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Maintenance 5. Replacing the Motors (Joint #2)
Installation
(1) Mount the motor flange on the Joint #2
(2) Mount the waveform generator on the Joint
■ See the figures above for the orientation of the waveform generator. Be sure to
install the waveform generator properly. Improper installation of the waveform
generator will result in improper function of the Manipulator.
CAUTION
(3) Mount the Joint #2 motor unit on Arm #2.
(4) Mount the duct plate on Arm #2.
(5) Connect the connectors X121 and X21.
(6) Re-bundle the cables in their original positions with a wire tie.
114
motor.
The motor cable must be located on the
position as shown in the figure on the right.
#2 motor.
Be sure to fit the end face of the waveform
generator to the end face of the motor
shaft. Tighten one of the setscrews on the
flat face of the motor shaft until the screw
just touches the surface. Insert a bushing
into the other setscrew hole to prevent
damage to the motor shaft.
Then, tighten both setscrews.
The motor cable must be located on the
position as shown in the figure on the right.
If the motor cannot be put into the
Manipulator base easily, push it into the
base while moving Arm #2 slowly by
hand.
Do not allow unnecessary strain on the cables.
2-M4×10
Motor cable
Motor flange
End face of
End face of
motor shaft
waveform generator
M4×6
(Flat side)
Waveform
generator
Flat
Motor cable
Motor flange
Duct plate
Bushing
M4×6
(Round
chamfer side)
Motor flange
3-M4×10
3-M5×15
E2C Rev.6
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