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2012 ford focus owners manual pdf

2012 ford focus owners manual pdf

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2012 ford focus owners manual pdfGreenlee Communications HellermannTyton Honeywell Sensing and Productivity Solutions IDT Judco Manufacturing Inc.CONFIGURATIONMAINTENANCE1 CONFIGURATIONFig. 1 shows the configuration of the mechanical unit.AC servo motor for J4--axis (M4)AC servo motor for J3--axis (M3)AC servo motor for J1--axis (M1)J3--axis armAC servo motor for J5--axis (M5)AC servo motor for J6--axis (M6)Wrist unitJ3--ax. CONFIGURATIONFig. 1.1 shows the J1--axis drive mechanism.The J1--axis drive mechanism is configured in such a way that the J2--axisbase is rotated by reducing the rotation speed of an AC servo motor witha reducer.The J2--axis base is supported on the J1--axis base throu. CONFIGURATIONMAINTENANCEFig. 1.2 shows the J2--axis drive mechanism.The J2--axis drivemechanism is configured in such a way that the J2--axis arm is rotated byreducing the rotation speed of an AC servo motor with a reducer.The J2--axis arm is supported on the J2--axis base through. CONFIGURATIONFig. 1.3 shows the J3--axis drive mechanism.The J3--axis drivemechanism is configured in such a way that the J3--axis casing is rotatedby reducing the rotation speed of an AC servo motor with a reducer.The J3--axis casing is supported on the J2--axis arm th. CONFIGURATIONMAINTENANCEFig. 1.4 shows the J4--axis drive mechanism.The J4--axis drivemechanism is configured in such a way that the J3--axis arm is rotated byreducing the rotation speed of an AC servo motor with a two--stage gear.J3--axis armSecond gearFinal gearJ3--axis casingIn. CONFIGURATIONFig. 1.5 shows the J5-- and J6--axis drive mechanisms. The J5--axis drivemechanism is configured in such a way that the J6--axis unit is rotated byreducing the rotation speed of an AC servo motor with a three--stage gear.The J6--axis drive mechanism is conf. PREVENTIVE MAINTENANCEMAINTENANCE2 PREVENTIVE MAINTENANCEPerforming daily inspection, periodic inspection, and maintenance cankeep the performance of robots in a stable state for a long period.http://daejonggyoyc.com/userfiles/20200927021027.xml

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PREVENTIVE MAINTENANCEClean and maintain each component of robots during everyday systemoperations. At the same time, check the components to see if there is acrack or break in them. Also check and maintain the following items asrequired.a) Before automatic operationNo. PREVENTIVE MAINTENANCEInspect the following items at regular intervals of three months. Increasethe locations and the frequency of inspection if the conditions underwhich the robot is used and the environment in which it runs require so.No.Inspection itemInspection proc. PERIODIC MAINTENANCEWhen greasing the robot, keep its power turned off.i) Roughly speaking, replenish the robot with grease once a year.ii) See Fig. 3.1 and Table 3.1 for greasing points and the method.Table. 3.1 Greasing pointsNo.GreasingpointSpecifiedgreaseAmountofgre. PERIODIC MAINTENANCEMAINTENANCEGrease nipple at thegrease inlet for theJ3-axis reducerGrease nipple at thegrease inlet for theJ4-axis reducerGrease nipple at thegrease outlet for theJ1-axis reducerGrease nipple at the grease inletfor the J2-axis reducerLow head bolt and seal washe. PERIODIC MAINTENANCEFollow the procedure stated below to replace the grease in the J1--, J2--,and J3--axis reducers and the J4-- and J5--axis gearboxes once every threeyears or after 11,520 hours of operation. See Fig. 3.1 for greasing points.1) Remove the seal bolts fr. PERIODIC MAINTENANCEMAINTENANCECAUTIONIf you grease incorrectly, the pressure in the grease bath mayincrease steeply, leading to a broken seal, which will eventuallycause grease leakage or malfunction.When greasing, be sure to follow the cautions stated below.1 Before starting gre. TROUBLESHOOTINGA trouble with a mechanical unit may occur due to a combination ofmultiple causes. It is difficult to find out the true cause, and an incorrectmeasure may make the trouble worse.When troubleshooting, it