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6. Trobleshooting
6-13
6.4.2. How to Replace Motor
(1) Put the controller into TEACH mode and select motors [ON]. When the
motors [On] state cannot be obtained, check the respective ARM is firmly
fixed while supporting it to prevent dropping. And then begin at step No.4.
(2) The axis requiring motor replacement takes basic posture.
(3) In case of main axes(S, H, V) : Refer to [Fig 6.1].
Insert a supporting bolt to prevent ARM dropping.
In case of wrist axes (R2, B, R1) : Set the origin by using SACLES.
(4) Turn the main power[OFF] with the controller power [OFF].
(5) Disconnect the connector from the motor.
(6) Remove attachment bolts of motor and pull the motor out of robot. When
removing motors of axis H or V, be sure not to damage the lip of oil seal due
to the gear attached to the axis of motor.
(7) Detach the gear from the motor shaft. not give excessive impact to the motor
shaft.
(8) Assemble the gear after lightly applying grease to the shaft.
The bolt used to attach the gear to the shaft should be cleaned and removed
of grease before using. Apply loctite 243 to the screw part of the bolt, and
then tighten it using a torque wrench in a regular torque. , Besides, slowly
tighten the bolt in a symmetrical order.
(9) Assemble the motor on the robot after applying a small amount of grease to
the lip of oil seal and applying a moderate amount of grease to the teeth of
gear. When assembly the main axis motor, be sure not to damage the lip of
oil seal.
(10) Connect the connector to the motor.
(11) When repalcing the axis H or V, replenish the grease as the amount as it
lost.
(12) Reset the encoder of the axis whose motor is replaced.