6.4.5. Replacing Axis-V Reducer [HA006L]

6.4.5. Replacing Axis-V Reducer [HA006L]

 

(1)   Set the controller to teaching mode and set the robot to standby [ON] condition. If the robot is not in standby [ON] condition, check whether the arm is sufficiently fixated to avoid it from dropping. And then proceed to (3).

 

(2)   Turn the main power [OFF] with the controller power [OFF].

 

(3)   By removing the bolts from the V-axis motor bracket, remove the timing belt.

 

(4)   Remove the R2-axis motor wiring of the arm frame, and remove the R2 motor.

 

(5)   Remove the bolts from the locking/output part of the V-axis reducer..

 

(6)   Mount a new V-axis reducer, and fasten the bolts at the locking/output part.

 

(7)   Referring to [6.4.2], reassemble the R2-axis motor, and adjust the tension of the timing belt.

(Belt: 3GT / Width: 6 mm / Belt’s unit mass: 2.5 / Span length: 66 mm / Tension: 29 N)

 

(8)   Adjust the tension of the V-axis timing belt..

(Belt: EV5GT / Width: 12 mm / Belt’s unit mass: 4 / Span length: 190 mm / Tension: 98 N)

 

(9)   Referring to [6.4.2], connect the R2-axis motor cables of the arm frame, and put the cables in order..

 

(10) Confirm that there is no error in robot's motion.

 

 

Figure 6.12 Axis-V Reducer Disassembly Diagram [HH007C]