isimportant to get hold of the situation of any erro. TROUBLESHOOTINGMAINTENANCETable 4.http://elhostalsuizo.com/userfiles/file/dvt1100-manual.xml2 (a) lists the major troubles in the mechanical unit and theircauses. TROUBLESHOOTINGAdjustments are needed after a component is replaced.The following table lists components and the adjustment items that mustbe made after their replacement. ADJUSTMENTSMAINTENANCE5 ADJUSTMENTSEach part of the mechanical units of a robot is set to the best conditionbefore the robot is shipped to the customer. The customer does not needto make adjustments on the robot when it is delivered.If a mechanical unit of the robot has a large ba. ADJUSTMENTS1) Reference position and operation limitEach controlled axis is provided with a reference position andoperation limit.A state in which a controlled axis has reached its operation limit isknown as overtravel (OT). For each axis, an overtravel condition canbe. ADJUSTMENTSMAINTENANCEStrokeStroke endStroke endMechanicalstopperMechanicalstopperNote)Motion limit is restricted by theposition of the J2--axisFig 5.1 (c) J3--axis rotationStroke endStroke endNote) The mechanical stopper are not provided for J4--axisFig 5.1 (d) J4--axis rotationS. ADJUSTMENTSThe term simplified mastering refers to a procedure for resuming theprevious position completely after a pulse coder battery backup isdisconnected because of cable replacement.Simplified mastering cannot be used if the pulse coder phase has changedmechanicall. ADJUSTMENTSEach robot axis is provided with the scribed lines shown in Fig. 5.2 forpositioning. When these markings are aligned to each other, each axis isat the zero--degree position. If the markings get misaligned because ofmotor or reducer replacement, the following. ADJUSTMENTSIf the current--position value stored through the pulse coder becomesdifferent from the actual position of each axis because a major componentof the mechanical unit of the robot is replaced, mastering is performed byspecifying the geometric position of the ro. ADJUSTMENTSMAINTENANCEii) Attaching to the robot main bodyAs shown in Fig. 5.http://www.bouwdata.net/evenement/boss-os-2-manual4 (b), mount dial gauges to the jig base.Using a calibration block, set the pointer of each dial gauge to3.0 mm, and fix the dial gauges with M5 bolts. (Be careful whentightening the bolts. ADJUSTMENTSMastering postureFig 5.4 (e) Mastering posture5 Press the screen selection key, select “0” NEXT, and selectSYSTEM from the menu. Press the F1 key TYPE, and selectthe system variable. ADJUSTMENTS1) Confirming that mastering was performed normallyUsually, positioning is performed automatically when the power isturned on. ADJUSTMENTS2 Remove the five M5?12 seal bolts with a washer. These boltswork not only for mounting but also sealing the gear unit greasebath. ADJUSTMENTSMAINTENANCEWhen the robot power is off, the brakes of the robot can be released usingthe brake release unit (option). In this case, the robot can be put in adifferent posture. COMPONENT REPLACEMENT ANDADJUSTMENTSMAINTENANCE6 COMPONENT REPLACEMENT AND ADJUSTMENTSAdjustments are needed after a component is replaced.The following table lists components and the adjustment items that mustbe made after the components are replaced. After replacing a component. Dismount the motorfrom the J1--axis unit. When dismounting the motor, be careful of thegrease that may drop from the mo. COMPONENT REPLACEMENT ANDADJUSTMENTSMAINTENANCE1 Push the J3--axis section to the mechanical stopper, or fix it in such away that it will not swivel when the motor is dismounted, for example,by placing it in the direction of gravity.NOTEIf the J3--axis section is not pushed agains. COMPONENT REPLACEMENT ANDADJUSTMENTSMAINTENANCEJ3 armGear2 assemblySeal bolt with washer(4pcs)(4pcs)Plane washerLow head bolt(9pcs)GearBolt with washer(6pcs)Gear 3 assemblyLoctite 262Gear 3 assemblySeal bolt with washerCover(Do not remove the bolt. COMPONENT REPLACEMENT ANDADJUSTMENTSMAINTENANCE12 While referencing Section 8.2, being careful to keep thenon--bound movable cable portions in the J5--axis hollow sectionfrom being