6.4. Motor and reducer replacement
6.4. Motor and reducer replacement
Caution:
This robot has a brake installed on the motor to maintain the position of the arm and when the motor is disassembled, the arm will fall. To prevent this, hang the arm with the crane or insert a fixating pin to keep the 1st and 2nd arms fixed.
When touching the motor immediately after the robot stops, check the temperature of the motor. The weights of the motor and reducer are as follows. When transporting the motor, be careful.
Please note that entry of dust into the reducer must be prevented and the bolts on the reducer must be tightened to the specified torque when replacing the reducer. Grease must be topped up in the same amount discharged grease.
Table 6‑2 Weight (motor)
Axis Model | S | H | V | R2 | B | R1 |
HA006A | 5.3Kg | 5.3kg | 5.3kg | 0.9Kg | 0.9kg | 0.9kg |
HA006L | 9.5kg | 9.5kg | 6.7kg | 1.3kg | 0.9kg | 0.9kg |
Table 6‑3 Weight (reducer)
Axis Model | S | H | V | R2 | B | R1 |
HA006A | 6.3Kg | 6.3kg | 6.3kg | 0.9Kg | 0.12kg | 0.12kg |
HA006L | 19.5kg | 13.5kg | 5.9kg | 2.1kg | 0.15kg | 0.15kg |
Warning:
In this work, there is a part performed with the motor [ON]. Therefore, perform the work in pairs. An observer must always be ready to activate an emergency stop. The other performs the work quickly and carefully. An escape route should be determined before starting work.
6.4.1. Necessary Tools and Parts
6.4.2. How to Replace Motor (HA006A/HA006L)
6.4.3. Replacing Axis-S Reducer [HA006A]
6.4.4. Replacing Axis-H, V Reducer [HA006A]