IAI America RCS2W - Manual (Page 106)

4. Maintenance Inspection
98
Z phase ON
position
Mechanical end
The countermark on the motor aligns
with this position.
Set by the home offset parameter (SCON) or home preset
parameter (SSEL, X-SEL). (The above value indicates the
factory setting.)
Home positio
4.6.3 Replacing the Motor of the Motor Reversing Type: RA5R Type
[Items Required for Replacement]
x Replacement motor with pulleys (See the photograph to the right.)
(Confirm that the motor has countermarks.)
x PC or teaching pendant
x Allen wrenches
x Tension gauge (capable of tensioning to 8 kgf or greater)
x Strong string, looped (or long tie-band)
x Scale
x Oil-based marker pen
[Overview of Replacement]
1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this
position, replace the motor.
2) Restore the home position.
Affix the rod at a position 4 mm from the mechanical end on the home side, pass the belt, and adjust the belt to
the specified tension.
3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position.
If there is a deviation, adjust the home offset if you are using an SCON controller. If you are using an SSEL or
X-SEL controller, adjust the home preset.
2 mm 2 mm