MAINTENANCE MANUAL
Table of Contents
Page
Section 1 Maintenance Items........................................................................................... 9
1.1 Maintenance Schedule........................................................................................... 9
1.2 Items for Maintenance and Inspection................................................................. 10
1.3 Maintenance Tools............................................................................................... 13
1.4 Maintenance Contract and Repair........................................................................ 13
1.4.1 Maintenance Contract.................................................................................... 13
1.4.2 Repair ............................................................................................................ 13
1.4.3 Modification.................................................................................................... 14
Section 2 Maintenance of the Robot.............................................................................. 15
2.1 Cautions on Maintenance and Inspection............................................................ 15
2.2 Layout of Robot Components and Drive Mechanism........................................... 15
2.3 Robot Maintenance Procedures........................................................................... 18
2.3.1 Check of Cable Duct for Abnormality............................................................. 18
2.3.2 Check of Hand and Base for Mounting.......................................................... 20
2.3.3 Check of Air Leakage..................................................................................... 21
2.3.4 Lubrication of Ball Screw Spline Shaft........................................................... 23
2.3.5 Check of Each Axis Drive Status ................................................................... 24
2.3.6 Check of Timing Belt Status........................................................................... 24
2.3.7 Greasing of Reduction Gears (TH250A, TH350A, TH350A-T)...................... 25
2.3.8 Replacement of Position Detector (or Encoder) Batteries ............................. 27
2.3.9 Disconnection of Arm 2 Cover....................................................................... 31
2.4 Cautions on Robot Transport and Storage........................................................... 33
2.5. Robot Home Point and Position Detector Error ................................................ 33
2.5.1 Setting Robot Home Point ............................................................................. 33
2.5.2 Position Detector Error................................................................................... 34
2.5.3 Restoration from position detector error ........................................................ 35
2.6 Restoring Operation from Position Detector Error................................................ 38
2.6.1 Encoder Status Display.................................................................................. 38
2.6.2 Encoder Error Reset Operation ..................................................................... 39
2.6.3 Multi-Turn Data Reset Operation................................................................... 40
2.6.4 REORG Operation......................................................................................... 42
2.6.5 ZEROP Operation.......................................................................................... 48
Section 3 Maintenance of Controller.............................................................................. 54
3.1 Cautions on Maintenance and Inspection............................................................ 54
3.2 Layout of Controller Parts .................................................................................... 55
3.3 Maintenance Procedures..................................................................................... 56
3.3.1 Check of Controller Air Vent Holes ................................................................ 56
3.3.2 Check of Safety Devices for Function............................................................ 57
3.3.3 Battery Replacement ..................................................................................... 59
3.3.4 Replacement of Switching Power Supply Unit............................................... 61
3.3.5 Replacement of Fuse (X8GN, X8GI Printed Board)....................................... 63
3.3.6 Replacement of Output ICs (X8GN, X8GI Printed Board) ............................. 64
Section 4 Maintenance Replacement Parts................................................................... 66
4.1 Robot Main Body Maintenance Replacement Parts List...................................... 66
4.2 List of Mechanical Replacement Parts for Maintenance...................................... 68
STE85390
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