Maintenance 5. Arm #1
G6 Rev.21 125
5. Arm #1
WARNING
■
connect or disconnect the motor connectors while the power to the robot
Connecting or disconnecting the motor connectors with
the power ON is extremely hazardous and may result
in serious bodily injury as
the Manipulator may move abnormally, and also may result in
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.
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 and may result in
electric shock and/or malfunction of the robot
system.
Be careful not to apply excessive shock to the motor shaft when replacing
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 (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.
Joint #1 reduction gear unit
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