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 posture of arm. To prevent this drop, please make sure safety measures, such as fixing A2 FRAME and 2 ARM by using M20×250 as shown in [Figure 6.1] or fixing arm with devices like a crane, etc. Never hold arm by hand.
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
Table 6‑2 Weight of motor for each model
Robot model | Weight of motor on the S,V axis | Weight of motor on the H axis | Weight of motor on the R2 axis |
HP130 | 23.9 kg | 26.1 kg | 9.5 kg |
Figure 6.1 Method to prevent ARM on H, V-axis from falling (HP130)
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.
In the case of H, V-axis, be sure to operate robot after checking whether M20 bolt for prevention of ARM dropping is removed immediately after replacing motor.