twisted, fasten the J5--2 clamp (A290--7215--X531) tothe J5--2 cover (A290--7215--X502) with two new. COMPONENT REPLACEMENT ANDADJUSTMENTSMAINTENANCEWave generatorPackingWasherBolt:M3?8LoctiteWasher: M3PackingBolt with washer: M3?15 (12pcs)LoctiteAdapterCircular splineAdapterRingO--ringBolt with washer: M5?12 (6pcs)LoctiteFlangeFlex splineCross roler ringBolt with washer: M3. PIPING AND WIRINGMAINTENANCEMake the following visual checks to see if there is any abnormal cable.1) Whether the swiveling motion of the robot has caused any local torsionor bending in the swiveling section.2) Whether the cables leading to the J2-- or J3--axis sections have worne. CABLE REPLACEMENTMAINTENANCE8 CABLE REPLACEMENTReplace the cables of the robot once every four years. If a cable is brokenor damaged, replace it according to the procedure described in thischapter.When transporting, installing, or maintaining the robot, do not detach thepulse code. CABLE REPLACEMENTMAINTENANCETable 8.1 Cable clamp positionsMarkCable clamping positionMarkNo. CABLE REPLACEMENTMAINTENANCE13 Mount a new cable kit by reversing the above steps. In this case,however, do not tighten the nut for the resin bushing on the plate(A290--7215--X430) behind the J3 casing. After passing the cablesthrough the J3 arm, pass them through the J5--2 cover(. COVER OPTION REPLACEMENTMAINTENANCEFig. 9.2 shows a method for replacing the J4 cover option.(Replacement procedure)1 Remove the six M5?8 button bolts that fasten the J4 cover(A290--7210--X435), and dismount the J4 cover.2 Remove the M6?10 bolt that fastens the support (A290--72. M--6i PACKAGES WITH REINFORCEDDUST--PROOF AND DRIP--PROOFCHARACTERISTICSMAINTENANCE10M--6i PACKAGES WITH REINFORCED DUST--PROOFAND DRIP--PROOF CHARACTERISTICSThe M--6i packages with reinforced dust--proof and drip--proofcharacteristics have been reinforced for dust--proof and dri. M--6i PACKAGES WITH REINFORCEDDUST--PROOF AND DRIP--PROOFCHARACTERISTICSThe following table lists the dust--proof and drip--proof performance ofthe M--6i packages with reinforced dust--proof and drip--proofcharacteristics according to JIS C0920.Packages with reinforced. M--6i PACKAGES WITH REINFORCEDDUST--PROOF AND DRIP--PROOFCHARACTERISTICSMAINTENANCEThe following table lists the major differences between the M--6i standardspecification and the M--6i packages with reinforced dust--proof anddrip--proof characteristics.Standard specificationPacka. M--6i PACKAGES WITH REINFORCEDDUST--PROOF AND DRIP--PROOFCHARACTERISTICSMAINTENANCE1) The following fluids can deteriorate or corrode the rubber components(such as gaskets, oil--seals, and O--rings) of the robot. So the packageswith reinforced dust--proof and drip--proof characte. M--6i PACKAGES WITH REINFORCEDDUST--PROOF AND DRIP--PROOFCHARACTERISTICSMAINTENANCEFig 10.4 (b) Replacing the battery5) Replacing the K101 cable1 Remove all connectors from the connector box.2 Remove the J2 cover according to Section 9.1.3 Remove the J4 cover according to Section. ROBOT OUTLINE DRAWING ANDOPERATION AREA DIAGRAMFig. 1.1 (a) shows the outline drawing and operation area diagram of arobot with a separate controller.When installing a peripheral device, be careful not to let it interfere withthe robot main body. While referencing Sectio. MOUNTING DEVICESON THE ROBOT1) Mounting surface for an ISO flange--type end effector (standard)Fig. 2.1 (a) sows the end effector mounting surface at the tip of thewrist. MOUNTING DEVICESON THE ROBOTCONNECTIONAs shown in Fig. 2.2 (a), there are two device mounting surfaces.NOTE1 Keep the gravity center of devices mounted on devicemounting surfaces A and B within the area shown byhatchinginFig.2.2 (b).2 The mass of each device mounted on a device mo. MOUNTING DEVICESON THE ROBOTFig. 