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Resumen del manual
¦ To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. ¦ Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot system. ¦ Be careful not to get any foreign substances in the Manipulator, connectors, and pins during maintenance. Turning ON the power to the robot system when any foreign substances exist in them is extremely hazardous and may result in electric shock and/or malfunction of the robot system. Maintenance Parts and Tools Name Quantity Note Maintenance parts Under cover gasket 1 R13B031226 Only for Cleanroom-model Silicon adhesive (for the gasket on the Connector Plate) 1 R13B031227 Only for Cleanroom-model Tools Hexagonal wrench (width across flats: 3 mm) 1 For M4 screw Only for Cleanroom-model Torque wrench 1 Cross-point screwdriver 1 For bellows removal Only for Cleanroom-model Wiping cloth 1 For wiping adhesive Table Top Mounting Multiple Mounting Arm bottom cover Arm cap Connector plate Connector sub plate Base bottom coverArm top coverConnector plate Connectorsub plate Arm top coverArm bottom coverHeatsink plate Heatsink plate 3.1 Arm Top Cover CAUTION ¦ Do not remove the arm top cover forcibly. Removing the cover forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system. ¦ When installing the cover, be careful not to allow the cables to interfere with the cover mounting and do not bend these cables forcibly to push them into the cover. Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system. When routing the cables, observe the cable locations after removing the cover. Be sure to place the cables back to their original locations. Arm Top Cover Removal (1) Turn ON the Controller. (2) Press and hold the brake release button switch to let the shaft down. Be sure to keep enough space and prevent the end effector hitting any peripheral equipment. The brake release button switch affects only Joint #3. When the brake release button switch is pressed, the brake for Joint #3 is released simultaneously. Be careful of the shaft while the brake release button switch is being pushed because it may be lowered by the weight of an end effector. .. NOTE (3) Turn OFF the Controller. (4) Unscrew the arm top cover mounting bolts, and then lift the cover. When bellows are installed to the manipulator, remove the upper bellows and then remove the arm top cover. For bellows removal, refer to Maintenance 9. Bellows. Be careful for user wires and tubes when removing the cover. 4-M4.12 4-M4.8 Truss Arm top cover Arm Top Cover Installation (1) Set the arm top cover to the arm and secure with the arm top cover mounting bolts. After mounting the arm top cover, make sure that the lower limit mechanical stop does not touch the cylindrical part of the arm top cover. Arm top cover Cylindrical part Shaft Lower limit mechanical stop Brake release switch (2) When bellows are installed to the manipulator, install the arm top cover and then install the upper bellows. For bellows installation, refer to Maintenance 9. Bellows. ..NOTE 3.2 Arm Bottom Cover Unscrew the arm bottom cover mounting bolts, and then pull the cover downwardand remove it. The arm bottom cover may not be removed from the shaft because the end effector is installed. If it is necessary to remove the cover completely (for replacement of the ball screw splineunit etc.), remove the end effector. If it is not necessary to remove the cover completely, move the shaft to the lower limit, and lower the arm bottom cover. Then, perform maintenance or inspection. When bellows are installed to the manipulator, remove or pull down the lower bellows andthen remove the arm bottom cover. For bellows removal, refer to Maintenance 9. Bellows. G3-**1S* (Standard-model) G3-**1C* (Cleanroom-model) 3-M4.12Arm bottom cover Gasket 3-M4.12 Arm bottom cover A gasket is installed to G3-**1C* (Cleanroom-model). 3.3 Arm Cap Unscrew the arm cap mounting bolts and remove the cover. Arm cap is not installed to the Multiple Mounting Manipulators. G3-**1 Table Top Mounting M4.8 Arm cap Flat washer ..NOTE 3.4 Connector Plate CAUTION ¦ Do not remove the connector plate forcibly. Removing the connector plate forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely...