Epson T-B Series Maintenance Manual

T3-B T6-B Maintenance 13. Ball Screw Spline Unit
T-B series Maintenance Manual Rev.1 113
13. 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 the
Manipulator may move abnormally, and also may result in electric shock and/or
malfunction of the robot system.
■
To shut off power 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, a brake, 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 Robot
system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins.
Refer to “17. Calibration” to execute the calibration.
Name
Quantity
NOTE
Maintenance
part
Ball Screw Spline Unit
150st
1
T3-B: 1792117
200st
1
T6-B: 1750572
Tools
Hexagonal wrench (width across
flats: 3 mm)
1 For M4 screw
Torque wrench
1
Cross-point screwdriver (No. 2)
1
For cross-recessed screw
Force gage 1
Belt tension:
Z, U: 69 N (7.0 ± 0.5 kgf)
U1: 58 N (5.9 ± 0.5 kgf)
U2: 102 N (10.4 ± 0.75 kgf)
Suitable cord (Length about
800mm)
1 For belt tension
Wiping cloth
1
For wiping grease (Spline shaft)
Material
Wire tie
-
Grease
For Ball Screw Spline Unit
(AFB grease)
Proper
quantity
A brake is mounted on the Joint #3 motor to prevent the shaft from lowering down due to
the weight of the end effector while the power to the Manipulator is OFF or while the motor
is in OFF status (MOTOR OFF).
However, the brake does not work during replacement. Refer to removal steps (1) to (3) to
move the shaft down to its lower limit before the replacement procedure.

NOTE

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English