2.4 is the allowable load curves of the wrist of the robot.Use the robot with the load conditions kept within the range shown on thegraph.The load inertia is the sum of the offset inertia from thecenter of each axis section to the gravity. MOUNTING DEVICESON THE ROBOTThere are end effector connectors for connecting peripheral devicesbehind the J3 casing.Fig. 2.6 (a) and Fig. 2.6 (b) show the pinarrangement of end effector connectors. Refer to “R--J3i MODEL BController Maintenance Manual” for details of. MOUNTING DEVICESON THE ROBOTCONNECTIONTable 2.7 (a) lists the makers and models of the connectors used on therobot mechanical unit. Table 2.7 (b) lists the makers and models of theconnectors to be used on user--prepared devices.Table 2.7 (a) Connector specifications (on the mechan. TRANSPORTATION ANDINSTALLATIONCONNECTIONPosition during shipmentJ1--axisJ2--axisJ3--axisJ4--axisJ5--axisJ6--axis1. Machine weight: 138 kg2. TRANSPORTATION ANDINSTALLATIONCONNECTIONFig. 3.3 (a) shows the dimensions of the base of the robot main body.4--?18 through?26 facing depth 5J1 rotation centerMounting faceFrontMounting face4--?18 through?26 facing depth 5Fig 3.3 (a) Dimensions of the base of the robot main bo. TRANSPORTATION ANDINSTALLATIONFig. 3.3 (b) shows an example of installing the robot. In this example, thesole plate is fixed with four M20 chemical anchors (in strength category4.8), and the robot base is fastened to the sole plate with four M16?35bolts (in strength cat. TRANSPORTATION ANDINSTALLATIONCONNECTIONFig. 3.3 (c) and Table 3.3 explain what load is put on the J1 base when therobot is at a rest, accelerating or decelerating, and at an emergency stop.Fig 3.3 (c) Load and moment applied to the J1 baseTable 3.3 Load and moment applied to the. TRANSPORTATION ANDINSTALLATIONCONNECTIONThe robot must be kept in the posture shown in Fig. 3.4 (b) duringmastering. TRANSPORTATION ANDINSTALLATIONIf a separate controller is selected for the robot, the robot connectioncables are detached from the connector board of the mechanical unit (theyare left connected to the controller) when the robot is shipped. Wheninstalling the robot, attac. TRANSPORTATION ANDINSTALLATIONCONNECTIONFig. 3.6 (a) shows the air piping of the robot.If the three--piece pneumatic option is selected, it comes with the air pipeto be installed between it and the mechanical unit. To use the option, thecustomer shall arrange for a three--piece pn. SPARE PARTS LISTSTable A (e) J4--axis gearboxSpecificationAxisA05B-1215-K401J4Table A (f) GearsSpecificationAxisA290-7215-X511J5A290-7215-V501J5A290-7215-V502J5A290-7215-X514J5Table A (g) CoverSpecificationRemarkA05B-1215-H351J2--axis cable protect coverTable A (h) Battery. To start viewing messages,I believe it has an r-j3i controller. I really need the program manuals for the controller and the arc tool. Any help would be greatly appreciated. Similar Threads: Fanuc Mate TS Fanuc O-MD or Oi-mate. G76 in Fanuc Oi Mate Fanuc 100i or 120i r-j2 controller or r-j3 The site is 100 free to join and use, so join today! Report this Document Download now Save Save Fanuc ARC Mate 100i For Later 50 (2) 50 found this document useful (2 votes) 310 views 2 pages Fanuc ARC Mate 100i Uploaded by corneluts Description: Fanuc ARC Mate 100i Full description Save Save Fanuc ARC Mate 100i For Later 50 50 found this document useful, Mark this document as useful 50 50 found this document not useful, Mark this document as not useful Embed Share Print Download now Jump to Page You are on page 1 of 2 Search inside document Cancel anytime. Share this document Share or Embed Document Sharing Options Share on Facebook, opens a new window Share on Twitter, opens a new window Share on LinkedIn, opens a new window Share with Email, opens mail client Copy Text Related Interests Rotation Around A Fixed Axis Electrical Connector Welding Construction Robot Footer menu Back to top About About Scribd Press Our blog Join our team. Quick navigation Home Books Audiobooks Documents, active. The Fanuc ArcMate 100iB is a versatile arc welding robot that is easily adaptable to many applications. With a user-friendly design and the advanced R-J3iB controller. All specifications and.The Fanuc ArcMate 100iB is a versatile arc welding robot that is easily adaptable to many applications. All specifications and. Robots, Industrial, Fanuc, ABB, Panasonic, Motoman, 62,000 listings by 1,100 suppliers call 1-336-969-0110,Free Estimates, Industrial and Commercial Monitor Repair Global Robots, a company with a wealth of