit
Proper
quantity
Tools
Wiping cloth 1
For wiping grease
Cross-point screwdriver 1
For clamp band removal
The brake release switch affects both Joints #3 and #4. When the brake release switch is
pressed in emergency mode, the brake for both Joints #3 and #4 are released simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is pressed because the
shaft may be lowered by the weight of an end effector.
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