6.4. Motor Replacement
6.4. Motor Replacement
Warning:
When motor is separated, the ARM will drop due to its built-in brakes inside the motor for holding robot's posture. To prevent this drop, please make sure safety measures, such as suspending the arm with devices like a crane, etc., or fixing the 1st arm and the 2nd arm with fixing pins, are employed.
n 1st Arm (H-axis) Fixing Pin Insertion Position
Figure 6.1 1st Arm (H-axis) Fixing Pin Insertion Position
n 2nd Arm (V-axis) Fixing Pin Insertion Position
Figure 6.2 2nd Arm (V-axis) Fixing Pin Insertion Position
In case of contacting the motor right after it stops, ensure the motor temperature. Motor weights are listed as follows. Be careful when dealing with the motor.
Axis | S | H | V | R2 | B | R1 |
Weight(kg) | 27.2 | 27.2 | 27.2 | 10.3 | 10.3 | 10.3 |
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 perform the work quickly and carefully. An escape route should be determined before starting work.