robotic and automation knowledge. Specialising in 6-axis industrial robots, agents around the world to help supply robotic. We service and repair Fanuc, OTC, Nachi, Motoman and Panasonic. The Fanuc ArcMate 100iB is a highly fanuc arcmate 100i maintenance manual flexible, productive welding and cutting robot.Robots, Industrial, Fanuc, ABB, Panasonic, Motoman, 62,000 listings by 1,100 suppliers call 1-336-969-0110,Free Estimates, Industrial and Commercial Monitor Repair Global Robots, a company with a wealth of robotic and automation knowledge. The Fanuc ArcMate 100iB is a highly fanuc arcmate 100i maintenance manual flexible, productive welding and cutting robot. Before replacing the purts, determine the specification number of the mechanical unit.:Model name FANUC Robot ARC Mate 100i MODEL B (With J2 and J3--axis brake) FANUC Robot ARC Mate 100i MODEL B (With all axes brake) FANUC Robot M--6i MODEL B (With J2 and J3--axis brake) FANUC Robot M--6i MODEL B (With all axes brake) Abbreviation Mechanical unit specification No.Incomplete draining of J1 base will make the robot break down.May 21 Auction final auction catalog lot qty description. 15 1 electromagnetic drill press,.O?-line teaching by ROBOGUIDE (Option) reduces touch-up. Based on itssimple and reliable construction,the ARC Mate 100i providesaccurate and consistent pathperformance, necessary forwelding and cutting. The inte-grated R-J3 i-Controller and easy-to-use ArcTool software, stan-dard with the ARC Mate i-seriesrobots, provide reliable perfor-mance with high productivity. All rights reserved. FADAL MACHINING CENTERS, LLC Corporate Office. Incomplete draining of J1 base will make the robot break down. The J1--axis drive mechanism is configured in such a way that the J2--axis base is rotated by reducing the rotation speed of an AC servo motor with a reducer. The J2--axis base is supported on the J1--axis base through the reducer. The J2--axis drive mechanism is configured in such a way that the J2--axis arm is rotated by reducing the rotation speed of an AC servo motor with a reducer. The J2--axis arm is supported on the J2--axis base through the reducer. The J3--axis drive mechanism is configured in such a way that the J3--axis casing is rotated by reducing the rotation speed of an AC servo motor with a reducer. The J3--axis casing is supported on the J2--axis arm through the reducer. The J4--axis drive mechanism is configured in such a way that the J3--axis arm is rotated by reducing the rotation speed of an AC servo motor with a two--stage gear. The J6--axis drive mechanism is configured in such a way that the output flange is rotated by reducing the rotation speed of an AC servo motor with a reducer. At the same time, check the components to see if there is a crack or break in them. Also check and maintain the following items as required.Inspection item Inspection procedure 1 Pneumatic pressure check 2 Check on the amount of Put the pneumatic pressure sysoil mist tem in operation and check the amount of oil dripping. The oiler becomes empty after 10 to 20 days of normal operation. If you find a problem, tighten the joint or replace any defective component. 5 Whether cables are abnormal Mechanical unit See Chapter 8. 6 Battery voltage check Make sure that when the power is turned on, the BLAL alarm has not been raised. Inspection item Inspection procedure 9 Reliable operation of peripheral equip- Check to see if the machine opment erates exactly according to directions from the robot and peripheral equipment. 10 Check on the operation of the J2-- and See Section 4.2. J3--axis brakes. Oiler’s oil inlet Oiler adjustment knob Check oiler’s oil level Oiler Filter Pressure gauge Regulator pressure setting handle Fig 2.1 Three--piece pneumatic option b) After automatic operation Once you are finished with automatic operation, bring the robot to its reference position, and turn it off. No. 1 Inspection item Component cleaning and inspection Inspection procedure Clean and maintain each component. Increase the locations and the frequency of inspection if the conditions under which the robot is used and the environment in which it runs require so. No. Inspection item Inspection procedure 1 Loose connector Check that the motor connectors or other connectors are not loose. 