Yamaha DRCX Manuel d'utilisateur télécharger pdf (Page 65)

CHAPTER 5 Installation

5-7

3-2 Replacement of X and Z axis motor (YP220BX, YP220BXR)

The X and Z axis motors of the YP220BX and YP220BXR are both attached to a

metal bracket. A pulley is attached to the motor shaft by a setscrew.

1) Turn off the controller power.

2) Remove the side cover on the robot unit.

3) Disconnect the motor power cable and signal cable connectors.

4) Loosen the belt tension and remove the motor from the metal bracket. Make

a note at this time, of the direction the motor faces and its position relative to

the bracket.

5) Remove the bearing block placed between the metal bracket and the motor.

6) Remove the pulley from the motor. Using the pulley removal tap will make it

easier to remove the pulley.

7) Install the new motor in the opposite of the order that the motor was just

removed.

8) Apply tension to the belt. Make sure the belt is not too loose and not too tight.

(See Chapter 4.)

9) Perform absolute reset to set the origin position again. Adjust the belt teeth

and pulley to their approximate positions relative to each other before re-

placement.

10) Reattach the side cover on the robot unit.

11) Make corrections if any of the point data has deviated.

X-axis motor Metal bracket Bearing block

Z-axis motor

Bearing block

Fig. 5-2 motor replacement

1 2 ... 60 61 62 63 64 65 66 67 68 69 70 ... 109 110

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Yamaha DRCX Manuel d'utilisateur Page 65