
6Z31946_00_02
Table of Contents
9.1 Introduction............................................................................................................. 99
9.2 Robotic System Maintenance................................................................................. 99
9.2.1 Securing Screws................................................................................................... 100
9.2.1.1 Securing Gear Screws.......................................................................................... 100
9.2.2 Mains Fuse (Input)................................................................................................ 100
9.2.3 Output Fuses........................................................................................................ 101
9.2.4 CAN-Bus and Extensions (loop)........................................................................... 102
9.2.5 Deck ..................................................................................................................... 102
9.2.6 Arm Housing......................................................................................................... 103
9.2.6.1 Arm Cover ............................................................................................................ 104
9.2.6.2 Side and Front Cover Plate .................................................................................. 105
9.2.6.3 Rear Cover Plate .................................................................................................. 107
9.2.7 X-Axis Components.............................................................................................. 108
9.2.7.1 MCB X-Motor Board ............................................................................................. 108
9.2.7.2 X-Gear .................................................................................................................. 109
9.2.7.3 X-Motor................................................................................................................. 111
9.2.8 CAN Connector Board.......................................................................................... 115
9.2.9 Device X-Rail........................................................................................................ 116
9.2.9.1 X-Belt.................................................................................................................... 116
9.2.9.2 X-Spacers............................................................................................................. 116
9.2.9.3 Caterpillar Drive Chain ......................................................................................... 116
9.2.9.4 CAN-Bus Wiring ................................................................................................... 117
9.2.9.5 Safety Door........................................................................................................... 118
9.2.10 Y-Axis Components.............................................................................................. 119
9.2.10.1 YZ-Board .............................................................................................................. 119
9.2.10.2 Y-Motor Assembly (spring-loaded Y-motor support) ............................................ 121
9.2.10.3 Y-Motor (spring-loaded Y-motor support)............................................................. 123
9.2.10.4 Spring-Loaded Y-Motor Support........................................................................... 124
9.2.10.5 YZ-Module ............................................................................................................ 126
9.2.11 Z-Axis Components .............................................................................................. 126
9.2.11.1 YZ-Board .............................................................................................................. 126
9.2.11.2 Z-Motor Assembly ................................................................................................ 127
9.2.11.3 Z-Motor .................................................................................................................129
9.2.12 Arm Alignment Check........................................................................................... 131
9.2.13 Pickup Adapter ..................................................................................................... 132
9.2.14 Object Detector..................................................................................................... 134
9.2.15 Barcode Reader ................................................................................................... 136
9.2.16 Cooling Rack ........................................................................................................ 137
9.2.17 Nitrogen Flow Sensor ........................................................................................... 139
9.2.18 Checking the Nitrogen Flow Sensor Connection and Settings............................. 142
9.2.19 Door Lock Actor.................................................................................................... 144
9.2.20 Door Open Sensor................................................................................................ 145
9.2.21 Status Light Board ................................................................................................ 145
9.3 Exchange Unit Malfunctions ................................................................................. 147
9.3.1 Light Barrier .......................................................................................................... 147