2 Loose bolt Check that the cover retaining bolts or external bolts are not loose. 3 Debris removal Remove any spatter, debris, and dust from the mechanical unit.After greasing, remove the grease nipple, and attach the flat--head bolts and sealing washers to the grease inlet and outlet. CAUTION If you grease incorrectly, the pressure in the grease bath may increase steeply, leading to a broken seal, which will eventually cause grease leakage or malfunction. Remove the flat--head bolt from the J5--axis grease inlet and attach the supplied grease nipple to the J5--axis grease inlet. 3) Supply the grease specified in Table 3.2 to the J1--, J2--, and J3--axis reducers, and J4-- and J5--axis gearboxes through their respective grease nipples. Keep greasing until the new grease pushes out the old grease and comes out from each grease outlet. When greasing, be sure to follow the cautions stated below. 1 Before starting greasing, open the grease outlets (remove bolts and the like from the grease outlets). 2 Using a manual greasing pump, grease gently and slowly. 3 Avoid using a pneumatic pump driven from a factory pneumatic line as much as possible. The battery needs to be replaced at regular intervals of one year and half. Follow this procedure for battery replacement. 1) Keep the power turned on. Press the EMERGENCY STOP button of the robot to keep it from moving. 2) Uncap the battery case. 3) Take out the battery from the battery case. 4) Insert a new battery into the battery case while paying attention to the polarity of the battery. 5) Cap the battery case. It is difficult to find out the true cause, and an incorrect measure may make the trouble worse. If you cannot find a cause accurately or do not know what measure to take, please contact FANUC.See Section 5.3. Broken pulse coder signal Replace the cable, and per- See Section 8.2. cable form simplified mastering. See Section 5.3. Incorrect positioning Something hit the robot. Correct the taught point. The robot is not firmly fixed. Fix it. See Section 3.2 of Part II, “Connection”. Peripheral equipment has Fix it. shifted. Load too heavy Reduce the load. Load on the wrist: Limit the operating condition. Refer to “Descriptions”. Peripheral equipment: See Section 2.2 of Part II, “Connection”. Incorrect parameter setting Correct it. Refer to “Operator’s Manual”. Broken cable Replace the cable. See Section 8.2. Pulse coder error Replace the motor. Measure Fix it. Remark See Section 3.2 of Part II, “Connection”. The floor is vibrating (espe- Re--examine the location of cially when the robot is installation.Load too heavy Reduce the load. Limit the operating condition Load on the wrist: Refer to “Descriptions”. Servo maladjustment Adjust the servo section. Contact FANUC. Broken cable Replace the cable. See Section 8.2. Robot not grounded Ground the robot. Refer to “Maintenance Manual for the Controller”. Defective motor Replace the motor. See Sections 6.1 to 6.11. Defective axis printed--circuit Replace the axis printed--cir- Refer to “Maintenance Manuboard cuit board.Defective reducer Replace the reducer. See Sections 6.2 to 6.11. Invalid time constant setting Change the time constant. Backlash in the mechanical unit ---- see the next section. Backlash or wobbling Abnormal sound Loose screw or pin Tighten it (and apply Loctite to it if specified so) Defective reducer Replace the reducer. See Sections 6.2 to 6.11. Gear maladjustment Adjust the gear. See Section 5.7. Worn gear Adjust or replace the gear. Contact FANUC. Worn bearing Replace the bearing. Contact FANUC. Broken casting or other part Replace the broken compo- Contact FANUC. nent. Insufficient grease for gear or Apply grease.Contact FANUC. Worn gear Adjust or replace the gear. Contact FANUC. Servo section maladjustment Adjust the servo section.See Sections 3.1 and 3.2. Load too heavy Reduce the load. Peripheral equipment: See Section 2.2 of Part II, “Connection.” Gear maladjustment Adjust the gear. Invalid time constant setting Change the time constant Refer to “Operator’s Manual”. setting. Too large a brake gap Replace the motor. Contact FANUC. See Sections 6.1 to 6.11. Brake drive relay contact de- Replace the relay position Grease leakage Refer to “Maintenance Manual for the Controller”. The following table lists components and the adjustment items that must be made after their replacement. After replacing a component, make necessary adjustments according to this table. Component replacement or function change Adjustment item Cable replacement (a) Cable dressing (b) Simplified mastering Change to J1--axis stroke (a) Change to stopper position (b) Change to parameter Battery replacement Replace the battery with the power (The battery should be replaced once kept on. a year.) No adjustment is needed. The customer does not need to make adjustments on the robot when it is delivered. A state in which a controlled axis has reached its operation limit is known as overtravel (OT). For each axis, an overtravel condition can be detected at the both ends of it. Simplified mastering cannot be used if the pulse coder phase has changed mechanically because of a motor or reducer having been replaced. If the markings get misaligned because of motor or reducer replacement, the following procedure can be used for rough positional calibration. This is a simplified method. If you want to perform mastering for a specific axis, use the following single--axis mastering procedure. New position information for that axis is stored, and position information for the other axes is preserved. As for the J2-- and J3--axes, each of which is accompanied by the other, perform mastering for them simultaneously. A setting menu for each axis appears. Enter “1” in the (SEL) column for the axis for which you want to perform mastering. Enter “0” for the other axes. When calibrating the robot, have it satisfy the following conditions. D Remove the hand and all other components from the wrist. D Keep the robot from any external force. NOTE When the robot is being subjected to mastering, it does not make a stroke check. Using a calibration block, set the pointer of each dial gauge to 3.0 mm, and fix the dial gauges with M5 bolts. (Be careful when tightening the bolts. Press the F1 key TYPE, and select the system variable. Mastering is performed. Once you are finished with mastering, re--enter the mastering data of the axes other than that specific axis. To confirm that mastering was performed normally, check that the current--position display matches the actual position of the robot, using this procedure.Mastering must be performed again because the counter has already lost data.If this alarm is issued, replace the backup battery soon while keeping the power on, and check whether the current--position data is correct, using a method described in item (1).J5--AXIS GEAR BACKLASH ADJUSTMENTS J3 arm Gear J5--4 Bolt with washer: M5?25 (6pcs) Loctite Gear 2 assembly Gear 3 assembly Seal bolt with washer: M5?12 (4pcs) Plane washer (4pcs) Low head bolt: M5?10 (9pcs) Seal bolt with washer:M5?12 (6pcs) Cover J5--1 Reference bolt (Do not remove the bolt. These bolts work not only for mounting but also sealing the gear unit grease bath. Once you have removed them, replace them with new ones. In reference to the bolt (Do not remove this bolt; just loosen it. However, loosening it impairs its ability to seal. Once adjustments are completed, after the other seal bolts are tightened, replace this bolt with a new one. Otherwise, grease may leak.) shown in Fig. 5.6, push the gear 3 assembly against the output gear (A290--7215--X514), and fix the gear 3 assembly temporarily. After you have fixed the gear 3 assembly temporarily, rotate the J6 housing (output gear) in both positive and negative directions, and check whether their rotation is abnormally heavy and any portion has a serious backlash. Repeat step 1 for reducing the backlash until the gears will not interfere with each other. Fix the gear 2 assembly temporarily in the same manner as stated in (1). In this case, the robot can be put in a different posture. Observe Notes 1 to 4 given below.